CN109613575A - A kind of shielded method for early warning of intelligent positioner signal - Google Patents
A kind of shielded method for early warning of intelligent positioner signal Download PDFInfo
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- CN109613575A CN109613575A CN201811514515.8A CN201811514515A CN109613575A CN 109613575 A CN109613575 A CN 109613575A CN 201811514515 A CN201811514515 A CN 201811514515A CN 109613575 A CN109613575 A CN 109613575A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/35—Constructional details or hardware or software details of the signal processing chain
- G01S19/37—Hardware or software details of the signal processing chain
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04K—SECRET COMMUNICATION; JAMMING OF COMMUNICATION
- H04K3/00—Jamming of communication; Counter-measures
- H04K3/80—Jamming or countermeasure characterized by its function
- H04K3/82—Jamming or countermeasure characterized by its function related to preventing surveillance, interception or detection
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04K—SECRET COMMUNICATION; JAMMING OF COMMUNICATION
- H04K3/00—Jamming of communication; Counter-measures
- H04K3/80—Jamming or countermeasure characterized by its function
- H04K3/90—Jamming or countermeasure characterized by its function related to allowing or preventing navigation or positioning, e.g. GPS
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04K—SECRET COMMUNICATION; JAMMING OF COMMUNICATION
- H04K2203/00—Jamming of communication; Countermeasures
- H04K2203/10—Jamming or countermeasure used for a particular application
- H04K2203/22—Jamming or countermeasure used for a particular application for communication related to vehicles
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Mobile Radio Communication Systems (AREA)
Abstract
The invention discloses a kind of shielded method for early warning of intelligent positioner signal, it is characterized in that, the following steps are included: the data packet that real-time monitoring mobile unit uploads, when the information for the carrying of adjacent data packet occur becomes location information missing from carrying location information, executes subsequent step: judging the step of vehicle belongs to first state or the second state；Determination step when first state is in vehicle；When being in the second state to vehicle, the determination step of driving status；It is normal determination step when driving to vehicle；It is abnormal determination step when driving to vehicle.The present invention carries out quick, accurate, comprehensive monitoring whether can be shielded to the positioning signal under a variety of travel condition of vehicle.In time, calculation amount is small for operation response.
Description
Technical field
The present invention relates to car networking field, especially a kind of shielded method for early warning of intelligent positioner signal.
Background technique
With the increase of car ownership, the stolen event of vehicle is consequently increased, for stolen vehicle (or other feelings
Condition) recover or monitor, then need to be grasped the location information of vehicle.
In existing GPS positioning scheme, the case where there are positioning deficiencies, believes including because positioning caused by odjective cause
Number missing, and be considered malice shield.The scheme checked is shielded by malice piece for positioning signal at present are as follows: 1. detections
Whether GPS positioning is effective, if GPS positioning is invalid, then it is assumed that exists and blocks GPS antenna and cause the suspicion that can not be positioned, then leads to
SNR signal-to-noise ratio (SNR) Algorithm is crossed to judge whether the invalid phenomenon of GPS positioning is because signal is shielded and caused；If calculated result is
Very, then confirm that GPS antenna has maliciously to be shielded, such as a kind of anti-automobile bit mask device system disclosed in CN107290759A
System.2. receiving the transmitter and receiver of built-in a pair of of black light in head in GPS antenna, the transmitter is responsible for launching outward
The black light signal of specified wavelength, the receiver are responsible for receiving the black light signal；Transmitter sends specified wavelength
Black light signal, by detecting whether receiver receives the signal, to judge whether there is shelter outside GPS antenna；If
Receiver receives the black light signal of the specified wavelength of transmitter transmission, then shows that GPS antenna is maliciously shielded.
In above scheme 1, can not for vehicle it is stateful under positioning signal missing carry out specific aim judgement, judgement
Result credibility is lower；Meanwhile need for statistical analysis to larger amount of data, calculation amount is larger, and this kind of situation by
The influence of noise jamming is more serious.In above scheme 2, need to be judged that stability is weaker by additional facility, power consumption
It is larger；Meanwhile principle is easy to receive artificial utilization, causes judging result and the case where actual result is not inconsistent, confidence level is same
It is lower.
Summary of the invention
Goal of the invention of the invention is: in view of the above problems, providing a kind of intelligent positioner signal and is shielded
The method for early warning covered, to judge whether vehicle GPS positioning signal carries out accurate, quick, classification by malice shielding.
The technical solution adopted by the invention is as follows:
A kind of shielded method for early warning of intelligent positioner signal, comprising the following steps:
A. the data packet that real-time monitoring mobile unit uploads is become in the information for the carrying of adjacent data packet occur by carrying location information
When lacking for location information, subsequent step is executed；
B. the data packet that storage mobile unit uploads；According to the acceleration information of the adjacent two data packet, vehicle category is judged
In first state or the second state；
C. when vehicle is in first state, according to the location information data in the data packet stored, judge that positioning device is believed
Number whether shielded；
D. when vehicle is in the second state, then according to the location information data and acceleration information in the data packet stored,
Judge whether vehicle is normal driving status；
E. when driving, determine that positioning device signal is shielded in vehicle for normally；
It F. is extremely when driving, to find out in the data packet for carrying location information recently, the corresponding base station of location information in vehicle
Information inquires the blind area the GPS accounting of the base station, counts, counting to the location information data in the data packet stored
When as a result meeting predetermined relationship with the blind area the GPS accounting of the base station, determine that positioning device signal is shielded.
When mobile unit fails to feed back its location information, judge that vehicle is in traveling shape according to vehicle acceleration information
State or halted state, can be with according to the location information data in the data packet of mobile unit feedback if being in halted state
It determines that vehicle location signal is shielded, if being in driving status, (is based on statistical also according to location information and acceleration information
Principle is analysed, mitigating individual data packet exception bring influences), judge whether vehicle driving is normal, when vehicle driving is normal, root
There is the case where positioning is lost according to multiple data packets, it is possible to determine that positioning signal is shielded, in vehicle driving exception, according to right
The statistical result of data packet location information, the relationship with the ratio of region base station location blind area is (i.e. based in blind location area
The comparison of limit), it is possible to determine that positioning signal is shielded (non-natural to cause).According to the above method, without additional facility,
The various operating statuses of vehicle can be directed to, are accurately judged whether positioning signal is shielded by malice, data calculation amount
Small, computational accuracy is high.For result judgement by the way of judging step by step, it is ensured that with the smallest calculation amount (without
All packet datas are calculated) determine the shielded state of positioning signal.
Further, the data packet that the storage mobile unit uploads are as follows: in the location information number of adjacent two data packet
When according to becoming location information missing from carrying location information, the data packet uploaded to subsequent all mobile units is cached；It is no
Then, the upper data packet that only caching mobile unit uploads.
The program only stores the data packet (and not all stored) for determining to use, and can effectively mitigate to data
Packet carries out storing required space, required query time when mitigating to data packet progress data extraction.
Further, the method that the judgement vehicle belongs to first state or the second state are as follows: if the two neighboring number
It is all larger than predetermined acceleration threshold value according to the acceleration of packet, then determines that vehicle is in first state, otherwise, it is determined that vehicle is in second
State.
It is as a result quasi- based on being determined by the acceleration value before and after shielded point travel condition of vehicle in doubtful positioning signal
Really, the time is accurate, and the acceleration value based on continuous two data packets carries out joint judgement, can be obtained accurately with minimum calculation amount
Result.
Further, when vehicle is in first state, the location information data according in the data packet stored,
Judge whether positioning device signal is shielded are as follows: according to in the data packet stored, the data packet of location information missing occurs
Statistical data, judge whether positioning device signal is shielded.
Based under first state (halted state), for the statistics of vehicle location information missing, it is fixed quickly to determine
Whether position signal is shielded.
Further, statistical number of the basis to the data packet that location information missing in the data packet stored, occurs
According to judging whether positioning device signal is shielded are as follows: according to in the data packet stored, recurring location information missing
When the quantity that data packet is counted reaches first threshold, determine that positioning device signal is shielded.
The location information of continuous multiple data packets is analyzed to identify, the accuracy rate and effect of result judgement can be improved
Rate.
Further, it is described judge vehicle whether be normal driving status method are as follows: according in the data packet stored
Location information data, it is determined whether enter state determinating mode；State determinating mode: adding in stored data packet is extracted
Speed data calculates I d median, also after removal maximum value and minimum value, calculates mean value；Calculate mean value and I d median
Between difference；Also when the mean value, I d median and difference are all satisfied the first preset condition, determine that vehicle is normally travel shape
State.
Filtered acceleration is most worth, and can mitigate influence of the positioning drift to result, is based on acceleration mean value and I d median
Difference relationship, can relatively accurately judge the accuracy of data packet result, further, be based on acceleration mean value, median
Value and difference, can accurately, quickly judge the driving status of vehicle.
Further, the location information data according in the data packet stored, it is determined whether enter state and determine
Mode are as follows: in the data packet stored, when recurring the quantity of data packet of location information missing and reaching second threshold, into
Enter state determinating mode.
Statistical analysis based on the data packet for recurring positioning deficiency, on the one hand, can make for sentencing into state
Fixed condition carries out more strictly screening, and then effectively saves data calculation amount；On the other hand, set trigger condition
The false triggering for subsequent step can be prevented, the erroneous judgement of result is caused.
Further, above-mentioned when the mean value, I d median and difference are all satisfied the first preset condition, determine that vehicle is
Normally travel state are as follows: the difference third threshold value and it is following when, in the mean value in the 4th threshold value or more, and
For the I d median in the 5th threshold value or more, judgement vehicle is normal driving status.
To three above-mentioned threshold values of parameter setting, vehicle running state can be carried out by relatively simple, direct mode
Accurately and rapidly judge.
Further, in the step F, the location information data in data packet are counted are as follows: what statistics was stored
In data packet, the accounting of the total storing data packet of data packet Zhan of location information missing occurs；The GPS of the statistical result and base station
Blind area accounting meets predetermined relationship are as follows: the accounting that the data packet of location information missing occurs is higher than the blind area the GPS accounting of base station.
It is for statistical analysis to positioning deficiency data packet based on base station location blind area maximum magnitude, more can intuitively it sentence
It is disconnected go out whether be because of base station covering quality reason caused by positioning signal shielded, meanwhile, without the specific positioning to base station
Blind area is matched one by one, can quickly determine the shielded odjective cause of positioning signal.
Further, the blind area the GPS accounting of above-mentioned inquiry base station are as follows: from the base station information of several base stations prestored, look into
Ask out the blind area the GPS accounting of the base station；The base station information includes the blind area the GPS accounting of base station.
The base station information of commonly used several base stations is prestored, it can be fast to check quickly when needing to call base station information
Corresponding base station information is ask, and then improves the reaction speed of data processing, mitigates equipment computational load, improves computational efficiency.
In conclusion by adopting the above-described technical solution, the beneficial effects of the present invention are:
1, it is carried out whether the present invention can shield the positioning signal under a variety of travel condition of vehicle quick, accurate, comprehensive
Monitoring.In time, calculation amount is small for operation response.
2, the present invention by positioning signal by the operating status of shielding vehicle for can accurately be judged, in order to right
Vehicle-state has more comprehensive understanding, is convenient for analyzing and positioning deficiency reason.
Detailed description of the invention
Examples of the present invention will be described by way of reference to the accompanying drawings, in which:
Fig. 1 is the shielded method for early warning flow chart of intelligent positioner signal.
Fig. 2 is one embodiment of the shielded method for early warning of intelligent positioner signal.
Specific embodiment
All features disclosed in this specification or disclosed all methods or in the process the step of, in addition to mutually exclusive
Feature and/or step other than, can combine in any way.
Any feature disclosed in this specification (including any accessory claim, abstract), unless specifically stated,
It is replaced by other equivalent or with similar purpose alternative features.That is, unless specifically stated, each feature is a series of
An example in equivalent or similar characteristics.
As shown in Figure 1, present embodiment discloses a kind of shielded method for early warning of intelligent positioner signal, including it is following
Step:
The data packet that real-time monitoring mobile unit uploads is become in the information for the carrying of adjacent data packet occur from carrying location information
When location information lacks, subsequent step is executed.
Store the data packet that mobile unit uploads；According to the acceleration information of the adjacent two data packet, vehicle is judged
Belong to first state or the second state.The method that above-mentioned judgement vehicle belongs to first state or the second state are as follows: if described adjacent
The acceleration of two data packets is all larger than predetermined acceleration threshold value (such as 100), then determines that vehicle is in first state and otherwise sentences
Determine vehicle and is in the second state.Storage for the data packet that mobile unit is uploaded, in the positioning of adjacent two data packet
When information data becomes location information missing from carrying location information, the data packet uploaded to subsequent all mobile units is delayed
It deposits；Otherwise, the upper data packet that only caching mobile unit uploads.
When vehicle is in first state, according to the location information data in the data packet stored, positioning device is judged
Whether signal is shielded.Specifically, according to the statistics to the data packet that location information missing in the data packet stored, occurs
Data, judge whether positioning device signal is shielded.In one embodiment, according to in the data packet stored, continuously
(such as 5) when the quantity that the data packet that location information lacks is counted reaches first threshold occur, determine positioning device signal quilt
Shielding.
When vehicle is in the second state, then according to the location information data and acceleration degree in the data packet stored
According to judging whether vehicle is normal driving status.
It is above-mentioned judge vehicle whether be normal driving status method are as follows: according to the location information in the data packet stored
Data, it is determined whether enter state determinating mode；Specifically, recurring location information in the data packet stored and lacking
When the quantity of the data packet of mistake reaches second threshold (such as 5), into state determinating mode；
State determinating mode: extracting the acceleration information in stored data packet, calculate I d median, also removal maximum value
After minimum value, mean value is calculated；Calculate the difference (absolute value) between mean value and I d median；Also in the mean value, median
When value and difference are all satisfied the first preset condition, judgement vehicle is normal driving status.Specifically, in the difference in third
Threshold value (such as 50) and it is following when, in the mean value in the 4th threshold value (such as 200) or more, and in the I d median the 5th
When threshold value (such as 200) or more, judgement vehicle is normal driving status.
When driving, determine that positioning device signal is shielded in vehicle for normally.
It is extremely when driving, to find out in the data packet for carrying location information recently, the corresponding base of location information in vehicle
It stands information, inquires the blind area the GPS accounting of the base station, the location information data in the data packet stored are counted, are being united
When meter result and the blind area the GPS accounting of the base station meet predetermined relationship, determine that positioning device signal is shielded.Specifically,
Location information data in data packet are counted are as follows: in the stored data packet of statistics, the number of location information missing occurs
According to the accounting of the packet total storing data packet of Zhan；The statistical result and the blind area the GPS accounting of base station meet predetermined relationship are as follows: it is fixed to occur
The accounting of the data packet of position loss of learning is higher than the blind area the GPS accounting of base station.
Present embodiment discloses a kind of shielded method for early warning of intelligent positioner signal, comprising the following steps:
The data packet that real-time monitoring mobile unit uploads is become in the information for the carrying of adjacent data packet occur from carrying location information
When location information lacks, perform the next step；
The data packet uploaded to subsequent all mobile units caches；If the acceleration of the adjacent two data packet is all larger than
Predetermined acceleration threshold value then determines that vehicle is in first state, otherwise, it is determined that vehicle is in the second state；
When vehicle is in first state, and according to the data in the data packet stored, recurring location information missing
When the quantity that packet is counted reaches first threshold, determine that positioning device signal is shielded；
When vehicle is in the second state, in the data packet stored, the number of the data packet of location information missing is recurred
When amount reaches second threshold, into state determinating mode；State determinating mode: the acceleration degree in stored data packet is extracted
According to, calculate I d median, also removal maximum value and minimum value after, calculate mean value；Calculate the difference between mean value and I d median
Value, the difference third threshold value and it is following when, in the mean value in the 4th threshold value or more, and in the I d median
In the 5th threshold value or more, judgement vehicle is normal driving status；
When driving, determine that positioning device signal is shielded in vehicle for normally；
It is found out in the data packet for carrying location information recently when driving in vehicle to be abnormal, the corresponding base station letter of location information
Breath, inquires the blind area the GPS accounting of the base station；In the stored data packet of statistics, the data packet Zhan that location information missing occurs is total
The accounting of storing data packet；When GPS blind area accounting of the accounting of data packet of location information missing higher than base station occurs, determine
Positioning device signal is shielded.
As shown in Fig. 2, present embodiment discloses another shielded method for early warning of intelligent positioner signal, including with
Lower step:
The base station information of several base stations LBS is prestored, each base station information includes the blind area the GPS accounting of respective base station；
The data packet that real-time monitoring mobile unit uploads, mobile unit are acquired and are uploaded data packet, number with preset frequency (such as 2Hz)
According to the 3-axis acceleration value in packet including mobile unit；Become in the information for the carrying of adjacent data packet occur from carrying location information
When location information lacks, perform the next step；
The data packet uploaded to subsequent all mobile units caches；If the acceleration of the adjacent two data packet is all larger than
100, then determine that vehicle is in driving status, otherwise, it is determined that vehicle is in halted state；
When vehicle is in halted state, and according to the data in the data packet stored, recurring location information missing
When the quantity that packet is counted reaches 5, determine that positioning device signal is shielded；
When vehicle is in driving status, in the data packet stored, the number of the data packet of location information missing is recurred
When amount reaches 5, into state determinating mode；State determinating mode: the acceleration information in stored data packet, meter are extracted
I d median is calculated, also after removal maximum value and minimum value, calculates mean value；Calculate between mean value and I d median difference (
Absolute value), in the difference<50, in the mean value>200, and in the I d median>200, determine that vehicle is positive
Normal driving status；
When driving, determine that positioning device signal is shielded in vehicle for normally；
It is found out in the data packet for carrying location information recently when driving in vehicle to be abnormal, the corresponding base station letter of location information
Breath is based on LBS location-server, inquires the blind area the GPS accounting of the base station；Also in the stored data packet of statistics, position
The accounting of the total storing data packet of the data packet Zhan of loss of learning；It is higher than base station in the accounting for the data packet that location information missing occurs
The blind area GPS accounting when, determine positioning device signal shielded.
The invention is not limited to specific embodiments above-mentioned.The present invention, which expands to, any in the present specification to be disclosed
New feature or any new combination, and disclose any new method or process the step of or any new combination.
Claims (10)
1. a kind of shielded method for early warning of intelligent positioner signal, which comprises the following steps:
A. the data packet that real-time monitoring mobile unit uploads is become in the information for the carrying of adjacent data packet occur by carrying location information
When lacking for location information, subsequent step is executed；
B. the data packet that storage mobile unit uploads；According to the acceleration information of the adjacent two data packet, vehicle category is judged
In first state or the second state；
C. when vehicle is in first state, according to the location information data in the data packet stored, judge that positioning device is believed
Number whether shielded；
D. when vehicle is in the second state, then according to the location information data and acceleration information in the data packet stored,
Judge whether vehicle is normal driving status；
E. when driving, determine that positioning device signal is shielded in vehicle for normally；
It F. is extremely when driving, to find out in the data packet for carrying location information recently, the corresponding base station of location information in vehicle
Information inquires the blind area the GPS accounting of the base station, counts, counting to the location information data in the data packet stored
When as a result meeting predetermined relationship with the blind area the GPS accounting of the base station, determine that positioning device signal is shielded.
2. method for early warning as described in claim 1, which is characterized in that in the step B, the data of storage mobile unit upload
Packet are as follows: when the location information data of adjacent two data packet become location information missing from carrying location information, to subsequent institute
The data packet for having mobile unit to upload is cached；Otherwise, the upper data packet that only caching mobile unit uploads.
3. method for early warning as claimed in claim 1 or 2, which is characterized in that in the step B, judge that vehicle belongs to the first shape
The method of state or the second state are as follows: if the acceleration of the adjacent two data packet is all larger than predetermined acceleration threshold value, determine
Vehicle is in first state, otherwise, it is determined that vehicle is in the second state.
4. method for early warning as described in claim 1, which is characterized in that described when vehicle is in first state in step C
According to the location information data in the data packet stored, judge whether positioning device signal is shielded are as follows: according to being stored
Data packet in, occur location information missing data packet statistical data, judge whether positioning device signal is shielded.
5. method for early warning as claimed in claim 4, which is characterized in that the basis is fixed to occurring in the data packet stored
The statistical data of the data packet of position loss of learning, judges whether positioning device signal is shielded are as follows: according to the data stored
Bao Zhong determines positioning device letter when recurring the quantity that is counted of data packet of location information missing and reaching first threshold
It number is shielded.
6. method for early warning as described in claim 1, which is characterized in that in the step D, judge whether vehicle is normally travel
The method of state are as follows: according to the location information data in the data packet stored, it is determined whether enter state determinating mode；State
Determinating mode: extracting the acceleration information in stored data packet, calculate I d median, also removal maximum value and minimum value
Afterwards, mean value is calculated；Calculate the difference between mean value and I d median；Also is all satisfied in the mean value, I d median and difference
When one preset condition, judgement vehicle is normal driving status.
7. method for early warning as claimed in claim 6, which is characterized in that the location information according in the data packet stored
Data, it is determined whether enter state determinating mode are as follows: in the data packet stored, recur the data of location information missing
When the quantity of packet reaches second threshold, into state determinating mode.
8. method for early warning as claimed in claims 6 or 7, which is characterized in that described equal in the mean value, I d median and difference
When meeting the first preset condition, judgement vehicle be normal driving status are as follows: the difference third threshold value and it is following when, in institute
Mean value is stated in the 4th threshold value or more, and in the I d median in the 5th threshold value or more, judgement vehicle is normal row
Sail state.
9. method for early warning as described in claim 1, which is characterized in that in the step F, to the location information number in data packet
According to being counted are as follows: in the stored data packet of statistics, accounting for for the total storing data packet of data packet Zhan of location information missing occurs
Than；The statistical result and the blind area the GPS accounting of base station meet predetermined relationship are as follows: accounting for for the data packet of location information missing occurs
Than the blind area the GPS accounting for being higher than base station.
10. the method for early warning as described in one of claim 1,2,4,5,6,7,9, which is characterized in that the GPS of the inquiry base station
Blind area accounting are as follows: from the base station information of several base stations prestored, inquire the blind area the GPS accounting of the base station；The base station
Information includes the blind area the GPS accounting of base station.
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