Positioning device, positioning system and vehicle

Abstract

The utility model discloses a positioning device, a positioning system and a vehicle, and the positioning device comprises a signal receiving module which is configured to output an initial positioning signal; the gain adjusting module is connected with the signal receiving module, and the gain adjusting module is configured to perform gain adjustment on the positioning signal to output a first positioning signal; the detection module is connected with the feedback loop of the gain adjustment module, and the detection module is configured to collect a feedback signal of the feedback loop and output an abnormal signal when the feedback signal meets a preset condition; and the control module is connected with the detection module, and the control module is configured to obtain a second positioning signal of the external auxiliary device to replace the first positioning signal when the abnormal signal is received. According to the scheme, the abnormal positioning signal can be effectively identified while the cost of the positioning device is not remarkably increased, and risks and losses possibly caused by the utilization of the abnormal positioning signal are reduced.

Description

Technical Field

[0001] The present application relates to the field of positioning technology, and in particular to a positioning device, a positioning system, and a vehicle. Background Art

[0002] With the development of positioning technology, more and more civilian devices use positioning systems. Common positioning methods include satellite positioning and base station positioning. Taking satellite positioning as an example, the positioning satellite continuously broadcasts its own signal. After the positioning device receives the signal, it can determine its own location information. However, the distance between the positioning satellite and the positioning terminal is very far (more than 5,000 kilometers), and the strength of the satellite signal received by the positioning device is relatively weak. If there is a fake positioning signal near the positioning terminal, the real satellite positioning signal is easily covered or obliterated. Taking base station positioning as an example, the positioning device obtains the signal strength information between itself and the base station, determines the distance between itself and the base station based on the signal strength information, and thus determines its own location information. Similarly, if there is a fake base station near the positioning terminal, the distance information sent by the real base station is easily covered or obliterated. If the positioning device cannot judge and identify the fake positioning signal, it is likely to obtain wrong location information, or even be navigated and hijacked to the wrong location.

[0003] In the prior art, a common abnormal positioning signal recognition scheme is to calculate and verify the acquired positioning signal. This scheme is difficult to accurately recognize the abnormal positioning signal when it is obtained at the initial moment. Utility Model Content

[0004] The present application provides a positioning device, a positioning system, and a vehicle.

[0005] A technical solution adopted in the present application is to provide a positioning device, which includes:

[0006] A signal receiving module is configured to output an initial positioning signal;

[0007] A gain adjustment module connected to the signal receiving module, the gain adjustment module is configured to perform gain adjustment on the initial positioning signal to output a first positioning signal;

[0008] A detection module connected to the feedback loop of the gain adjustment module, the detection module is configured to collect a feedback signal of the feedback loop, and output an abnormal signal when the feedback signal meets a preset condition;

[0009] The control module is connected to the detection module. The control module is configured to obtain a second positioning signal from an external auxiliary device to replace the first positioning signal when receiving an abnormal signal.

[0010] Optionally, the gain adjustment module includes:

[0011] A variable gain amplifier, wherein the input end of the variable gain amplifier is connected to the signal receiving module to receive the initial positioning signal, and the output end of the variable gain amplifier is used to output the first positioning signal;

[0012] A detector, wherein an input end of the detector is connected to an output end of a variable gain amplifier;

[0013] A comparison unit, wherein a first input terminal of the comparison unit is connected to an output terminal of the detector, a second input terminal of the comparison unit is configured to input a reference voltage signal, and an output terminal of the comparison unit is connected to a control terminal of a variable gain amplifier to output a voltage control signal;

[0014] The detector and the comparison unit form a feedback loop.

[0015] Optionally, the comparison unit includes:

[0016] A comparator, wherein a first input terminal of the comparator is connected to an output terminal of the detector, a second input terminal of the comparator is configured to input a reference voltage signal, and an output terminal of the comparator is used to output a comparison result signal;

[0017] A control voltage generator, wherein the input end of the control voltage generator is connected to the output end of the comparator to receive a comparison result signal, and the output end of the control voltage generator is connected to the control end of the variable gain amplifier to output a voltage control signal;

[0018] The detection module is connected to the output end of the comparator to use the comparison result signal as a feedback signal, or

[0019] The detection module is connected to the output end of the control voltage generator to use the voltage control signal as a feedback signal.

[0020] Optionally, the gain adjustment module further includes an attenuator, an input end of the attenuator is connected to an output end of the variable gain amplifier, and an output end of the attenuator is connected to an input end of the detector to output a first positioning signal.

[0021] Optionally, the gain adjustment module further includes:

[0022] A filter, wherein the input end of the filter is connected to the output end of the detector, the filter is configured to filter the output signal of the detector, and the output end of the filter is used to output a filtered signal;

[0023] The amplifier has an input end connected to the output end of the filter, an output end of the amplifier connected to the input end of the comparison unit, and the amplifier is configured to amplify the filtered signal.

[0024] Optionally, the positioning device further includes a communication module connected to the control module, and the control module is configured to control the communication module to send a wake-up signal to the external auxiliary device and obtain a second positioning signal sent by the external auxiliary device when receiving an abnormal signal.

[0025] Optionally, the signal receiving module is a GNSS signal receiving module.

[0026] Another technical solution adopted by the present application is to provide a positioning system, which includes:

[0027] A positioning device, configured to obtain a first positioning signal;

[0028] The external auxiliary device is communicatively connected to the positioning device and is configured to obtain a second positioning signal, wherein the positioning device is the positioning device as described above.

[0029] Optionally, the external auxiliary device includes at least one of a terminal with AGPS function, a laser radar, a camera, a millimeter wave radar, an ultrasonic radar, an acceleration sensor, and a speed sensor.

[0030] Another technical solution adopted by the present application is to provide a vehicle, which includes the positioning system as described above.

[0031] The beneficial effects of the present application are as follows: by setting a relatively simple circuit structure and connecting a detection module in the feedback loop of the gain adjustment module, it is determined whether the first positioning signal output by the gain adjustment module is abnormal. On the one hand, the above circuit is realized by simply adding a detection module on the basis of the gain adjustment module, and the existing signal in the gain adjustment module is used for detection. The circuit structure is simple, the detection is convenient, and the cost is low. On the other hand, after the first positioning signal is confirmed to be abnormal, the second positioning signal of the external auxiliary device can be used to replace the first positioning signal, which can provide correct positioning information and avoid the problem of being navigated and hijacked to the wrong location, thereby reducing the risks and losses that may be caused by the use of abnormal positioning signals. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0033] Figure 1 is a structural schematic diagram of an embodiment of a positioning device provided by the present application;

[0034] Figure 2 is a structural schematic diagram of another embodiment of the positioning device provided by the present application;

[0035] Figure 3 is a structural schematic diagram of another embodiment of the positioning device provided by the present application;

[0036] Figure 4 is a structural schematic diagram of another embodiment of the positioning device provided by the present application;

[0037] Figure 5 It is a structural schematic diagram of an embodiment of a positioning system provided by the present application;

[0038] Figure 6 It is a structural schematic diagram of an embodiment of a positioning system provided by the present application;

[0039] Figure 7 It is a structural schematic diagram of a vehicle embodiment provided by the present application. DETAILED DESCRIPTION

[0040] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0041] The terms "first", "second", etc. in this application are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods or devices.

[0042] Please refer to Figure 1 , Figure 1 It is a structural schematic diagram of an embodiment of a positioning device provided in the present application.

[0043] like Figure 1 As shown, the positioning device 10 provided in the embodiment of the present application includes a signal receiving module 11, a gain adjustment module 12, a detection module 13 and a control module 14.

[0044] Specifically, the signal receiving module 11 is configured to output an initial positioning signal. In some possible embodiments, the signal receiving module 11 is a GNSS (Global Satellite Navigation System) module, and the signal receiving module 11 is used to receive an initial GNSS positioning signal. In this case, the positioning device 10 is a GNSS preprocessing module. In some possible embodiments, the signal receiving module 11 is a wireless network signal receiving module. Optionally, the wireless network signal receiving module can be a signal receiving module based on a cellular or other mobile network, a wireless local area network (WLAN), a wireless wide area network (WWAN) and / or the Internet. For example, the mobile network may include an LTE wireless network, a 5G NR wireless network, a Wi-Fi WLAN or the Internet. Among them, LTE, 5G and NR are wireless technologies defined or being defined by the Third Generation Partnership Project (3GPP). As used herein, the terms "5GNR", "5G" and "NR" are used interchangeably to refer to these wireless technologies. The signal receiving module 11 communicates with surrounding network base stations, and determines an initial positioning signal by acquiring RSSI (Received Signal Strength Indication) between the signal receiving module 11 and each network base station.

[0045] The gain adjustment module 12 is connected to the signal receiving module 11, and the gain adjustment module 12 is configured to perform gain adjustment on the initial positioning signal to output a first positioning signal. In some embodiments, the gain adjustment module 12 is configured to enhance the gain to amplify the initial positioning signal. In some embodiments, the gain adjustment module 12 is configured to reduce the gain to attenuate the initial positioning signal. The signal output by the gain adjustment module is stabilized within a certain range.

[0046] In some embodiments, the output end of the gain adjustment module 12 is connected to the data processing module (not shown), so that the first signal output by the gain adjustment module 12 does not exceed the dynamic range of the data processing module, thereby reducing the possibility of data processing anomalies or damage to the data processing module.

[0047] The detection module 13 is connected to the feedback loop of the gain adjustment module 12 , and is configured to collect a feedback signal of the feedback loop, and send an abnormal signal to the control module 14 when the feedback signal meets a preset condition.

[0048] In some embodiments, the initial positioning signal is an analog signal, and the detection module 13 includes an ADC (analog signal to digital signal) module for converting the feedback signal from an analog signal to a digital signal.

[0049] In some embodiments, the feedback signal is a voltage signal and / or a current signal, and the detection module 13 is configured to determine whether the magnitude of any one of the amplitude, mean, and mean square error of the voltage signal and / or the current signal is greater than a preset value. If so, the detection module 13 determines that the feedback signal meets the preset conditions and outputs an abnormal signal to the control module 14.

[0050] In some possible application scenarios, the detection module 13 is a SOC chip.

[0051] The control module 14 is connected to the detection module 13 and is configured to obtain a second positioning signal from an external auxiliary device (not shown) to replace the first positioning signal when receiving an abnormal signal.

[0052] In some possible application scenarios, the control module 14 is also called a main control system.

[0053] It can be understood that the positioning device 10 and the external auxiliary device respectively use different positioning methods to obtain positioning signals. For example, the positioning device 10 uses the GNSS positioning method to obtain positioning signals, and the external auxiliary device uses dead reckoning (Dead Reckoning) or map matching to determine the positioning signal. For another example, the positioning device 10 uses the base station positioning method to obtain positioning signals, and the external auxiliary device uses the GNSS positioning method to obtain positioning signals.

[0054] The above scheme, by setting up a relatively simple circuit structure, connects the detection module in the feedback loop of the gain adjustment module to determine whether the first positioning signal output by the gain adjustment module is abnormal. On the one hand, the above circuit is only implemented by adding a detection module on the basis of the gain adjustment module, and uses the existing signal in the gain adjustment module for detection. The circuit structure is simple, the detection is convenient, and the cost is low. On the other hand, after the first positioning signal is confirmed to be abnormal, the second positioning signal of the external auxiliary device can be used to replace the first positioning signal, which can provide correct positioning information and avoid the problem of being navigated and hijacked to the wrong location, thereby reducing the risks and losses that may be caused by the use of abnormal positioning signals.

[0055] See also Figure 2 , Figure 2 It is a structural schematic diagram of another embodiment of the positioning device provided in the present application.

[0056] like Figure 2 As shown, the positioning device 20 provided in the embodiment of the present application includes a signal receiving module 21, a gain adjustment module 22, a detection module 23 and a control module 24. Further, the gain adjustment module 22 includes a variable gain amplifier 221, a detector 222 and a comparison unit 223.

[0057] The input end of the variable gain amplifier 221 is connected to the signal receiving module 21 to receive the initial positioning signal, and the output end of the variable gain amplifier 221 is used to output the first positioning signal. Specifically, when the initial positioning signal is small, the gain of the variable gain amplifier 221 becomes larger; when the initial positioning signal is large, the gain of the variable gain amplifier 221 becomes smaller.

[0058] In some embodiments, the first positioning signal is referred to as a modulated signal.

[0059] Furthermore, the detector 222 and the comparison unit 223 form a feedback loop of the variable gain amplifier 221 .

[0060] Among them, the input end of the detector 222 is connected to the output end of the variable gain amplifier 221, and the detector 222 is used to identify the signal wave, signal oscillation or signal change in the first positioning signal. Further, the detector 222 is used to identify the voltage magnitude in the first positioning signal. Exemplarily, the detector 222 is configured to detect voltage information that is proportional to the amplitude envelope of the initial positioning signal. Optionally, the detection method of the detector 222 may include any one or more combinations of envelope detection, root mean square detection, peak detection, average value detection, logarithmic detection, and rectification, which are not limited here.

[0061] The first input end of the comparison unit 223 is connected to the output end of the detector 222 , the second input end of the comparison unit 223 is configured to input a reference voltage signal, and the output end of the comparison unit 223 is connected to the control end of the variable gain amplifier 221 to output a voltage control signal.

[0062] In some possible embodiments, the first output end of the detection module 23 is connected to the control module 24 , and the second output end of the detection module 23 is connected to the second input end of the comparison unit 223 , that is, the detection module 23 is configured to output a reference voltage signal to the comparison unit 223 .

[0063] In some possible application scenarios, the detection module 23 collects feedback signals in the feedback loop and determines the reference voltage signal according to the feedback signals collected at historical moments. Exemplarily, the detection module 23 uses the average value of the feedback voltage signals collected at different historical moments as the reference voltage signal.

[0064] In some possible application scenarios, the detection module 23 collects feedback signals in the feedback loop and determines the reference current signal according to the feedback signals collected at historical moments. Exemplarily, the detection module 23 uses the average value of the feedback current signals collected at different historical moments as the reference current signal.

[0065] Optionally, the comparison unit 223 includes a comparator 2231 and a control voltage generator 2232 .

[0066] The first input terminal of the comparator 2231 is connected to the output terminal of the detector, the second input terminal of the comparator 2231 is configured to input the reference voltage signal, and the output terminal of the comparator 2231 is used to output a comparison result signal. The comparator 2231 is configured to compare the voltage value of the first positioning signal with the voltage value of the reference voltage signal, and output the comparison result signal accordingly.

[0067] In some application scenarios, the comparator 2231 may also be referred to as a voltage comparator.

[0068] In some application scenarios, the comparator 2231 may be a current comparator, and the comparator 2231 is configured to compare the current value of the first positioning signal with the current value of the reference current signal, and output a comparison result signal accordingly.

[0069] In this embodiment, the detection module 23 is connected to the output terminal of the comparator 2231 to use the comparison result signal as a feedback signal.

[0070] In another possible embodiment, the detection module 23 is connected to the output end of the control voltage generator 2232 to use the voltage control signal as a feedback signal.

[0071] The input end of the control voltage generator 2232 is connected to the output end of the comparator 2231 to receive the comparison result signal. The output end of the control voltage generator 2232 is connected to the control end of the variable gain amplifier 221 to output a voltage control signal to the variable gain amplifier 221 .

[0072] Optionally, the gain adjustment module 22 further includes an attenuator 224 , a filter 225 and an amplifier 226 .

[0073] The input end of the attenuator 224 is connected to the output end of the variable gain amplifier 221, and the output end of the attenuator 224 is connected to the input end of the detector 222 to output the first positioning signal. Specifically, the attenuator 224 is configured to adjust the starting level of the dynamic range of the variable gain amplifier 221 to avoid the output first positioning signal being too large.

[0074] The input end of the filter 225 is connected to the output end of the detector 222, and the filter 225 is configured to filter the output signal of the detector 222. The output end of the filter 225 is used to output the filtered signal. It can be understood that the positioning signal output by the detector 222 contains an interference signal, and the interference signal needs to be filtered by the filter 225.

[0075] The input end of the amplifier 226 is connected to the output end of the filter 225, and the output end of the amplifier 226 is connected to the input end of the comparison unit 223. The amplifier 226 is configured to amplify the filtered signal. It can be understood that the filtered signal output by the filter 225 is relatively weak and needs to be amplified by the amplifier 226.

[0076] It can be understood that the variable gain amplifier 221, the attenuator 224, the detector 222, the filter 225, the amplifier 226, the comparator 2231, and the control voltage generator 2232 are connected in sequence to form an automatic gain control (AGC) circuit.

[0077] The above scheme, by setting up a relatively simple circuit structure, connects the detection module in the feedback loop of the gain adjustment module to determine whether the first positioning signal output by the gain adjustment module is abnormal. On the one hand, the above circuit is only implemented by adding a detection module on the basis of the gain adjustment module, and uses the existing signal in the gain adjustment module for detection. The circuit structure is simple, the detection is convenient, and the cost is low. On the other hand, after the first positioning signal is confirmed to be abnormal, the second positioning signal of the external auxiliary device can be used to replace the first positioning signal, which can provide correct positioning information and avoid the problem of being navigated and hijacked to the wrong location, thereby reducing the risks and losses that may be caused by the use of abnormal positioning signals.

[0078] See also Figure 3 , Figure 3 It is a structural schematic diagram of another embodiment of the positioning device provided in the present application.

[0079] like Figure 3 As shown, the positioning device 30 of the embodiment of the present application includes a signal receiving module 31 , a gain adjustment module 32 , a detection module 33 , a control module 34 and a communication module 35 .

[0080] The communication module 35 is connected to the control module 34 . The control module 34 is configured to control the communication module 35 to send a wake-up signal to the external auxiliary device and obtain a second positioning signal sent by the external auxiliary device when receiving an abnormal signal.

[0081] In some possible embodiments, the communication module 35 is a wired communication module. For example, the communication module 35 is any one of a CAN bus, a LIN bus, a serial bus, and a parallel bus. In some possible embodiments, the communication module 35 is a wireless communication module. Exemplarily, the communication module 35 is any one of a Bluetooth communication module, a ZigBee communication module, a Wi-Fi communication module, a near field communication (NFC) module, a UWB (ultra-wideband), and an RFID module.

[0082] The above scheme, by setting up a relatively simple circuit structure, connects the detection module in the feedback loop of the gain adjustment module to determine whether the first positioning signal output by the gain adjustment module is abnormal. On the one hand, the above circuit is only implemented by adding a detection module on the basis of the gain adjustment module, and uses the existing signal in the gain adjustment module for detection. The circuit structure is simple, the detection is convenient, and the cost is low. On the other hand, after the first positioning signal is confirmed to be abnormal, the second positioning signal of the external auxiliary device can be used to replace the first positioning signal, which can provide correct positioning information and avoid the problem of being navigated and hijacked to the wrong location, thereby reducing the risks and losses that may be caused by the use of abnormal positioning signals.

[0083] See also Figure 4 , Figure 4 It is a structural schematic diagram of another embodiment of the positioning device provided in the present application.

[0084] like Figure 4 As shown, the positioning device 40 of the embodiment of the present application includes an antenna 41, a variable gain amplifier 42, an attenuator 43, a detector 44, a low-pass filter 451, an amplifier 452, a voltage comparator 46, a control voltage generator 47, a SOC chip 48, and a main control module 49.

[0085] The antenna 41 corresponds to the signal receiving module mentioned above, and the main control module 49 corresponds to the control module mentioned above.

[0086] In this embodiment, the positioning device 40 is used to detect whether the GNSS signal received by the antenna 41 is abnormal.

[0087] like Figure 4 As shown, the antenna 41 is connected to the input end of the variable gain amplifier 42, the output end of the variable gain amplifier 42 is connected to the input end of the attenuator 43, the output end of the attenuator 43 is connected to the input end of the detector 44, the output end of the detector 44 is connected to the input end of the low-pass filter 451, the output end of the low-pass filter 451 is connected to the input end of the amplifier 452, the output end of the amplifier 452 is connected to the first input end of the voltage comparator 46, the first output end of the SOC chip 48 is connected to the main control module 49, the second output end of the SOC chip 48 is connected to the second input end of the voltage comparator 46, the first output end of the voltage comparator 46 is connected to the input end of the SOC chip 48, the second output end of the voltage comparator 46 is connected to the input end of the SOC chip 48, the second output end of the voltage comparator 46 is connected to the input end of the control voltage generator 47, and the output end of the control voltage generator 47 is connected to the control end of the variable gain amplifier 42.

[0088] Among them, the positioning device 40 can adjust the gain of the variable gain amplifier 42 by adjusting the control voltage (Vg) of the variable gain amplifier 42, that is, when a small signal is input, the gain of the variable gain amplifier 42 becomes larger, and when a large signal is input, the gain of the variable gain amplifier 42 decreases, so that the signal output by the variable gain amplifier 42 is stabilized within a reasonable range.

[0089] The positioning device 40 provided in the present application can use the SOC chip 48 to read whether the control voltage value output by the voltage comparator 46 or the control voltage generator 47 is within a preset range to determine whether the input signal of the antenna 41 is a GNSS spoofing signal.

[0090] The attenuator 43 is used to adjust the starting level of the dynamic range of the variable gain amplifier 42 , and can be adjusted according to the actual output condition of the variable gain amplifier 42 .

[0091] The detector 44 is used to identify whether there is a change in the wave, oscillation or signal. The detector 44 is used to detect the magnitude of the voltage or current from the modulated signal, including but not limited to detecting the voltage and current that are proportional to the amplitude envelope of the RF signal. The detection methods include but are not limited to envelope detection, root mean square detection, peak detection, average value detection, logarithmic detection, rectification, etc. It can be understood that the signal output by the detector 44 carries an interference signal, which needs to be filtered out by the filter 451, and the weak signal output by the detector 44 is amplified by the amplifier 452.

[0092] The voltage comparator 46 is configured to compare the detection signal with the reference signal. In this embodiment, it is necessary to input a reference voltage Vreg (Vreg is the control voltage of the variable gain amplifier when a normal GNSS signal is input) and compare it with the detection voltage (the voltage value of the detector output signal), and the comparison result directly acts on the variable gain amplifier to control the voltage generator to generate the corresponding Vg.

[0093] In some embodiments, when the detection voltage is not within the preset voltage range, the SOC chip 48 collects the corresponding voltage and feeds back to the main control module 49 the signal as a spoofing signal. Exemplarily, the preset voltage range may be [Vreg-Vth, Vreg+Vth], where Vth is the voltage threshold. Optionally, Vth may be between 1mV-20mV, between 20mV-500mV, between 500mV-1000mV, or between 1μV-1mV, which is not limited here.

[0094] In some embodiments, the SOC chip 48 includes an ADC chip. The first output end of the voltage comparator 46 is connected to the input end of the ADC chip, and the output end of the ADC chip is connected to the first input end of the SOC chip 48. For example, the ADC chip is a 16-bit chip. The comparison result output by the voltage comparator 46 is input to the ADC chip for analog-to-digital conversion, and the converted digital voltage signal is input to the SOC chip 48 for judgment.

[0095] The above scheme, by setting up a relatively simple circuit structure, connects the detection module in the feedback loop of the gain adjustment module to determine whether the first positioning signal output by the gain adjustment module is abnormal. On the one hand, the above circuit is only implemented by adding a detection module on the basis of the gain adjustment module, and uses the existing signal in the gain adjustment module for detection. The circuit structure is simple, the detection is convenient, and the cost is low. On the other hand, after the first positioning signal is confirmed to be abnormal, the second positioning signal of the external auxiliary device can be used to replace the first positioning signal, which can provide correct positioning information and avoid the problem of being navigated and hijacked to the wrong location, thereby reducing the risks and losses that may be caused by the use of abnormal positioning signals.

[0096] Furthermore, the positioning device 40 of the present embodiment amplifies the initial signal received by the antenna 41 through an AGC (automatic gain amplifier) ​​circuit, and outputs a stable signal to the GNSS data processing chip, thereby ensuring that the GNSS processing chip data processing abnormality and irreversible damage will not be caused by the variable gain amplifier 42 outputting a signal that is too large and exceeds the dynamic range of the GNSS processing chip.

[0097] See also Figure 5 , Figure 5 It is a structural diagram of an embodiment of a positioning system provided by the present application.

[0098] There are two main solutions for avoiding GNSS spoofing in the related art. The first solution is to use a dual-frequency GNSS module, such as an L1+L5 GNSS module. Another solution is to use a single-frequency GNSS module and use a simple algorithm to calculate the signal received by the GNSS module. Among them, the first solution uses a dual-frequency GNSS module, which greatly increases the cost of the positioning system. At the same time, the use of a dual-frequency GNSS module can only avoid the currently common single-frequency spoofing signals. If a dual-frequency GNSS spoofing signal is used, this solution cannot effectively identify and prevent spoofing. The second method cannot avoid the situation where the GNSS module receives a GNSS spoofing signal in the initial state (for example, the first frame).

[0099] like Figure 5 As shown, the positioning system 50 provided in the embodiment of the present application includes a positioning device 51 and an external auxiliary device 52.

[0100] The positioning device 51 is configured to obtain a first positioning signal. Furthermore, the positioning device 51 is the positioning device mentioned in other embodiments above.

[0101] The external auxiliary device 52 is connected to the positioning device 51 for communication, and is configured to obtain a second positioning signal.

[0102] In some embodiments, the external auxiliary device 52 is wirelessly connected to the positioning device 51. In some embodiments, the external auxiliary device 52 is wiredly connected to the positioning device 51.

[0103] Optionally, the external auxiliary device 52 may be at least one of a terminal with AGPS (Assisted GPS) function, a laser radar, a camera, a millimeter wave radar, an ultrasonic radar, an acceleration sensor, and a speed sensor.

[0104] In some possible embodiments, the terminal with AGPS function can be any one of user equipment (UE), mobile device, user terminal, terminal, cellular phone, cordless phone, personal digital assistant (PDA), handheld device, computing device, vehicle-mounted device, and wearable device. It should be noted that the terminal with AGPS function determines the second positioning signal by combining the signal of the base station and the satellite positioning signal, that is, the second positioning signal has a certain anti-fraud function. Therefore, when the first positioning signal is abnormal, the second positioning signal can be used to compensate and correct the first positioning signal.

[0105] In some embodiments, the external auxiliary device 52 is any one or more of a laser radar, a millimeter wave radar, and an ultrasonic radar. The laser radar, the millimeter wave radar, or the ultrasonic radar obtains point cloud data of the surrounding environment, compares it with a high-precision map obtained in advance, and determines a second positioning signal.

[0106] In some embodiments, the external auxiliary device 52 is a camera, which collects images of the surrounding environment, determines the landmarks from the images, and further determines the second positioning signal.

[0107] In some embodiments, the external auxiliary device 52 is an acceleration sensor, which is used to determine the current movement direction, speed information, and acceleration information of the external auxiliary device 52, thereby determining the second positioning signal.

[0108] In some embodiments, the external auxiliary device 52 is a speed sensor, which is used to determine the current movement direction, speed information, and acceleration information of the external auxiliary device 52, thereby determining the second positioning signal.

[0109] In some embodiments, the external auxiliary device 52 is an on-board unit (OBU), wherein the external auxiliary device 52 communicates with a road site unit (RSU), obtains the location information of the road site unit and the distance information between the external auxiliary device 52 and the road site unit, and determines the second positioning signal.

[0110] It should be noted that the positioning system 50 can be installed not only on a car, but also on any one of a mobile robot, a fixed-wing aircraft, a rotary-wing aircraft, and a ship.

[0111] The above scheme, by setting up a relatively simple circuit structure, connects the detection module in the feedback loop of the gain adjustment module to determine whether the first positioning signal output by the gain adjustment module is abnormal. On the one hand, the above circuit is only implemented by adding a detection module on the basis of the gain adjustment module, and uses the existing signal in the gain adjustment module for detection. The circuit structure is simple, the detection is convenient, and the cost is low. On the other hand, after the first positioning signal is confirmed to be abnormal, the second positioning signal of the external auxiliary device can be used to replace the first positioning signal, which can provide correct positioning information and avoid the problem of being navigated and hijacked to the wrong location, thereby reducing the risks and losses that may be caused by the use of abnormal positioning signals.

[0112] Furthermore, compared with the related art, the positioning device provided in this embodiment does not need to install additional complex positioning modules, which greatly reduces the cost of the positioning device while achieving accurate positioning.

[0113] See also Figure 6 , Figure 6 It is a structural diagram of an embodiment of a positioning system provided by the present application.

[0114] like Figure 6 As shown, the positioning system 60 provided in the embodiment of the present application includes an intelligent cockpit system 61 and an external auxiliary device 62.

[0115] The intelligent cockpit system 61 includes a positioning device 611 , a processing module 612 and a wake-up module 613 . The positioning device 611 is connected to the processing module 612 , and the processing module 612 is connected to the wake-up module 613 .

[0116] The external auxiliary device 62 includes a Bluetooth communication module 621 and an auxiliary signal receiving module 622 . The Bluetooth communication module 621 is connected to the auxiliary signal receiving module 622 .

[0117] In this embodiment, the external auxiliary device 62 is a mobile phone.

[0118] The smart cockpit system 61 is wirelessly connected to the external auxiliary device 62 via Bluetooth.

[0119] In some embodiments, the processing module 612 is configured to parse the first positioning signal output by the positioning device 611 to obtain positioning information.

[0120] In some embodiments, the positioning device 611 is configured to output an abnormal signal to the processing module 612 when the first positioning signal is abnormal, and the processing module 612 is configured to send a trigger signal to the wake-up module 613 when receiving the abnormal signal output by the positioning device 611, so as to wake up the external auxiliary device through the wake-up module 613. Further, the external auxiliary device 62 sends the second positioning signal obtained by the auxiliary signal receiving module 622 to the smart cockpit system 61 through the Bluetooth communication module 621, that is, the second positioning signal obtained by the external auxiliary device 62 replaces the first positioning signal obtained by the smart cockpit system 61.

[0121] It should be noted that the second positioning signal of the external auxiliary device 62 has been processed by the AGPS strategy and has an anti-fraud function. Therefore, when the first positioning signal of the smart cockpit system 61 is abnormal, the second positioning signal of the external auxiliary device 62 can be compensated and corrected.

[0122] In some embodiments, the wake-up module 613 is a Bluetooth wake-up module.

[0123] The above scheme, by setting up a relatively simple circuit structure, connects the detection module in the feedback loop of the gain adjustment module to determine whether the first positioning signal output by the gain adjustment module is abnormal. On the one hand, the above circuit is only implemented by adding a detection module on the basis of the gain adjustment module, and uses the existing signal in the gain adjustment module for detection. The circuit structure is simple, the detection is convenient, and the cost is low. On the other hand, after the first positioning signal is confirmed to be abnormal, the second positioning signal of the external auxiliary device can be used to replace the first positioning signal, which can provide correct positioning information and avoid the problem of being navigated and hijacked to the wrong location, thereby reducing the risks and losses that may be caused by the use of abnormal positioning signals.

[0124] See also Figure 7 , Figure 7 It is a structural schematic diagram of a vehicle embodiment provided by the present application.

[0125] like Figure 7 As shown, the vehicle 70 provided in the embodiment of the present application includes a positioning system 71. In some possible embodiments, the positioning system 71 may be a part of the vehicle system. In some possible embodiments, the positioning system 71 may be a system that is communicatively connected to the vehicle system.

[0126] The above scheme, by setting up a relatively simple circuit structure, connects the detection module in the feedback loop of the gain adjustment module to determine whether the first positioning signal output by the gain adjustment module is abnormal. On the one hand, the above circuit is only implemented by adding a detection module on the basis of the gain adjustment module, and uses the existing signal in the gain adjustment module for detection. The circuit structure is simple, the detection is convenient, and the cost is low. On the other hand, after the first positioning signal is confirmed to be abnormal, the second positioning signal of the external auxiliary device can be used to replace the first positioning signal, which can provide correct positioning information and avoid the problem of being navigated and hijacked to the wrong location, thereby reducing the risks and losses that may be caused by the use of abnormal positioning signals.

[0127] The above description is only an implementation method of the present application, and does not limit the patent scope of the present application. Equivalent structures or equivalent process changes made by utilizing the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A positioning device, characterized in that: The positioning device comprises: A signal receiving module is configured to output an initial positioning signal; a gain adjustment module, connected to the signal receiving module, and configured to perform gain adjustment on the initial positioning signal to output a first positioning signal; A detection module connected to the feedback loop of the gain adjustment module, the detection module being configured to collect a feedback signal of the feedback loop and output an abnormal signal when the feedback signal meets a preset condition; A control module is connected to a detection module, wherein the control module is configured to obtain a second positioning signal from an external auxiliary device to replace the first positioning signal when the abnormal signal is received.

2. The positioning device according to claim 1, characterized in that: The gain adjustment module comprises: a variable gain amplifier, wherein an input end of the variable gain amplifier is connected to the signal receiving module to receive the initial positioning signal, and an output end of the variable gain amplifier is used to output the first positioning signal; A detector, wherein an input end of the detector is connected to an output end of the variable gain amplifier; A comparison unit, wherein a first input terminal of the comparison unit is connected to an output terminal of the detector, a second input terminal of the comparison unit is configured to input a reference voltage signal, and an output terminal of the comparison unit is connected to a control terminal of the variable gain amplifier to output a voltage control signal; The detector and the comparison unit form the feedback loop.

3. The positioning device according to claim 2, characterized in that: The comparison unit comprises: A comparator, wherein a first input terminal of the comparator is connected to an output terminal of the detector, a second input terminal of the comparator is configured to input the reference voltage signal, and an output terminal of the comparator is used to output a comparison result signal; A control voltage generator, wherein an input end of the control voltage generator is connected to an output end of the comparator to receive the comparison result signal, and an output end of the control voltage generator is connected to a control end of the variable gain amplifier to output the voltage control signal; The detection module is connected to the output terminal of the comparator to use the comparison result signal as the feedback signal, or The detection module is connected to the output end of the control voltage generator to use the voltage control signal as the feedback signal.

4. The positioning device according to claim 2, characterized in that: The gain adjustment module further includes an attenuator, an input end of the attenuator is connected to an output end of the variable gain amplifier, and an output end of the attenuator is connected to an input end of the detector to output the first positioning signal.

5. The positioning device according to claim 2, characterized in that: The gain adjustment module also includes: A filter, wherein an input end of the filter is connected to an output end of the detector, the filter is configured to filter an output signal of the detector, and an output end of the filter is used to output a filtered signal; An amplifier, wherein an input end of the amplifier is connected to an output end of the filter, an output end of the amplifier is connected to an input end of the comparison unit, and the amplifier is configured to amplify the filtered signal.

6. The positioning device according to claim 1, characterized in that: The positioning device also includes a communication module connected to the control module. The control module is configured to control the communication module to send a wake-up signal to the external auxiliary device and obtain a second positioning signal sent by the external auxiliary device when receiving the abnormal signal.

7. The positioning device according to claim 1, characterized in that: The signal receiving module is a GNSS signal receiving module.

8. A positioning system, characterized in that: The positioning system comprises: A positioning device, configured to obtain a first positioning signal; An external auxiliary device is communicatively connected to the positioning device and is configured to obtain a second positioning signal, wherein the positioning device is a positioning device as described in any one of claims 1 to 7.

9. The positioning system according to claim 8, characterized in that: The external auxiliary device includes at least one of a terminal with AGPS function, a laser radar, a camera, a millimeter wave radar, an ultrasonic radar, an acceleration sensor, and a speed sensor.

10. A vehicle, characterized in that: The vehicle comprises a positioning system as claimed in any one of claims 8 to 9.

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