Method, apparatus and device for monitoring against removal of a vehicle-mounted positioning device from a vehicle

Abstract

The application provides a monitoring method, device and equipment for preventing a vehicle-mounted positioning device on a vehicle from being removed, the method comprising: obtaining acceleration data and angular velocity data of the vehicle-mounted positioning device collected by a six-axis sensor; the six-axis sensor is prearranged on the vehicle-mounted positioning device; 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 device according to the fused data to obtain attitude angle data; obtaining an attitude angle change rate of the vehicle-mounted positioning device based on the attitude angle data; determining 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; and monitoring whether the vehicle-mounted positioning device is removed based on the comparison result, which has high accuracy and avoids vehicle trajectory falsification.

Description

TECHNICAL FIELD

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

[0002] With the continuous development of vehicle positioning technology, in the management of bulk cargo transportation, the transportation track of the vehicle is monitored and analyzed in real time by installing a vehicle-mounted positioning device on the vehicle to ensure the safety of the transported goods. However, the vehicle-mounted positioning device can be removed and moved without being detected, thereby faking the vehicle track and avoiding supervision of the vehicle route.

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

[0004] The present application provides a monitoring method, device and equipment for preventing a vehicle-mounted positioning device from being removed from a vehicle, to solve the technical problem that the prior art cannot accurately determine whether the vehicle-mounted positioning device is removed.

[0005] In one aspect, the present application provides a monitoring method for preventing a vehicle-mounted positioning device from being removed from a vehicle, comprising:

[0006] obtaining 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-installed on the vehicle-mounted positioning device;

[0007] data fusion of the acceleration data and the angular velocity data to obtain fusion data;

[0008] determining the attitude angle of the vehicle-mounted positioning device according to the fusion data to obtain attitude angle data;

[0009] obtaining the attitude angle change rate of the vehicle-mounted positioning device based on the attitude angle data;

[0010] determining a preset acceleration threshold corresponding to the acceleration data and a preset angle rate threshold corresponding to the attitude angle change rate;

[0011] comparing the acceleration data with the preset acceleration threshold value and the posture angle change rate with the preset angle rate threshold value to obtain a comparison result;

[0012] monitoring whether the vehicle-mounted positioning device is removed based on the comparison result.

[0013] According to the present application, a monitoring method for preventing a vehicle-mounted positioning device from being removed is provided, and the preset acceleration threshold value corresponding to the acceleration data and the preset angle rate threshold value corresponding to the posture angle change rate are determined, including:

[0014] obtaining position data of the vehicle;

[0015] determining a driving speed of the vehicle based on the position data;

[0016] determining the preset acceleration threshold value corresponding to the acceleration data and the preset angle rate threshold value corresponding to the posture angle change rate based on the driving speed.

[0017] According to the present application, a monitoring method for preventing a vehicle-mounted positioning device from being removed is provided, and the preset acceleration threshold value corresponding to the acceleration data and the preset angle rate threshold value corresponding to the posture angle change rate are determined based on the driving speed, including:

[0018] when the driving speed is greater than a preset speed threshold value, determining a first acceleration threshold value as the preset acceleration threshold value corresponding to the acceleration data and a first angle rate threshold value as the preset angle rate threshold value corresponding to the posture angle change rate;

[0019] when the driving speed is less than or equal to the preset speed threshold value, determining a second acceleration threshold value as the preset acceleration threshold value corresponding to the acceleration data and a second angle rate threshold value as the preset angle rate threshold value corresponding to the posture angle change rate;

[0020] wherein the second acceleration threshold value is less than the first acceleration threshold value, and the second angle rate threshold value is less than the first angle rate threshold value.

[0021] According to the present application, a monitoring method for preventing a vehicle-mounted positioning device from being removed is provided, and the preset acceleration threshold value corresponding to the acceleration data and the preset angle rate threshold value corresponding to the posture angle change rate are determined based on the driving speed, including:

[0022] when the comparison result is that the acceleration data is greater than the preset acceleration threshold value and / or the posture angle change rate is greater than the preset angle rate threshold value, it is determined that the vehicle-mounted positioning device is illegally removed;

[0023] determining that the vehicle-mounted positioning device is not removed when the comparison result is that the acceleration data is less than or equal to the preset acceleration threshold value and the attitude angle change rate is less than or equal to the preset angle rate threshold value.

[0024] The monitoring method for preventing the vehicle-mounted positioning device from being removed from a vehicle provided by the present application further comprises the following steps after the step of determining that the vehicle-mounted positioning device is illegally removed:

[0025] verifying the accuracy of the vehicle-mounted positioning device being illegally removed based on the driving track of the vehicle.

[0026] The monitoring method for preventing the vehicle-mounted positioning device from being removed from a vehicle provided by the present application, wherein the step of verifying the accuracy of the vehicle-mounted positioning device being illegally removed based on the driving track of the vehicle comprises the following steps:

[0027] adopting the time point of the acceleration data or the time point of the attitude angle as a segmentation time point when the comparison result is that the acceleration data is greater than the preset acceleration threshold value and / or the attitude angle change rate is greater than the preset angle rate threshold value, and segmenting the driving track into a first track and a second track based on the segmentation time point;

[0028] detecting the smoothness and / or continuity of the first track and the second track at the segmentation point;

[0029] determining that the result of the vehicle-mounted positioning device being illegally removed is accurate if the smoothness is less than a preset smoothness threshold value and / or the continuity is less than a preset continuity threshold value.

[0030] The monitoring method for preventing the vehicle-mounted positioning device from being removed from a vehicle provided by the present application further comprises the following steps after the step of determining that the vehicle-mounted positioning device is illegally removed:

[0031] outputting alarm information to a remote monitoring platform.

[0032] The monitoring method for preventing the vehicle-mounted positioning device from being removed from a vehicle provided by the present application, wherein the step of data fusion of the acceleration data and the angular velocity data comprises the following steps:

[0033] performing data fusion of the acceleration data and the angular velocity data based on Kalman filtering;

[0034] The monitoring method for preventing the vehicle-mounted positioning device from being removed from a vehicle provided by the present application, wherein the step of determining the attitude angle of the vehicle-mounted positioning device based on the fused data comprises the following steps:

[0035] adopting a direction cosine matrix to determine the attitude angle of the vehicle-mounted positioning device based on the fused data.

[0036] In another aspect, the present application also provides a monitoring device for preventing a vehicle-mounted positioning device from being removed from a vehicle, comprising:

[0037] a data acquisition module configured to acquire acceleration data and angular velocity data of the vehicle-mounted positioning device collected by a six-axis sensor prearranged on the vehicle-mounted positioning device;

[0038] a data fusion module configured to perform data fusion on the acceleration data and the angular velocity data to obtain fused data;

[0039] a posture angle determination module configured to determine a posture angle of the vehicle-mounted positioning device according to the fused data to obtain posture angle data;

[0040] a posture angle change module configured to obtain a posture angle change rate of the vehicle-mounted positioning device based on the posture angle data;

[0041] a threshold value determination module configured to determine a preset acceleration threshold value corresponding to the acceleration data and a preset angle rate threshold value corresponding to the posture angle change rate;

[0042] a comparison module configured to compare the acceleration data with the preset acceleration threshold value and the posture angle change rate with the preset angle rate threshold value to obtain a comparison result;

[0043] a monitoring module configured to monitor whether the vehicle-mounted positioning device is removed from the vehicle based on the comparison result.

[0044] In another aspect, the present application also provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the above-mentioned monitoring method for preventing a vehicle-mounted positioning device from being removed from a vehicle when executing the program.

[0045] The present invention provides a monitoring method, apparatus, and device for preventing the removal of vehicle-mounted positioning equipment. This method involves fusing acceleration and angular velocity data to obtain fused data. Based on the fused data, the attitude angle of the vehicle-mounted positioning equipment is determined, yielding attitude angle data. The rate of change of the attitude angle is then calculated based on this data. Preset acceleration thresholds corresponding to the acceleration data and preset angular rate thresholds corresponding to the rate of change of attitude angles are determined. The magnitudes of the acceleration data and preset acceleration thresholds, as well as the rate of change of attitude angles and preset angular rate thresholds, are compared to obtain a comparison result. Based on this comparison result, the method monitors whether the vehicle-mounted positioning equipment has been removed. This embodiment can determine whether the vehicle-mounted positioning equipment has been removed based on acceleration and angular velocity data. This method has high accuracy, avoids falsification of vehicle trajectories, and enables real-time and effective monitoring and analysis of vehicle transport trajectories, ensuring the safety of transported goods. Attached Figure Description

[0046] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0047] Figure 1 This is a flowchart illustrating the monitoring method for preventing the removal of vehicle-mounted positioning devices provided in an embodiment of the present invention.

[0048] Figure 2 This is a schematic diagram of the structure of the monitoring device provided in an embodiment of the present invention to prevent the removal of the vehicle-mounted positioning equipment.

[0049] Figure 3 This is a schematic diagram of the structure of the electronic device provided in an embodiment of the present invention. Detailed Implementation

[0050] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0051] Figure 1 This is a flowchart illustrating a monitoring method for preventing the removal of vehicle-mounted positioning devices provided in an embodiment of the present invention. The method can be executed by a computer, mobile phone, or smart wearable device, etc.

[0052] Referring to Figure 1 The monitoring method for preventing a vehicle-mounted positioning device from being removed from a vehicle can include the following steps:

[0053] 101. Obtain 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-installed on the vehicle-mounted positioning device.

[0054] In this step, the six-axis sensor can 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 three axial accelerations, such as the acceleration of the X-axis, denoted as a_x, the acceleration of the Y-axis, denoted as a_y, and the acceleration of the Z-axis, denoted as a_z. The angular velocity data includes the rotation rate around the three axes, such as the rotation rate of the X-axis, denoted as ω_x, the rotation rate of the Y-axis, denoted as ω_y, and the rotation rate of the Z-axis, denoted as ω_z.

[0055] 102. Data fusion of the acceleration data and the angular velocity data to obtain fused data.

[0056] In this step, the data fusion of the acceleration data and the angular velocity data can include:

[0057] Data fusion of the acceleration data and the angular velocity data based on Kalman filtering.

[0058] Kalman filtering performs optimal estimation on the acceleration data and the angular velocity data by establishing a state equation and an observation equation, eliminates noise interference, and obtains smooth fused data, which is beneficial to improve the accuracy of the result of analyzing whether the vehicle-mounted positioning device is removed in the subsequent step. By fusing the acceleration data and the angular velocity data, the accuracy and stability of the attitude angle data estimation can be improved.

[0059] 103. Determine the attitude angle of the vehicle-mounted positioning device according to the fused data to obtain attitude angle data.

[0060] In this step, determining the attitude angle of the vehicle-mounted positioning device according to the fused data can include:

[0061] Determining the attitude angle of the vehicle-mounted positioning device according to the fused data using a direction cosine matrix.

[0062] Using the direction cosine matrix, a conversion matrix between the carrier coordinate system and the navigation coordinate system is established, and the attitude angle is calculated according to the fused data. The attitude angle can include roll angle, pitch angle, and yaw angle. The attitude angle can more directly reflect the spatial orientation of the vehicle-mounted positioning device, which is convenient for understanding and control.

[0063] 104、based on the attitude angle data, obtaining a rate of change of the attitude angle of the vehicle positioning device.

[0064] In this step, based on the attitude angle data, obtaining a rate of change of the attitude angle of the vehicle positioning device, can include:

[0065] calculating a change amount and a time interval between two adjacent attitude angle data;

[0066] calculating the rate of change of the attitude angle according to the change amount and the time interval. For example, the ratio of the change amount to the time interval can be calculated as the rate of change of the attitude angle.

[0067] 105、determining a preset acceleration threshold corresponding to the acceleration data and a preset angle rate threshold corresponding to the rate of change of the attitude angle.

[0068] In this embodiment, the determination of the preset acceleration threshold corresponding to the acceleration data and the preset angle rate threshold corresponding to the rate of change of the attitude angle can include:

[0069] obtaining position data of the vehicle;

[0070] determining the driving speed of the vehicle based on the position data;

[0071] determining the preset acceleration threshold corresponding to the acceleration data and the preset angle rate threshold corresponding to the rate of change of the attitude angle based on the driving speed.

[0072] Considering that the acceleration data and the rate of change of the attitude angle of the vehicle will fluctuate during driving, determining the preset acceleration threshold corresponding to the acceleration data and the preset angle rate threshold corresponding to the rate of change of the attitude angle based on the driving speed is also beneficial to improve the rationality of the preset acceleration threshold and the preset angle rate threshold.

[0073] Of course, the driving speed of the vehicle can also be ignored, and the fluctuation of the acceleration data and the rate of change of the attitude angle can be tested by disassembling the vehicle positioning device multiple times, so as to set the preset acceleration threshold and the preset angle rate threshold according to the tested fluctuation.

[0074] 106、comparing the size of the acceleration data and the preset acceleration threshold, and the size of the rate of change of the attitude angle and the preset angle rate threshold, to obtain a comparison result.

[0075] 107、based on the comparison result, monitoring whether the vehicle positioning device is disassembled.

[0076] In this step, based on the comparison result, monitoring whether the vehicle positioning device is disassembled, can include:

[0077] determine that the vehicle-mounted positioning device is illegally removed 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;

[0078] determine that the vehicle-mounted positioning device is not removed 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.

[0079] In the embodiment, the acceleration data and the angular velocity data are fused to obtain fused data, the attitude angle of the vehicle-mounted positioning device is determined according to the fused data to obtain attitude angle data, the attitude angle change rate of the vehicle-mounted positioning device is obtained based on the attitude angle data, the preset acceleration threshold corresponding to the acceleration data and the preset angle rate threshold corresponding to the attitude angle change rate are determined, the sizes of the acceleration data and the preset acceleration threshold and the sizes of the attitude angle change rate and the preset angle rate threshold are compared to obtain a comparison result, and whether the vehicle-mounted positioning device is removed is monitored based on the comparison result. The embodiment can determine whether the vehicle-mounted positioning device is removed according to the acceleration data and the angular velocity data, the determination manner has high accuracy, vehicle trajectory falsification is avoided, real-time and effective supervision and analysis of the transportation trajectory of the vehicle can be performed, and the safety of transported goods is ensured.

[0080] In an embodiment of the present specification, the determination of 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 can include:

[0081] determine a first acceleration threshold as the preset acceleration threshold corresponding to the acceleration data and a first angle rate threshold as the preset angle rate threshold corresponding to the attitude angle change rate when the driving speed is greater than a preset speed threshold;

[0082] determine 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 when the driving speed is less than or equal to the preset speed threshold;

[0083] wherein the second acceleration threshold is less than the first acceleration threshold, and the second angle rate threshold is less than the first angle rate threshold.

[0084] In the embodiment, generally, the faster the vehicle travels, the greater the fluctuation of the acceleration data and the rate of change of the attitude angle of the vehicle, and if the preset acceleration threshold and the preset angle rate threshold are too small, a false judgment may be made, i.e., the rapid lane change and rapid speed change of the vehicle are mistakenly considered as the removal of the vehicle 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 beneficial to improve the accuracy of the judgment of the illegal removal of the vehicle positioning device. That is, the preset acceleration threshold and the preset angle rate threshold can be positively correlated with the travel speed of the vehicle.

[0085] In an embodiment of the present specification, after determining that the vehicle positioning device is illegally removed, the method further comprises:

[0086] Verifying the accuracy of the illegal removal of the vehicle positioning device based on the travel trajectory of the vehicle.

[0087] In the embodiment, assuming that the vehicle positioning device is removed from the original vehicle and used to fake the travel trajectory of the vehicle, the travel trajectory of the vehicle can be analyzed to determine whether the travel trajectory is the travel trajectory of the same vehicle, thereby verifying the accuracy of the illegal removal of the vehicle positioning device.

[0088] In an embodiment of the present specification, verifying the accuracy of the illegal removal of the vehicle positioning device based on the travel trajectory of the vehicle can include:

[0089] When the comparison result is that the acceleration data is greater than the preset acceleration threshold and / or the rate of change of the attitude angle is greater than the preset angle rate threshold, the time point of the acceleration data or the time point of the attitude angle is used as a segmentation time point, and the travel trajectory is segmented into a first trajectory and a second trajectory based on the segmentation time point;

[0090] Detecting the smoothness and / or continuity of the first trajectory and the second trajectory at the segmentation point;

[0091] If the smoothness is less than a preset smoothness threshold and / or the continuity is less than a preset continuity threshold, it is determined that the result of the illegal removal of the vehicle positioning device is accurate.

[0092] In the embodiment, the acceleration data and the angular velocity data of the vehicle positioning device collected by the six-axis sensor can 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 track is also composed of multiple vehicle positions, and each vehicle position also has its own time. Therefore, the same time as the segmentation time is found in the time of each position, so as to segment the driving track into the first track and the second track.

[0093] The higher the smoothness is, the greater the probability that the track curve is of the same vehicle is, and the higher the continuity is, which also indicates that the probability that the track curve is of the same vehicle is greater. Therefore, if the smoothness is less than the preset smoothness threshold and / or the continuity is less than the preset continuity threshold, it indicates that the first track and the second track do not belong to the same vehicle, and it indicates that the vehicle positioning device is 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 positioning device is illegally removed is accurate, and the accuracy of the judgment is further improved. 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 indicates that the first track and the second track belong to the same vehicle, and it indicates that the vehicle positioning device is not removed.

[0094] In detecting the smoothness of the track, for example, the smoothness of the track is evaluated by calculating the fluctuation of the track points, such as the change rate of acceleration and speed, and for example, the track data is smoothed by using a method such as a moving average filter, and the data changes before and after processing are compared. In detecting the continuity of the track, for example, whether the connection between the track points is reasonable, whether there is a mutation or interruption, and for example, an interaction abnormality index is introduced to evaluate the continuity of the track, and an abnormal point is identified. Through these methods, whether the smoothness and continuity of the driving track meet the preset threshold can be effectively judged.

[0095] In an embodiment of the present specification, after the determination that the vehicle positioning device is illegally removed, the method further comprises:

[0096] outputting alarm information to a remote monitoring platform.

[0097] In the embodiment, after the determination that the vehicle positioning device is illegally removed, alarm information is output to a remote monitoring platform to notify monitoring personnel of the situation that the vehicle positioning device is illegally removed. Of course, the driving track of the vehicle can also be transmitted to the remote monitoring platform, so as to facilitate the monitoring personnel to understand the driving state of the vehicle.

[0098] In some other embodiments of the present disclosure, the determining the preset acceleration threshold corresponding to the acceleration data and the preset angle rate threshold corresponding to the attitude angle change rate comprises:

[0099] obtaining a navigation route of the vehicle;

[0100] determining a smoothness of the navigation route;

[0101] 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 smoothness of the navigation route.

[0102] 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 (i.e., the less smooth), the greater the preset acceleration threshold and the preset angle rate threshold. For example, when the smoothness is lower than a preset smoothness threshold, a first acceleration threshold is determined as the preset acceleration threshold corresponding to the acceleration data, and a 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, a second acceleration threshold is determined as the preset acceleration threshold corresponding to the acceleration data, and a 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 the attitude angle change rate of the vehicle. The determination of the smoothness of the navigation route can refer to the determination of the smoothness of the trajectory described above. Of course, the more turns of the navigation route, the smaller the corners of the turns, and the lower the smoothness.

[0103] In some other embodiments of the present disclosure, the acceleration data and the angular velocity data are fused based on Kalman filtering, wherein the Kalman filtering mainly comprises a prediction step and an update step, wherein the prediction step can comprise state prediction and covariance prediction, and the update step can comprise calculating Kalman gain, state updating and covariance updating.

[0104] State prediction: using a state transition matrix and a state estimation value at the last time to predict the state at the current time;

[0105] Covariance prediction: using a state transition matrix and a covariance matrix to predict the covariance matrix at the current time;

[0106] Calculating Kalman gain: using an observation matrix, an observation value and a covariance matrix to calculate Kalman gain;

[0107] State updating: using Kalman gain, an observation value and an estimation value at the current time to update the state estimation value;

[0108] Covariance update: update the covariance matrix using the Kalman gain, the observation noise covariance matrix, and the covariance matrix at the current time.

[0109] State prediction, the equation is shown in the following formula (1):

[0110] x(k) = F(k-1) x(k-1) + B(k-1) u(k-1) formula (1).

[0111] Wherein, k is the time, x(k) is the state vector at time k, F(k-1) is the state transition matrix, x(k-1) is the state vector at time k-1, B(k-1) is the control input matrix, u(k-1) is the control input at time k-1.

[0112] Covariance prediction, the equation is shown in the following formula (2):

[0113] P(k) = F(k-1) P(k-1) F(k-1)^T + Q(k-1) formula (2).

[0114] Wherein, P(k) is the state variance covariance matrix at time k, P(k-1) is the state variance covariance matrix at time k-1, Q(k-1) is the process noise covariance matrix.

[0115] Calculate the Kalman gain, the equation is shown in the following formula (3):

[0116] x(k) = x(k) + K(k) [y(k) - H(k) x(k)] formula (3).

[0117] Wherein, y(k) is the measurement value at time k, H(k) is the measurement matrix, K(k) is the Kalman gain matrix.

[0118] State update, the equation is shown in the following formula (4):

[0119] K(k) = P(k) H(k)^T [H(k) P(k) H(k)^T + R(k)]^-1 formula (4).

[0120] Wherein, R(k) is the measurement noise covariance matrix.

[0121] Covariance update, the equation is shown in the following formula (5):

[0122] P(k) = (I - K(k) H(k)) P(k) formula (5).

[0123] Wherein: I is the unit matrix.

[0124] Based on the same general inventive concept, the present application also protects a monitoring device for preventing the removal of a vehicle-mounted positioning device on a vehicle, such as Figure 2 Figure 2 is a structural schematic diagram of the monitoring device for preventing the removal of a vehicle-mounted positioning device on a vehicle provided by an embodiment of the present application. The following describes the monitoring device for preventing the removal of a vehicle-mounted positioning device on a vehicle provided by the present application, which can be correspondingly referred to with the monitoring method for preventing the removal of a vehicle-mounted positioning device on a vehicle described above.

[0125] The monitoring device for preventing the removal of a vehicle-mounted positioning device on a vehicle can 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.

[0126] The data acquisition module 201 is configured 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.

[0127] The data fusion module 202 is configured to perform data fusion on the acceleration data and the angular velocity data to obtain fusion data.

[0128] The posture angle determination module 203 is configured to determine a posture angle of the vehicle-mounted positioning device according to the fusion data to obtain posture angle data.

[0129] The posture angle change module 204 is configured to obtain a posture angle change rate of the vehicle-mounted positioning device based on the posture angle data.

[0130] The threshold determination module 205 is configured to determine a preset acceleration threshold corresponding to the acceleration data and a preset angle rate threshold corresponding to the posture angle change rate.

[0131] The comparison module 206 is configured to compare the acceleration data with the preset acceleration threshold and the posture angle change rate with the preset angle rate threshold to obtain a comparison result.

[0132] The monitoring module 207 is configured to monitor whether the vehicle-mounted positioning device is removed based on the comparison result.

[0133] Figure 3 is a structural schematic diagram of an electronic device provided by an embodiment of the present application.

[0134] As Figure 3 ​As shown, the electronic device can include a processor 610, a communications interface 620, a memory 630, and a communications bus 640, wherein the processor 610, the communications interface 620, and the memory 630 complete mutual communication through the communications bus 640. The processor 610 can invoke a logic instruction in the memory 630 to execute the monitoring method for preventing a vehicle-mounted positioning device from being removed.

[0135] In addition, the logic instruction in the memory 630 described above can be implemented in the form of a software function unit and sold or used as an independent product, and can be stored in a computer-readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the part that contributes to the prior art or part 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 several 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.

[0136] On the other hand, the present application 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, and the computer program is executed by a processor, so that the computer can execute the monitoring method for preventing a vehicle-mounted positioning device from being removed provided by the above-mentioned methods.

[0137] In yet another aspect, the present application also provides a non-transitory computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the monitoring method for preventing a vehicle-mounted positioning device from being removed provided by the above-mentioned methods.

[0138] The device embodiments described above are only schematic, wherein the units shown as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, i.e., they can be located in one place, or distributed on multiple network units. Part or all of the modules can be selected according to actual needs to achieve the purpose of the present embodiment. Those skilled in the art can understand and implement without creative labor.

[0139] Those skilled in the art can clearly understand the technical solutions of the various embodiments from the above description of the embodiments, and the various embodiments can be implemented by means of software with the necessary general hardware platforms, and of course, can also be implemented by hardware. Based on such understanding, the above technical solutions, essentially or in other words, the part of the prior art that makes a contribution, can be embodied in the form of a software product, which can be stored in a computer readable storage medium, such as a ROM / RAM, a magnetic disk, an optical disk, and the like, and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0140] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for some technical features therein; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A monitoring method for preventing removal of a vehicle-mounted positioning device on a vehicle, characterized by, The method comprises: obtaining acceleration data and angular velocity data of a vehicle positioning device collected by a six-axis sensor, wherein the six-axis sensor is pre-installed on the vehicle positioning device; performing data fusion on the acceleration data and the angular velocity data to obtain fused data; determining an attitude angle of the vehicle positioning device according to the fused data to obtain attitude angle data; obtaining an attitude angle change rate of the vehicle positioning device based on the attitude angle data; determining 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 and the preset acceleration threshold and comparing the attitude angle change rate and the preset angle rate threshold to obtain a comparison result; monitoring whether the vehicle positioning device is removed based on the comparison result; monitoring whether the vehicle positioning device is removed based on the comparison result comprises: 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, determining that the vehicle positioning device is illegally removed; using a time point of the acceleration data or a time point of the attitude angle as a segmentation time point, segmenting a driving track of the vehicle into a first track and a second track based on the segmentation time point; detecting smoothness and / or continuity of the first track and the second track at the segmentation point; if the smoothness is less than a preset smoothness threshold and / or the continuity is less than a preset continuity threshold, determining that the result of determining that the vehicle positioning device is illegally removed is accurate.

2. The method of claim 1, wherein the method further comprises: The method further comprises: obtaining position data of the vehicle; determining a driving speed of the vehicle based on the position data; 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.

3. The method of claim 2, wherein the monitoring of the removal of the vehicle-mounted positioning device is performed by a monitoring device installed in the vehicle. The method further comprises: when the driving speed is greater than a preset speed threshold, determining a first acceleration threshold as the preset acceleration threshold corresponding to the acceleration data and a first angle rate threshold as the 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; wherein the second acceleration threshold is less than the first acceleration threshold and the second angle rate threshold is less than the first angle rate threshold.

4. The method of claim 1, wherein the method further comprises: The method further comprises: 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, determining that the vehicle positioning device is not removed.

5. The method of claim 1, wherein the method further comprises: After the determination that the vehicle-mounted positioning device is illegally removed, further comprising: outputting alarm information to a remote monitoring platform.

6. The method of claim 1, wherein the method further comprises: The data fusion of the acceleration data and the angular velocity data comprises: data fusion of the acceleration data and the angular velocity data based on Kalman filtering; According to the fusion data, determining the attitude angle of the vehicle-mounted positioning device comprises: According to the fusion data, using a direction cosine matrix to determine the attitude angle of the vehicle-mounted positioning device.

7. A monitoring device for preventing removal of a vehicle-mounted positioning device from a vehicle, characterized in that The monitoring device uses the monitoring method for preventing the vehicle-mounted positioning device from being removed according to any one of claims 1 to 6, and the monitoring device comprises: a data acquisition module for acquiring 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-installed on the vehicle-mounted positioning device; a data fusion module for data fusion of the acceleration data and the angular velocity data to obtain fusion data; an attitude angle determination module for determining the attitude angle of the vehicle-mounted positioning device according to the fusion data to obtain attitude angle data; an attitude angle change module for obtaining the attitude angle change rate of the vehicle-mounted positioning device based on the attitude angle data; a threshold determination module for determining 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 for comparing the size of the acceleration data and the preset acceleration threshold, and the size of the attitude angle change rate and the preset angle rate threshold to obtain a comparison result; a monitoring module for monitoring whether the vehicle-mounted positioning device is removed based on the comparison result.

8. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor executes the program to implement the monitoring method for preventing the vehicle-mounted positioning device from being removed according to any one of claims 1 to 6.

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