Monitoring method, device and equipment for preventing vehicle-mounted positioning equipment on vehicle from being dismounted

Abstract

The invention provides a monitoring method, device and equipment for preventing vehicle-mounted positioning equipment on a vehicle from being dismounted. The method comprises the steps that acceleration data and angular velocity data, collected by a six-axis sensor, of the vehicle-mounted positioning equipment are acquired; wherein the six-axis sensor is arranged on the vehicle-mounted positioning equipment in advance; performing data fusion on the acceleration data and the angular velocity data to obtain fused data; determining an attitude angle of the vehicle-mounted positioning equipment according to the fused data to obtain attitude angle data; obtaining an attitude angle change rate of the vehicle-mounted positioning equipment based on the attitude angle data; determining a preset acceleration threshold value corresponding to the acceleration data and a preset angle rate threshold value corresponding to the attitude angle change rate; comparing the acceleration data with a preset acceleration threshold value, and comparing the attitude angle change rate with a preset angle rate threshold value to obtain a comparison result; whether the vehicle-mounted positioning equipment is dismounted or not is monitored based on the comparison result, the accuracy is very high, and the vehicle track is prevented from being counterfeited.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle positioning, and in particular to a monitoring method, device and equipment for preventing a vehicle-mounted positioning device from being removed. Background Art

[0002] With the continuous development of vehicle positioning technology, in the management of bulk cargo transportation, by installing on-board positioning equipment on transport vehicles, the vehicle's transportation trajectory can be monitored and analyzed in real time to ensure the safety of transported goods. However, since the on-board positioning equipment can be dismantled and moved without detection, the vehicle trajectory can be falsified to avoid the supervision of the vehicle's route.

[0003] At present, in order to monitor vehicle-mounted positioning and prevent the positioning equipment from being illegally removed, the following two methods can be used to monitor the vehicle-mounted positioning equipment: the key method, specifically, the key method is to press the key when the positioning equipment is installed, and the positioning equipment will automatically pop up when it leaves the installation position, thereby triggering an alarm, but the key is easy to avoid popping up by pressing when it is disassembled; the light sensing method, specifically, the light sensing method is to sense through the light sensing switch at the bottom of the positioning equipment installation, but the alarm can be effectively avoided by shading when it is disassembled. Therefore, the above two methods cannot effectively monitor the removal of the positioning equipment. Summary of the invention

[0004] The present invention provides a monitoring method, device and equipment for preventing a vehicle-mounted positioning device from being removed, so as to solve the technical problem in the prior art that it is impossible to accurately judge whether the vehicle-mounted positioning device has been removed.

[0005] In one aspect, the present invention provides a monitoring method for preventing a vehicle-mounted positioning device from being removed, comprising: Acquire acceleration data and angular velocity data of the vehicle-mounted positioning device collected by a six-axis sensor; wherein the six-axis sensor is pre-set on the vehicle-mounted positioning device; fusing the acceleration data and the angular velocity data to obtain fused data; Determine the attitude angle of the vehicle-mounted positioning device according to the fusion data to obtain attitude angle data; Obtaining a rate of change of the attitude angle of the vehicle-mounted positioning device based on the attitude angle data; Determine a preset acceleration threshold corresponding to the acceleration data and a preset angle rate threshold corresponding to the attitude angle change rate; Comparing the acceleration data with the preset acceleration threshold, and the attitude angle change rate with the preset angle rate threshold, to obtain a comparison result; Based on the comparison result, it is monitored whether the vehicle-mounted positioning device is removed.

[0006] According to a monitoring method for preventing a vehicle-mounted positioning device from being removed provided by the present invention, the determining of a preset acceleration threshold corresponding to the acceleration data and a preset angle rate threshold corresponding to the attitude angle change rate includes: Obtain vehicle location data; determining a travel speed of the vehicle based on the position data; A preset acceleration threshold corresponding to the acceleration data and a preset angle rate threshold corresponding to the attitude angle change rate are determined based on the driving speed.

[0007] According to a monitoring method for preventing a vehicle-mounted positioning device from being removed provided by the present invention, the method of determining a preset acceleration threshold corresponding to the acceleration data and a preset angle rate threshold corresponding to the attitude angle change rate based on the driving speed includes: When the driving speed is greater than a preset speed threshold, determining a first acceleration threshold as a preset acceleration threshold corresponding to the acceleration data, and a first angle rate threshold as a preset angle rate threshold corresponding to the attitude angle change rate; When the driving speed is less than or equal to the preset speed threshold, determining a second acceleration threshold as the preset acceleration threshold corresponding to the acceleration data, and a second angle rate threshold as the preset angle rate threshold corresponding to the attitude angle change rate; The second acceleration threshold is smaller than the first acceleration threshold, and the second angle rate threshold is smaller than the first angle rate threshold.

[0008] According to a monitoring method for preventing a vehicle-mounted positioning device from being removed provided by the present invention, the monitoring of whether the vehicle-mounted positioning device is removed based on the comparison result includes: When the comparison result is that the acceleration data is greater than the preset acceleration threshold, and / or the attitude angle change rate is greater than the preset angle rate threshold, it is determined that the vehicle-mounted positioning device is illegally dismantled; When the comparison result is that the acceleration data is less than or equal to the preset acceleration threshold, and the attitude angle change rate is less than or equal to the preset angle rate threshold, it is determined that the vehicle-mounted positioning device has not been removed.

[0009] According to a monitoring method for preventing a vehicle-mounted positioning device from being removed provided by the present invention, after determining that the vehicle-mounted positioning device is illegally removed, the method further includes: The accuracy of the illegal removal of the vehicle-mounted positioning device is verified based on the driving trajectory of the vehicle.

[0010] According to a monitoring method for preventing a vehicle-mounted positioning device from being removed from a vehicle provided by the present invention, the accuracy of verifying the illegal removal of the vehicle-mounted positioning device based on the driving trajectory of the vehicle includes: When the comparison result is that the acceleration data is greater than the preset acceleration threshold, and / or the attitude angle change rate is greater than the preset angle rate threshold, the moment of the acceleration data or the moment of the attitude angle is used as the segmentation moment, and the driving trajectory is segmented into a first trajectory and a second trajectory based on the segmentation moment; detecting smoothness and / or continuity of the first trajectory and the second trajectory at a segmentation; If the smoothness is less than a preset smoothness threshold and / or the continuity is less than a preset continuity threshold, then the result of determining that the vehicle-mounted positioning device has been illegally dismantled is accurate.

[0011] According to a monitoring method for preventing a vehicle-mounted positioning device from being removed provided by the present invention, after determining that the vehicle-mounted positioning device is illegally removed, the method further includes: Output alarm information to the remote monitoring platform.

[0012] According to a monitoring method for preventing a vehicle-mounted positioning device from being removed provided by the present invention, the data fusion of the acceleration data and the angular velocity data comprises: Performing data fusion on the acceleration data and the angular velocity data based on Kalman filtering; Determining the attitude angle of the vehicle-mounted positioning device according to the fusion data includes: According to the fused data, a direction cosine matrix is ​​used to determine the attitude angle of the vehicle-mounted positioning device.

[0013] On the other hand, the present invention also provides a monitoring device for preventing a vehicle-mounted positioning device from being removed, comprising: A data acquisition module, used to acquire acceleration data and angular velocity data of the vehicle-mounted positioning device collected by a six-axis sensor; wherein the six-axis sensor is pre-set on the vehicle-mounted positioning device; A data fusion module, used for fusing the acceleration data and the angular velocity data to obtain fused data; An attitude angle determination module is used to determine the attitude angle of the vehicle-mounted positioning device according to the fusion data to obtain attitude angle data; A posture angle change module, used for obtaining a posture angle change rate of the vehicle-mounted positioning device based on the posture angle data; A threshold determination module, used to determine a preset acceleration threshold corresponding to the acceleration data and a preset angle rate threshold corresponding to the attitude angle change rate; A comparison module, used for comparing the acceleration data with the preset acceleration threshold, and the attitude angle change rate with the preset angle rate threshold, to obtain a comparison result; A monitoring module is used to monitor whether the vehicle-mounted positioning device is removed based on the comparison result.

[0014] On the other hand, the present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, it implements any of the above-mentioned monitoring methods for preventing a vehicle-mounted positioning device from being removed.

[0015] The monitoring method, device and equipment for preventing the vehicle-mounted positioning device from being removed provided by the present invention fuses acceleration data and angular velocity data to obtain fused data, determines the attitude angle of the vehicle-mounted positioning device according to the fused data, obtains attitude angle data, obtains the attitude angle change rate of the vehicle-mounted positioning device based on the attitude angle data, determines the preset acceleration threshold corresponding to the acceleration data and the preset angle rate threshold corresponding to the attitude angle change rate, compares the acceleration data with the preset acceleration threshold, and the attitude angle change rate with the preset angle rate threshold, obtains the comparison result, and monitors whether the vehicle-mounted positioning device is removed based on the comparison result. This embodiment can judge whether the vehicle-mounted positioning device is removed based on the acceleration data and the angular velocity data. This judgment method has high accuracy, avoids falsification of the vehicle trajectory, and can conduct real-time and effective supervision and analysis of the vehicle's transportation trajectory to ensure the safety of transported goods. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 It is a flow chart of a monitoring method for preventing a vehicle-mounted positioning device from being removed provided by an embodiment of the present invention; Figure 2 It is a schematic diagram of the structure of a monitoring device for preventing a vehicle-mounted positioning device from being removed provided by an embodiment of the present invention; Figure 3 It is a schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0019] Figure 1 The flowchart of the monitoring method for preventing the vehicle-mounted positioning device from being removed provided by the embodiment of the present invention is shown in FIG. The execution subject of the method can be a computer, a mobile phone or a smart wearable device.

[0020] See also Figure 1 The monitoring method for preventing the vehicle-mounted positioning device from being removed may include the following steps: 101. Acquire acceleration data and angular velocity data of a vehicle-mounted positioning device collected by a six-axis sensor; wherein the six-axis sensor is pre-set on the vehicle-mounted positioning device.

[0021] In this step, the six-axis sensor may include a three-axis acceleration sensor and a three-axis gyroscope, the three-axis acceleration sensor is used to collect acceleration data, and the three-axis gyroscope is used to collect angular velocity data. The acceleration data includes accelerations in three axes, such as the acceleration of the X-axis, expressed as a_x, the acceleration of the Y-axis, expressed as a_y, and the acceleration of the Z-axis, expressed as a_z. The angular velocity data includes rotation rates around the three axes, such as the rotation rate of the X-axis, expressed as ω_x, the rotation rate of the Y-axis, expressed as ω_y, and the rotation rate of the Z-axis, expressed as ω_z.

[0022] 102. Fusing the acceleration data and the angular velocity data to obtain fused data.

[0023] In this step, the data fusion of the acceleration data and the angular velocity data may include: The acceleration data and the angular velocity data are fused based on Kalman filtering.

[0024] Kalman filtering establishes state equations and observation equations to optimally estimate the acceleration data and angular velocity data, eliminate noise interference, and obtain smooth fusion data, which is conducive to improving the accuracy of the results of the subsequent step of analyzing whether the vehicle positioning device has been removed. By fusing acceleration data and angular velocity data, the accuracy and stability of attitude angle data estimation can be improved.

[0025] 103. According to the fusion data, determine the attitude angle of the vehicle-mounted positioning device and obtain attitude angle data.

[0026] In this step, determining the attitude angle of the vehicle-mounted positioning device according to the fusion data may include: According to the fused data, a direction cosine matrix is ​​used to determine the attitude angle of the vehicle-mounted positioning device.

[0027] The direction cosine matrix is ​​used to establish a conversion matrix between the carrier coordinate system and the navigation coordinate system, and the attitude angle is calculated according to the fusion data. The attitude angle may include the roll angle, the pitch angle and the yaw angle. The attitude angle can more directly reflect the spatial orientation of the vehicle-mounted positioning device, which is easy to understand and control.

[0028] 104. Obtain a change rate of the attitude angle of the vehicle-mounted positioning device based on the attitude angle data.

[0029] In this step, obtaining the attitude angle change rate of the vehicle-mounted positioning device based on the attitude angle data may include: Calculate the change and time interval between two adjacent attitude angle data; The attitude angle change rate is calculated based on the change amount and the time interval. For example, the ratio of the change amount to the time interval can be calculated as the attitude angle change rate.

[0030] 105. Determine a preset acceleration threshold corresponding to the acceleration data and a preset angle rate threshold corresponding to the attitude angle change rate.

[0031] In this embodiment, determining the preset acceleration threshold corresponding to the acceleration data and the preset angle rate threshold corresponding to the attitude angle change rate may include: Obtain vehicle location data; determining a travel speed of the vehicle based on the position data; A preset acceleration threshold corresponding to the acceleration data and a preset angle rate threshold corresponding to the attitude angle change rate are determined based on the driving speed.

[0032] Taking into account that the acceleration data and attitude angle change rate of the vehicle will fluctuate to a certain extent during the driving process, therefore, determining the preset acceleration threshold corresponding to the acceleration data and the preset angle rate threshold corresponding to the attitude angle change rate based on the driving speed is also conducive to improving the rationality of the preset acceleration threshold and the preset angle rate threshold.

[0033] Of course, the vehicle's driving speed may also be ignored, and the on-board positioning device may be disassembled multiple times to test the fluctuations of the acceleration data and the attitude angle change rate, thereby setting the preset acceleration threshold and the preset angle rate threshold according to the test fluctuations.

[0034] 106. Compare the acceleration data with a preset acceleration threshold, and the attitude angle change rate with a preset angle rate threshold, to obtain a comparison result.

[0035] 107. Monitor whether the vehicle-mounted positioning device has been removed based on the comparison result.

[0036] In this step, monitoring whether the vehicle-mounted positioning device is removed based on the comparison result may include: When the comparison result is that the acceleration data is greater than the preset acceleration threshold, and / or the attitude angle change rate is greater than the preset angle rate threshold, it is determined that the vehicle-mounted positioning device is illegally dismantled; When the comparison result is that the acceleration data is less than or equal to the preset acceleration threshold, and the attitude angle change rate is less than or equal to the preset angle rate threshold, it is determined that the vehicle-mounted positioning device has not been removed.

[0037] In this embodiment, the acceleration data and the angular velocity data are fused to obtain fused data, and the attitude angle of the vehicle-mounted positioning device is determined based on the fused data to obtain attitude angle data, and the attitude angle change rate of the vehicle-mounted positioning device is obtained based on the attitude angle data, and the preset acceleration threshold corresponding to the acceleration data and the preset angle rate threshold corresponding to the attitude angle change rate are determined, and the acceleration data are compared with the preset acceleration threshold, and the attitude angle change rate is compared with the preset angle rate threshold to obtain a comparison result, and the vehicle-mounted positioning device is monitored based on the comparison result to determine whether it has been dismantled. In this embodiment, whether the vehicle-mounted positioning device has been dismantled can be determined based on the acceleration data and the angular velocity data. This judgment method has high accuracy, avoids falsification of the vehicle trajectory, and can conduct real-time and effective supervision and analysis of the vehicle's transportation trajectory to ensure the safety of transported goods.

[0038] In one embodiment of the present specification, determining the preset acceleration threshold corresponding to the acceleration data and the preset angle rate threshold corresponding to the attitude angle change rate based on the driving speed may include: When the driving speed is greater than a preset speed threshold, determining a first acceleration threshold as a preset acceleration threshold corresponding to the acceleration data, and a first angle rate threshold as a preset angle rate threshold corresponding to the attitude angle change rate; When the driving speed is less than or equal to the preset speed threshold, determining a second acceleration threshold as the preset acceleration threshold corresponding to the acceleration data, and a second angle rate threshold as the preset angle rate threshold corresponding to the attitude angle change rate; The second acceleration threshold is smaller than the first acceleration threshold, and the second angle rate threshold is smaller than the first angle rate threshold.

[0039] In this embodiment, generally, the faster the vehicle travels, the greater the fluctuation of the acceleration data and attitude angle change rate of the vehicle. At this time, if the preset acceleration threshold and the preset angle rate threshold are too small, misjudgment may occur, and the rapid lane change and rapid speed change of the vehicle may be mistaken as the removal of the vehicle-mounted positioning device. Therefore, the second acceleration threshold is smaller than the first acceleration threshold, and the second angle rate threshold is smaller than the first angle rate threshold, which is conducive to improving the accuracy of judging that the vehicle-mounted positioning device has been illegally removed. In other words, the preset acceleration threshold and the preset angle rate threshold can be positively correlated with the vehicle's travel speed.

[0040] In an embodiment of the present specification, after determining that the vehicle-mounted positioning device is illegally removed, the method may further include: The accuracy of the illegal removal of the vehicle-mounted positioning device is verified based on the driving trajectory of the vehicle.

[0041] In this embodiment, assuming that the vehicle-mounted positioning device is removed from the original vehicle and used to forge the driving trajectory of the vehicle, the driving trajectory of the vehicle can be analyzed to determine whether the driving trajectory is the driving trajectory of the same vehicle, thereby verifying the accuracy of the illegal removal of the vehicle-mounted positioning device.

[0042] In an embodiment of the present specification, the checking the accuracy of the illegal removal of the vehicle-mounted positioning device based on the driving trajectory of the vehicle may include: When the comparison result is that the acceleration data is greater than the preset acceleration threshold, and / or the attitude angle change rate is greater than the preset angle rate threshold, the moment of the acceleration data or the moment of the attitude angle is used as the segmentation moment, and the driving trajectory is segmented into a first trajectory and a second trajectory based on the segmentation moment; detecting smoothness and / or continuity of the first trajectory and the second trajectory at a segmentation; If the smoothness is less than a preset smoothness threshold and / or the continuity is less than a preset continuity threshold, then the result of determining that the vehicle-mounted positioning device has been illegally dismantled is accurate.

[0043] In this embodiment, the acceleration data and angular velocity data of the vehicle-mounted positioning device acquired by the six-axis sensor may carry a timestamp, that is, each acceleration data and angular velocity data has its own collection time. Therefore, the time of the acceleration data can be obtained according to the collection time of each acceleration data, and the time of the attitude angle can be obtained according to the collection time of each angular velocity data. The driving trajectory is also composed of multiple vehicle positions, and each vehicle position also has its own time. Therefore, the same time as the split time is found in the time of each position, so that the driving trajectory is split into the first trajectory and the second trajectory.

[0044] The higher the smoothness, the greater the probability that the trajectory curve is the same vehicle, and the higher the continuity, the greater the probability that the trajectory curve is the same vehicle. Therefore, if the smoothness is less than the preset smoothness threshold and / or the continuity is less than the preset continuity threshold, it means that the first trajectory and the second trajectory do not belong to the same vehicle, indicating that the vehicle-mounted positioning device has been removed. Therefore, if the smoothness is less than the preset smoothness threshold and / or the continuity is less than the preset continuity threshold, the result of determining that the vehicle-mounted positioning device has been illegally removed is accurate, further improving the accuracy of the judgment. Similarly, if the smoothness is greater than or equal to the preset smoothness threshold, and the continuity is greater than or equal to the preset continuity threshold, it means that the first trajectory and the second trajectory belong to the same vehicle, indicating that the vehicle-mounted positioning device has not been removed.

[0045] When detecting the smoothness of the trajectory, for example, the smoothness of the trajectory is evaluated by calculating the volatility of the trajectory points, such as the rate of change of acceleration and speed. For example, the trajectory data is smoothed using methods such as a sliding average filter, and the data changes before and after the processing are compared. When detecting the continuity of the trajectory, for example, whether the connection between the trajectory points is reasonable and whether there are mutations or interruptions is analyzed. For example, an interactive abnormality index is introduced to evaluate the continuity of the trajectory and identify abnormal points. Through these methods, it is possible to effectively determine whether the smoothness and continuity of the driving trajectory meet the preset threshold.

[0046] In an embodiment of the present specification, after determining that the vehicle-mounted positioning device is illegally removed, the method may further include: Output alarm information to the remote monitoring platform.

[0047] In this embodiment, after determining that the vehicle-mounted positioning device has been illegally removed, an alarm message is output to the remote monitoring platform to notify the monitoring personnel that the vehicle-mounted positioning device has been illegally removed. Of course, the vehicle's driving trajectory can also be transmitted to the remote monitoring platform to facilitate the monitoring personnel to understand the vehicle's driving status.

[0048] In some other embodiments of the present specification, the determining a preset acceleration threshold corresponding to the acceleration data and a preset angle rate threshold corresponding to the attitude angle change rate includes: Get the navigation route of the vehicle; determining a smoothness of the navigation route; A preset acceleration threshold corresponding to the acceleration data and a preset angle rate threshold corresponding to the attitude angle change rate are determined based on the smoothness of the navigation route.

[0049] Specifically, the higher the smoothness of the navigation route, the smaller the preset acceleration threshold and the preset angle rate threshold; the lower the smoothness of the navigation route (that is, the less smooth), the larger the preset acceleration threshold and the preset angle rate threshold. For example, when the smoothness is lower than the preset smoothness threshold, the first acceleration threshold is determined as the preset acceleration threshold corresponding to the acceleration data, and the first angle rate threshold is determined as the preset angle rate threshold corresponding to the attitude angle change rate. When the smoothness is higher than the preset smoothness threshold, the second acceleration threshold is determined as the preset acceleration threshold corresponding to the acceleration data, and the second angle rate threshold is determined as the preset angle rate threshold corresponding to the attitude angle change rate. The lower the smoothness of the navigation route, the greater the fluctuation of the acceleration data and attitude angle change rate of the vehicle. The method for determining the smoothness of the navigation route can refer to the method for determining the smoothness of the above-mentioned trajectory. Of course, the more turns there are in the navigation route, the smaller the corners of the turns, and the lower the smoothness.

[0050] In some other embodiments of the present specification, the acceleration data and the angular velocity data are fused based on Kalman filtering, wherein the Kalman filtering may mainly include a prediction step and an update step, wherein the prediction step may include state prediction and covariance prediction, and the update step may include calculating the Kalman gain, state update and covariance update.

[0051] State prediction: Use the state transfer matrix and the state estimate at the previous moment to predict the state at the current moment; Covariance prediction: Use the state transfer matrix and covariance matrix to predict the covariance matrix at the current moment; Calculate Kalman gain: Use the observation matrix, observation values ​​and covariance matrix to calculate the Kalman gain; State update: Use the Kalman gain, observations, and current estimate to update the state estimate; Covariance update: Update the covariance matrix using the Kalman gain, the observation noise covariance matrix, and the covariance matrix at the current moment.

[0052] The state prediction equation is shown in the following formula (1): x(k) = F(k-1) x(k-1) + B(k-1) u(k-1) Formula (1).

[0053] Among them, k is the time, x(k) is the state vector at time k, F(k-1) is the state transfer matrix, x(k-1) is the state vector at time k-1, B(k-1) is the control input matrix, and u(k-1) is the control input at time k-1.

[0054] Covariance prediction, the equation is shown in the following formula (2): P(k) = F(k-1) P(k-1) F(k-1)^T + Q(k-1) formula (2).

[0055] Among them, P(k) is the state variance covariance matrix at time k, P(k-1) is the state variance covariance matrix at time k-1, and Q(k-1) is the process noise covariance matrix.

[0056] The Kalman gain is calculated as shown in the following formula (3): x(k) = x(k) + K(k) [y(k) - H(k) x(k)] Formula (3).

[0057] Among them, y(k) is the measurement value at time k, H(k) is the measurement matrix, and K(k) is the Kalman gain matrix.

[0058] The state update equation is shown in the following formula (4): K(k) = P(k) H(k)^T [H(k) P(k) H(k)^T + R(k)]^-1 Formula (4).

[0059] Where R(k) is the measurement noise covariance matrix.

[0060] The covariance update equation is shown in the following formula (5): P(k) = (I - K(k) H(k)) P(k) Formula (5).

[0061] Where: I is the identity matrix.

[0062] Based on the same general inventive concept, the present invention also protects a monitoring device for preventing a vehicle-mounted positioning device from being removed, such as Figure 2 As shown, Figure 2The structure diagram of the monitoring device for preventing the vehicle-mounted positioning device on a vehicle from being removed provided by an embodiment of the present invention is described below. The monitoring device for preventing the vehicle-mounted positioning device on a vehicle from being removed described below and the monitoring method for preventing the vehicle-mounted positioning device on a vehicle from being removed described above can be referred to each other.

[0063] The monitoring device for preventing the vehicle-mounted positioning device from being removed may include a data acquisition module 201 , a data fusion module 202 , a posture angle determination module 203 , a posture angle change module 204 , a threshold determination module 205 , a comparison module 206 and a monitoring module 207 .

[0064] The data acquisition module 201 is used to acquire the acceleration data and angular velocity data of the vehicle-mounted positioning device collected by the six-axis sensor; wherein the six-axis sensor is pre-set on the vehicle-mounted positioning device; The data fusion module 202 is used to fuse the acceleration data and the angular velocity data to obtain fused data; The attitude angle determination module 203 is used to determine the attitude angle of the vehicle-mounted positioning device according to the fusion data to obtain attitude angle data; The attitude angle change module 204 is used to obtain the attitude angle change rate of the vehicle-mounted positioning device based on the attitude angle data; The threshold determination module 205 is used to determine a preset acceleration threshold corresponding to the acceleration data and a preset angle rate threshold corresponding to the attitude angle change rate; The comparison module 206 is used to compare the acceleration data with the preset acceleration threshold, and the attitude angle change rate with the preset angle rate threshold, to obtain a comparison result; The monitoring module 207 is used to monitor whether the vehicle-mounted positioning device is removed based on the comparison result.

[0065] Figure 3 It is a schematic diagram of the structure of an electronic device provided by an embodiment of the present invention.

[0066] like Figure 3 As shown, the electronic device may include: a processor 610, a communication interface 620, a memory 630 and a communication bus 640, wherein the processor 610, the communication interface 620 and the memory 630 communicate with each other through the communication bus 640. The processor 610 may call the logic instructions in the memory 630 to execute a monitoring method for preventing the vehicle-mounted positioning device from being removed from the vehicle.

[0067] In addition, the logic instructions in the above-mentioned memory 630 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for 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 method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0068] On the other hand, the present invention also provides a computer program product, which includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the monitoring method provided by the above methods to prevent the vehicle-mounted positioning device from being removed.

[0069] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the monitoring method for preventing the vehicle-mounted positioning device from being removed provided by the above methods.

[0070] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0071] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0072] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A monitoring method for preventing a vehicle-mounted positioning device from being removed, characterized in that: include: Acquire acceleration data and angular velocity data of the vehicle-mounted positioning device collected by a six-axis sensor; wherein the six-axis sensor is pre-set on the vehicle-mounted positioning device; fusing the acceleration data and the angular velocity data to obtain fused data; Determine the attitude angle of the vehicle-mounted positioning device according to the fusion data to obtain attitude angle data; Obtaining a rate of change of the attitude angle of the vehicle-mounted positioning device based on the attitude angle data; Determine a preset acceleration threshold corresponding to the acceleration data and a preset angle rate threshold corresponding to the attitude angle change rate; Comparing the acceleration data with the preset acceleration threshold, and the attitude angle change rate with the preset angle rate threshold, to obtain a comparison result; Based on the comparison result, it is monitored whether the vehicle-mounted positioning device is removed.

2. The monitoring method for preventing the vehicle-mounted positioning device from being removed according to claim 1, characterized in that: The determining of a preset acceleration threshold corresponding to the acceleration data and a preset angle rate threshold corresponding to the attitude angle change rate includes: Obtain vehicle location data; determining a travel speed of the vehicle based on the position data; A preset acceleration threshold corresponding to the acceleration data and a preset angle rate threshold corresponding to the attitude angle change rate are determined based on the driving speed.

3. The monitoring method for preventing the vehicle-mounted positioning device from being removed according to claim 2, characterized in that: The step of determining a preset acceleration threshold corresponding to the acceleration data and a preset angle rate threshold corresponding to the attitude angle change rate based on the driving speed includes: When the driving speed is greater than a preset speed threshold, determining a first acceleration threshold as a preset acceleration threshold corresponding to the acceleration data, and a first angle rate threshold as a preset angle rate threshold corresponding to the attitude angle change rate; When the driving speed is less than or equal to the preset speed threshold, determining a second acceleration threshold as the preset acceleration threshold corresponding to the acceleration data, and a second angle rate threshold as the preset angle rate threshold corresponding to the attitude angle change rate; The second acceleration threshold is smaller than the first acceleration threshold, and the second angle rate threshold is smaller than the first angle rate threshold.

4. The monitoring method for preventing the vehicle-mounted positioning device from being removed according to claim 1, characterized in that: The step of monitoring whether the vehicle-mounted positioning device is removed based on the comparison result includes: When the comparison result is that the acceleration data is greater than the preset acceleration threshold, and / or the attitude angle change rate is greater than the preset angle rate threshold, it is determined that the vehicle-mounted positioning device is illegally dismantled; When the comparison result is that the acceleration data is less than or equal to the preset acceleration threshold, and the attitude angle change rate is less than or equal to the preset angle rate threshold, it is determined that the vehicle-mounted positioning device has not been removed.

5. The monitoring method for preventing the vehicle-mounted positioning device from being removed according to claim 4, characterized in that: After determining that the vehicle-mounted positioning device is illegally removed, the method further includes: The accuracy of the illegal removal of the vehicle-mounted positioning device is verified based on the driving trajectory of the vehicle.

6. The monitoring method for preventing the vehicle-mounted positioning device from being removed according to claim 5, characterized in that: The checking the accuracy of the illegal removal of the vehicle-mounted positioning device based on the driving trajectory of the vehicle includes: When the comparison result is that the acceleration data is greater than the preset acceleration threshold, and / or the attitude angle change rate is greater than the preset angle rate threshold, the moment of the acceleration data or the moment of the attitude angle is used as the segmentation moment, and the driving trajectory is segmented into a first trajectory and a second trajectory based on the segmentation moment; detecting smoothness and / or continuity of the first trajectory and the second trajectory at a segmentation; If the smoothness is less than a preset smoothness threshold and / or the continuity is less than a preset continuity threshold, then the result of determining that the vehicle-mounted positioning device has been illegally dismantled is accurate.

7. The monitoring method for preventing the vehicle-mounted positioning device from being removed according to claim 1, characterized in that: After determining that the vehicle-mounted positioning device is illegally removed, the method further includes: Output alarm information to the remote monitoring platform.

8. The monitoring method for preventing the vehicle-mounted positioning device from being removed according to claim 1, characterized in that: The step of fusing the acceleration data and the angular velocity data comprises: Performing data fusion on the acceleration data and the angular velocity data based on Kalman filtering; Determining the attitude angle of the vehicle-mounted positioning device according to the fusion data includes: According to the fused data, a direction cosine matrix is ​​used to determine the attitude angle of the vehicle-mounted positioning device.

9. A monitoring device for preventing a vehicle-mounted positioning device from being removed, characterized in that: include: A data acquisition module, used to acquire acceleration data and angular velocity data of the vehicle-mounted positioning device collected by a six-axis sensor; wherein the six-axis sensor is pre-set on the vehicle-mounted positioning device; A data fusion module, used for fusing the acceleration data and the angular velocity data to obtain fused data; An attitude angle determination module is used to determine the attitude angle of the vehicle-mounted positioning device according to the fusion data to obtain attitude angle data; A posture angle change module, used for obtaining a posture angle change rate of the vehicle-mounted positioning device based on the posture angle data; A threshold determination module, used to determine a preset acceleration threshold corresponding to the acceleration data and a preset angle rate threshold corresponding to the attitude angle change rate; A comparison module, used for comparing the acceleration data with the preset acceleration threshold, and the attitude angle change rate with the preset angle rate threshold, to obtain a comparison result; A monitoring module is used to monitor whether the vehicle-mounted positioning device is removed based on the comparison result.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the monitoring method for preventing the vehicle-mounted positioning device from being removed as described in any one of claims 1 to 8 is implemented.

Images