Antenna data anomaly detection method and device and electronic equipment

Abstract

The embodiment of the invention provides an antenna data anomaly detection method and device and electronic equipment, and relates to the technical field of positioning. The method is applied to the positioning equipment, the positioning equipment comprises a first antenna and a second antenna, the method comprises the following steps: first GNSS data and second GNSS data are obtained, the first GNSS data obtained through the first antenna comprises first position information, and the second GNSS data obtained through the second antenna comprises second position information; calculating a differential item of a position error according to the first position information and the second position information; and judging whether the first GNSS data and the second GNSS data are abnormal or not according to the obtained differential item and a preset differential value. Therefore, whether the GNSS data of the antenna is abnormal or not can be diagnosed in time, so that other modes can be adopted in time for positioning, and safety is guaranteed.

Description

Technical Field

[0001] The present application relates to the field of positioning technology, and in particular to a method, device and electronic equipment for detecting anomalies in antenna data. Background Art

[0002] At present, in the field of integrated navigation, a single GNSS (Global Navigation Satellite System) antenna data is generally used to fuse with IMU (Inertial Measurement Unit) data. When the data of this antenna is abnormal, the accuracy of the fused data will decrease or even the data will be abnormal. Therefore, there is an urgent need for a method that can identify abnormal antenna data to avoid using unusable abnormal antenna data during fusion. Summary of the invention

[0003] The embodiments of the present application provide an antenna data anomaly detection method, device, electronic device and readable storage medium, which can promptly diagnose whether the GNSS data of the antenna has an anomaly, so as to promptly adopt other methods for positioning to ensure safety.

[0004] The embodiments of the present application can be implemented as follows:

[0005] In a first aspect, an embodiment of the present application provides an antenna data anomaly detection method, which is applied to a positioning device, wherein the positioning device includes a first antenna and a second antenna, and the method includes:

[0006] Obtaining first GNSS data and second GNSS data, wherein the first GNSS data obtained through the first antenna includes first position information, and the second GNSS data obtained through the second antenna includes second position information;

[0007] Calculating a differential term of a position error according to the first position information and the second position information;

[0008] Whether the first GNSS data and the second GNSS data are abnormal is determined according to the obtained differential term and the preset differential value.

[0009] In a second aspect, an embodiment of the present application provides an antenna data anomaly detection device, which is applied to a positioning device, wherein the positioning device includes a first antenna and a second antenna, and the device includes:

[0010] a data acquisition module, configured to acquire first GNSS data and second GNSS data, wherein the first GNSS data acquired through the first antenna includes first position information, and the second GNSS data acquired through the second antenna includes second position information;

[0011] A position determination module, used for calculating a differential term of a position error according to the first position information and the second position information;

[0012] The position determination module is further used to determine whether the first GNSS data and the second GNSS data are abnormal according to the obtained differential term and the preset differential value.

[0013] In a third aspect, an embodiment of the present application provides an electronic device, including a processor and a memory, wherein the memory stores machine executable instructions that can be executed by the processor, and the processor can execute the machine executable instructions to implement the antenna data anomaly detection method described in the aforementioned embodiment.

[0014] In a fourth aspect, an embodiment of the present application provides a readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the antenna data anomaly detection method as described in the aforementioned embodiment is implemented.

[0015] The antenna data anomaly detection method, device, electronic device and readable storage medium provided in the embodiment of the present application first obtain the first GNSS data obtained by the first antenna and the second GNSS data obtained by the second antenna, then calculate the differential term of the position error according to the first position information in the first GNSS data and the second position information in the second GNSS data, and then judge whether the first GNSS data and the second GNSS data are abnormal according to the obtained differential term and the preset differential value. In this way, it is possible to timely diagnose whether the GNSS data of the antenna has been abnormal, so as to take other methods for positioning in time to ensure safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 A block diagram of an electronic device provided in an embodiment of the present application;

[0018] Figure 2 One of the flow charts of the antenna data anomaly detection method provided in the embodiment of the present application;

[0019] Figure 3 A second flow chart of the antenna data anomaly detection method provided in an embodiment of the present application;

[0020] Figure 4 for Figure 2 A schematic flow chart of the sub-steps included in step S140;

[0021] Figure 5 for Figure 2 A schematic flow chart of the sub-steps included in step S150;

[0022] Figure 6 A third flowchart of the antenna data anomaly detection method provided in an embodiment of the present application;

[0023] Figure 7 for Figure 6 A schematic flow chart of the sub-steps included in step S170;

[0024] Figure 8 A fourth flowchart of the antenna data anomaly detection method provided in an embodiment of the present application;

[0025] Fig. 9 One of the block diagrams of the antenna data anomaly detection device provided in an embodiment of the present application;

[0026] Fig.10 A second block diagram of the antenna data anomaly detection device provided in an embodiment of the present application;

[0027] Fig.11 A third block diagram of the antenna data anomaly detection device provided in an embodiment of the present application;

[0028] Fig.12 The fourth block diagram of the antenna data anomaly detection device provided in an embodiment of the present application.

[0029] Icon: 100 - electronic device; 110 - memory; 120 - processor; 130 - communication unit; 200 - antenna data anomaly detection device; 210 - frequency judgment module; 220 - data acquisition module; 230 - position judgment module; 240 - speed judgment module; 250 - fusion module. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0031] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0032] It should be noted that relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0033] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0034] At present, abnormality recognition is generally performed based on multiple frames of data from a single antenna. For example, the difference between the previous and next frames of data from a single antenna and the corresponding threshold value are used to determine whether the current data of the antenna is abnormal. However, this method has low effective recognition power for abnormal data.

[0035] The embodiments of the present application provide an antenna data anomaly detection method, device, electronic device and readable storage medium, which can promptly diagnose that the GNSS data of the antenna is abnormal when the GNSS data of a single antenna is unstable, so that other methods can be taken in time for positioning to ensure safety.

[0036] Please refer to Figure 1 , Figure 1 A block diagram of an electronic device 100 provided in an embodiment of the present application. The electronic device 100 may be a device used in a positioning device for monitoring abnormal data and calculating positioning information. The positioning device may be, but is not limited to, an unmanned device or other devices. The electronic device 100 may include a memory 110, a processor 120, and a communication unit 130. The memory 110, the processor 120, and the communication unit 130 are electrically connected to each other directly or indirectly to achieve data transmission or interaction. For example, these components may be electrically connected to each other via one or more communication buses or signal lines.

[0037] The memory 110 is used to store programs or data. The memory 110 may be, but is not limited to, a random access memory (RAM), a read only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), etc.

[0038] The processor 120 is used to read / write data or programs stored in the memory 110 and execute corresponding functions. For example, the memory 110 stores an antenna data anomaly detection device 200, and the antenna data anomaly detection device 200 includes at least one software function module that can be stored in the memory 110 in the form of software or firmware. The processor 120 executes various functional applications and data processing by running software programs and modules stored in the memory 110, such as the antenna data anomaly detection device 200 in the embodiment of the present application, that is, implementing the antenna data anomaly detection method in the embodiment of the present application.

[0039] The communication unit 130 is used to establish a communication connection between the electronic device 100 and other communication terminals through a network, and to send and receive data through the network.

[0040] It should be understood that Figure 1 The structure shown is only a schematic diagram of the structure of the electronic device 100. The electronic device 100 may also include Figure 1 More or fewer components as shown, or with Figure 1 Different configurations shown. Figure 1 Each component shown in the figure can be implemented by hardware, software or a combination thereof.

[0041] Please refer to Figure 2 , Figure 2 One of the flow diagrams of the antenna data anomaly detection method provided in the embodiment of the present application. The method can be applied to a positioning device, which includes a first antenna and a second antenna. The specific process of the antenna data anomaly detection method is described in detail below. In this embodiment, the method may include steps S130 to S150.

[0042] Step S130, obtaining first GNSS data and second GNSS data.

[0043] In this embodiment, the first GNSS data may be obtained through the first antenna, and the second GNSS data may be obtained through the second antenna. The first GNSS data includes the first location information, and the second GNSS data includes the second location information. The location information in the first GNSS data and the second GNSS data may include longitude, latitude, and elevation. The first GNSS data and the second GNSS data may also include other information, which may be determined in combination with actual needs.

[0044] Step S140: calculating a differential term of a position error according to the first position information and the second position information.

[0045] In this embodiment, the position error can be calculated based on the first position information and the second position information corresponding to the same time, and then the differential term of the position error can be calculated. The differential term can be the quotient of a position error and the operation interval time of the antenna. The calculated position error can be only one or more, which can be determined in combination with actual needs.

[0046] Step S150: determining whether the first GNSS data and the second GNSS data are abnormal according to the obtained differential term and the preset differential value.

[0047] In this embodiment, the obtained differential term can be compared with the corresponding preset differential value. If the differential term is greater than the corresponding preset differential value, the first GNSS data and the second GNSS data can be determined to be abnormal. Alternatively, the differential term can be subjected to denoising, etc., and then it is determined whether the value obtained after the processing is greater than the corresponding preset differential value. If it is greater, the GNSS data and the second GNSS data can be determined to be abnormal. Alternatively, in the case of multiple position errors, the differential term corresponding to each position error and the corresponding preset differential value can be combined for judgment, and the first GNSS data and the second GNSS data can be determined to be abnormal according to the judgment result corresponding to the differential term of each position error. For example, when the judgment result corresponding to at least one differential term of the position error indicates abnormality, the first GNSS data and the second GNSS data are determined to be abnormal; or when the proportion of the judgment results indicating abnormality in the judgment results corresponding to the differential terms of the position error is greater than the preset proportion, the first GNSS data and the second GNSS data are determined to be abnormal. It is worth noting that the above specific judgment method is only for example, and other judgment methods can also be used to judge whether the first GNSS data and the second GNSS data are abnormal based on the differential term and the preset differential value.

[0048] The position error calculated by the dual antennas will have a fixed error when the antennas are far away from the base station. If the judgment is made only based on the position error combined with the corresponding threshold, misjudgment may occur. To avoid misjudgment, in this embodiment, the differential term of the dual antenna position error is used to determine whether the GNSS data of the dual antennas is abnormal, thereby improving the effective recognition power of abnormal data.

[0049] Please refer to Figure 3 , Figure 3 The second flowchart of the antenna data anomaly detection method provided in the embodiment of the present application. In this embodiment, the method may also include steps S110 to S120. Step S110 may be performed before step S150, or simultaneously with step S150, or after step S150, and the specific method may be determined in combination with actual needs. As a possible implementation method, in order to reduce the workload, step S110 may be performed before step S130, and step S130 may be performed if no anomaly is determined.

[0050] Step S110: for the first antenna and / or the second antenna, determine whether the current actual data update frequency of the antenna meets the preset frequency requirement.

[0051] When the current actual data update frequency does not meet the preset frequency requirement, step S120 is executed.

[0052] Step S120: determining whether the current GNSS data of the antenna is abnormal.

[0053] In this embodiment, for each antenna, when the antenna enters the fixed solution state, the current actual data update frequency of the antenna can be obtained respectively, and then it is determined whether the actual data update frequency is greater than the preset frequency requirement. For example, a preset frequency range is set according to the preset frequency corresponding to an antenna, and if the actual data update frequency of the antenna is within the corresponding preset frequency range, it is determined that the current actual data update frequency of the antenna meets the preset frequency requirement, that is, the current actual data update frequency of the antenna is normal.

[0054] When the current actual data update frequency of an antenna meets the preset frequency requirement, step S130 can be executed to determine whether the GNSS data of the antenna is abnormal through subsequent other judgments. When the current actual data update frequency of an antenna does not meet the preset frequency requirement, it can be directly determined that the GNSS data of the antenna is abnormal, and the current GNSS data of the antenna cannot be used for data fusion subsequently. Alternatively, step S130 can be executed when the current actual data update frequency of the dual antennas (i.e., the first antenna and the second antenna) meets the preset frequency requirement.

[0055] Optionally, as a possible implementation, a target antenna may be pre-selected. The target antenna is a predetermined antenna among the first antenna and the second antenna for fusing data for positioning. For the target antenna, it may be determined whether the actual update frequency of the target antenna meets the preset frequency requirement, and if so, step S130 is executed; if not, it is determined that the GNSS data of the target antenna is abnormal, and the current GNSS data of the target antenna cannot be used for data fusion subsequently.

[0056] In this embodiment, when the abnormality is not determined by frequency judgment (i.e., the GNSS data abnormality is not determined based on frequency), the position error can be calculated based on the collected dual-antenna GNSS data, and then the differential term of the position error is calculated, and according to the differential term and the preset differential value, it is determined whether the current GNSS data of the dual antennas is abnormal. Among them, the obtained position error may include at least one of the longitude error, the latitude error and the elevation error, and correspondingly, the obtained differential term may include at least one of the differential term corresponding to the longitude error, the differential term corresponding to the latitude error and the differential term corresponding to the elevation error.

[0057] In this embodiment, as a possible implementation method, only the current GNSS data of the first antenna and the second antenna can be collected, and then the position error of the current position information of the first antenna and the second antenna can be calculated, and then the differential term of the position error can be calculated, and then based on the differential term and the corresponding preset differential value, it is determined whether the current GNSS data of the first antenna and the second antenna is abnormal. In this way, it is convenient to quickly determine whether the current GNSS data of the dual antennas is abnormal.

[0058] Optionally, the differential term can be compared with the preset differential value, and whether it is abnormal can be determined based on the comparison result. Alternatively, before comparing with the preset differential value, the differential term can be low-pass filtered to smooth the data and reduce the impact of noise; then, it is determined whether the differential term after low-pass filtering is greater than the corresponding preset differential value. If it is greater, it is determined that the current GNSS data of the first antenna and the second antenna is abnormal; otherwise, it can be directly determined that the current GNSS data of the first antenna and the second antenna is normal or combined with other methods to make a judgment.

[0059] In this embodiment, as another possible implementation method, historical data can be combined for judgment to improve the accuracy of the judgment. In this method, the first position information and the second position information corresponding to each moment in the preset time period can be collected, and then the position error corresponding to each moment can be calculated, that is, the position error corresponding to each of the multiple moments is obtained, and then the differential term of each position error is directly obtained; then, for various position errors, the size relationship between the differential term of the position error and the preset differential value corresponding to the position error is obtained, and then it is determined whether the current GNSS data of the dual antenna is abnormal. Among them, the time end point of the preset time period is the current moment, and the specific duration can be determined in combination with actual needs.

[0060] For example, when the calculated position error includes longitude error, latitude error, and elevation error, for the longitude error, it is determined whether the differential item of the longitude error at each moment is greater than the corresponding preset differential value. If the differential item of the longitude error is greater than the corresponding preset differential value, or the proportion of the comparison result of the longitude error differential item greater than the corresponding preset differential value in all comparison results corresponding to the differential item of the longitude error is greater than the preset proportion, or the duration of the situation that the differential item of the longitude error is greater than the corresponding preset differential value is greater than the second preset duration, then the longitude is determined to be abnormal. Wherein, the second preset duration is less than the first preset duration corresponding to the preset time period, and the first preset duration is the duration of the preset time period. Similarly, similar processing is performed for the latitude error and the elevation error to determine whether the latitude and the elevation are abnormal. Afterwards, when at least one of the longitude anomaly, the latitude anomaly, and the elevation anomaly occurs, it can be determined that the current GNSS data of the first antenna is abnormal and the current GNSS data of the second antenna is abnormal. The preset differential values ​​corresponding to the longitude, latitude, and elevation can be the same or different, and can be set according to actual needs. It is worth noting that the above judgment method is only an example, and other methods can also be used to judge whether the longitude, latitude, and elevation are abnormal, and to judge whether the current GNSS data is abnormal based on the longitude, latitude, and elevation.

[0061] Optionally, in the case of combining historical data judgment, in order to reduce the amount of calculation while realizing abnormal judgment, Figure 4 The differential term is obtained in the manner shown to determine whether the GNSS data is abnormal. Figure 4 , Figure 4 for Figure 2 Schematic diagram of the flow of sub-steps included in step S140. In this embodiment, step S140 may include sub-steps S141 to S143.

[0062] Sub-step S141, obtaining the position error corresponding to each moment in the preset time period according to the first position information and the second position information.

[0063] Sub-step S142, determining in sequence whether the position error corresponding to each moment is greater than a preset position error.

[0064] Sub-step S143, when the first position error greater than the preset position error is determined, the differential terms of each position error are calculated starting from the position error.

[0065] In this embodiment, the position error corresponding to each moment can be calculated based on the first position information and the second position information corresponding to each moment within the preset time. Among them, the position error corresponding to a moment includes at least one position error. Then, for various position errors, it can be judged in sequence whether the position error corresponding to each moment is greater than the corresponding preset position error in accordance with the time sequence; if the position error corresponding to this position error at each moment is not greater than the corresponding preset position error, it can be determined that the position corresponding to this position error is not abnormal, for example, if the longitude error at each moment is not greater than the corresponding preset position error, it can be directly determined that the longitude is not abnormal.

[0066] If, in the process of comparing a certain position error in time series, it is determined that a certain position error at a certain moment is greater than the corresponding preset position error, then the differential items of each position error can be calculated in sequence starting from the position error corresponding to the moment, and then the GNSS data can be judged whether it is abnormal based on this part of the differential items. For example, for the longitude error, the longitude errors at moments t1 to t10 are obtained. If it is determined that the longitude error at moment t1 is not greater than the preset position error corresponding to the longitude, and the longitude error at moment t2 is greater than the preset position error corresponding to the longitude, then the differential items of the longitude errors at moments t2 to t10 are calculated.

[0067] If the position errors corresponding to various position errors at each moment are not greater than the corresponding preset position errors, it can be directly determined that the GNSS data anomaly is not determined based on the position information.

[0068] In combination with historical data, Figure 5 The method shown below determines whether the GNSS data is abnormal. Figure 5 , Figure 5 for Figure 2 Schematic diagram of the flow of sub-steps included in step S150. In this embodiment, step S150 may include sub-steps S151 to S153.

[0069] Sub-step S151, determining the value to be compared according to the differential item corresponding to each moment in the preset time period.

[0070] In this embodiment, the differential items corresponding to each moment in the preset time period can be obtained by any of the above methods. That is, the differential values ​​corresponding to each moment in the preset time period can be directly calculated based on the first position information and the second position information at each moment, or can be obtained through screening. The time end point of the preset time period is the current moment.

[0071] Optionally, the differential item corresponding to each moment can be directly used as the value to be compared corresponding to the moment. Alternatively, the differential item corresponding to each moment can be low-pass filtered respectively, and the processed result can be used as the value to be compared at the corresponding moment, thereby reducing the influence of noise.

[0072] Sub-step S152, by judging whether the corresponding to-be-ratio value at each moment in the preset time period is greater than the corresponding preset differential value, obtains the duration of the to-be-ratio value being greater than the corresponding preset differential value, and judges whether the duration is greater than the second preset duration.

[0073] Sub-step S153, when the duration is longer than the second preset duration, determining that the current first GNSS data of the first antenna and the current second GNSS data of the second antenna are abnormal.

[0074] For the to-be-ratio values ​​corresponding to various position errors, it can be determined whether the to-be-ratio values ​​corresponding to the error at each moment within the preset time period are greater than the corresponding preset differential value, and the duration of the duration of the duration of the duration of the to-be-ratio values ​​corresponding to the various position errors being greater than the corresponding preset differential value can be counted. If the duration of the duration of the to-be-ratio value corresponding to a position error being greater than the corresponding preset differential value is greater than the second preset duration, it can be determined that the current GNSS data of the first antenna and the second antenna are abnormal. The second preset duration is less than the first preset duration corresponding to the preset time period.

[0075] For example, the position error obtained includes: longitude error, latitude error and elevation error. For the longitude error, it can be determined whether the to-be-compare value corresponding to the longitude error at each moment (the to-be-compare value at a moment is obtained based on the longitude error at that moment) is greater than the preset differential value corresponding to the longitude, and the duration of the to-be-compare value corresponding to the longitude error is greater than the preset differential value corresponding to the longitude is obtained by statistics, and then it is determined whether the duration is greater than the second preset duration. Similarly, it is determined whether the to-be-compare value corresponding to the latitude error at each moment is greater than the preset differential value corresponding to the latitude, and the duration of the to-be-compare value corresponding to the latitude error is greater than the preset differential value corresponding to the latitude is obtained by statistics, and then it is determined whether the duration is greater than the second preset duration; and it is determined whether the to-be-compare value corresponding to the elevation error at each moment is greater than the preset differential value corresponding to the latitude, and the duration of the to-be-compare value corresponding to the elevation error is greater than the preset differential value corresponding to the elevation is obtained by statistics, and then it is determined whether the duration is greater than the second preset duration. If the duration that the to-be-ratio value corresponding to one of the position errors is greater than the corresponding preset differential value is greater than the second preset duration, it is determined that the current first GNSS data of the first antenna is abnormal and the current second GNSS data of the second antenna is abnormal.

[0076] In this embodiment, in order to improve the accuracy of abnormality detection, it is also possible to combine Figure 6 Steps S160 to S170 in the above example perform abnormality detection. Figure 6 , Figure 6 The third flowchart of the antenna data anomaly detection method provided in the embodiment of the present application. In this embodiment, the method may also include steps S160 to S170. Optionally, steps S160 to S170 may be performed before steps S130 to S150, or may be performed simultaneously with steps S130 to S150, or may be performed when no anomaly is determined by steps S130 to S150, and the specific steps may be determined in combination with actual needs.

[0077] Step S160: for the first antenna and / or the second antenna, determine the three-dimensional position differential velocity and / or Doppler velocity according to the current GNSS data of the antenna.

[0078] Step S170: for the three-dimensional position differential velocity and / or Doppler velocity, according to the reference velocity obtained by the first reference sensor, determine whether the current GNSS data of the antenna is abnormal.

[0079] In this embodiment, it is possible to determine whether the current GNSS data of the first antenna is abnormal based on the speed of the first antenna, and it is possible to determine whether the current GNSS data of the second antenna is abnormal based on the speed of the second antenna. Alternatively, if a target antenna is predetermined, it is possible to determine whether the current GNSS data of the target antenna is abnormal based on the speed of the target antenna, and the target antenna is a predetermined antenna among the first antenna and the second antenna for fusion data for positioning.

[0080] The three-dimensional position differential velocity of an antenna can be calculated based on the longitude, latitude and elevation data in the GNSS data of the antenna. The three-dimensional position differential velocity includes the horizontal position differential velocity and the vertical position differential velocity. The horizontal position differential velocity includes the velocity in two directions, for example, the velocity in the X-axis direction and the velocity in the Y-axis direction. Optionally, the three-dimensional position differential velocity of an antenna can be calculated based on the longitude, latitude and elevation of the antenna at the previous moment and the current moment.

[0081] The GNSS data of an antenna may also include Doppler velocity. Similarly, Doppler velocity includes GNSS horizontal Doppler velocity and GNSS vertical Doppler velocity. GNSS horizontal Doppler velocity includes velocities in two directions, for example, velocity in the X-axis direction and velocity in the Y-axis direction.

[0082] That is, the three-dimensional position differential velocity and the Doppler velocity both include the velocity in the direction of each coordinate axis in the corresponding three-dimensional coordinate system.

[0083] When judging based on the three-dimensional position differential velocity of an antenna, it is possible to judge whether the current GNSS data of the antenna is abnormal based on at least one speed in the three-dimensional position differential velocity and the reference speed corresponding to the speed in the reference speed obtained by the first reference sensor. Among them, the first reference sensor can be specifically determined in combination with actual needs, as long as the corresponding speed can be obtained. For example, based on the three speeds in the three-dimensional position differential velocity or Doppler velocity, the first reference sensor may include a sensor for obtaining optical flow velocity, a ground radar for obtaining private radar velocity, and a barometer for obtaining barometer velocity. Similarly, it is possible to judge whether the current GNSS data of the antenna is abnormal based on at least one speed in the Doppler velocity and the reference speed corresponding to the speed in the reference velocity obtained by the first reference sensor.

[0084] Optionally, as a possible implementation, when judging based on at least one of the three-dimensional position differential velocity or Doppler velocity, the difference can be directly calculated, and then the difference can be compared with a preset threshold value. If the difference is greater than the threshold value, the velocity is determined to be abnormal; if the difference is less than the threshold value, the velocity is not determined to be abnormal. In this way, it is convenient to quickly complete the judgment based on the three-dimensional position differential velocity or Doppler velocity.

[0085] Different speeds have different tolerable errors. To avoid misjudgment caused by inappropriate threshold settings, as a possible implementation method, Figure 7 The method shown here completes the abnormal judgment based on speed. Figure 7 , Figure 7 for Figure 6 Schematic diagram of the flow of sub-steps included in step S170. In this embodiment, step S170 may include sub-steps S171 to S173.

[0086] Sub-step S171, calculating at least one speed error according to the reference speed and the current speed.

[0087] In this embodiment, the current speed is the three-dimensional position differential speed or the Doppler speed. If both the three-dimensional position differential speed and the Doppler speed need to be determined, sub-steps S171 to S173 can be performed respectively.

[0088] The three-dimensional position differential velocity and the Doppler velocity both include velocities in the directions of the coordinate axes in the corresponding three-dimensional coordinate system. At least one velocity error can be calculated based on the reference velocity and the velocity included in the current velocity.

[0089] As a possible implementation, the reference speed obtained by the first reference sensor includes at least one of an X-axis optical flow speed, a Y-axis optical flow speed, a ground radar speed, and a barometer speed. Correspondingly, the calculated speed error may include: a speed corresponding to the X-axis optical flow speed in the current speed and a speed error of the X-axis optical flow speed, a speed corresponding to the Y-axis optical flow speed in the current speed and a speed error of the Y-axis optical flow speed, a speed error between a vertical speed in the current speed and a ground radar speed, and a speed error between a vertical speed in the current speed and a barometer speed.

[0090] For example, for the three-dimensional position differential velocity, at least one of the error between the X-axis differential velocity and the X-axis optical flow velocity, the error between the Y-axis differential velocity and the Y-axis optical flow velocity, the error between the vertical position differential velocity and the ground radar velocity, and the error between the vertical position differential velocity and the barometer velocity can be calculated. Similarly, for the Doppler radar velocity, at least one of the error between the GNSS X-axis Doppler velocity and the X-axis optical flow velocity, the error between the GNSS Y-axis Doppler velocity and the Y-axis optical flow velocity, the error between the GNSS vertical Doppler velocity and the barometer velocity, and the error between the GNSS vertical Doppler velocity and the ground radar velocity can be calculated.

[0091] Sub-step S172, for each speed error, integrate or low-pass filter and integrate the speed error to obtain the integral value corresponding to the speed error, and calculate the product of the sum of the reference speed corresponding to the speed error and the speed corresponding to the reference speed in the current speed and the preset coefficient corresponding to the speed error to obtain a threshold.

[0092] In this embodiment, for each speed error obtained in sub-step S172, the integral value and threshold value corresponding to the speed error can be obtained as follows. A speed error can be directly integrated to obtain a corresponding integral value; or to reduce the influence of noise, the speed error can be low-pass filtered first, and the low-pass filtering result can be integrated to obtain a corresponding integral value. Next, two speeds used to calculate the speed error are determined, one of which is a reference speed obtained by a first reference sensor, and the other is a speed in the current speed. The sum of the two speeds is calculated, and the threshold value corresponding to the speed error is obtained by multiplying the obtained sum value with the preset coefficient corresponding to the speed error.

[0093] Among them, optionally, the product obtained by directly multiplying the obtained sum value with the preset coefficient corresponding to the speed error can be used as the corresponding threshold. Alternatively, the threshold can be limited to avoid unreasonable thresholds corresponding to the speed error. In the method of limiting the threshold, the threshold range corresponding to the speed error can be pre-set. If the calculated product is not within the threshold range, the value closest to the product within the threshold range can be used as the final threshold.

[0094] For example, if a speed error is the error between the vertical position differential speed and the barometer speed, a threshold range p1 to p2 and a preset coefficient q corresponding to the vertical speed may be pre-set; if the product of the sum of the vertical position differential speed and the barometer speed and the preset coefficient q, if the product is not within the threshold range p1 to p2 and is greater than p2, then p2 may be used as the threshold corresponding to the speed error being the error between the vertical position differential speed and the barometer speed; if the product is not within the threshold range p1 to p2 and is less than p1, then p1 may be used as the threshold corresponding to the speed error being the error between the vertical position differential speed and the barometer speed; if the product is within the threshold range p1 to p2, then the product is used as the threshold corresponding to the error between the vertical position differential speed and the barometer speed.

[0095] Among them, when multiple velocity errors are calculated based on the current speed, the preset coefficients corresponding to different velocity errors may be the same or different. The preset coefficient corresponding to the three-dimensional position differential velocity may be the same as or different from the preset coefficient corresponding to the Doppler velocity. The specific value of the preset coefficient can be set in combination with actual needs and is not specifically limited here.

[0096] Sub-step S173, for each velocity error, according to whether the integral value corresponding to the velocity error is greater than the corresponding threshold, determines whether the current GNSS data of the antenna is abnormal.

[0097] After obtaining the integral value and threshold value corresponding to each speed error corresponding to the current speed, it can be determined whether the integral value corresponding to the speed error is greater than the threshold value corresponding to the speed error, and then whether the current GNSS data of the antenna is abnormal based on the obtained judgment result. For example, if the integral value corresponding to one speed error is greater than the threshold value corresponding to the speed error, it can be determined that the current GNSS data of the antenna is abnormal. If the integral value corresponding to no speed error is greater than the threshold value corresponding to the speed error, it can be determined that the current GNSS data is normal or determined in combination with other judgment methods.

[0098] In this embodiment, the three-dimensional position differential velocity is used to determine whether the GNSS position data corresponding to the GNSS data is abnormal. If the judgment result obtained based on the three-dimensional position differential velocity is abnormal, it means that the GNSS position data corresponding to the GNSS data is abnormal, and it can be directly determined that the GNSS data is abnormal and cannot be used for data fusion. The Doppler velocity is used to determine whether the Doppler velocity in the GNSS data is abnormal. If the Doppler velocity is abnormal, it can be determined that the GNSS data is unavailable or that the GNSS velocity data (i.e., the Doppler velocity) in the GNSS data cannot be used for data fusion.

[0099] Optionally, as a possible implementation method, it is possible to first determine whether the GNSS position data corresponding to the current GNSS data of an antenna is abnormal based on the three-dimensional position differential velocity and reference velocity of the antenna. If the abnormality is not determined, it is then determined whether the GNSS velocity data in the current GNSS data of the antenna is abnormal based on the Doppler velocity and reference velocity of the antenna. If it is determined that the GNSS position data is abnormal, it is no longer necessary to determine whether the current GNSS data of the antenna is abnormal based on the Doppler velocity and reference velocity of the antenna, and the current GNSS data can be directly determined to be abnormal. In this way, the detection can be comprehensive and the workload can be reduced as much as possible.

[0100] As a possible implementation method, frequency judgment can be performed first. In the case of an abnormality based on frequency judgment, it can be directly determined that the GNSS data is unavailable, and no subsequent judgment is performed. In the case that the abnormality is not determined based on frequency judgment, the differential term can be calculated and the abnormality can be determined based on the differential term. In the case that the abnormality is determined based on the differential term, it can be directly determined that the GNSS data is unavailable, and no subsequent judgment is performed. In the case that the abnormality is not determined based on the differential term, a judgment can be made based on the three-dimensional position differential velocity. In the case that the abnormality is determined based on the three-dimensional position differential velocity, it can be directly determined that the GNSS data is unavailable, and no subsequent judgment is performed. In the case that the abnormality is not determined based on the three-dimensional position differential velocity, a judgment can be made based on the GNSS Doppler velocity. In this way, the accuracy of the detection can be guaranteed, and the workload can be reduced as much as possible.

[0101] In the case of making judgments through the above methods, it is also possible to determine how to perform data fusion for positioning based on the obtained results. Figure 8 , Figure 8 The fourth flowchart of the antenna data anomaly detection method provided in the embodiment of the present application is as follows. In this embodiment, the method may further include step S180 and step S190.

[0102] Step S180, for the first antenna or the second antenna, when it is determined that the actual data update frequency of the antenna is not abnormal, the differential item judgment result does not indicate an abnormality, the GNSS speed data is abnormal, and the GNSS position data corresponding to the current GNSS data is not determined to be abnormal according to the three-dimensional position differential speed, data fusion is performed according to the position differential speed corresponding to the current GNSS data of the antenna to obtain positioning information.

[0103] Step S190, for the first antenna or the second antenna, when at least one of the following occurs: the actual data update frequency of the antenna is abnormal, the differential item judgment result indicates an abnormality, and the GNSS position data corresponding to the current GNSS data is abnormal, data fusion is performed based on the data obtained by the second reference sensor to obtain positioning information.

[0104] In this embodiment, when the actual data update frequency of both antennas is abnormal or one of them is abnormal, it can be determined not to use the current first GNSS data of the first antenna or the current second GNSS data of the second antenna for data fusion, but to fuse the data obtained by the second reference sensor with the data obtained by the IMU to obtain positioning information. Among them, the data obtained by IMUS (i.e., IMU data) can include acceleration information and angular velocity information, etc. The second reference sensor can be specifically determined in combination with actual needs, and can be mainly used for fusion for positioning, such as a camera.

[0105] When the actual data update frequency of one of the two antennas is abnormal and the actual data update frequency of the other antenna is not abnormal, for the antenna with normal actual data update frequency, if the antenna is not determined to be abnormal through steps S130 to S170, the current GNSS data of this antenna can be used for data fusion.

[0106] If it is determined through steps S130 to S170 that the current GNSS data of the dual antennas are all abnormal, the data obtained by the second reference sensor may be fused with the data obtained by the IMU to obtain positioning information.

[0107] Optionally, when the actual data update frequency is normal and no antenna abnormality is determined through steps S130 to S150, if the GNSS position data corresponding to the current GNSS data is determined to be abnormal based on the three-dimensional position differential velocity of the antenna, the data obtained by the second reference sensor can also be fused with the data obtained by the IMU to obtain positioning information.

[0108] When the actual data update frequency is normal, no abnormality of a certain antenna is determined through steps S130 to S150, and the GNSS position data abnormality is not determined based on the three-dimensional position differential velocity of the antenna, if the GNSS velocity data abnormality is determined based on the Doppler velocity, the three-dimensional position differential velocity corresponding to the current GNSS data of the antenna can be fused with the data obtained by the IMU to obtain positioning information. If the GNSS velocity data abnormality is not determined based on the Doppler velocity, the current GNSS data of the antenna can be fused with the data obtained by the IMU; wherein, optionally, in this method, the Doppler velocity fusion can be used to obtain the velocity in the positioning information, and the three-dimensional position differential velocity fusion can be used to obtain the position in the positioning information.

[0109] Optionally, if the first antenna and the second antenna are not confirmed to be abnormal through steps S110 to S170, the GNSS data of any one of the first antenna and the second antenna may be selected for data fusion. Alternatively, the GNSS data of the first antenna and the second antenna that is pre-selected as the target antenna may be selected for data fusion.

[0110] When the first antenna and the second antenna are not determined to be abnormal through steps S110 to S150, if one of the two antennas is determined to be abnormal through steps S160 to S170 and the other antenna is not determined to be abnormal through steps S160 to S170, the GNSS data of the antenna that is not determined to be abnormal through steps S160 to S170 can be selected for data fusion.

[0111] It is worth noting that when the antenna data is detected, the judgment can be made only based on the differential item through steps S130 to S150, or it can be judged based on the differential item, combined with at least one of the actual data update frequency, three-dimensional position differential velocity and Doppler velocity, and the specific data fusion method can be determined in combination with the obtained judgment result, which can be determined in combination with actual needs. For example, in the case of judging only by the differential item, if no abnormality is determined based on the differential item, it can be confirmed that the current GNSS data of the first antenna and the second antenna are normal, and the current GNSS data of any antenna of the first antenna and the second antenna can be used for fusion. In the case of judging based on at least one of the actual data update frequency, three-dimensional position differential velocity and Doppler velocity and the differential item, it can be determined according to the results of each judgment whether to use GNSS data for data fusion, or to use the three-dimensional position differential velocity corresponding to the GNSS data for data fusion, or to use the data of the second reference sensor for data fusion. For example, in the case of judging only based on the actual data update frequency and the differential item, if the actual data update frequency judgment result is normal and the differential item judgment result is normal, it can be determined to use GNSS data for data fusion.

[0112] Optionally, after using other sensors (ie, the second sensor) instead of GNSS for data fusion, if no abnormality is confirmed for a period of time, it can be considered that the current GNSS data can be used normally, and the GNSS data can be restored for fusion.

[0113] The following is a brief example of the detection of abnormal elevation data to illustrate the above antenna data abnormality detection method. In the following example, only the position error at altitude and the speed error at altitude are calculated for illustration. It can be understood that when multiple errors and multiple speed errors are calculated, the calculation method is the same.

[0114] Assume that the GNSS data of antenna 1 is gpsData1, the GNSS data of antenna 2 is gpsdata2, Δt is the running interval time, and the unit of Altitude data is cm.

[0115] S1. Calculate the elevation error:

[0116] AltitudeErr=ABS(gpsData1.Altitude-gpsData2.Altitude);

[0117] S2. If AltitudeErr>500, calculate the elevation error differential term and filter value:

[0118] AltitudeDiffErr=(AltitudeErr-lastAltitudeErr) / Δt;

[0119] lastAltitudeErr=AltitudeErr;

[0120]

[0121] Among them, AltitudeErr represents the current elevation error, lastAltitudeErr represents the last elevation error, a represents the filter coefficient, AltitudeDiffErrLpf represents the current filter output value, and lastAltitudeDiffErrLpf represents the last filter output value.

[0122] S3. If AltitudeDiffErrLpf>50 and lasts for one second, it is considered that the current altitude data is relatively large and may be abnormal.

[0123] S4. Calculate the error between the radar speed and the GPS height differential speed (i.e., vertical position differential speed), perform low-pass filtering and integrate; calculate 0.2 times the sum of the radar speed and the GPS height differential speed as the judgment threshold. The judgment threshold can be obtained by the above-mentioned limiting processing method. The above process of determining the integral value and the judgment threshold can be expressed as:

[0124]

[0125]

[0126]

[0127]

[0128] Among them, TF VEL represents the radar speed, Indicates GPS altitude differential velocity, Vel1 Err Indicates the local error between radar speed and GPS height differential speed, The filter output value representing the error between the current radar velocity and the GPS altitude differential velocity, The filtered output value representing the error between the last radar velocity and the GPS altitude differential velocity.

[0129] if It is considered that the GPS altitude is abnormal.

[0130] S5. Calculate the error between the radar velocity and the GPS vertical velocity (i.e., GNSS vertical Doppler velocity), perform low-pass filtering and integrate; calculate 0.2 times the sum of the radar velocity and the GPS vertical velocity as the judgment threshold. The judgment threshold can be obtained by the above-mentioned limiting processing method. The above process of determining the integral value and the judgment threshold can be expressed as:

[0131] Vel2 Err =TF VEL -GPS VEL ;

[0132]

[0133]

[0134] Value2=(TF VEL +GPS VEL )×0.2;

[0135] Among them, TF VEL Indicates radar speed, GPS VEL Indicates GPS vertical speed, Vel2 Err Indicates the local error between radar speed and GPS vertical speed, The filter output value representing the error between the current radar velocity and the GPS vertical velocity, The filtered output value representing the error between the last radar velocity and the GPS altitude differential velocity.

[0136] like It is considered that the GPS vertical speed is abnormal.

[0137] The antenna data anomaly detection method provided in this embodiment can identify anomalies in GNSS data in a timely manner when anomalies occur, such as data jumps, continuous data offsets, etc., to prevent data anomalies from occurring after the abnormal GNSS data is fused with IMU data, thereby ensuring the safe operation of unmanned equipment and improving the stability of unmanned equipment.

[0138] In order to execute the corresponding steps in the above embodiments and various possible methods, an implementation method of the antenna data anomaly detection device 200 is given below. Optionally, the antenna data anomaly detection device 200 can adopt the above Figure 1 The device structure of the electronic device 100 is shown. Fig. 9 , Fig. 9 This is one of the block diagrams of the antenna data anomaly detection device 200 provided in the embodiment of the present application. It should be noted that the basic principle and technical effect of the antenna data anomaly detection device 200 provided in this embodiment are the same as those in the above embodiment. For the sake of brief description, for parts not mentioned in this embodiment, please refer to the corresponding contents in the above embodiment. In this embodiment, the antenna data anomaly detection device 200 is applied to a positioning device, and the antenna data anomaly detection device 200 may include: a data acquisition module 220 and a position determination module 230.

[0139] The data acquisition module 220 is configured to acquire first GNSS data and second GNSS data, wherein the first GNSS data acquired through the first antenna includes first location information, and the second GNSS data acquired through the second antenna includes second location information.

[0140] The position determination module 230 is used to calculate a differential term of a position error according to the first position information and the second position information; and determine whether the first GNSS data and the second GNSS data are abnormal according to the obtained differential term and a preset differential value.

[0141] Please refer to Fig.10 , Fig.10 The second block diagram of the antenna data anomaly detection device 200 provided in the embodiment of the present application. In this embodiment, the antenna data anomaly detection device 200 may further include a frequency determination module 210.

[0142] The frequency judgment module 210 is used to judge whether the current actual data update frequency of the first antenna and / or the second antenna meets the preset frequency requirement; when the current actual data update frequency does not meet the preset frequency requirement, determine that the current GNSS data of the antenna is abnormal.

[0143] Please refer to Fig.11 , Fig.11 The third block diagram of the antenna data anomaly detection device 200 provided in the embodiment of the present application. Optionally, in the present embodiment, the antenna data anomaly detection device 200 may further include a speed determination module 240 .

[0144] The speed judgment module 240 is used to determine the three-dimensional position differential speed and / or Doppler speed for the first antenna and / or the second antenna based on the current GNSS data of the antenna; for the three-dimensional position differential speed and / or Doppler speed, based on the reference speed obtained by the first reference sensor, determine whether the current GNSS data of the antenna is abnormal.

[0145] Please refer to Fig.12 , Fig.12 The fourth block diagram of the antenna data anomaly detection device 200 provided in the embodiment of the present application. Optionally, in the present embodiment, the antenna data anomaly detection device 200 may further include a fusion module 250 .

[0146] The fusion module 250 is used to, for the first antenna or the second antenna, perform data fusion according to the position differential speed corresponding to the current GNSS data of the antenna to obtain positioning information when it is determined that the actual data update frequency of the antenna is not abnormal, the differential item judgment result does not indicate an abnormality, the GNSS speed data is abnormal, and the GNSS position data corresponding to the current GNSS data is not determined to be abnormal according to the three-dimensional position differential speed; for the first antenna or the second antenna, perform data fusion according to the data obtained by the second reference sensor to obtain positioning information when at least one of the actual data update frequency of the antenna is abnormal, the differential item judgment result indicates an abnormality, and the GNSS position data corresponding to the current GNSS data is abnormal.

[0147] Optionally, the above modules can be stored in the form of software or firmware. Figure 1 The memory 110 shown in the figure may be fixed in the operating system (OS) of the electronic device 100 and may be Figure 1 Meanwhile, the data and program codes required for executing the above modules may be stored in the memory 110.

[0148] An embodiment of the present application also provides a readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the antenna data anomaly detection method is implemented.

[0149] In summary, the embodiments of the present application provide an antenna data anomaly detection method, device, electronic device and readable storage medium, which first obtains the first GNSS data obtained by the first antenna and the second GNSS data obtained by the second antenna, and then calculates the differential term of the position error according to the first position information in the first GNSS data and the second position information in the second GNSS data, and then determines whether the first GNSS data and the second GNSS data are abnormal according to the obtained differential term and the preset differential value. In this way, it is possible to timely diagnose whether the GNSS data of the antenna has been abnormal, so that other methods can be taken for positioning in time to ensure safety.

[0150] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0151] In addition, the functional modules in the various embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

[0152] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0153] The above description is only an optional embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method for detecting anomalies in antenna data, characterized in that: Applied to a positioning device, the positioning device includes a first antenna and a second antenna, and the method includes: Obtaining first GNSS data and second GNSS data, wherein the first GNSS data obtained through the first antenna includes first position information, and the second GNSS data obtained through the second antenna includes second position information; Calculating a differential term of a position error according to the first position information and the second position information; Whether the first GNSS data and the second GNSS data are abnormal is determined according to the obtained differential term and the preset differential value.

2. The method according to claim 1, characterized in that: The determining whether the first GNSS data and the second GNSS data are abnormal according to the obtained differential term and the preset differential value includes: Determine the value to be compared according to the differential term corresponding to each moment in a preset time period, wherein the end point of the preset time period is the current moment; By judging whether the to-be-valued ratio corresponding to each moment in the preset time period is greater than the corresponding preset differential value, the duration of the to-be-valued ratio being greater than the corresponding preset differential value is obtained, and judging whether the duration is greater than a second preset duration, wherein the second preset duration is less than the first preset duration corresponding to the preset time period; When the duration is longer than the second preset duration, it is determined that the current first GNSS data of the first antenna and the current second GNSS data of the second antenna are abnormal.

3. The method according to claim 2, characterized in that The step of determining the value to be compared according to the differential item at each moment in the preset time period includes: The differential term at each moment is low-pass filtered to obtain the corresponding ratio value at each moment.

4. The method according to claim 2, characterized in that: The step of calculating a differential term of a position error according to the first position information and the second position information includes: Obtaining, according to the first position information and the second position information, a position error corresponding to each moment in the preset time period; Determine in sequence whether the position error corresponding to each moment is greater than the preset position error; When the first position error greater than the preset position error is determined, the differential terms of each position error are calculated starting from the position error.

5. The method according to any one of claims 1 to 4, characterized in that: The obtained position error includes at least one of a longitude error, a latitude error, and an elevation error, and the obtained differential term includes at least one of a differential term corresponding to the longitude error, a differential term corresponding to the latitude error, and a differential term corresponding to the elevation error.

6. The method according to any one of claims 1 to 4, characterized in that: The method further comprises: For the first antenna and / or the second antenna, determining a three-dimensional position differential velocity and / or Doppler velocity according to current GNSS data of the antenna; For the three-dimensional position differential velocity and / or Doppler velocity, it is determined whether the current GNSS data of the antenna is abnormal according to the reference velocity obtained by the first reference sensor.

7. The method according to claim 6, characterized in that The determining whether the current GNSS data of the antenna is abnormal according to the reference velocity obtained by the first reference sensor for the three-dimensional position differential velocity and / or Doppler velocity includes: At least one speed error is calculated according to the reference speed and the current speed, wherein the current speed is the three-dimensional position differential speed or the Doppler speed, and the three-dimensional position differential speed and the Doppler speed both include speeds in the directions of each coordinate axis in the corresponding three-dimensional coordinate system; For each speed error, the speed error is integrated or low-pass filtered and integrated to obtain an integral value corresponding to the speed error, and the product of the sum of the reference speed corresponding to the speed error and the speed corresponding to the reference speed in the current speed and the preset coefficient corresponding to the speed error is calculated to obtain a threshold value; For each velocity error, whether the current GNSS data of the antenna is abnormal is determined based on whether the integral value corresponding to the velocity error is greater than the corresponding threshold.

8. The method according to claim 6, characterized in that The reference speed obtained by the first reference sensor includes at least one of an X-axis optical flow speed, a Y-axis optical flow speed, a ground radar speed, and a barometer speed.

9. The method according to claim 6, characterized in that The method further comprises: For the first antenna and / or the second antenna, determining whether a current actual data update frequency of the antenna meets a preset frequency requirement; If the current actual data update frequency does not meet the preset frequency requirement, it is determined that the current GNSS data of the antenna is abnormal.

10. The method according to claim 9, characterized in that The three-dimensional position differential velocity is used to determine whether the GNSS position data is abnormal. The method further includes: For the first antenna or the second antenna, when it is determined that the actual data update frequency of the antenna is not abnormal, the differential item judgment result does not indicate an abnormality, the GNSS speed data is abnormal, and the GNSS position data corresponding to the current GNSS data is not determined to be abnormal according to the three-dimensional position differential speed, data fusion is performed according to the position differential speed corresponding to the current GNSS data of the antenna to obtain positioning information; For the first antenna or the second antenna, when at least one of the following occurs: the actual data update frequency of the antenna is abnormal, the differential item judgment result indicates an abnormality, and the GNSS position data corresponding to the current GNSS data is abnormal, data fusion is performed based on the data obtained through the second reference sensor to obtain positioning information.

11. An antenna data anomaly detection device, characterized in that: Applied to a positioning device, the positioning device includes a first antenna and a second antenna, and the device includes: a data acquisition module, configured to acquire first GNSS data and second GNSS data, wherein the first GNSS data acquired through the first antenna includes first position information, and the second GNSS data acquired through the second antenna includes second position information; A position determination module, used for calculating a differential term of a position error according to the first position information and the second position information; The position determination module is further used to determine whether the first GNSS data and the second GNSS data are abnormal according to the obtained differential term and the preset differential value.

12. An electronic device, characterized in that: It includes a processor and a memory, wherein the memory stores machine executable instructions that can be executed by the processor, and the processor can execute the machine executable instructions to implement the antenna data anomaly detection method described in any one of claims 1-10.

13. A readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the antenna data anomaly detection method as described in any one of claims 1 to 10 is implemented.

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