GNSS navigation information service monitoring method and system

Abstract

The invention relates to the technical field of signal processing, in particular to a GNSS navigation information service monitoring method and device, computer equipment, a storage medium and a computer program product. The method comprises the following steps: in response to triggering of an acquisition signal, acquiring a to-be-processed tested signal from a navigation service signal sent by a target system; comparing the detected signal based on a preset alarm template to obtain an alarm comparison result; if it is determined that the detected signal is abnormal based on the alarm comparison result, an auxiliary system signal corresponding to the detected signal is obtained, and the auxiliary system signal is a short-term high-precision positioning service signal associated with the detected signal; and performing abnormity judgment on the detected signal based on the auxiliary system signal to obtain an abnormity monitoring result of the target system. By adopting the method, the reliability of regional satellite navigation positioning application can be improved, and the operation safety of a space-time service framework in the region is ensured.

Description

Technical Field

[0001] The present application relates to the field of signal processing technology, and in particular to a GNSS navigation information service monitoring method, apparatus, computer equipment, storage medium and computer program product. Background Art

[0002] In today's digital and intelligent era, GNSS (Global Navigation Satellite System) navigation signal information monitoring services are essential. GNSS systems such as GPS and Beidou play a key role in many fields such as transportation, aerospace, surveying and mapping, and geographic information. However, navigation signals may be interfered with by a variety of factors, such as terrain, building obstruction, and electromagnetic interference. GNSS navigation signal information monitoring services came into being. Through professional equipment and technology, it monitors key indicators such as the strength, accuracy, and availability of navigation signals in real time to ensure the stable operation of the navigation system. Whether it is to ensure the safe takeoff and landing of aircraft, the accurate navigation of ships, or to provide precise positioning for intelligent driving, this service can provide users with reliable data support and escort the development of various industries and people's lives.

[0003] At present, common navigation monitoring mainly includes two types: navigation interference monitoring and navigation information monitoring. Navigation interference monitoring requires receiving radio waves from the electromagnetic environment, separating the interference signals of the navigation frequency band from the received radio waves, and further analyzing and identifying the specific parameters of the signal, so as to obtain the characteristic parameter information of the signal, so as to determine whether the signal is legal, and timely find the direction of abnormal signals, obtain the azimuth information, so as to implement effective investigation and provide relevant data information. Common monitoring technologies based on signal characteristics include signal power monitoring, signal carrier-to-noise ratio monitoring, and signal spectrum characteristic monitoring. And the common navigation information monitoring is IGMAS (International GNSS Monitoring and Assessment System). With the continuous development of GNSS technology, the performance indicators of signal quality, accuracy and other performance indicators of different satellite systems need to be accurately evaluated to ensure that users can obtain reliable navigation and positioning services. Satellite signals may be affected by natural factors such as ionospheric scintillation and human factors such as intentional signal interference and deception. The IGMAS monitoring service deploys monitoring stations worldwide and uses advanced technical means to continuously monitor GNSS signals, which can timely detect signal anomalies and evaluate the impact of interference, providing key data support and decision-making basis for improving the performance, reliability and security of the GNSS system.

[0004] However, current GNSS navigation signal information monitoring equipment has the defect of low reliability. Summary of the invention

[0005] Based on this, it is necessary to provide a GNSS navigation information service monitoring method, device, computer equipment, computer-readable storage medium and computer program product that can improve the reliability of regional satellite navigation and positioning applications and ensure the safe operation of the space-time service framework in the region in response to the above-mentioned technical problems.

[0006] In a first aspect, the present application provides a GNSS navigation information service monitoring method. The method comprises:

[0007] In response to the triggering of the acquisition signal, the measured signal to be processed is acquired from the navigation service signal sent by the target system;

[0008] Comparing the measured signal based on a preset alarm template to obtain an alarm comparison result;

[0009] If it is determined based on the alarm comparison result that the measured signal is abnormal, then obtaining an auxiliary system signal corresponding to the measured signal, wherein the auxiliary system signal is a short-term high-precision positioning service signal associated with the measured signal;

[0010] An abnormality judgment is made on the measured signal based on the auxiliary system signal to obtain an abnormality monitoring result of the target system.

[0011] In one embodiment, in response to the triggering of the acquisition signal, acquiring the measured signal to be processed from the navigation service signal sent by the target system includes:

[0012] Acquire characteristic information of the abnormal signal, and construct an abnormal trigger template based on the characteristic information;

[0013] The navigation service signal is monitored based on the abnormal trigger template, and if the matching degree between the navigation service signal and the abnormal trigger template exceeds a preset matching threshold, the acquisition signal is triggered.

[0014] In one embodiment, in response to the triggering of the acquisition signal, acquiring the measured signal to be processed from the navigation service signal sent by the target system includes:

[0015] In response to the triggering of the acquisition signal, determining an acquisition window for acquiring the measured signal;

[0016] The acquisition window is adjusted based on a preset pre-trigger value, and the measured signal is acquired using the adjusted acquisition window.

[0017] In one embodiment, the method further comprises:

[0018] Acquire historical navigation service signal samples, and construct and train a signal calibration model based on the historical navigation service signal samples, wherein the signal calibration model includes normal navigation service signal features;

[0019] A deviation characteristic value between the measured signal and the signal calibration model is obtained, and if the deviation characteristic value exceeds a preset deviation threshold, it is determined that the measured signal is abnormal.

[0020] In one embodiment, after performing abnormality judgment on the measured signal based on the auxiliary system signal to obtain the abnormality monitoring result of the target system, the method further includes:

[0021] Acquiring ground-based augmentation information correction numbers and satellite-based augmentation information correction numbers associated with the target system;

[0022] The operating status of the target system is determined based on the ground-based augmentation information correction number and the satellite-based augmentation information correction number.

[0023] In one embodiment, the method further comprises:

[0024] Determine the location information of the target device based on the navigation service signal;

[0025] Comparing and analyzing the positioning information with the calibrated position information of the target device to determine the positioning accuracy of the navigation service signal;

[0026] A performance level of the target system is accurately determined based on the positioning.

[0027] In a second aspect, the present application also provides a GNSS navigation information service monitoring device. The device comprises:

[0028] A signal acquisition module, used for acquiring a test signal to be processed from a navigation service signal sent by a target system in response to a trigger of an acquisition signal;

[0029] An alarm comparison module is used to compare the measured signal based on a preset alarm template to obtain an alarm comparison result;

[0030] an auxiliary determination module, configured to obtain an auxiliary system signal corresponding to the measured signal if it is determined based on the alarm comparison result that the measured signal is abnormal, wherein the auxiliary system signal is a short-term high-precision positioning service signal associated with the measured signal;

[0031] The abnormality judgment module is used to judge the abnormality of the measured signal based on the auxiliary system signal to obtain the abnormality monitoring result of the target system.

[0032] In one embodiment, the signal acquisition module includes:

[0033] A trigger template module, used to obtain characteristic information of abnormal signals and construct an abnormal trigger template based on the characteristic information;

[0034] The template matching module is used to monitor the navigation service signal based on the abnormal trigger template, and trigger the acquisition signal if the matching degree between the navigation service signal and the abnormal trigger template exceeds a preset matching threshold.

[0035] In one embodiment, the signal acquisition module includes:

[0036] An acquisition window module, configured to determine an acquisition window for acquiring the measured signal in response to a trigger of the acquisition signal;

[0037] The pre-trigger module is used to adjust the acquisition window based on a preset pre-trigger value, and use the adjusted acquisition window to acquire the measured signal.

[0038] In one embodiment, the device further comprises:

[0039] A signal model module, used to obtain historical navigation service signal samples, and to construct and train a signal calibration model based on the historical navigation service signal samples, wherein the signal calibration model includes normal navigation service signal features;

[0040] The deviation comparison module is used to obtain the deviation characteristic value between the measured signal and the signal calibration model. If the deviation characteristic value exceeds a preset deviation threshold, it is determined that the measured signal is abnormal.

[0041] In one embodiment, after the abnormality judgment module, it also includes:

[0042] A correction number module, used to obtain ground-based augmentation information correction numbers and satellite-based augmentation information correction numbers associated with the target system;

[0043] An operating status module is used to determine the operating status of the target system based on the ground-based augmentation information correction number and the satellite-based augmentation information correction number.

[0044] In one embodiment, the device further comprises:

[0045] A positioning information module, used to determine the positioning information of the target device based on the navigation service signal;

[0046] A positioning accuracy module, used to compare and analyze the positioning information with the calibrated position information of the target device to determine the positioning accuracy of the navigation service signal;

[0047] A performance level module is used to accurately determine the performance level of the target system based on the positioning.

[0048] In a third aspect, the present application further provides a computer device, which includes a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the steps in the GNSS navigation information service monitoring method described in any one of the embodiments in the first aspect are implemented.

[0049] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps in a GNSS navigation information service monitoring method as described in any one of the embodiments in the first aspect.

[0050] In a fifth aspect, the present application further provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the steps in the GNSS navigation information service monitoring method as described in any one of the embodiments in the first aspect are implemented.

[0051] The above-mentioned GNSS navigation information service monitoring method, device, computer equipment, storage medium and computer program product can achieve the beneficial effects of the technical problems in the corresponding background technology by deducing the technical features in the claims:

[0052] The present application provides a GNSS navigation information service monitoring method, the steps mainly include: in response to the triggering of a collection signal, collecting a to-be-processed measured signal from a navigation service signal emitted by a target system; comparing the measured signal based on a preset alarm template to obtain an alarm comparison result; if it is determined based on the alarm comparison result that the measured signal is abnormal, obtaining an auxiliary system signal corresponding to the measured signal, wherein the auxiliary system signal is a short-term high-precision positioning service signal associated with the measured signal; and judging the abnormality of the measured signal based on the auxiliary system signal to obtain an abnormal monitoring result of the target system. During implementation, by monitoring the navigation service signal of the target system, when the acquisition signal is triggered, the measured signal that may be abnormal is collected from the navigation service signal, which helps to timely monitor and respond to possible abnormal conditions in the target system, and then compare and judge based on the preset alarm template, which helps to achieve efficient and fast abnormal condition judgment. After that, the auxiliary system signal is used to perform a fusion judgment of the two systems, thereby achieving precise positioning of the target system. Compared with abnormal monitoring and judgment through a single system, the abnormal signal can be captured through a single system first, and then judged through the fusion system, which can improve the efficiency of judgment and the accuracy of the results. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 A schematic diagram of the hardware structure of a GNSS navigation information service monitoring system in one embodiment;

[0054] Figure 2 A first flow chart of a GNSS navigation information service monitoring method in one embodiment;

[0055] Figure 3 A second flow chart of a GNSS navigation information service monitoring method in another embodiment;

[0056] Figure 4 A third flow chart of a GNSS navigation information service monitoring method in another embodiment;

[0057] Figure 5 A fourth flow chart of a GNSS navigation information service monitoring method in another embodiment;

[0058] Figure 6 A fifth flow chart of a GNSS navigation information service monitoring method in another embodiment;

[0059] Figure 7 A sixth flow chart of a GNSS navigation information service monitoring method in another embodiment;

[0060] Figure 8 A schematic diagram of software composition of a GNSS navigation information service monitoring method in a specific embodiment;

[0061] Fig. 9 It is a structural block diagram of a GNSS navigation information service monitoring device in one embodiment;

[0062] Fig.10 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0063] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0064] At present, common navigation monitoring mainly includes two types: navigation interference monitoring and navigation information monitoring. Navigation interference monitoring requires receiving radio waves from the electromagnetic environment, separating the interference signals of the navigation frequency band from the received radio waves, and further analyzing and identifying the specific parameters of the signal, so as to obtain the characteristic parameter information of the signal, so as to determine whether the signal is legal, and timely find the direction of abnormal signals, obtain the azimuth information, so as to implement effective investigation and provide relevant data information. Common monitoring technologies based on signal characteristics include signal power monitoring, signal carrier-to-noise ratio monitoring, and signal spectrum characteristic monitoring. And the common navigation information monitoring is IGMAS (International GNSS Monitoring and Assessment System). With the continuous development of GNSS technology, the performance indicators of signal quality, accuracy and other performance indicators of different satellite systems need to be accurately evaluated to ensure that users can obtain reliable navigation and positioning services. Satellite signals may be affected by natural factors such as ionospheric scintillation and human factors such as intentional signal interference and deception. The IGMAS monitoring service deploys monitoring stations worldwide and uses advanced technical means to continuously monitor GNSS signals, which can timely detect signal anomalies and evaluate the impact of interference, providing key data support and decision-making basis for improving the performance, reliability and security of the GNSS system.

[0065] However, current GNSS navigation signal information monitoring equipment has the defect of low reliability.

[0066] Based on the above problems, an embodiment of the present application provides a GNSS navigation information service monitoring method.

[0067] A GNSS navigation information service monitoring method provided in an embodiment of the present application can be applied to Figure 1 In a GNSS navigation information service monitoring system shown in FIG. Figure 1 As shown, a GNSS navigation information service monitoring system mainly includes a terminal, an interference monitoring antenna, a GNSS antenna, an interference deception signal receiver, and a GNSS receiver. At the same time, a built-in electronic compass can realize the absolute direction of the direction-finding antenna, so as to achieve rapid orientation and detection and positioning applications. The interference direction-finding antenna is mainly composed of a nine-element antenna, an antenna switch matrix, and a connecting cable assembly. The GNSS antenna can receive four-system eight-frequency satellite navigation signals. The interference deception signal receiver is a digital dual-channel receiver with a modular design and a frequency band covering 1GHz to 3GHz. It consists of two RF acquisition channel units, a reference clock unit, a general digital processing unit, an integrated data processing unit, a power supply unit, and a chassis. The GNSS receiver consists of a satellite navigation positioning module, a main control CPU, and a network communication module.

[0068] In one embodiment, Figure 2 As shown, a GNSS navigation information service monitoring method is provided, and the method is applied to Figure 1 The terminal in is used as an example to illustrate, including the following steps:

[0069] Step 202: In response to the triggering of the acquisition signal, the measured signal to be processed is acquired from the navigation service signal sent by the target system.

[0070] Step 204: Compare the measured signal based on a preset alarm template to obtain an alarm comparison result.

[0071] Step 206: If it is determined based on the alarm comparison result that the measured signal is abnormal, an auxiliary system signal corresponding to the measured signal is obtained, where the auxiliary system signal is a short-term high-precision positioning service signal associated with the measured signal.

[0072] Step 208: Perform an abnormality judgment on the measured signal based on the auxiliary system signal to obtain an abnormality monitoring result of the target system.

[0073] In the above-mentioned GNSS navigation information service monitoring method, reasonable deduction is performed in combination with the technical features in the embodiment, which can achieve the beneficial effect of solving the technical problems raised in the background technology:

[0074] The present application provides a GNSS navigation information service monitoring method, the steps mainly include: in response to the triggering of a collection signal, collecting a to-be-processed measured signal from a navigation service signal emitted by a target system; comparing the measured signal based on a preset alarm template to obtain an alarm comparison result; if it is determined based on the alarm comparison result that the measured signal is abnormal, obtaining an auxiliary system signal corresponding to the measured signal, wherein the auxiliary system signal is a short-term high-precision positioning service signal associated with the measured signal; and judging the abnormality of the measured signal based on the auxiliary system signal to obtain an abnormal monitoring result of the target system. During implementation, by monitoring the navigation service signal of the target system, when the acquisition signal is triggered, the measured signal that may be abnormal is collected from the navigation service signal, which helps to timely monitor and respond to possible abnormal conditions in the target system, and then compare and judge based on the preset alarm template, which helps to achieve efficient and fast abnormal condition judgment. After that, the auxiliary system signal is used to perform a fusion judgment of the two systems, thereby achieving precise positioning of the target system. Compared with abnormal monitoring and judgment through a single system, the abnormal signal can be captured through a single system first, and then judged through the fusion system, which can improve the efficiency of judgment and the accuracy of the results.

[0075] In one embodiment, if Figure 3 As shown, step 202 includes:

[0076] Step 302: Acquire characteristic information of the abnormal signal, and construct an abnormal trigger template based on the characteristic information.

[0077] Step 304: monitoring the navigation service signal based on the abnormal trigger template, and triggering the acquisition signal if the matching degree between the navigation service signal and the abnormal trigger template exceeds a preset matching threshold.

[0078] In this embodiment, when monitoring the navigation service signal, the control trigger is performed through the abnormal trigger template, which helps to realize the demand of monitoring complex signal abnormalities, improve the efficiency and accuracy of abnormal signal monitoring, and at the same time can flexibly configure the abnormal trigger template, thereby improving the flexibility of system application.

[0079] In one embodiment, if Figure 4 As shown, step 202 includes:

[0080] Step 402: In response to the triggering of the acquisition signal, determine an acquisition window for acquiring the measured signal.

[0081] Step 404: adjusting the acquisition window based on a preset pre-trigger value, and using the adjusted acquisition window to acquire the measured signal.

[0082] In this embodiment, a pre-trigger value is set for the measured signal, and the interception window of the measured signal is adjusted by the pre-trigger value, thereby increasing the capture range of the measured signal and retaining the information before the trigger event occurs, which helps to improve the analysis effect of abnormal signals.

[0083] In one embodiment, if Figure 5 As shown, the method also includes:

[0084] Step 502: Obtain historical navigation service signal samples, and construct and train a signal calibration model based on the historical navigation service signal samples, wherein the signal calibration model includes normal navigation service signal features.

[0085] Step 504: Obtain a deviation characteristic value between the measured signal and the signal calibration model. If the deviation characteristic value exceeds a preset deviation threshold, determine that the measured signal is abnormal.

[0086] In this embodiment, historical navigation service signal samples can be obtained in the process of abnormal monitoring, and a signal correction model can be constructed and trained through the historical navigation service signal samples. In this way, it is possible to determine whether the measured signal has an abnormality through a feature comparison result between the measured signal and the signal correction model, which helps to improve the efficiency of abnormal identification of the measured signal.

[0087] In one embodiment, if Figure 6As shown, after step 208, the following further includes:

[0088] Step 602: Acquire ground-based augmentation information correction numbers and satellite-based augmentation information correction numbers associated with the target system.

[0089] Step 604: Determine the operating status of the target system based on the ground-based augmentation information correction number and the satellite-based augmentation information correction number.

[0090] In this embodiment, the operation health status of the target system is monitored based on the ground-based augmentation information correction number and the satellite-based augmentation information correction number, which helps to improve the accuracy of the operation health status monitoring result.

[0091] In one embodiment, if Figure 7 As shown, the method also includes:

[0092] Step 702: Determine the location information of the target device based on the navigation service signal.

[0093] Step 704: Compare and analyze the positioning information with the calibrated position information of the target device to determine the positioning accuracy of the navigation service signal.

[0094] Step 706: Accurately determine the performance level of the target system based on the positioning.

[0095] In this embodiment, the navigation information monitoring subsystem module can perform real-time positioning solution, compare and analyze the positioning results with the calibrated position, and thus realize the monitoring of positioning accuracy. In this way, by analyzing the quality of observed data and positioning accuracy, the performance level of satellite navigation signals and the impact of interference signals can be judged.

[0096] In a most specific embodiment, it can be Figure 8 As shown in the figure, the GNSS navigation signal information monitoring service hardware mainly consists of interference direction finding antenna and interference deception signal processing receiver, GNSS positioning directional antenna and GNSS receiver and RF cable. The key to the detection of hopping signals such as FH (frequency hopping), TDMA (time division multiple access) and FDMA (frequency division multiple access) lies in the capture and identification technology of burst signals.

[0097] With the help of real-time FFT computing capabilities, the present application scheme makes it possible to set a "template" of any shape to trigger the signal based on the power and frequency parameter information. This is the so-called "frequency template trigger" function. "Frequency template trigger" triggers the acquisition signal based on a specific event in the frequency domain. The specific method is to set the pre-trigger value in advance, so as to distribute the measured signal in terms of occurrence time. The "pre-trigger value" can be set to save 10% of the information before the trigger event occurs, or to set to retain 90% of the information before the trigger event occurs. For frequency hopping signals, high-speed AD is used in conjunction with FFT technology to achieve the capture of frequency hopping signals and the acquisition of frequency hopping patterns. TDMA and FDMA are mainly based on fast measurement technology and fast statistics in the time domain, and can be presented in the form of waterfall charts and other methods.

[0098] The interferometer used in the present application is a relatively mature direction-finding method, which is widely used in the field of electronic countermeasures. Compared with other traditional direction-finding methods, it has the characteristics of high sensitivity, high accuracy and high speed. The relevant interferometer direction-finding technology solves the technical difficulties such as phase ambiguity and poor antenna consistency. At the same time, it integrates dual-antenna direction-finding technology and GNSS measurement receivers. The dual-antenna direction-finding result provides a true value for the interference direction-finding result, so that the final monitoring direction-finding result is a true value rather than a relative angle.

[0099] The interference signal detection and positioning subsystem module of the present application monitors key frequency bands and frequencies. The key frequency bands mainly refer to the working frequency bands or frequency points of the navigation system. The monitoring results of specific signal spectrum are displayed in a graphical manner, including power spectrum distribution data, signal or noise level data, dynamic data of signal level changes, etc. For example, key frequency bands such as L1, L2, L5, B1, B2, B3, G1, and G2 can be set for monitoring. When interference occurs, the direction finding interface can be switched through simple and convenient operations to link direction finding. According to the alarm template set by the user, automatic alarm is realized for the spectrum signal of the monitoring frequency band (frequency), mainly notifying abnormal changes in the monitoring signal through frequency comparison, signal level comparison, signal spectrum comparison, etc.

[0100] The spoofing signal monitoring subsystem module of the present application utilizes the specific regularity of the code phase of the GNSS signal. By accurately measuring the received signal code phase, it is compared with the code phase that the real satellite signal should have. If the code phase has an abnormal offset or change that does not conform to the regularity of the normal satellite signal, it can be judged as the presence of a spoofing signal.

[0101] This application builds a model by learning the normal GNSS signal features, such as a principal component analysis model, etc. When the deviation between the received signal features and the normal model exceeds a certain threshold, it is determined to be an abnormal signal, that is, there may be a spoofing attack.

[0102] This application integrates an inertial navigation system (INS) that can independently provide positioning information. By combining INS with GNSS, when the GNSS signal shows signs of possible spoofing, such as a sudden jump in position, the short-term high-precision positioning characteristics of INS are used to assist in judgment. If the positioning information difference between INS and GNSS is too large and exceeds the set threshold, it indicates that there may be spoofing. These algorithms play an important role in improving the anti-spoofing capabilities of the GNSS system and continuously ensure the security and reliability of GNSS applications.

[0103] The navigation information monitoring subsystem module of this application receives satellite positioning signals of constellations such as GPS, Beidou, GLONASS, and GALILEO in real time, and monitors the power anomalies and interference of the signals by measuring the power and carrier-to-noise ratio of the signals; receives and analyzes the broadcast messages broadcast in the satellite positioning signals in real time, and monitors the working health status of the constellation satellites through the health status words in the messages; receives and analyzes the ground-based augmentation information correction numbers and satellite-based augmentation correction numbers in real time, and analyzes and determines the health status of the satellite signals; measures the pseudorange, carrier phase, signal power and other observation quantities of the received satellite positioning signals in real time, and detects the quality of the observation data; performs positioning solution in real time, compares and analyzes the positioning results with the calibrated positions, and monitors the positioning accuracy; and judges the performance level of the satellite navigation signal and the influence of the interference signal by analyzing the quality of the observation data and the positioning accuracy. The international standard data format (RINEX format) is used to be compatible with the data of similar systems in other regions, and is compatible with the data of the national GNSS monitoring network. The observation data of the receiver can be analyzed, and the historical backtracking function can be performed for the problems that arise.

[0104] 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.

[0105] Based on the same inventive concept, the embodiment of the present application also provides a GNSS navigation information service monitoring device for implementing the above-mentioned GNSS navigation information service monitoring method. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above-mentioned method, so the specific limitations in one or more embodiments of the GNSS navigation information service monitoring device provided below can refer to the above-mentioned limitations on the GNSS navigation information service monitoring method, and will not be repeated here.

[0106] In one embodiment, Fig. 9 As shown, a GNSS navigation information service monitoring device is provided, including: a signal acquisition module, an alarm comparison module, an auxiliary judgment module and an abnormality judgment module, wherein:

[0107] A signal acquisition module, used for acquiring a test signal to be processed from a navigation service signal sent by a target system in response to a trigger of an acquisition signal;

[0108] An alarm comparison module is used to compare the measured signal based on a preset alarm template to obtain an alarm comparison result;

[0109] an auxiliary determination module, configured to obtain an auxiliary system signal corresponding to the measured signal if it is determined based on the alarm comparison result that the measured signal is abnormal, wherein the auxiliary system signal is a short-term high-precision positioning service signal associated with the measured signal;

[0110] The abnormality judgment module is used to judge the abnormality of the measured signal based on the auxiliary system signal to obtain the abnormality monitoring result of the target system.

[0111] In one embodiment, the signal acquisition module includes:

[0112] A trigger template module, used to obtain characteristic information of abnormal signals and construct an abnormal trigger template based on the characteristic information;

[0113] The template matching module is used to monitor the navigation service signal based on the abnormal trigger template, and trigger the acquisition signal if the matching degree between the navigation service signal and the abnormal trigger template exceeds a preset matching threshold.

[0114] In one embodiment, the signal acquisition module includes:

[0115] An acquisition window module, configured to determine an acquisition window for acquiring the measured signal in response to a trigger of the acquisition signal;

[0116] The pre-trigger module is used to adjust the acquisition window based on a preset pre-trigger value, and use the adjusted acquisition window to acquire the measured signal.

[0117] In one embodiment, the device further comprises:

[0118] A signal model module, used to obtain historical navigation service signal samples, and to construct and train a signal calibration model based on the historical navigation service signal samples, wherein the signal calibration model includes normal navigation service signal features;

[0119] The deviation comparison module is used to obtain the deviation characteristic value between the measured signal and the signal calibration model. If the deviation characteristic value exceeds a preset deviation threshold, it is determined that the measured signal is abnormal.

[0120] In one embodiment, after the abnormality judgment module, it also includes:

[0121] A correction number module, used to obtain ground-based augmentation information correction numbers and satellite-based augmentation information correction numbers associated with the target system;

[0122] An operating status module is used to determine the operating status of the target system based on the ground-based augmentation information correction number and the satellite-based augmentation information correction number.

[0123] In one embodiment, the device further comprises:

[0124] A positioning information module, used to determine the positioning information of the target device based on the navigation service signal;

[0125] A positioning accuracy module, used to compare and analyze the positioning information with the calibrated position information of the target device to determine the positioning accuracy of the navigation service signal;

[0126] A performance level module is used to accurately determine the performance level of the target system based on the positioning.

[0127] Each module in the above-mentioned GNSS navigation information service monitoring device can be implemented in whole or in part by software, hardware or a combination thereof. Each module 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 module above.

[0128] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Fig.10As shown. The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit and an input device. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input / output interface. 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 input / output interface of the computer device is used to exchange information between the processor and an external device. 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 implemented through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a GNSS navigation information service monitoring method is implemented. The display unit of the computer device is used to form a visually visible picture, which can be a display screen, a projection device or a virtual reality imaging device. The display screen 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 covering the display screen, or a button, trackball or touchpad set on the computer device shell, or an external keyboard, touchpad or mouse.

[0129] Those skilled in the art will understand that Fig.10 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application 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.

[0130] In one embodiment, a computer device is further provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above method embodiments when executing the computer program.

[0131] 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 steps in the above-mentioned method embodiments are implemented.

[0132] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0133] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant laws, regulations and standards of relevant countries and regions.

[0134] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods 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 in this application 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 in this application 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 in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0135] 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.

[0136] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A GNSS navigation information service monitoring method, characterized in that: The method comprises: In response to the triggering of the acquisition signal, the measured signal to be processed is acquired from the navigation service signal sent by the target system; Comparing the measured signal based on a preset alarm template to obtain an alarm comparison result; If it is determined based on the alarm comparison result that the measured signal is abnormal, then obtaining an auxiliary system signal corresponding to the measured signal, wherein the auxiliary system signal is a short-term high-precision positioning service signal associated with the measured signal; An abnormality judgment is made on the measured signal based on the auxiliary system signal to obtain an abnormality monitoring result of the target system.

2. The method according to claim 1, characterized in that: In response to the triggering of the acquisition signal, the acquisition of the to-be-processed measured signal from the navigation service signal sent by the target system includes: Acquire characteristic information of the abnormal signal, and construct an abnormal trigger template based on the characteristic information; The navigation service signal is monitored based on the abnormal trigger template, and if the matching degree between the navigation service signal and the abnormal trigger template exceeds a preset matching threshold, the acquisition signal is triggered.

3. The method according to claim 2, characterized in that In response to the triggering of the acquisition signal, the acquisition of the to-be-processed measured signal from the navigation service signal sent by the target system includes: In response to the triggering of the acquisition signal, determining an acquisition window for acquiring the measured signal; The acquisition window is adjusted based on a preset pre-trigger value, and the measured signal is acquired using the adjusted acquisition window.

4. The method according to claim 1, characterized in that: The method further comprises: Acquire historical navigation service signal samples, and construct and train a signal calibration model based on the historical navigation service signal samples, wherein the signal calibration model includes normal navigation service signal features; A deviation characteristic value between the measured signal and the signal calibration model is obtained, and if the deviation characteristic value exceeds a preset deviation threshold, it is determined that the measured signal is abnormal.

5. The method according to claim 1, characterized in that After the abnormality determination of the measured signal based on the auxiliary system signal is performed to obtain the abnormality monitoring result of the target system, the method further includes: Acquiring ground-based augmentation information correction numbers and satellite-based augmentation information correction numbers associated with the target system; The operating status of the target system is determined based on the ground-based augmentation information correction number and the satellite-based augmentation information correction number.

6. The method according to claim 1, characterized in that The method further comprises: Determine the location information of the target device based on the navigation service signal; Comparing and analyzing the positioning information with the calibrated position information of the target device to determine the positioning accuracy of the navigation service signal; A performance level of the target system is accurately determined based on the positioning.

7. A GNSS navigation information service monitoring device, characterized in that: The device comprises: A signal acquisition module, used for acquiring a test signal to be processed from a navigation service signal sent by a target system in response to a trigger of an acquisition signal; An alarm comparison module is used to compare the measured signal based on a preset alarm template to obtain an alarm comparison result; an auxiliary determination module, configured to obtain an auxiliary system signal corresponding to the measured signal if it is determined based on the alarm comparison result that the measured signal is abnormal, wherein the auxiliary system signal is a short-term high-precision positioning service signal associated with the measured signal; The abnormality judgment module is used to judge the abnormality of the measured signal based on the auxiliary system signal to obtain the abnormality monitoring result of the target system.

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 6 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 6 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 6 are implemented.

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