Positioning data transmission method and device, and positioning terminal

Abstract

The invention relates to a positioning data transmission method and device, and a positioning terminal. The method comprises the following steps: receiving positioning data, wherein the positioning data at least comprises a real signal; detecting whether a positioning data signal of which the signal strength exceeds preset signal strength exists in a two-dimensional uncertain range of the carrier Doppler frequency and the pseudo code phase; when it is detected that the number of signals with the signal strength of the positioning data exceeding the preset signal strength is larger than or equal to two, it is determined that the positioning data comprise real signals and deception signals; distinguishing a real signal and a deception signal in the positioning data, and identifying the deception signal in the positioning data; and carrying out encryption processing on the positioning data without the deception signal, and transmitting the encrypted positioning data to a receiving unit. By adopting the method, the security of data transmission can be improved.

Description

Technical Field

[0001] The present application relates to the field of satellite navigation and positioning technology, and in particular to a method, device, and positioning terminal for transmitting positioning data. Background Art

[0002] Modern positioning terminal devices play an important role in many key fields, such as self-driving cars, drones, precision agriculture, geological monitoring, etc. These applications require positioning terminals to provide fast and accurate positioning services to ensure the reliability and security of the system. To meet this demand, positioning terminal devices usually send high-frequency data to achieve real-time or near real-time positioning updates. However, it is difficult to ensure the security of positioning data during the transmission of positioning data. Summary of the invention

[0003] Based on this, it is necessary to provide a method, device and positioning terminal for transmitting positioning data in order to solve the above technical problems.

[0004] In a first aspect, the present application provides a method for transmitting positioning data. The method comprises:

[0005] receiving positioning data, wherein the positioning data at least includes a real signal;

[0006] Detecting whether there is a positioning data signal with a signal strength exceeding a preset signal strength within a two-dimensional uncertainty range of a carrier Doppler frequency and a pseudo code phase;

[0007] When it is detected that the number of signals with signal strengths exceeding the preset signal strengths in the positioning data is greater than or equal to two, determining that the positioning data includes real signals and spoof signals;

[0008] Distinguishing between real signals and spoofed signals in the positioning data, and identifying spoofed signals in the positioning data;

[0009] The positioning data from which the spoofing signal is removed is encrypted and transmitted to a receiving unit.

[0010] In one embodiment, the positioning data is obtained by:

[0011] Receive signals from at least four satellites and obtain positioning data based on the principle of triangulation.

[0012] In one embodiment, the distinguishing between a real signal and a spoofed signal in the positioning data comprises:

[0013] The transmission delay time of the positioning data signal is calculated. If the transmission delay time is greater than the preset transmission delay time and is consistent with the transmission delay time of the actual satellite signal, it is a spoofing signal.

[0014] In one embodiment, the distinguishing between a real signal and a spoofed signal in the positioning data comprises:

[0015] Compare the positioning data signal strength with the actual satellite signal strength. If the strength of the target signal in the positioning data is higher than other signals in the positioning data, the target signal that is higher than other signals in the positioning data is a spoofing signal.

[0016] In one embodiment, the encryption method includes one or more of symmetric encryption, asymmetric encryption, and hash function.

[0017] In a second aspect, the present application also provides a positioning terminal, including:

[0018] A positioning board, wherein the positioning board is used to send the received positioning data to the main control unit;

[0019] An anti-spoofing unit, the anti-spoofing unit is used to delete the spoofing signal in the positioning data and transmit the deleted positioning data to the main control unit;

[0020] An encryption unit, the encryption unit is used to encrypt the deleted positioning data and transmit the encrypted positioning data to a main control module;

[0021] A main control unit, the main control unit is used to transmit the positioning data to the anti-spoofing unit, receive the deleted positioning data sent by the anti-spoofing unit and transmit it to the encryption unit, receive the encrypted positioning data sent by the encryption unit and transmit it to the receiving unit;

[0022] The positioning terminal is used to implement the steps of any one of the above methods.

[0023] In a third aspect, the present application further provides a device for transmitting positioning data, the device comprising:

[0024] A receiving module, used for receiving positioning data, wherein the positioning data at least includes a real signal;

[0025] A judgment module, used to detect whether there is a positioning data signal with a signal strength exceeding a preset signal strength within a two-dimensional uncertainty range of a carrier Doppler frequency and a pseudo code phase;

[0026] A confirmation module, configured to determine that the positioning data includes a real signal and a spoof signal when it is detected that the number of signals whose signal strength of the positioning data exceeds a preset signal strength is greater than or equal to two;

[0027] a deletion module, used to distinguish between real signals and spoofed signals in the positioning data, and identify spoofed signals in the positioning data;

[0028] The encryption module is used to encrypt the positioning data after removing the spoofing signal and transmit it to the receiving unit.

[0029] In one embodiment, the distinguishing between a real signal and a spoofed signal in the positioning data comprises:

[0030] The transmission delay time of the signal is calculated. If the transmission delay time is long and close to the transmission delay time of the actual satellite signal, it is a spoofed signal.

[0031] In one embodiment, the distinguishing between a real signal and a spoofed signal in the positioning data comprises:

[0032] Compare the signal strength with the actual satellite signal strength. If the strength of one signal is higher than the other signals, the signal with higher signal strength is a spoofed signal.

[0033] In one embodiment, the encryption method includes one or more of symmetric encryption, asymmetric encryption, and hash function.

[0034] In a third aspect, the present disclosure further provides a computer device, wherein the computer device comprises a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the steps of the method for transmitting positioning data are implemented.

[0035] In a fourth aspect, the present disclosure further provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of the method for transmitting positioning data are implemented.

[0036] In a fifth aspect, the present disclosure further provides a computer program product, wherein the computer program product comprises a computer program, and when the computer program is executed by a processor, the steps of the method for transmitting positioning data are implemented.

[0037] The above positioning data transmission method has at least the following beneficial effects:

[0038] The embodiment scheme provided by the present disclosure receives positioning data and determines whether the positioning data includes spoofing signals. If the number of signals with signal strengths exceeding a preset signal strength is greater than or equal to two, the positioning data includes real signals and spoofing signals. It is necessary to distinguish the real signals from the spoofing signals in the positioning data, delete the spoofing signals, and then encrypt the real signals before transmitting them to a receiving unit to improve data security.

[0039] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the conventional technology, the drawings required for use in the embodiments or the conventional technology descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present disclosure, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0041] Figure 1 A diagram of an application environment of a method for transmitting positioning data in an embodiment;

[0042] Figure 2 A schematic diagram of a flow chart of a method for transmitting positioning data in one embodiment;

[0043] Figure 3 is a schematic diagram of a positioning terminal in an embodiment;

[0044] Figure 4 is a structural block diagram of a transmission device for positioning data in one embodiment;

[0045] Figure 5 is an internal structure diagram of a computer device in one embodiment;

[0046] Figure 6 The figure is a diagram of the internal structure of a server in one embodiment. DETAILED DESCRIPTION

[0047] In order to enable ordinary persons in the art to better understand the technical solutions of the present disclosure, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the accompanying drawings.

[0048] It should be noted that the terms "first", "second", etc. in the specification and claims of the present disclosure and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present disclosure described here can be implemented in an order other than those illustrated or described here. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. On the contrary, they are only examples of devices and methods consistent with some aspects of the present disclosure as detailed in the attached claims. The terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, product or device including a series of elements includes not only those elements, but also other elements that are not explicitly listed, or also includes elements inherent to such process, method, product or device. In the absence of more restrictions, it is not excluded that there are other identical or equivalent elements in the process, method, product or device including the elements. For example, if the words first, second, etc. are used to represent the name, they do not represent any specific order.

[0049] The present disclosure provides a method for transmitting positioning data, which can be applied to Figure 1 In the application environment shown. Among them, the terminal 102 communicates with the server 104 through the network. The data storage system can store the data that the server 104 needs to process. The data storage system can be integrated on the server 104, or it can be placed on the cloud or other network servers. Among them, the terminal 102 can be but is not limited to various personal computers, laptops, smart phones, tablets, Internet of Things devices and portable wearable devices. The Internet of Things devices can be smart speakers, smart TVs, smart air conditioners, smart car-mounted devices, etc. Portable wearable devices can be smart watches, smart bracelets, head-mounted devices, etc. The server 104 can be implemented with an independent server or a server cluster consisting of multiple servers.

[0050] In some embodiments of the present disclosure, Figure 2 As shown, a method for transmitting positioning data is provided. In a specific embodiment, the method may include the following steps:

[0051] S202: Receive positioning data, where the positioning data at least includes a real signal.

[0052] Positioning data refers to information related to geographic location obtained through the Global Navigation Satellite System (GNSS) or other positioning technologies. It can include information such as location, time, speed, etc., and is used to determine the precise location of an object or device on the earth. In vehicle navigation, it can provide the vehicle's current location, driving direction, speed and estimated arrival time to plan the best route.

[0053] Under normal positioning data reception conditions, the positioning data is a real satellite signal. However, during the actual reception process, the positioning data is easily intercepted and tampered with or forged. The forged false coordinates will affect the monitoring system's determination of the actual displacement value. The positioning data will include both real signals and deceptive signals.

[0054] S204: Detect whether there is a positioning data signal whose signal strength exceeds a preset signal strength within a two-dimensional uncertainty range of the carrier Doppler frequency and the pseudo code phase.

[0055] Carrier Doppler frequency usually refers to the offset of the carrier frequency of the received satellite signal relative to the local reference frequency of the positioning terminal. Due to the relative motion between the positioning terminal and the satellite, the received signal frequency will change. By detecting the Doppler frequency shift, the source satellite of the signal can be preliminarily determined. Pseudocode phase refers to the phase difference between the pseudorandom code in the received satellite signal and the pseudorandom code generated locally by the positioning terminal. Usually each satellite has a unique pseudorandom code. The positioning terminal captures the signal by performing correlation operations with the locally generated pseudorandom code. By detecting the pseudocode phase, the source satellite of the signal can be further confirmed. The two-dimensional uncertainty range usually includes a search window or area in two dimensions: Doppler frequency shift and pseudocode phase. Each point in this range represents a possible signal state. Signal search within the two-dimensional uncertainty range can improve the accuracy and efficiency of signal detection.

[0056] Generally, if only a single signal is detected within the entire carrier Doppler-pseudo-code phase two-dimensional uncertainty range, the signal is considered to be a real satellite signal. If multiple signals are detected and a signal exceeds a preset threshold, further detection can be performed to determine whether there is a spoofed signal.

[0057] S206: When it is detected that the number of signals whose signal strength of the positioning data exceeds the preset signal strength is greater than or equal to two, determine that the positioning data includes a real signal and a spoof signal.

[0058] When two or more signal strengths are detected to exceed the preset signal strength, that is, there are multiple signals with higher strengths within the search range of the same satellite signal, the positioning data may include real signals and spoofed signals. In actual applications, for a specific satellite, there is generally only one real signal. If there are multiple signal strengths exceeding the preset signal strength, the positioning data includes real signals and spoofed signals.

[0059] S208: Distinguish between real signals and spoofed signals in the positioning data, and identify spoofed signals in the positioning data.

[0060] S210: encrypting the positioning data from which the spoofing signal is removed, and transmitting the encrypted data to a receiving unit.

[0061] For the multiple signals detected, the signal characteristics will be further analyzed, such as residual signal detection, arrival angle detection and signal transmission delay detection, to filter out the real satellite signals and delete the deceptive signals.

[0062] The encryption methods can include traditional hash, symmetric, SM3, HMAC, SM2, SM4, AES256 and other algorithms. Multiple encryption methods can be selected at the same time for multiple encryption. The choice of encryption method can be flexibly configured by the user.

[0063] In the above-mentioned positioning data transmission method, the positioning data is received and it is determined whether the positioning data includes a spoofing signal. If the number of signals whose signal strength exceeds the preset signal strength is greater than or equal to two, the positioning data includes real signals and spoofing signals. It is necessary to distinguish the real signals from the spoofing signals in the positioning data, delete the spoofing signals, and then encrypt the real signals before transmitting them to the receiving unit to improve the security of the data.

[0064] In some embodiments of the present disclosure, the positioning data is obtained in the following manner:

[0065] Receive signals from at least four satellites and obtain positioning data based on the principle of triangulation.

[0066] The principle of triangulation requires the location information of at least three reference points (such as satellites), and the positions of the reference points are known. The distance from each reference point to the target point is known. In the GPS system, the distance can be obtained indirectly by measuring the time delay from the satellite to the positioning terminal, and the distance is obtained by multiplying the time by the speed of light. The precise position of the positioning terminal on the earth (longitude, latitude and altitude) can be calculated, and data can be output in formats such as GGA (Global Positioning System FixData), RMC (Remote Management Controller), RTCM ((the RadioTechnical Commission for Maritime Services) and custom NAV.

[0067] The differential data (RTCM, Radio Technical Commission for Maritime Services) accessed from the base station can significantly improve the accuracy of the positioning terminal. Differential positioning technology uses the precise correction numbers provided by the base station to correct the errors in the satellite signals received by the positioning terminal, thereby achieving higher-precision positioning.

[0068] In some embodiments of the present disclosure, the distinguishing between a real signal and a spoofed signal in the positioning data includes:

[0069] The transmission delay time of the positioning data signal is calculated. If the transmission delay time is greater than the preset transmission delay time and is consistent with the transmission delay time of the actual satellite signal, it is a spoofing signal.

[0070] Deception signals can include forwarding deception jamming and simple generation deception jamming. The forwarding deception jamming signal is usually a real satellite signal that has been processed and retransmitted, so it may have a certain degree of synchronization with the real signal. During the retransmission process, a small synchronization error may be introduced. The simple generation deception jamming signal is completely generated by the attacker, so there is a significant difference in synchronization with the real signal.

[0071] Analyze whether the Doppler frequency shift of the signal is consistent with expectations. If the frequency shift is consistent with expectations, it may be forwarding deception interference. If the frequency shift is inconsistent with expectations, it may be simple generation deception interference. Then check whether the timestamp of the signal is consistent with the actual timestamp of the satellite. Forwarding deception interference may have some slight time delay, while the timestamp of simple generation deception interference may be completely inconsistent.

[0072] In some embodiments of the present disclosure, the distinguishing between a real signal and a spoofed signal in the positioning data includes:

[0073] Compare the positioning data signal strength with the actual satellite signal strength. If the strength of the target signal in the positioning data is higher than other signals in the positioning data, the target signal that is higher than other signals in the positioning data is a spoofing signal.

[0074] The strength of the forwarding deception jamming signal may be similar to the real signal, but the signal strength may vary slightly because there may be gain or attenuation during the signal retransmission process. The strength of the simple generation deception jamming signal is usually higher because the attacker can adjust the signal strength at will to cover up the real signal. Compare the signal strength to see if it is consistent with the strength of the normal received signal. If the signal strength is abnormally high, it may be simple generation deception jamming. Observe whether the signal strength fluctuates regularly. If the fluctuation is large and irregular, it may be simple generation deception jamming.

[0075] In some embodiments of the present disclosure, arrival angle detection may also be included. The forwarding deception interference signal is retransmitted from a fixed position, so the arrival angle of the signal may be relatively fixed, and the arrival angle of the simple generation deception interference signal may change according to the location of the attacker's device. If the arrival angles of multiple signals are exactly the same, it may be forwarding deception interference. If the arrival angles are inconsistent, it may be simple generation deception interference. Multiple antennas can be used to receive signals and analyze whether the arrival angles of the signals are consistent. If the arrival angles of the signals received by multiple antennas are consistent, it may be forwarding deception interference. If the arrival angles are inconsistent, it may be simple generation deception interference.

[0076] In some embodiments of the present disclosure, signal structure analysis detection may also be included. The structure of the forwarding deceptive interference signal is similar to the real signal, but due to the processing during the retransmission process, there may be slight differences from the real signal, while the structure of the simple generated deceptive interference signal is completely generated by the attacker and may be significantly different from the real signal. The category of the deceptive signal can be analyzed by signal structure.

[0077] The present disclosure can use any of the above methods or a combination of multiple signal characteristics to screen out real signals.

[0078] In some embodiments of the present disclosure, the encryption method includes one or more of symmetric encryption and asymmetric encryption.

[0079] Encryption methods can include symmetric encryption, which can use the same key for encryption and decryption, such as AES256, SM4 and other algorithms. Asymmetric encryption can use a pair of keys, one public key for encryption and the other private key for decryption, such as SM2 and other algorithms. Hash functions convert data of arbitrary length into output of fixed length, such as SM3, HMAC and other algorithms. Multiple encryption methods can be selected at the same time for multiple encryption, and the choice of encryption method can be flexibly configured by the user.

[0080] In some embodiments of the present disclosure, a positioning terminal is provided, such as Figure 3 As shown, Figure 3 The figure is a schematic diagram of a positioning terminal in an embodiment, including:

[0081] A positioning board, wherein the positioning board is used to send the received positioning data to the main control unit;

[0082] An anti-spoofing unit, the anti-spoofing unit is used to delete the spoofing signal in the positioning data and transmit the deleted positioning data to the main control unit;

[0083] An encryption unit, the encryption unit is used to encrypt the deleted positioning data and transmit the encrypted positioning data to a main control module;

[0084] A main control unit, the main control unit is used to transmit the positioning data to the anti-spoofing unit, receive the deleted positioning data sent by the anti-spoofing unit and transmit it to the encryption unit, receive the encrypted positioning data sent by the encryption unit and transmit it to the receiving unit;

[0085] The positioning terminal is used to implement the steps of any one of the above methods.

[0086] The positioning board can receive signals from multiple satellites. The satellite signals may include carrier frequency, pseudo-random code, etc. The positioning board performs preliminary processing on the received satellite signals to generate positioning data. The positioning data may be in the format of GGA, RMC, RTCM, and custom NAV, or it may be the RTCM differential data of the access base station to achieve higher-precision differential positioning data. The data received by the positioning board may contain both deceptive signals and real signals.

[0087] The positioning terminal provided by the present disclosure can implement all the method steps of any one of the embodiments of the positioning data transmission method provided by the present disclosure or the related processing steps involving the detection of spoofing signals. The anti-spoofing unit can identify the spoofing signal and the real signal by methods such as residual signal detection in the capture phase, residual signal detection in the tracking phase, angle of arrival detection, and signal transmission delay detection. If only a unique signal is detected within the entire carrier Doppler-pseudo-code phase two-dimensional uncertainty range, it means that the signal is a real signal and can be transferred to the tracking link according to the normal process. If more than two time-frequency unit signals are detected to exceed the established threshold, it means that there may be spoofing interference for the satellite in the current received signal, which needs to be further identified. The characteristics of forwarding spoofing interference and simple generation spoofing interference being out of sync with the real signal, combined with the characteristics that the spoofing signal transmitted by a single antenna reaches the positioning terminal antenna with the same azimuth angle, and the azimuth angle of arrival of the real different satellite signals will not be exactly the same, and multiple characteristics can be combined to screen out the real satellite signal.

[0088] The encryption unit supports one or more of symmetric encryption, asymmetric encryption, and hash functions. Multiple encryption methods can be used for multiple encryption at the same time, and the choice of encryption method can be flexibly configured by the user. The solution uses hardware encryption and decryption, which ensures faster and more efficient encryption and decryption, and can meet the application scenarios of high-frequency data (such as 20HZ) of the positioning terminal. The fast encryption and decryption speed reduces data delay, which is more beneficial to the subsequent positioning accuracy calculation. The maximum operating frequency of the encryption module is 150MHZ, and the encryption performance is 600MB / s@150Mhz.

[0089] After receiving the data from the positioning board, the main control unit forwards it to the anti-spoofing module, then receives the corrected data returned by the anti-spoofing module and immediately sends it to the encryption module. The encrypted data returned by the encryption module is then sent out through 4G / 5G / Ethernet / wifi and other modules to ensure that the data transmitted on the network is ciphertext rather than plaintext, thereby ensuring the security of the data. The main control unit and the encryption unit are connected via USB3.0, with an interface rate of 5Gbps, and the data transmission speed is higher than that of traditional serial port communication.

[0090] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0091] Based on the same inventive concept, the embodiment of the present disclosure also provides a transmission device for positioning data for implementing the above-mentioned transmission method for positioning data. The implementation solution provided by the device to solve the problem is similar to the implementation solution recorded in the above-mentioned method, so the specific limitations in the embodiment of the transmission device for positioning data provided below can refer to the limitations of the transmission method for positioning data above, and will not be repeated here.

[0092] The device may include a system (including a distributed system), software (application), module, component, server, client, etc. that uses the method described in the embodiments of this specification and is combined with necessary implementation hardware. Based on the same innovative concept, the device in one or more embodiments provided in the embodiments of the present disclosure is as described in the following embodiments. Since the implementation scheme and method of the device to solve the problem are similar, the implementation of the specific device in the embodiments of this specification can refer to the implementation of the aforementioned method, and the repetitions will not be repeated. As used below, the term "unit" or "module" can be a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceived.

[0093] In one embodiment, Figure 4 As shown, a positioning data transmission device 400 is provided, and the device may be the aforementioned server, or a module, component, device, unit, etc. integrated in the server. The device 400 may include:

[0094] A receiving module 402, configured to receive positioning data, wherein the positioning data at least includes a real signal;

[0095] A determination module 404 is used to detect whether there is a positioning data signal whose signal strength exceeds a preset signal strength within a two-dimensional uncertainty range of a carrier Doppler frequency and a pseudo code phase;

[0096] A confirmation module 406, configured to determine that the positioning data includes a real signal and a spoof signal when it is detected that the number of signals whose signal strength of the positioning data exceeds the preset signal strength is greater than or equal to two;

[0097] A deletion module 408, configured to distinguish between real signals and spoofed signals in the positioning data, and identify spoofed signals in the positioning data;

[0098] The encryption module 410 is used to encrypt the positioning data after removing the spoofing signal and transmit it to the receiving unit.

[0099] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0100] Each module in the above-mentioned device for transmitting positioning data can be implemented in whole or in part by software, hardware, or a combination thereof. Each of the above-mentioned modules can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each of the above modules.

[0101] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Figure 5 As shown. The computer device includes a processor, a memory and a network interface connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store positioning data. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a method for transmitting positioning data is implemented.

[0102] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Figure 6As shown. The computer device includes a processor, a memory, a communication interface, a display screen and an input device connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be achieved through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a method for transmitting positioning data is implemented. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covered on the display screen, or a key, trackball or touchpad set on the computer device shell, or an external keyboard, touchpad or mouse, etc.

[0103] Those skilled in the art will understand that Figure 5 , Figure 6 The structure shown in the figure is only a block diagram of a part of the structure related to the scheme of the present disclosure, and does not constitute a limitation on the computer device to which the scheme of the present disclosure is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0104] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the method described in any embodiment of the present disclosure is implemented.

[0105] In one embodiment, a computer program product is provided, including a computer program, which implements the method described in any embodiment of the present disclosure when executed by a processor.

[0106] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided by the present disclosure can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided by the present disclosure may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided by the present disclosure may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic unit, a data processing logic unit based on quantum computing, etc., but are not limited to this.

[0107] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0108] The above-described embodiments only express several implementation methods of the present disclosure, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present invention. It should be pointed out that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present disclosure, and these all belong to the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure shall be subject to the attached claims.

Claims

1. A method for transmitting positioning data, characterized in that: The method comprises: receiving positioning data, wherein the positioning data at least includes a real signal; Detecting whether there is a positioning data signal with a signal strength exceeding a preset signal strength within a two-dimensional uncertainty range of a carrier Doppler frequency and a pseudo code phase; When it is detected that the number of signals with signal strengths exceeding the preset signal strengths in the positioning data is greater than or equal to two, determining that the positioning data includes real signals and spoof signals; Distinguishing between real signals and spoofed signals in the positioning data, and identifying spoofed signals in the positioning data; The positioning data from which the spoofing signal is removed is encrypted and transmitted to a receiving unit.

2. The method according to claim 1, characterized in that The positioning data is obtained in the following manner: Receive signals from at least four satellites and obtain positioning data based on the principle of triangulation.

3. The method according to claim 1, characterized in that The distinguishing between the real signal and the spoofed signal in the positioning data includes: The transmission delay time of the positioning data signal is calculated. If the transmission delay time is greater than the preset transmission delay time and is consistent with the transmission delay time of the actual satellite signal, it is a spoofing signal.

4. The method according to claim 1, characterized in that: The distinguishing between the real signal and the spoofed signal in the positioning data includes: Compare the positioning data signal strength with the actual satellite signal strength. If the strength of the target signal in the positioning data is higher than other signals in the positioning data, the target signal that is higher than other signals in the positioning data is a spoofing signal.

5. The method according to claim 1, characterized in that The encryption method includes one or more of symmetric encryption, asymmetric encryption, and hash function.

6. A positioning terminal, characterized in that: include: A positioning board, wherein the positioning board is used to send the received positioning data to the main control unit; An anti-spoofing unit, the anti-spoofing unit is used to delete the spoofing signal in the positioning data and transmit the deleted positioning data to the main control unit; An encryption unit, the encryption unit is used to encrypt the deleted positioning data and transmit the encrypted positioning data to a main control module; A main control unit, the main control unit is used to transmit the positioning data to the anti-spoofing unit, receive the deleted positioning data sent by the anti-spoofing unit and transmit it to the encryption unit, receive the encrypted positioning data sent by the encryption unit and transmit it to the receiving unit; The positioning terminal is used to implement the steps of any one of claims 1 to 5.

7. A positioning data transmission device, characterized in that: The device comprises: A receiving module, used for receiving positioning data, wherein the positioning data at least includes a real signal; A judgment module, used to detect whether there is a positioning data signal with a signal strength exceeding a preset signal strength within a two-dimensional uncertainty range of a carrier Doppler frequency and a pseudo code phase; A confirmation module, configured to determine that the positioning data includes a real signal and a spoof signal when it is detected that the number of signals whose signal strength of the positioning data exceeds a preset signal strength is greater than or equal to two; a deletion module, used to distinguish between real signals and spoofed signals in the positioning data, and identify spoofed signals in the positioning data; The encryption module is used to encrypt the positioning data after removing the spoofing signal and transmit it to the receiving unit.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 5 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.

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