Antenna data anomaly detection method, device and electronic equipment

Abstract

Embodiments of the present application provide an antenna data anomaly detection method and device and electronic equipment, and relate to the positioning technology field. The method is applied to a positioning device, the positioning device comprising a first antenna and a second antenna. The method comprises: obtaining first GNSS data and second GNSS data, the first GNSS data obtained through the first antenna comprising first position information, and the second GNSS data obtained through the second antenna comprising second position information; calculating a differential term 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 according to the obtained differential term and a preset differential value. In this way, it can be diagnosed whether the GNSS data of the antenna has been abnormal in a timely manner, so as to ensure safety by positioning in other ways in a timely manner.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of positioning, in particular to an antenna data anomaly detection method and device and electronic equipment. BACKGROUND

[0002] Currently, in the field of integrated navigation, single GNSS (Global Navigation Satellite System) antenna data and IMU (Inertial Measurement Unit) data are generally used for fusion. When the data of this antenna is abnormal, it will cause the precision of the fused data to decrease or even cause data anomaly. Therefore, there is an urgent need for a method capable of identifying abnormal antenna data to avoid using abnormal antenna data that cannot be used during fusion. SUMMARY

[0003] The embodiments of the present application provide an antenna data anomaly detection method and device, electronic equipment and readable storage medium, which can diagnose whether the GNSS data of the antenna has been abnormal in time, so as to ensure safety by positioning in other ways in time.

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

[0005] In a first aspect, the embodiments of the present application provide an antenna data anomaly detection method applied to a positioning device, wherein the positioning device comprises a first antenna and a second antenna, and the method comprises the following steps:

[0006] obtaining first GNSS data and second GNSS data, wherein 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;

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

[0008] judging whether the first GNSS data and the second GNSS data are abnormal according to the obtained differential term and a preset differential value.

[0009] In a second aspect, the embodiments of the present application provide an antenna data anomaly detection device applied to a positioning device, wherein the positioning device comprises a first antenna and a second antenna, and the device comprises the following modules:

[0010] a data obtaining module, configured to obtain first GNSS data and second GNSS data, wherein 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;

[0011] a position determination module, configured to calculate a differential item of position error according to the first position information and the second position information;

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

[0013] In a third aspect, an electronic device is provided, which includes a processor and a memory. The memory stores machine executable instructions which can be executed by the processor. The processor can execute the machine executable instructions to implement the antenna data abnormality detection method described in the foregoing embodiments.

[0014] In a fourth aspect, a readable storage medium is provided, which stores a computer program. The computer program is executed by a processor to implement the antenna data abnormality detection method described in the foregoing embodiments.

[0015] The antenna data abnormality detection method, device, electronic device and readable storage medium provided by the embodiments of the present application first obtain first GNSS data obtained through a first antenna and second GNSS data obtained through a second antenna, then calculate a differential item of position error according to first position information in the first GNSS data and second position information in the second GNSS data, and further determine whether the first GNSS data and the second GNSS data are abnormal according to the obtained differential item and a preset differential value. In this way, whether the GNSS data of the antenna has become abnormal can be diagnosed in time, so that positioning is performed in other ways in time to ensure safety. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed in the embodiments. It should be understood that the following drawings only show some of the embodiments of the present application, and therefore should not be considered as limiting the scope. For those skilled in the art, other related drawings can also be obtained without creative labor.

[0017] Figure 1 A block schematic diagram of an electronic device provided by the embodiments of the present application;

[0018] Figure 2 A flowchart of an antenna data abnormality detection method provided by the embodiments of the present application;

[0019] Figure 3 A flowchart of an antenna data abnormality detection method provided by the embodiments of the present application;

[0020] Figure 4 For Figure 2 Flowchart of sub-steps included in step S140 in the embodiment of the present application;

[0021] Figure 5 For Figure 2 Flowchart of sub-steps included in step S150 in the embodiment of the present application;

[0022] Figure 6 Flowchart of the antenna data anomaly detection method provided by the embodiment of the present application No. 3;

[0023] Figure 7 For Figure 6 Flowchart of sub-steps included in step S170 in the embodiment of the present application;

[0024] Figure 8 Flowchart of the antenna data anomaly detection method provided by the embodiment of the present application No. 4;

[0025] Figure 9 Block diagram of the antenna data anomaly detection device provided by the embodiment of the present application No. 1;

[0026] Figure 10 Block diagram of the antenna data anomaly detection device provided by the embodiment of the present application No. 2;

[0027] Figure 11 Block diagram of the antenna data anomaly detection device provided by the embodiment of the present application No. 3;

[0028] Figure 12 Block diagram of the antenna data anomaly detection device provided by the embodiment of the present application No. 4.

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

[0030] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme of the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are some embodiments of the present application, not all embodiments of the present application. 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] The following detailed description of embodiments of the application in the drawings provided by the application is not intended to limit the scope of the application claimed, but merely represents selected embodiments of the application. Based on the embodiments of the application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the application.

[0032] It should be noted that the relationship terms such as "first" and "second" are only used 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 the entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or device. Without more limitations, the element defined by the statement "including a" does not exclude the presence of additional identical elements in the process, method, article or device including the element.

[0033] Some embodiments of the application will be described in detail below with reference to the accompanying drawings. The following embodiments and features in the embodiments can be combined with each other without conflict.

[0034] Currently, abnormal identification is generally performed according to multi-frame data of a single antenna. For example, whether the current data of the antenna is abnormal is determined according to the difference between the front and rear two frames of data of the single antenna and the corresponding threshold. However, the effective identification power of abnormal data is low in this way.

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

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

[0037] The memory 110 is configured to store data or a program. The memory 110 can 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 Electric Erasable Programmable Read-Only Memory (EEPROM), etc.

[0038] The processor 120 is configured to read / write the data or program stored in the memory 110 and perform corresponding functions. For example, the memory 110 stores the antenna data anomaly detection apparatus 200. The antenna data anomaly detection apparatus 200 includes at least one software function module stored in the memory 110 in the form of software or firmware. The processor 120 runs the software program and module stored in the memory 110, such as the antenna data anomaly detection apparatus 200 in the embodiments of the present application, to perform various function applications and data processing, i.e., to implement the antenna data anomaly detection method in the embodiments of the present application.

[0039] The communication unit 130 is configured to establish a communication connection between the electronic device 100 and another communication terminal through a network, and to transmit and receive data through the network.

[0040] It should be understood that, Figure 1 The structure shown is only a structural schematic diagram of the electronic device 100. The electronic device 100 can further include more or fewer components than those shown in the Figure 1 embodiments of the present application, or have a different configuration from that shown in the Figure 1 embodiments of the present application. Figure 1 Each component shown in the embodiments of the present application can be implemented in hardware, software, or a combination thereof.

[0041] Figure 2 Please refer to Figure 2 FIG. 1 for the configuration of the electronic device 100. FIG. 2 shows a flowchart of one of the antenna data anomaly detection methods provided by the embodiments of the present application. The method can be applied to a positioning device including a first antenna and a second antenna. The specific flow of the antenna data anomaly detection method is described in detail below. In this embodiment, the method can include steps S130-S150.

[0042] In step S130, first GNSS data and second GNSS data are obtained.

[0043] In the embodiment, the first GNSS data can be obtained by the first antenna, and the second GNSS data can be obtained by the second antenna. The first GNSS data includes first position information, and the second GNSS data includes second position information. The position information in the first GNSS data and the second GNSS data can include longitude, latitude and altitude. The first GNSS data and the second GNSS data can also include other information, which can be determined according to actual needs.

[0044] In step S140, a differential term of the position error is calculated according to the first position information and the second position information.

[0045] In the embodiment, the position error can be calculated according to the first position information and the second position information corresponding to the same time, and then the differential term of the position error is calculated. The differential term can be a quotient of a position error and a running interval time of the antenna. The calculated position error can be one or multiple, which can be determined according to actual needs.

[0046] In step S150, whether the first GNSS data and the second GNSS data are abnormal is determined according to the obtained differential term and a preset differential value.

[0047] In the 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, it can be determined that the first GNSS data and the second GNSS data are abnormal. Alternatively, the differential term can be denoised, and then it is determined whether the value after processing is greater than the corresponding preset differential value. If it is greater, it can be determined that the first GNSS data and the second GNSS data are 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 determined, and whether the first GNSS data and the second GNSS data are abnormal can be determined according to the judgment result of the differential term corresponding to each position error. For example, if the judgment result of at least one position error indicates abnormality, it is determined that the first GNSS data and the second GNSS data are abnormal. Alternatively, if the proportion of the judgment result indicating abnormality in the judgment result corresponding to each position error is greater than a preset proportion, it is determined that the first GNSS data and the second GNSS data are abnormal. It should be noted that the above specific determination methods are only examples, and other determination methods based on the differential term and the preset differential value can be used to determine whether the first GNSS data and the second GNSS data are abnormal.

[0048] The position error of the dual-antenna solution has a fixed error when the antenna is far away from the base station. If only the position error is combined with the corresponding threshold to determine, it may be misjudged. To avoid misjudgment, in the embodiment, the derivative term of the dual-antenna position error is used to determine whether the GNSS data of the dual-antenna is abnormal, thereby improving the effective identification 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 is shown. In the embodiment, the method can further include steps S110-S120. Step S110 can be performed before step S150, simultaneously with step S150, or after step S150. The specific implementation can be determined according to actual needs. As a possible implementation, to reduce workload, step S110 can be performed before step S130, and step S130 can be performed when no anomaly is determined.

[0050] In step S110, it is determined whether the current actual data update frequency of the first antenna and / or the second antenna meets the preset frequency requirement.

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

[0052] In step S120, it is determined that the current GNSS data of the antenna is abnormal.

[0053] In the embodiment, for each antenna, when the antenna enters a fixed solution state, the current actual data update frequency of the antenna is obtained, and 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 of 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, i.e., 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 performed to determine whether the GNSS data of the antenna is abnormal through subsequent other determinations. 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 performed when the current actual data update frequencies of the dual antennas (i.e., the first antenna and the second antenna) meet the preset frequency requirement.

[0055] Optionally, as a possible implementation, the target antenna can be pre-selected. The target antenna is a pre-determined antenna in the first antenna and the second antenna for fusing data for positioning. It can be determined whether the actual update frequency of the target antenna meets the preset frequency requirement, and if so, step S130 is performed; 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 subsequent data fusion.

[0056] In this embodiment, in the case where it is determined that there is no abnormality by frequency (i.e., the GNSS data is not determined to be abnormal based on frequency), the position error can be calculated according to the GNSS data collected by the dual antennas, and then the differential term of the position error is calculated, and the current GNSS data of the dual antennas is determined to be abnormal or not according to the differential term and the preset differential value. The obtained position error can include at least one of the longitude error, the latitude error and the altitude error, and correspondingly, the obtained differential term can 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 altitude error.

[0057] In this embodiment, as a possible implementation, 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 is calculated, and then the differential term of the position error is calculated, and then it is determined whether the current GNSS data of the first antenna and the second antenna is abnormal based on the differential term and the corresponding preset differential value. 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 and the preset differential value can be compared in size, and it is determined whether it is abnormal based on the comparison result. Alternatively, before the comparison with the preset differential value, the differential term can be subjected to low-pass filtering processing to smooth the data and reduce the influence of noise; then, it is determined whether the differential term after low-pass filtering processing is greater than the corresponding preset differential value, and if so, 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 not abnormal or is determined in combination with other ways.

[0059] In this embodiment, as another possible implementation, historical data can be used for judgment to improve accuracy. In this method, first and second position information corresponding to each moment within a preset time period can be collected, and then the position error corresponding to each moment can be calculated, i.e., obtaining the position error corresponding to multiple moments. Then, the differential term of each position error is directly obtained. Next, for each type of position error, the relationship between the differential term of that position error and the preset differential value corresponding to that position error is obtained, thereby determining whether the current GNSS data of the dual antennas is abnormal. The preset time period ends at the current moment, and the specific duration can be determined based on actual needs.

[0060] For example, when calculating position errors including longitude, latitude, and elevation errors, for longitude errors, it is determined whether the differential term of the longitude error at each moment is greater than the corresponding preset differential value. If the differential term of the longitude error is greater than the corresponding preset differential value, or the proportion of the comparison result of the differential term of the longitude error being greater than the corresponding preset differential value among all comparison results corresponding to the differential term of the longitude error is greater than a preset proportion, or the duration of this situation is greater than a second preset duration, then a longitude anomaly is determined. Here, 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 latitude and elevation errors to determine whether latitude and elevation are abnormal. Afterwards, if at least one of the three conditions of longitude anomaly, latitude anomaly, or elevation anomaly occurs, it can be determined that the current GNSS data of the first antenna and the current GNSS data of the second antenna are abnormal. The preset differential values ​​for longitude, latitude, and elevation can be the same or different, depending on actual needs. It's worth noting that the above method is merely an example; other methods can also be used to determine if longitude, latitude, and elevation are abnormal, and to determine if the current GNSS data is abnormal based on the conditions of longitude, latitude, and elevation.

[0061] Optionally, when combining historical data for judgment, in order to reduce the amount of computation while realizing anomaly detection, it can be done by... Figure 4 The differential term is obtained as shown, and then used to determine whether the GNSS data is abnormal. Please refer to... Figure 4 , Figure 4 for Figure 2 A flowchart illustrating the sub-steps included in step S140. In this embodiment, step S140 may include sub-steps S141 to S143.

[0062] Sub-step S141: Based on the first location information and the second location information, obtain the location error corresponding to each moment within the preset time period.

[0063] Sub-step S142, it is judged in turn whether the position error corresponding to each time is greater than the preset position error.

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

[0065] In the embodiment, the position error corresponding to each time can be calculated according to the first position information and the second position information corresponding to each time in the preset time collected. The position error corresponding to one time includes at least one position error. Then, for each position error, it is judged in turn whether the position error corresponding to each time is greater than the corresponding preset position error according to the time sequence; if the position error is not greater than the corresponding preset position error at each time, it can be determined that the position corresponding to the position error is not abnormal, for example, if the longitude error at each time is not greater than the corresponding preset position error, it can be directly determined that the longitude is not abnormal.

[0066] If it is determined that the position error at a certain time is greater than the corresponding preset position error in the process of comparing the time sequence for a certain position error, the differential term of each position error can be calculated in turn from the position error corresponding to the time, and the GNSS data is subsequently judged based on the part of the differential term. For example, for the longitude error, the longitude error at t1-t10 is obtained, if it is determined that the longitude error at t1 is not greater than the corresponding preset position error, and the longitude error at t2 is greater than the corresponding preset position error, the differential term of the longitude error at t2-t10 is calculated.

[0067] If the position error corresponding to each time of each position error is not greater than the corresponding preset position error, it can be directly determined that the GNSS data is not determined based on the position information.

[0068] In the case of combining historical data, it can be judged whether the GNSS data is abnormal by Figure 5 as shown in the flowchart of the sub-step included in step S150. Please refer to Figure 5 , Figure 5 for Figure 2 the flowchart of the sub-step included in step S150. In the embodiment, step S150 can include sub-step S151-sub-step S153.

[0069] Sub-step S151, the ratio to be compared is determined according to the differential term corresponding to each time in the preset time period.

[0070] In the embodiment, the differential value corresponding to each time point in the preset time period can be obtained by any of the foregoing manners. That is, the differential value corresponding to each time point in the preset time period can be directly calculated based on the first position information and the second position information of the time point, or can be obtained after screening. The time end point of the preset time period is the current time point.

[0071] Optionally, the differential value corresponding to each time point can be directly used as the to-be-compared value corresponding to the time point. Alternatively, the differential value corresponding to each time point can be subjected to low-pass filtering processing, and the processed result can be used as the to-be-compared value corresponding to the time point, so as to reduce the influence of noise.

[0072] In substep S152, whether the to-be-compared value corresponding to each time point in the preset time period is greater than the preset differential value corresponding to the time point is judged, a duration in which the to-be-compared value is greater than the preset differential value is obtained, and whether the duration is greater than a second preset duration is judged.

[0073] In substep S153, in the case where the duration is greater 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.

[0074] For the to-be-compared value corresponding to each type of position error, whether the to-be-compared value corresponding to each time point in the preset time period is greater than the preset differential value corresponding to the time point is judged, and a duration in which the to-be-compared value is greater than the preset differential value is counted, that is, a duration in which the to-be-compared value corresponding to each type of position error is greater than the preset differential value is counted. If the duration in which the to-be-compared value corresponding to a type of position error is greater than the 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 is abnormal. The second preset duration is less than the first preset duration corresponding to the preset time period.

[0075] For example, the obtained position errors include: longitude error, latitude error and height error. For the longitude error, it can be determined whether the longitude error corresponding to the ratio value at each time (the ratio value at one time is obtained based on the longitude error at the time) is greater than the preset differential value corresponding to the longitude, and the duration that the ratio value corresponding to the longitude error is greater than the preset differential value corresponding to the longitude is counted, and then it is determined whether the duration is greater than a second preset duration. Similarly, it is determined whether the ratio value corresponding to the latitude error at each time is greater than the preset differential value corresponding to the latitude, and the duration that the ratio value corresponding to the latitude error is greater than the preset differential value corresponding to the latitude is counted, and then it is determined whether the duration is greater than a second preset duration; and it is determined whether the ratio value corresponding to the height error at each time is greater than the preset differential value corresponding to the latitude, and the duration that the ratio value corresponding to the height error is greater than the preset differential value corresponding to the height is counted, and then it is determined whether the duration is greater than a second preset duration. If the duration that the ratio value corresponding to one of the position errors is greater than the preset differential value corresponding to the position error is greater than the second preset duration, it is determined that the first GNSS data of the first antenna at present is abnormal and the second GNSS data of the second antenna at present is abnormal.

[0076] In the embodiment, to improve the accuracy of the abnormality detection, the abnormality detection can also be performed in combination with steps S160-S170 in the method for detecting abnormality of antenna data provided by the embodiment of the application. Figure 6 Figure 6 Figure 6 The third flowchart of the method for detecting abnormality of antenna data provided by the embodiment of the application. In the embodiment, the method can further include steps S160-S170. Optionally, steps S160-S170 can be performed before steps S130-S150, can be performed simultaneously with steps S130-S150, or can be performed when no abnormality is determined through steps S130-S150. The specific implementation can be determined according to actual needs.

[0077] In step S160, for the first antenna and / or the second antenna, the three-dimensional position differential velocity and / or the Doppler velocity is determined according to the current GNSS data of the antenna.

[0078] In step S170, for the three-dimensional position differential velocity and / or the 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.

[0079] ​​In the embodiment, whether the current GNSS data of the first antenna is abnormal can be determined according to the speed condition of the first antenna, and whether the current GNSS data of the second antenna is abnormal can be determined according to the speed condition of the second antenna. Alternatively, in a case where a target antenna is determined in advance, whether the current GNSS data of the target antenna is abnormal can be determined according to the speed condition of the target antenna, the target antenna being an antenna determined in advance from the first antenna and the second antenna for fusing data to locate.

[0080] The three-dimensional position differential speed of an antenna can be calculated according to the longitude, latitude and height in the GNSS data of the antenna. The three-dimensional position differential speed includes horizontal position differential speed and vertical position differential speed, and the horizontal position differential speed includes speeds in two directions, for example, speeds in the X-axis direction and the Y-axis direction. Alternatively, the three-dimensional position differential speed of an antenna can be calculated according to the longitude, latitude and height of the antenna at a time and at the current time.

[0081] The Doppler speed of an antenna can also be calculated according to the GNSS data of the antenna. Similarly, the Doppler speed includes GNSS horizontal Doppler speed and GNSS vertical Doppler speed, and the GNSS horizontal Doppler speed includes speeds in two directions, for example, speeds in the X-axis direction and the Y-axis direction.

[0082] That is, the three-dimensional position differential speed and the Doppler speed each include speeds in respective coordinate axis directions in a corresponding three-dimensional coordinate system.

[0083] When determining based on the three-dimensional position differential speed of an antenna, whether the current GNSS data of the antenna is abnormal can be determined according to at least one speed in the three-dimensional position differential speed and a reference speed corresponding to the speed obtained by a first reference sensor. The first reference sensor can be determined according to actual needs, as long as the corresponding speed can be obtained. For example, when determining based on three speeds in the three-dimensional position differential speed or the Doppler speed, the first reference sensor can include a sensor for obtaining an optical flow speed, a ground penetrating radar for obtaining a ground penetrating radar speed, and a barometer for obtaining a barometer speed, etc. Similarly, whether the current GNSS data of the antenna is abnormal can be determined according to at least one speed in the Doppler speed and a reference speed corresponding to the speed obtained by a first reference sensor.

[0084] Optionally, as a possible implementation, in the judgment according to at least one of the three-dimensional position differential speed or the Doppler speed, the difference value can be directly calculated, and then compared with the preset threshold value, if greater than, the speed anomaly is determined; if less than, the speed anomaly is not determined. In this way, the judgment based on the three-dimensional position differential speed or the Doppler speed can be quickly completed.

[0085] The tolerable error is different when the speed is different. In order to avoid misjudgment caused by improper threshold setting, optionally, as a possible implementation, the speed-based anomaly judgment can be completed in the manner shown in Figure 7 Please refer to Figure 7 , Figure 7 for Figure 6 the flowchart of the sub-steps included in step S170. In the embodiment, step S170 can include sub-step S171 to sub-step S173.

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

[0087] In the embodiment, the current speed is the three-dimensional position differential speed or the Doppler speed. If the three-dimensional position differential speed and the Doppler speed need to be judged, sub-step S171 to sub-step S173 can be executed respectively.

[0088] The three-dimensional position differential speed and the Doppler speed both include the speed in each coordinate axis direction in the corresponding three-dimensional coordinate system. At least one speed error can be calculated according to the speed included in the reference speed and the current speed.

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

[0091] In sub-step S172, for each velocity error, the integral value corresponding to the velocity error is obtained by integrating or low-pass filtering and integrating the velocity error, and the threshold value corresponding to the velocity error is obtained by multiplying the sum of the reference velocity corresponding to the velocity error and the velocity corresponding to the current target velocity by a preset coefficient.

[0092] In this embodiment, for each velocity error obtained in sub-step S172, the integral value corresponding to the velocity error and the threshold value corresponding to the velocity error can be obtained as follows. The integral value corresponding to the velocity error can be obtained by directly integrating the velocity error, or the velocity error can be low-pass filtered first, and then the low-pass filtered result is integrated to obtain the integral value. Then, two velocities used to calculate the velocity error are determined, one of the two velocities is the reference velocity obtained by the first reference sensor, and the other of the two velocities is the velocity in the current target velocity, the sum of the two velocities is calculated, and the threshold value corresponding to the velocity error is obtained by multiplying the obtained sum value by a preset coefficient corresponding to the velocity error.

[0093] Optionally, the product obtained by directly multiplying the obtained sum value by the preset coefficient corresponding to the velocity error can be used as the corresponding threshold value. Alternatively, the threshold value can be limited to avoid unreasonable threshold value corresponding to the velocity error. In the limiting manner of the threshold value, the threshold value range corresponding to the velocity error can be pre-set, and if the calculated product is not within the threshold value range, the value closest to the product within the threshold value range can be used as the finally determined threshold value.

[0094] For example, if a speed error is the error between the vertical position difference speed and the barometer speed, a threshold range p1-p2 corresponding to the vertical speed and a preset coefficient q can be set in advance. If the sum of the vertical position difference speed and the barometer speed is multiplied by the preset coefficient q, if the product is not within the threshold range p1-p2 and greater than p2, p2 can be taken as the threshold value corresponding to the error between the vertical position difference speed and the barometer speed; if the product is not within the threshold range p1-p2 and less than p1, p1 can be taken as the threshold value corresponding to the error between the vertical position difference speed and the barometer speed; and if the product is within the threshold range p1-p2, the product can be taken as the threshold value corresponding to the error between the vertical position difference speed and the barometer speed.

[0095] In the case where the plurality of speed errors are calculated based on the current targeted speed, the preset coefficients corresponding to different speed errors can be the same or different. The preset coefficient corresponding to the three-dimensional position difference speed and the preset coefficient corresponding to the Doppler speed can be the same or different. The specific value of the preset coefficient can be set according to actual needs, which is not limited here.

[0096] In sub-step S173, for each speed error, it is determined whether the current GNSS data of the antenna is abnormal according to whether the integral value corresponding to the speed error is greater than the corresponding threshold value.

[0097] After obtaining the integral value corresponding to each speed error corresponding to the current targeted speed and the threshold value, it is determined whether the integral value corresponding to the speed error is greater than the threshold value corresponding to the speed error, and then it is determined whether the current GNSS data of the antenna is abnormal according to the obtained determination result. For example, if the integral value corresponding to one speed error is greater than the threshold value corresponding to the speed error, it is determined that the current GNSS data of the antenna is abnormal. If the integral value corresponding to one speed error is not greater than the threshold value corresponding to the speed error, it is determined that the current GNSS data is not abnormal or is determined in combination with other determination methods.

[0098] In the embodiment, the three-dimensional position difference speed is used to determine whether the GNSS position data corresponding to the GNSS data is abnormal. If the determination result obtained based on the three-dimensional position difference speed is abnormal, it indicates 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 speed is used to determine whether the Doppler speed in the GNSS data is abnormal. If the Doppler speed is abnormal, it can be determined that the GNSS data is not available or that the GNSS speed data (i.e., the Doppler speed) in the GNSS data cannot be used for data fusion.

[0099] Optionally, as a possible implementation, it can be determined whether the current GNSS position data corresponding to the current GNSS data of the antenna is abnormal according to the three-dimensional position differential velocity and the reference velocity of one antenna. In the case where it is determined that the current GNSS position data is not abnormal, it can be determined whether the GNSS velocity data in the current GNSS data of the antenna is abnormal according to the Doppler velocity and the reference velocity of the antenna. In the case where it is determined that the GNSS position data is abnormal, it can be directly determined that the current GNSS data is abnormal without determining whether the current GNSS data of the antenna is abnormal according to the Doppler velocity and the reference velocity of the antenna. In this way, the detection can be comprehensive, and the workload can be reduced as much as possible.

[0100] As a possible implementation, the frequency determination can be performed first. In the case where it is determined that the GNSS data is abnormal based on the frequency determination, it can be directly determined that the GNSS data is unavailable, and the subsequent determination is not performed. In the case where it is determined that the GNSS data is not abnormal based on the frequency determination, the differential term can be calculated, and it can be determined whether the GNSS data is abnormal based on the differential term. In the case where it is determined that the GNSS data is abnormal based on the differential term, it can be directly determined that the GNSS data is unavailable, and the subsequent determination is not performed. In the case where it is determined that the GNSS data is not abnormal based on the differential term, it can be determined based on the three-dimensional position differential velocity. In the case where it is determined that the GNSS data is abnormal based on the three-dimensional position differential velocity, it can be directly determined that the GNSS data is unavailable, and the subsequent determination is not performed. In the case where it is determined that the GNSS data is not abnormal based on the three-dimensional position differential velocity, it can be determined based on the GNSS Doppler velocity. In this way, the accuracy of the detection can be ensured, and the workload can be reduced as much as possible.

[0101] In the case where the determination is performed in the above manner, it can be determined based on the obtained result how to perform the data fusion for positioning. Please refer to Figure 8 , Figure 8 A fourth flowchart of an antenna data abnormality detection method provided by the embodiments of the present application is shown. In the embodiments, the method can further include steps S180 and S190.

[0102] In the case where the actual data update frequency of the antenna is not abnormal, the differential term determination result does not indicate abnormality, the GNSS velocity data is abnormal, and it is determined that the current GNSS data corresponding to the GNSS position data is not abnormal based on the three-dimensional position differential velocity, the position differential velocity corresponding to the current GNSS data of the antenna is used for data fusion to obtain the positioning information.

[0103] In the case where at least one of the actual data update frequency of the antenna is abnormal, the differential term determination result indicates abnormality, and the current GNSS data corresponding to the GNSS position data is abnormal, the data obtained by the second reference sensor is used for data fusion to obtain the positioning information.

[0104] In the embodiment, in the case that the actual data update frequencies of the two antennas are both abnormal or one of them is abnormal, it is 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 the positioning information. The data obtained by the IMU (i.e. IMU data) can include acceleration information and angular velocity information, etc. The second reference sensor can be determined according to actual needs and can be mainly used for fusion to position, for example, a camera.

[0105] In the case that the actual data update frequencies of the two antennas are both abnormal or one of them is abnormal, in the case that the actual data update frequency of one of the antennas is abnormal and the actual data update frequency of the other antenna is not abnormal, for the antenna whose actual data update frequency is not abnormal, if it is determined not to be abnormal through steps S130-S170, the current GNSS data of the antenna can be used for data fusion.

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

[0107] Optionally, in the case that the actual data update frequencies are normal and the antenna is not determined to be abnormal through steps S130-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 be fused with the data obtained by the IMU to obtain the positioning information.

[0108] In the case that the actual data update frequencies are normal, the antenna is not determined to be abnormal through steps S130-S150, and the GNSS position data is not determined to be abnormal based on the three-dimensional position differential velocity of the antenna, if the GNSS velocity data is determined to be abnormal 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 the positioning information. If the GNSS velocity data is not determined to be abnormal based on the Doppler velocity, the current GNSS data of the antenna can be fused with the data obtained by the IMU; wherein, in this mode, the Doppler velocity can be used to fuse the velocity in the positioning information and the three-dimensional position differential velocity can be used to fuse the position in the positioning information.

[0109] Optionally, in the case that neither the first antenna nor the second antenna is determined to be abnormal through steps S110-S170, the GNSS data of any one of the first antenna and the second antenna can be selected for data fusion. The GNSS data of the one that is pre-selected as the target antenna can also be selected for data fusion.

[0110] In the case that neither the first antenna nor the second antenna is determined to be abnormal through steps S110-S150, if one of the two antennas is determined to be abnormal through steps S160-S170 and the other is not determined to be abnormal through steps S160-S170, the GNSS data of the antenna that is not determined to be abnormal through steps S160-S170 can be selected for data fusion.

[0111] It is worth noting that when detecting the antenna data, the judgment can be made based on the differential term through steps S130-S150 only, or the judgment can be made based on the differential term in combination with at least one of the actual data update frequency, the three-dimensional position difference speed and the Doppler speed, and the specific data fusion mode can be determined in combination with the obtained judgment result, which can be determined according to actual needs. For example, in the case of judgment based on the differential term only, if the abnormality is not determined based on the differential term, it can be confirmed that the current GNSS data of the first antenna and the second antenna is normal, and the current GNSS data of any one of the first antenna and the second antenna can be used for fusion. In the case of judgment based on at least one of the actual data update frequency, the three-dimensional position difference speed and the Doppler speed and the differential term, the use of GNSS data for data fusion, or the use of the three-dimensional position difference speed corresponding to the GNSS data for data fusion, or the use of the data of the second reference sensor for data fusion can be determined according to the judgment results. For example, in the case of judgment based on the actual data update frequency and the differential term only, if the actual data update frequency judgment result is normal and the differential term judgment result is normal, it can be determined that the GNSS data is used for data fusion.

[0112] Optionally, after the other sensor (i.e., the second sensor) is used instead of the 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 use of the GNSS data for fusion can be restored.

[0113] The following takes the process of detecting whether the height data is abnormal as an example to briefly illustrate the detection in the above antenna data abnormality detection method. In the following example, only the calculation of the position error in height and the speed error in height is illustrated, and it can be understood that the calculation method is the same when multiple errors and multiple speed errors are calculated.

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

[0115] S1. Calculate the height error:

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

[0117] S2. If AltitudeErr>500, calculate the differential item of height error and the filter value:

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

[0119] lastAltitudeErr=AltitudeErr;

[0120]

[0121] wherein, AltitudeErr represents the height error of this time, lastAltitudeErr represents the height error of last time, a represents the filter coefficient, and AltitudeDiffErrLpf represents the filter output value of this time, and lastAltitudeDiffErrLpf represents the filter output value of last time.

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

[0123] S4. Calculate the error of the difference between the radar speed and the GPS height difference speed (i.e. the vertical position difference speed), perform low-pass filtering and integration, and calculate 0.2 times the sum of the radar speed and the GPS height difference speed as the judgment threshold. The judgment threshold can be processed by the limiting processing method in the foregoing. The above process of determining the integral value and the judgment threshold can be represented as:

[0124]

[0125]

[0126]

[0127]

[0128] wherein, TF VEL represents the radar speed, Vel1 represents the GPS height differential velocity Err Vel2 represents the radar velocity and GPS height differential velocity error, Value1 represents the filtered output value of the radar velocity and GPS height differential velocity error, Value2 represents the filtered output value of the radar velocity and GPS height differential velocity error of the last time.

[0129] If it is considered that the GPS height is abnormal.

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

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

[0132]

[0133]

[0134] Value2 = (TF VEL + GPS VEL ) x 0.2;

[0135] Wherein, TF VEL represents the radar velocity, GPS VEL represents the GPS vertical velocity, Vel2 Err represents the radar velocity and GPS vertical velocity error, Value1 represents the filtered output value of the radar velocity and GPS vertical velocity error, Value2 represents the filtered output value of the radar velocity and GPS vertical velocity error of the last time.

[0136] If it is considered that the GPS vertical velocity is abnormal.

[0137] Through the antenna data abnormality detection method provided by the embodiment, when the GNSS data is abnormal, such as data jump, data continuous offset, etc., the abnormality can be identified in time, and the data abnormality caused by the fusion of abnormal GNSS data and IMU data is prevented, so as to ensure the safe operation of the unmanned equipment and improve the stability of the unmanned equipment.

[0138] To perform the corresponding steps in the above-mentioned embodiments and various possible manners, an implementation of an antenna data anomaly detection apparatus 200 is given below, which can optionally employ the device structure of the electronic device 100 shown in Figure 1 Further, please refer to Figure 9 , Figure 9 for a block schematic diagram of the antenna data anomaly detection apparatus 200 provided by the embodiments of the present application. It should be noted that the antenna data anomaly detection apparatus 200 provided by the present embodiment has the same basic principles and technical effects as the above-mentioned embodiments. For brief description, the part of the present embodiment not mentioned can refer to the corresponding content in the above-mentioned embodiments. In the present embodiment, the antenna data anomaly detection apparatus 200 is applied to a positioning device, and the antenna data anomaly detection apparatus 200 can include a data obtaining module 220 and a position judging module 230.

[0139] The data obtaining module 220 is configured to obtain first GNSS data and second GNSS data. The first GNSS data obtained by the first antenna includes first position information, and the second GNSS data obtained by the second antenna includes second position information.

[0140] The position judging module 230 is configured to calculate a differential item of position error according to the first position information and the second position information, and to judge whether the first GNSS data and the second GNSS data are abnormal according to the obtained differential item and a preset differential value.

[0141] Please refer to Figure 10 , Figure 10 for a block schematic diagram of the antenna data anomaly detection apparatus 200 provided by the embodiments of the present application. It should be noted that the antenna data anomaly detection apparatus 200 provided by the present embodiment has the same basic principles and technical effects as the above-mentioned embodiments. For brief description, the part of the present embodiment not mentioned can refer to the corresponding content in the above-mentioned embodiments. In the present embodiment, the antenna data anomaly detection apparatus 200 is applied to a positioning device, and the antenna data anomaly detection apparatus 200 can include a data obtaining module 220 and a position judging module 230.

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

[0143] Please refer to Figure 11 , Figure 11 for a block schematic diagram of the antenna data anomaly detection apparatus 200 provided by the embodiments of the present application. It should be noted that the antenna data anomaly detection apparatus 200 provided by the present embodiment has the same basic principles and technical effects as the above-mentioned embodiments. For brief description, the part of the present embodiment not mentioned can refer to the corresponding content in the above-mentioned embodiments. In the present embodiment, the antenna data anomaly detection apparatus 200 is applied to a positioning device, and the antenna data anomaly detection apparatus 200 can include a data obtaining module 220 and a position judging module 230.

[0144] The speed judging module 240 is configured to determine a three-dimensional position differential speed and / or a Doppler speed according to the current GNSS data of the first antenna and / or the second antenna; and determine whether the current GNSS data of the antenna is abnormal according to the reference speed obtained by the first reference sensor.

[0145] Please refer to Figure 12 , Figure 12 FIG. 4 is a fourth block schematic diagram of an antenna data abnormality detection apparatus 200 provided by an embodiment of the present application. Optionally, in the embodiment, the antenna data abnormality detection apparatus 200 can further include a fusion module 250.

[0146] The fusion module 250 is configured to, for the first antenna or the second antenna, in a case where the actual data update frequency of the antenna is determined to be normal, the differential item judgment result is determined to be normal, the GNSS speed data is determined to be 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, perform data fusion according to the position differential speed corresponding to the current GNSS data of the antenna to obtain positioning information; and for the first antenna or the second antenna, in a case where at least one of the actual data update frequency of the antenna is abnormal, the differential item judgment result is abnormal, and the GNSS position data corresponding to the current GNSS data is abnormal, perform data fusion according to the data obtained by the second reference sensor to obtain positioning information.

[0147] Optionally, the above modules can be stored in the memory 110 shown in the form of software or firmware (Firmware) or solidified in the operating system (Operating System, OS) of the electronic device 100, and can be executed by the processor 120 in the electronic device 100. Meanwhile, the data, program code, etc. required for executing the above modules can be stored in the memory 110. Figure 1 Figure 1

[0148] The embodiment of the present application further provides a readable storage medium, which has a computer program stored thereon, and the computer program is executed by a processor to implement the antenna data abnormality detection method.

[0149] ​​To sum up, the embodiment of the present application provides an antenna data anomaly detection method, device, electronic equipment and readable storage medium. First, first GNSS data obtained through a first antenna and second GNSS data obtained through a second antenna are obtained. Then, a differential item of position error is calculated according to first position information in the first GNSS data and second position information in the second GNSS data. Further, whether the first GNSS data and the second GNSS data are abnormal is judged according to the obtained differential item and a preset differential value. In this way, whether the GNSS data of the antenna has been abnormal can be diagnosed in time, so that positioning is performed in other ways in time to ensure safety.

[0150] In several embodiments provided in the present application, it should be understood that the disclosed apparatus and method can also be implemented by other manners. The apparatus embodiments described above are only schematic, for example, the flow charts and block diagrams in the drawings show the possible implementation architectures, functions and operations of the apparatus, method and computer program product according to the embodiments of the present application. In this regard, each block in the flow charts or block diagrams can represent a module, a program segment or a part of code, which contains one or more executable instructions for implementing the specified logical function. It should also be noted that, in some alternative implementation manners, the functions noted in the blocks can also occur in different orders from that noted in the drawings. For example, two consecutive blocks can actually be executed substantially in parallel, and sometimes they can also be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flow charts, and the combination of blocks in the block diagrams and / or flow charts, can be implemented by a dedicated hardware-based system for implementing the specified functions or actions, or can be implemented by a combination of special-purpose hardware and computer instructions.

[0151] In addition, each functional module in the embodiments of the present application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can 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 solutions of the present application essentially or the parts of the prior art that make contributions or parts of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0153] The above only describes optional embodiments of the present application and is not intended to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles 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 including a first antenna and a second antenna, the method includes: Obtain first GNSS data and second GNSS data, wherein the first GNSS data obtained through the first antenna includes first location information, and the second GNSS data obtained through the second antenna includes second location information; Based on the first position information and the second position information, the differential term of the position error is calculated; Based on the obtained differential term and preset differential value, determine whether the first GNSS data and the second GNSS data are abnormal.

2. The method according to claim 1, characterized in that, The step of determining whether the first GNSS data and the second GNSS data are abnormal based on the obtained differential term and preset differential value includes: The value to be compared is determined based on the differential terms corresponding to each moment within a preset time period, wherein the end point of the preset time period is the current moment; By determining whether the ratio to be compared at each moment within the preset time period is greater than the corresponding preset differential value, the duration for which the ratio to be compared is greater than the corresponding preset differential value is obtained, and it is determined whether the duration is greater than the second preset duration, wherein the second preset duration is less than the first preset duration corresponding to the preset time period; If the duration exceeds 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 comparison value based on the differential terms at each moment within a preset time period includes: The differential terms at each time point are subjected to low-pass filtering to obtain the corresponding ratio values ​​at each time point.

4. The method according to claim 2, characterized in that, The step of calculating the differential term of the position error based on the first position information and the second position information includes: Based on the first location information and the second location information, the location error corresponding to each moment within the preset time period is obtained; Check sequentially whether the position error at each time point 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 that position error.

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

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

7. The method according to claim 6, characterized in that, The determination of whether the current GNSS data of the antenna is abnormal, based on the reference velocity obtained through the first reference sensor and the three-dimensional position differential velocity and / or Doppler velocity, includes: Based on the reference velocity and the current velocity, at least one velocity error is calculated, wherein the current velocity is the three-dimensional position differential velocity or the Doppler velocity, and both the three-dimensional position differential velocity and the Doppler velocity include the velocity in each coordinate axis direction in the corresponding three-dimensional coordinate system. For each speed error, the speed error is integrated or low-pass filtered and integrated to obtain the integral value corresponding to the speed error. The product of the reference speed corresponding to the speed error and the speed corresponding to the reference speed in the current target speed and the preset coefficient corresponding to the speed error is calculated to obtain the threshold. For each velocity error, the current GNSS data of the antenna is determined to be abnormal 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 velocity obtained by the first reference sensor includes at least one of the following: X-axis optical flow velocity, Y-axis optical flow velocity, ground radar velocity, and barometer velocity.

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

10. The method according to claim 9, characterized in that, The three-dimensional position differential velocity is used to determine whether GNSS position data is abnormal, and the method further includes: For the first antenna or the second antenna, if it is determined that the actual data update frequency of the antenna is not abnormal, the differential term judgment result does not indicate abnormality, the GNSS velocity data is abnormal, and the GNSS position data corresponding to the current GNSS data is not determined to be abnormal based on the three-dimensional position differential velocity, data fusion is performed based on the position differential velocity corresponding to the current GNSS data of the antenna to obtain positioning information. For the first antenna or the second antenna, if at least one of the following occurs: abnormal actual data update frequency of the antenna, abnormal representation of differential term judgment result, or abnormal GNSS position data corresponding to the current GNSS data, 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 including a first antenna and a second antenna, the device includes: The data acquisition module is used to acquire first GNSS data and second GNSS data, wherein the first GNSS data obtained through the first antenna includes first location information, and the second GNSS data obtained through the second antenna includes second location information; The position determination module is used to calculate the differential term of the position error based on the first position information and the second position information; The location determination module is further configured to determine whether the first GNSS data and the second GNSS data are abnormal based on the obtained differential term and preset differential value.

12. An electronic device, characterized in that, The method includes a processor and a memory, the memory storing machine-executable instructions that can be executed by the processor, the processor executing the machine-executable instructions to implement the antenna data anomaly detection method according to 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 the processor, it implements the antenna data anomaly detection method as described in any one of claims 1-10.

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