CN114167453A

CN114167453A - Interference detection method and device

Info

Publication number: CN114167453A
Application number: CN202010946696.2A
Authority: CN
Inventors: 方兴; 王超; 罗雷刚; 杨永光; 刘宇
Original assignee: Alibaba Group Holding Ltd
Current assignee: Alibaba Group Holding Ltd
Priority date: 2020-09-10
Filing date: 2020-09-10
Publication date: 2022-03-11

Abstract

The application discloses an interference detection method and device. The method comprises the following steps: acquiring a GNSS positioning point and a non-GNSS positioning point of a terminal; determining whether a GNSS positioning point of a terminal is located in a predetermined interference hop geofence area; determining whether a non-GNSS positioning point of the terminal is located in a predetermined interference geo-fenced area; and when the times that the GNSS locating point and the non-GNSS locating point with the same locating time respectively appear in the interference hop geofence area and the interference geofence area exceed a preset first time threshold value, determining that the terminal is interfered by the GNSS. Whether the locating point obtained by adopting a satellite navigation locating mode is the locating point generated when GNSS interference occurs can be detected quickly and efficiently, and the detection accuracy is high and the cost is low.

Description

Interference detection method and device

Technical Field

The present application relates to the field of network positioning technologies, and in particular, to an interference detection method and apparatus.

Background

With the development of the civilization of a Satellite Navigation System (GNSS), the GNSS brings great convenience to the life of people, and particularly in the field of travel, the GNSS can provide various location-related services such as map Navigation and network car booking for users by combining with an electronic map.

Meanwhile, new problems occur in civil scenes, for example, GNSS interference, which may affect positioning based on GNSS, such as a problem that accuracy of a positioning location is lowered or the location cannot be positioned, thereby affecting implementation of a related location service. Therefore, the detection of GNSS interference becomes a problem to be solved by providers of relevant location services.

The existing GNSS interference detection technology mainly includes:

1. signal feature detection techniques. The technology detects the original signal characteristics of the GNSS to judge whether the GNSS receiver is interfered, and the detection of the original signal characteristics needs to modify the hardware or software part of the GNSS receiver.

2. Secondary information spoofing detection techniques. The technology compares data output by auxiliary equipment (an inertia/magnetic sensor, a log, a high-precision clock and the like) with data output by a GNSS receiver to realize interference detection, but the method can increase the cost of equipment for carrying the GNSS receiver and is only suitable for local scenes.

3. Direction of arrival detection techniques. The technology utilizes the antenna array to track the incident direction of the signal, when all satellites are detected to be incident from the same direction, the interference signal exists, the technology needs the antenna array, and the technology is difficult to be applied to consumer electronic products such as mobile phones and the like which carry GNSS receivers.

In summary, the above-mentioned technologies generally need to involve hardware modification, but the hardware modification of the consumer electronic product with the GNSS receiver has a cost problem on one hand, and on the other hand, the consumer electronic product has various models, has hardware differences and software limitations, and is difficult to implement GNSS interference detection through hardware and software modification.

Disclosure of Invention

In view of the above, the present application is proposed to provide an interference detection method and apparatus that overcomes or at least partially solves the above mentioned problems.

In a first aspect, an embodiment of the present application provides an interference detection method, including:

acquiring a GNSS positioning point and a non-GNSS positioning point of a terminal;

determining whether a GNSS positioning point of the terminal is located in a predetermined interference hop geofence area;

determining whether a non-GNSS location point of the terminal is located in a predetermined interfering geofenced area;

and when the times that the GNSS locating point and the non-GNSS locating point with the same locating time respectively appear in the interference hop geofence area and the interference geofence area exceed a preset first time threshold value, determining that the terminal is interfered by the GNSS.

In some optional embodiments, the method further comprises:

determining the continuous occurrence frequency of the GNSS positioning point of the terminal in the predetermined interference hop geofence area, when the continuous occurrence frequency reaches a preset second frequency threshold value, executing the step of determining whether the non-GNSS positioning point of the terminal is in the predetermined interference geofence area, and determining the continuous occurrence frequency of the non-GNSS positioning point of the terminal in the interference geofence area.

In some optional embodiments, the method further comprises:

determining a GNSS positioning point generated when GNSS interference occurs based on historical GNSS positioning point data;

determining an interference hop geofence area according to a GNSS locating point generated when GNSS interference occurs;

determining a non-GNSS positioning point corresponding to a GNSS positioning point generated when GNSS interference occurs based on historical non-GNSS positioning point data;

determining an interfering geofenced area from the determined non-GNSS fix.

In some optional embodiments, the determining a GNSS fix generated when GNSS interference occurs based on the historical GNSS fix data specifically includes:

aiming at historical GNSS positioning points which belong to the same terminal and are generated in the same driving process in historical GNSS positioning point data, the following steps are executed:

determining a GNSS interference positioning head point and a GNSS interference positioning tail point from historical GNSS positioning points generated in the same driving process of the same terminal;

and judging whether the area or the track of a geographic area formed by the GNSS interference positioning head point, the GNSS interference positioning tail point and the historical GNSS positioning points positioned between the head point and the tail point meets the rule of occurrence of GNSS interference, and if so, determining the head point, the tail point and the historical GNSS positioning points between the head point and the tail point as the GNSS positioning points generated when the GNSS interference occurs.

In some optional embodiments, the determining whether a trajectory formed by the GNSS interference positioning start point, the GNSS interference positioning end point, and the historical GNSS positioning point located between the start point and the end point satisfies a rule of occurrence of GNSS interference specifically includes:

map matching is carried out on historical GNSS positioning points, and if the continuous historical GNSS positioning points exceeding the preset number do not have matched road sections, the rule of GNSS interference is met; or the like, or, alternatively,

map matching is carried out on historical GNSS positioning points to obtain more than two matched road sections, and if the road sections are not communicated with other road sections, the rule of GNSS interference is met; accordingly, the method can be used for solving the problems that,

the determining of the head point, the tail point and the historical GNSS positioning points therebetween as the GNSS positioning points generated when GNSS interference occurs specifically includes:

setting the historical GNSS positioning points corresponding to the disconnected road sections as GNSS positioning points generated when GNSS interference occurs;

if the road sections are communicated, determining whether the path formed by the communication has a path section which does not accord with the driving rule, if so, meeting the rule of GNSS interference; accordingly, the method can be used for solving the problems that,

the determining of the head point, the tail point and the historical GNSS positioning points therebetween as the GNSS positioning points generated when GNSS interference occurs specifically includes: and determining the historical GNSS positioning point corresponding to the road section of the road end which does not conform to the driving rule as the GNSS positioning point generated when the GNSS interference occurs.

In some optional embodiments, the non-GNSS positioning point is a network positioning point, and the signal used by the network positioning point includes: WIFI signals and/or base station signals.

In some optional embodiments, the determining whether the GNSS fix of the terminal is located in front of the predetermined interference hop geofence area further includes:

and determining whether the distance between GNSS positioning points adjacent to the positioning time of the terminal is greater than a preset distance, and if so, at least executing the step of determining whether the GNSS positioning point of the terminal is located in a preset interference hop geofence area.

In a second aspect, an embodiment of the present application provides an interference detection apparatus, including:

the acquisition module is used for acquiring a GNSS positioning point and a non-GNSS positioning point of the terminal;

a first determining module, configured to determine whether a GNSS positioning point of the terminal is located in a predetermined interference hop geofence region;

a second determination module for determining whether a non-GNSS fix of the terminal is located in a predetermined interfering geofenced area;

and a third determining module, configured to determine that the terminal is interfered by the GNSS when the number of times that the GNSS positioning point and the non-GNSS positioning point with the same positioning time respectively appear in the interference hop geofence region and the interference geofence region exceeds a preset first time threshold.

In a third aspect, an embodiment of the present application provides a computer-readable storage medium, on which computer instructions are stored, and when the instructions are executed by a processor, the method for detecting interference is implemented.

In a fourth aspect, an embodiment of the present application provides a server, including: the interference detection system comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor realizes the interference detection method when executing the program.

The beneficial effects of the above technical scheme provided by the embodiment of the application at least include:

the interference detection method provided by the embodiment of the application determines an interference hop geofence area in advance according to an interference point identified from a historical GNSS positioning point obtained by adopting a satellite navigation positioning mode, and determines an interference geofence area covered by an interference signal generating the interference point; determining the occurrence times that a GNSS positioning point of a terminal is located in an interference hop geofence area and a non-GNSS positioning point with consistent positioning time is located in the interference geofence area; and when the occurrence times meet a preset condition, determining that the terminal is interfered by the GNSS. The method comprises the steps that position information of a GNSS locating point obtained by a satellite navigation locating mode and position information of a non-GNSS locating point obtained by a non-satellite navigation locating mode, which can be directly obtained by a terminal, is utilized to determine whether the GNSS locating point is interfered by signals, the original signal characteristics of satellite navigation signals do not need to be obtained, the hardware is not required to be modified, the detection cost is low, the process is simple, and the satellite navigation signal interference detection of the mobile terminal becomes possible; the method comprises the steps that an interference jumping point geo-fence area and a corresponding interference geo-fence area are locked in advance according to historical locating points, the GNSS locating points in the interference jumping point geo-fence area of a terminal are monitored to be in the interference jumping point geo-fence area, the occurrence frequency of non-GNSS locating points with consistent locating time in the interference geo-fence area meets set conditions, the fact that signal interference exists in the GNSS locating points in the interference jumping point geo-fence area is determined, and compared with the fact that the signal interference exists in the GNSS locating points when the distance between the GNSS locating points and the non-GNSS locating points with consistent locating time is larger than the set distance, the situation that other situations exist is eliminated, and the judgment result is accurate and reliable.

Additional features and advantages of the application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the application. The objectives and other advantages of the application may be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

The technical solution of the present application is further described in detail by the accompanying drawings and examples.

Drawings

The accompanying drawings are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiment(s) of the application and together with the description serve to explain the application and not limit the application. In the drawings:

fig. 1 is a flowchart of an interference detection method according to an embodiment of the present application;

fig. 2 is an example diagram of an interfering hop geofenced area and an interfering geofenced area;

fig. 3 is a flowchart illustrating a specific implementation of a method for determining occurrence times according to an embodiment of the present application;

FIG. 4 is a flowchart of another specific implementation of a method for determining occurrence counts according to an embodiment of the present application;

FIG. 5 is a flowchart of another specific implementation of the method for determining the number of occurrences according to the first embodiment of the present application

Fig. 6 is a flowchart illustrating a determination of an interfering hop geofence area and an interfering geofence area in accordance with an embodiment of the present disclosure;

FIG. 7 is a flowchart illustrating a method for identifying GNSS positioning points generated when GNSS interference occurs according to a second embodiment of the present application;

fig. 8 is an exemplary diagram of an interference localization point in the second embodiment of the present application;

FIG. 9 is a flowchart illustrating another method for identifying GNSS positioning points generated in the presence of GNSS interference according to a third embodiment of the present application;

fig. 10 is a schematic structural diagram of an interference detection apparatus in an embodiment of the present application.

Detailed Description

Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

In order to solve the problems that in the prior art, the satellite navigation signal interference detection cost of a mobile terminal is high and is difficult to implement, embodiments of the present application provide an interference detection method and apparatus, which can quickly and efficiently detect whether a positioning point obtained by a satellite navigation positioning method is a satellite navigation signal interference positioning point, and have high detection accuracy and low cost.

GNSS spoofing, which typically spoofs a GNSS receiver to lock onto a spoofed signal and produce a false position, typically by GNSS signal forwarding or signal generator, etc.; in the narrow GNSS interference, a GNSS receiver is generally prevented from locking a real signal by emitting a suppressed signal in the same frequency band of the GNSS signal, so that the GNSS receiver cannot be positioned or the positioning accuracy is reduced. These phenomena may be collectively referred to as GNSS interference in a broad sense, and the interference in the embodiment of the present application is GNSS interference in a broad sense.

Example one

An interference detection method according to an embodiment of the present application is provided, and a flow thereof is shown in fig. 1, and includes the following steps:

step S11: and acquiring a GNSS positioning point and a non-GNSS positioning point of the terminal.

Specifically, the GNSS positioning points described above and in the following description are positioning points obtained by using a satellite navigation positioning method; the non-GNSS positioning point is a positioning point obtained by adopting a non-satellite navigation positioning mode. For example, the non-GNSS positioning point is a network positioning point, and the signals used for positioning the network positioning point include: WIFI signals and/or base station signals; alternatively, other signals may be used for positioning.

Taking the terminal as a mobile phone as an example, the positioning points determined in different modes can be obtained from different network positioning interfaces. For example, a GNSS positioning point obtained by a satellite navigation positioning mode is acquired from a satellite navigation positioning interface; acquiring a non-GNSS positioning point obtained by adopting a WIFI signal information positioning mode from a WIFI positioning interface; and acquiring the non-GNSS positioning point obtained by adopting a base station signal information positioning mode from the base station positioning interface.

Step S12: determining whether a GNSS location point of the terminal is located in a predetermined interference hop geofence area.

In an embodiment, determining whether the GNSS positioning point of the terminal is located in front of the predetermined interference hop geofence area may further include determining whether a distance between GNSS positioning points adjacent to the positioning time of the terminal is greater than a predetermined distance, and if so, at least performing the step of determining whether the GNSS positioning point of the terminal is located in the predetermined interference hop geofence area.

If the distance between the GNSS positioning points adjacent to the positioning time is not greater than the predetermined distance, even if the GNSS positioning point is located in the predetermined interference hop geofence region, it may be that the terminal is driving into the interference hop geofence region, that is, the GNSS positioning point is the true position of the terminal within the positioning time, and the execution of subsequent steps is not required.

Step S13: it is determined whether the non-GNSS fix of the terminal is located in a predetermined interfering geofenced area.

The interfering hop geofence area and the interfering geofence area are predefined and have a correspondence, and the interfering geofence area may correspond to one or more interfering hop geofence areas; the interfering hop geofence areas may also correspond to one or more interfering geofence areas. The interference hop geofence region is a region defined based on the interference locating points determined in the historical GNSS locating points, i.e. the locating points generated according to the positioning of the interfered GNSS signals; the interference geo-fenced area refers to an area which is easily interfered by GNSS signals when the terminal approaches or travels inside, i.e., an area covered by interference signals. Referring to fig. 2, the GNSS positioning points change from normal to abnormal (GNSS positioning points generated in the presence of signal interference) from 1 to 2, and the GNSS positioning points change from abnormal to normal from 3 to 4, so that the area determined by the GNSS positioning points 2 and 3 and the GNSS positioning points therebetween is an interference hop geofence area; and determining the area as an interference geo-fence area according to the GNSS positioning points 2 and 3 and the non-GNSS positioning points between the GNSS positioning points and the non-GNSS positioning points with the same positioning time.

Specifically, each time it is determined that the GNSS positioning point of the terminal is located in the interference hop geofence region, it may be determined whether the non-GNSS positioning point of the terminal obtained in the non-satellite navigation positioning manner is located in the interference geofence region according to the positioning time of the GNSS positioning point; or, when it is determined that the number of the GNSS positioning points of the terminal obtained by the satellite navigation positioning method located in the interference hop geofence area is greater than the preset number threshold, it is determined whether the non-GNSS positioning points with the same positioning time are located in the interference geofence area.

The fixed time is the same, and the time of the GNSS locating point and the time of the non-GNSS locating point can be the same; the GNSS positioning points and the non-GNSS positioning points may be generated in the same positioning time period, and the positioning time of each positioning point is not required to be the same.

Step S14: and when the times that the GNSS locating point and the non-GNSS locating point with the same locating time respectively appear in the interference hop geofence area and the interference geofence area exceed a preset first time threshold value, determining that the terminal is interfered by the GNSS.

When the times that the GNSS locating points and the non-GNSS locating points with the same locating time respectively appear in the interference hop geofence area and the interference geofence area exceed a preset first time threshold value, determining that the GNSS locating points in the interference hop geofence area are interference locating points, namely that the terminal is interfered by the GNSS. The GNSS positioning points located in the interference hop point geo-fence area are not all GNSS positioning points in the interference hop point geo-fence area; but only refers to the GNSS positioning point when the GNSS positioning point appears in the interference skip point geofence area and the non-GNSS positioning point with the same positioning time interferes with the geofence area.

Specifically, the number of times in step S14 is determined in the following manner.

The first mode, as shown in fig. 3, includes the following steps:

step S31: and when the GNSS positioning point of the terminal is determined to be located in the interference hop geofence area, determining the positioning time of the GNSS positioning point, and acquiring the non-GNSS positioning point of the terminal which has the same positioning time and is obtained by adopting a non-satellite navigation positioning mode.

Namely, each time the GNSS positioning point of the terminal is determined to be located in the interference hop geofence area, the non-GNSS positioning point of the terminal obtained by the non-satellite navigation positioning manner is obtained according to the positioning time of the GNSS positioning point.

Step S32: and if the non-GNSS positioning point is located in the interference geo-fence area, determining the GNSS positioning point as an alternative interference positioning point.

If the non-GNSS positioning point is located in the interference geo-fence area, the positioning points of the terminal obtained by different positioning modes and having the same positioning time are inconsistent, and the GNSS positioning point can be determined to be possibly interfered and is an alternative interference positioning point.

Step S33: and obtaining the occurrence times of the alternative interference track points until the GNSS positioning points within the set time are all located outside the interference hop point geofence area, wherein the occurrence times are used as the times that the GNSS positioning points and the non-GNSS positioning points with the same positioning time are respectively located in the interference hop point geofence area and the interference geofence area.

Within the set time, the GNSS positioning points are all located outside the interference hop geofence area, which indicates that the received satellite navigation signal is no longer interfered, or the terminal has left the interference hop geofence area, so the occurrence number of the previously determined alternative interference positioning points can be summarized at this time.

In one embodiment, the method may further include determining a number of consecutive occurrences that the GNSS positioning point of the terminal is located in the predetermined interfering hop-point geofence area, performing the step of determining whether the non-GNSS positioning point of the terminal is located in the predetermined interfering geofence area when the number of consecutive occurrences reaches a preset second-occurrence threshold, and determining the number of consecutive occurrences that the non-GNSS positioning point of the terminal is located in the interfering geofence area. The method for determining the number of times when the GNSS positioning point and the non-GNSS positioning point with the same positioning time are respectively present in the interference-skip geo-fence area and the interference geo-fence area may be a step included in the second method.

The second mode, as shown in fig. 4, includes the following steps:

step S41: and if the number of the GNSS positioning points of the terminal in the interference hop point geofence area is determined to be larger than the preset first number threshold, determining whether the non-GNSS positioning points consistent with the positioning time of the GNSS positioning points are in the interference geofence area.

Specifically, the number of GNSS positioning points located in the interference hop geofence area may be the number of consecutive GNSS positioning points located in the interference hop geofence area; or within a set time, for example, counting the number of GNSS positioning points located in the interference hop point geofence area within 5 seconds from determining that the first GNSS positioning point is located in the interference hop point geofence area; optionally, the 5 second time may be set as other time, and the specific setting of the set time may be determined according to specific practical situations, for example, according to the traveling speed of the terminal and the length of the interference hop geofence area.

The preset first threshold may be determined based on empirical values, and if set too large, the interference condition may be missed; if the setting is too small, the number of occurrences of the final determination is smaller than the actual case.

If the step S41 determines that at least one of the non-GNSS fixes is located within the interfering geo-fenced area, then step S42 is performed.

Step S42: and determining the GNSS positioning points which are consistent with the positioning time of the non-GNSS positioning points in the interference geo-fence area as alternative interference track points, and obtaining the times that the GNSS positioning points and the non-GNSS positioning points with the same positioning time respectively appear in the interference hop geo-fence area and the interference geo-fence area.

In the above manner, each time the GNSS positioning point of the terminal is determined to be located in the interference hop geofence region, the non-GNSS positioning point with consistent positioning time is obtained according to the positioning time of the GNSS positioning point, and whether the non-GNSS positioning point is located in the interference geofence region is determined, so that when the GNSS positioning point is occasionally located in the interference hop geofence region due to other abnormal conditions instead of interference, subsequent calculation is also performed, and the calculation amount is increased; in the second mode, when the number of the GNSS positioning points of the terminal in the interference hop geofence area is determined to be greater than the preset first number threshold, whether the non-GNSS positioning points with consistent positioning time are in the interference geofence area is determined, so that unnecessary calculation under abnormal conditions is avoided, but when the number of the interference geographic points in the interference hop geofence area is determined to be greater than the first preset number threshold, subsequent calculation and determination are performed, and compared with the first mode, the time-delay of interference determination is increased. Therefore, which way to determine the final position can be determined according to specific situations.

Optionally, the determination may also be performed by a third method in which the first method and the second method are combined, as shown in fig. 5, the method includes the following steps:

step S51: and if the number of the GNSS positioning points of the terminal in the interference hop point geofence area is determined to be larger than a preset second number threshold, determining whether the non-GNSS positioning points consistent with the positioning time of the GNSS positioning points are in the interference geofence area.

Specifically, the preset second number threshold may be 0, and then the third mode is substantially the same as the first mode; alternatively, the preset second threshold may be set to other values, such as 3 or 4. And when a plurality of GNSS positioning points are judged to be positioned in the interference hop point geo-fence area, the subsequent steps are executed, so that the calculated amount is reduced, and the missing judgment of interference is avoided.

If the step S51 determines that at least one of the non-GNSS fixes is located within the interfering geo-fenced area, then step S52 is performed.

Step S52: and determining that the GNSS positioning point is the alternative interference positioning point, and continuously judging whether the GNSS positioning point in the interference hop point geo-fence area obtained subsequently is the alternative interference positioning point or not until the GNSS positioning point obtained within the set time is located outside the interference hop point geo-fence area, so as to obtain the occurrence frequency of the alternative interference positioning point.

Referring to fig. 6, the above-mentioned interfering skip point geo-fenced area and interfering geo-fenced area are determined in advance by the following steps:

step S61: and determining the GNSS positioning point generated when the GNSS interference occurs based on the historical GNSS positioning point data.

Specifically, the historical GNSS positioning point data may be historical GNSS positioning points obtained by using a satellite navigation positioning method for a plurality of terminals acquired within a set range within a set time. And the GNSS positioning point generated when the GNSS interference occurs is the GNSS interference point.

Step S62: and determining at least one interference hop geofence area according to the GNSS positioning points generated when the GNSS interference occurs.

Specifically, at least one interference hop geofence area may be obtained through manual interaction according to the location information of the GNSS interference point; or, the GNSS interference points with the close positions are clustered into one type, and an interference hop point geo-fence area is determined according to the position information of each type of interference points; other methods may be used to determine the interfering hop geofence region based on the location information of the GNSS interfering points.

Step S63: based on the historical non-GNSS fix data, a non-GNSS fix is determined that corresponds to the GNSS fix generated when GNSS interference occurs.

And determining historical non-GNSS points obtained by adopting a non-satellite navigation positioning mode according to the positioning time of the identified GNSS interference points and the corresponding terminal.

Step S64: determining an interfering geofenced area from the determined non-GNSS fix.

At least one interfering geo-fenced area is determined from the location information of the non-GNSS fix.

The determination of the interfering geofenced area is similar to the determination of the interfering hop geofenced area and will not be described further herein.

Step S65: and determining the corresponding relation between the interference hop point geofence area and the interference geofence area according to the identified corresponding relation between the GNSS interference point and the non-GNSS positioning point.

Specifically, one interference hop point geo-fenced area may correspond to multiple interference geo-fenced areas, one interference geo-fenced area may correspond to multiple interference hop point geo-fenced areas, or the interference hop point geo-fenced area and the interference geo-fenced area are in a one-to-one correspondence relationship.

Optionally, the interference skip point geo-fence area may not be determined by a GNSS interference point, for example, each road segment obtained according to historical GNSS positioning point road matching may be acquired, a road segment that does not conform to a forward rule in the road segments is determined as an interference road segment, and at least one interference skip point geo-fence area is determined according to the interference road segment; and restoring a normal road section corresponding to the interference road section according to the communication relation of the road, and determining at least one interference geo-fence area according to the restored normal road section.

Example two

The second embodiment of the present application provides a method for identifying a GNSS positioning point generated when GNSS interference occurs, that is, a GNSS interference point, based on historical GNSS positioning point data, where a flow of the method is shown in fig. 7, and the method includes the following steps:

step S71: and determining a GNSS interference positioning head point and a GNSS interference positioning tail point from historical GNSS positioning points generated in the same driving process of the same terminal.

Specifically, the method may include determining adjacent historical GNSS positioning points whose distance is greater than a set distance threshold, and obtaining at least two sets of positioning point pairs with position hopping; and determining the next historical GNSS positioning point of the previous positioning point pair in the two adjacent groups of positioning point pairs as the GNSS interference positioning head point, and determining the previous historical GNSS positioning point of the next positioning point pair as the GNSS interference positioning tail point.

Referring to fig. 8, when the distance between the historical GNSS positioning point 1 and the historical GNSS positioning point 2 is greater than a set distance threshold, determining that the historical GNSS positioning point 1 and the historical GNSS positioning point 2 are a group of positioning point pairs with hopping positions; the distance between the historical GNSS locating point 3 and the historical GNSS locating point 4 is larger than a set distance threshold value, and the historical GNSS locating point 3 and the historical GNSS locating point 4 are determined to be a group of locating point pairs with jumping positions; and determining the next historical GNSS positioning point 2 of the previous positioning point pair 12 in the two adjacent positioning point pairs as a GNSS interference positioning head point, and determining the previous historical GNSS positioning point 3 of the next positioning point pair 34 as a GNSS interference positioning tail point.

Step S72: and judging whether the area or the track of a geographic area formed by the GNSS interference positioning head point, the GNSS interference positioning tail point and the historical GNSS positioning points positioned between the head point and the tail point meets the rule of GNSS interference.

And/or judging whether the area of a geographical area formed by the GNSS interference positioning head point, the GNSS interference positioning tail point and the historical GNSS positioning points positioned between the head point and the tail point is smaller than a preset area threshold value or not, and/or judging whether a track formed by the GNSS interference positioning head point, the GNSS interference positioning tail point and the historical GNSS positioning points positioned between the head point and the tail point does not conform to the advancing rule of the track or not.

As a result of interference with the satellite navigation positioning signal, generally, the positioning points of the terminal within the coverage area of the interference signal are located in a specific area, so that the GNSS interference points between two adjacent positioning point pairs are concentrated in a predetermined area range, and the GNSS interference points between two adjacent positioning point pairs can be determined as interference positioning points.

The track formed by the historical GNSS locating points does not conform to the advancing rule of the track, and the track can comprise that a matching road of the historical GNSS locating points is not communicated with a matching road of the historical GNSS locating points in front of and/or behind; or the matching road of the historical GNSS positioning point is communicated with the matching road of the previous and/or subsequent historical GNSS positioning points, but the matching road is not in accordance with the theory, such as the round-trip circulation of the track segment.

In one embodiment, the determining whether a track formed by the GNSS interference positioning head point, the GNSS interference positioning tail point and the historical GNSS positioning points located between the head point and the tail point satisfies a rule of occurrence of GNSS interference may include performing map matching on the historical GNSS positioning points, and if there are no matching road segments for the consecutive historical GNSS positioning points exceeding a preset number, satisfying the rule of occurrence of GNSS interference, and determining that the historical GNSS positioning points of the non-matching road segments are GNSS positioning points generated when GNSS interference occurs; or the like, or, alternatively,

map matching is carried out on the historical GNSS positioning points to obtain more than two matched road sections, and if yes, the historical GNSS positioning points are matched with the two matched road sections; and if the road sections are communicated, determining whether a path section which is not in accordance with the driving rule exists in the path formed by the communication, and if so, satisfying the rule of the occurrence of the GNSS interference, and determining the historical GNSS positioning point which corresponds to the road section which is not in accordance with the driving rule as the GNSS positioning point which is generated when the GNSS interference occurs.

If the step S72 shows YES, go to step S73.

Step S73: and determining the head point, the tail point and the historical GNSS positioning points among the head point and the tail point as the GNSS positioning points generated when the GNSS interference occurs.

For example, the next historical GNSS positioning point 2 of the previous positioning point pair 12 in the two adjacent groups of jumping positioning point pairs in fig. 8 is determined as the GNSS interference positioning head point, the previous historical GNSS positioning point 3 of the next positioning point pair 34 is determined as the GNSS interference positioning tail point, and the GNSS positioning points 2 and 3 and the historical GNSS positioning point in between are determined as the GNSS positioning points generated when GNSS interference occurs.

EXAMPLE III

A third embodiment of the present application provides a method for identifying a GNSS positioning point generated when GNSS interference occurs, that is, a GNSS interference point, based on historical GNSS positioning point data, where a flow of the method is shown in fig. 9, and the method includes the following steps:

step S91: and matching the roads for the historical GNSS positioning points with the same track, and determining the historical GNSS positioning points with failed road matching as GNSS interference points if the continuous road matching of the historical GNSS positioning points with the number exceeding the preset number fails.

If the road matching fails without the historical GNSS positioning points, step S92 is executed.

Step S92: and judging whether a road section which is not communicated with other road sections exists in the obtained plurality of road sections.

If yes, go to step S93; if not, go to step S94.

Step S93: and taking the historical GNSS positioning points corresponding to the disconnected road sections as the GNSS positioning points generated when the GNSS interference occurs.

Step S94: and judging whether the path formed by the communication has a path section which does not accord with the driving rule.

If yes, go to step S95.

Step S95: and determining the historical GNSS positioning point corresponding to the road section of the road section which does not conform to the driving rule as the GNSS positioning point generated when the GNSS interference occurs.

Based on the inventive concept of the present application, an embodiment of the present application further provides an interference detection apparatus, which is shown in fig. 10 and includes:

an obtaining module 101, configured to obtain a GNSS positioning point and a non-GNSS positioning point of a terminal;

a first determining module 102, configured to determine whether a GNSS positioning point of the terminal is located in a predetermined interference hop geofence area;

a second determination module 103, configured to determine whether a non-GNSS fix of the terminal is located in a predetermined interfering geofenced area;

a third determining module 104, configured to determine that the terminal is interfered by the GNSS when the number of times that the GNSS positioning point and the non-GNSS positioning point with the same positioning time respectively appear in the interference hop geofence region and the interference geofence region exceeds a preset first time threshold.

In one embodiment, the apparatus further comprises a fourth determining module 105 configured to:

determining the number of consecutive occurrences that the GNSS positioning point of the terminal is located in the predetermined interfering hop geofence area, and when the number of consecutive occurrences reaches a preset second number threshold, the second determining module 103 performs the step of determining whether the non-GNSS positioning point of the terminal is located in the predetermined interfering geofence area.

In one embodiment, the apparatus further includes a fifth determining module 106 configured to:

determining a GNSS positioning point generated when GNSS interference occurs based on historical GNSS positioning point data; determining an interference hop geofence area according to a GNSS locating point generated when GNSS interference occurs; determining a non-GNSS positioning point corresponding to a GNSS positioning point generated when GNSS interference occurs based on historical non-GNSS positioning point data; determining an interfering geofenced area from the determined non-GNSS fix.

In an embodiment, the fifth determining module 106 determines a GNSS fix generated when GNSS interference occurs based on the historical GNSS fix data, and is specifically configured to:

aiming at historical GNSS positioning points which belong to the same terminal and are generated in the same driving process in historical GNSS positioning point data, the following steps are executed: determining a GNSS interference positioning head point and a GNSS interference positioning tail point from historical GNSS positioning points generated in the same driving process of the same terminal; and judging whether the area or the track of a geographic area formed by the GNSS interference positioning head point, the GNSS interference positioning tail point and the historical GNSS positioning points positioned between the head point and the tail point meets the rule of occurrence of GNSS interference, and if so, determining the head point, the tail point and the historical GNSS positioning points between the head point and the tail point as the GNSS positioning points generated when the GNSS interference occurs.

With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.

Based on the inventive concept of the present application, embodiments of the present application further provide a computer-readable storage medium, on which computer instructions are stored, and when the instructions are executed by a processor, the method for detecting interference described above is implemented.

Based on the inventive concept of the present application, an embodiment of the present application further provides a server, including: memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the above interference detection method when executing the program.

Unless specifically stated otherwise, terms such as processing, computing, calculating, determining, displaying, or the like, may refer to an action and/or process of one or more processing or computing systems or similar devices that manipulates and transforms data represented as physical (e.g., electronic) quantities within the processing system's registers and memories into other data similarly represented as physical quantities within the processing system's memories, registers or other such information storage, transmission or display devices. Information and signals may be represented using any of a variety of different technologies and techniques. For example, data, instructions, commands, information, signals, bits, symbols, and chips that may be referenced throughout the above description may be represented by voltages, currents, electromagnetic waves, magnetic fields or particles, optical fields or particles, or any combination thereof.

It should be understood that the specific order or hierarchy of steps in the processes disclosed is an example of exemplary approaches. Based upon design preferences, it is understood that the specific order or hierarchy of steps in the processes may be rearranged without departing from the scope of the present disclosure. The accompanying method claims present elements of the various steps in a sample order, and are not intended to be limited to the specific order or hierarchy presented.

In the foregoing detailed description, various features are grouped together in a single embodiment for the purpose of streamlining the disclosure. This method of disclosure is not to be interpreted as reflecting an intention that the claimed embodiments of the subject matter require more features than are expressly recited in each claim. Rather, as the following claims reflect, this application is directed to less than all of the features of a single disclosed embodiment. Thus, the following claims are hereby expressly incorporated into the detailed description, with each claim standing on its own as a separate preferred embodiment of the application.

Those of skill would further appreciate that the various illustrative logical blocks, modules, circuits, and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both. To clearly illustrate this interchangeability of hardware and software, various illustrative components, blocks, modules, circuits, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the overall system. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present disclosure.

The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium. Of course, the storage medium may also be integral to the processor. The processor and the storage medium may reside in an ASIC. The ASIC may reside in a user terminal. Of course, the processor and the storage medium may reside as discrete components in a user terminal.

For a software implementation, the techniques described herein may be implemented with modules (e.g., procedures, functions, and so on) that perform the functions described herein. The software codes may be stored in memory units and executed by processors. The memory unit may be implemented within the processor or external to the processor, in which case it can be communicatively coupled to the processor via various means as is known in the art.

What has been described above includes examples of one or more embodiments. It is, of course, not possible to describe every conceivable combination of components or methodologies for purposes of describing the aforementioned embodiments, but one of ordinary skill in the art may recognize that many further combinations and permutations of various embodiments are possible. Accordingly, the embodiments described herein are intended to embrace all such alterations, modifications and variations that fall within the scope of the appended claims. Furthermore, to the extent that the term "includes" is used in either the detailed description or the claims, such term is intended to be inclusive in a manner similar to the term "comprising" as "comprising" is interpreted when employed as a transitional word in a claim. Furthermore, any use of the term "or" in the specification of the claims is intended to mean a "non-exclusive or". The terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

Claims

1. An interference detection method, comprising:

2. The method of claim 1, wherein the method further comprises:

3. The method of claim 1, wherein the method further comprises:

determining an interfering geofenced area from the determined non-GNSS fix.

4. The method as claimed in claim 3, wherein said determining a GNSS fix generated in the presence of GNSS interference based on historical GNSS fix data comprises:

5. The method of claim 4, wherein determining whether a trajectory formed by the GNSS interference location start point, the GNSS interference location end point, and the historical GNSS location points located between the start point and the end point satisfies a GNSS interference occurrence rule comprises:

6. The method according to any of claims 1 to 5, wherein the non-GNSS positioning point is a network positioning point, and the signals used for positioning the network positioning point comprise: WIFI signals and/or base station signals.

7. The method of any of claims 1 to 5, wherein the determining whether the GNSS fix of the terminal is located in front of a predetermined interfering hop geofence area, further comprises:

8. An interference detection apparatus, comprising:

9. A computer readable storage medium having stored thereon computer instructions, wherein the instructions, when executed by a processor, implement the interference detection method of any one of claims 1 to 7.

10. A server, comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the interference detection method according to any one of claims 1 to 7 when executing the program.