CN110632631B - Special vehicle-mounted GNSS signal compensation device, positioning system and method - Google Patents
Special vehicle-mounted GNSS signal compensation device, positioning system and method Download PDFInfo
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- CN110632631B CN110632631B CN201910901195.XA CN201910901195A CN110632631B CN 110632631 B CN110632631 B CN 110632631B CN 201910901195 A CN201910901195 A CN 201910901195A CN 110632631 B CN110632631 B CN 110632631B
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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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- 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
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Abstract
The invention discloses a special vehicle-mounted GNSS signal compensation device and a special vehicle-mounted GNSS signal blind-supplement positioning system and method. The special vehicle-mounted GNSS signal compensation device calculates the position information of the vehicle through the self-built positioning system and simulates corresponding GNSS simulation signals. The special vehicle-mounted GNSS signal compensation device comprises an encryption module, one or more of time information for recording transmitting and/or receiving positioning signals, position information of a vehicle, GNSS simulation signals and GNSS satellite asterisks are encrypted, and then the encrypted signals are radiated to a navigation terminal in the vehicle. According to the scheme disclosed by the invention, the information is encrypted, and only the appointed application program can realize decryption through the prestored decryption information, so that the malicious use of an unauthorized terminal or application program is avoided, and the practical interests of a positioning system manufacturer and a cooperative application program merchant are further ensured.
Description
Technical Field
The invention relates to the field of wireless communication, in particular to a device, a system and a method for blind supplement positioning of a special vehicle-mounted GNSS signal.
Background
With the rapid development of urban construction, the living standard of people is continuously improved, the quantity of private vehicles is increasingly kept, scenes of driving vehicles to urban strange road sections and areas are increasingly seen, and the frequency of vehicle navigation by people using navigation equipment is increasingly increased. The existing navigation devices, whether the vehicle navigation device or the terminal navigation device such as a mobile phone, are positioned based on GNSS (Global Navigation Satellite System) satellite signals, such as a GPS satellite signal in the united states, a russian GLONASS satellite signal, an european union GALILEO satellite signal and a beidou satellite signal in china. However, in urban building dense areas, tunnels, under overhead, underground parking, etc., the received GNSS satellite signals may be very weak or even impossible to receive. At this time, the navigation device cannot realize navigation and positioning using GNSS satellite signals, which brings great inconvenience to the driver in driving the vehicle.
In the prior art, a self-built positioning system is additionally arranged in an area which cannot be covered by GNSS satellite signals to compensate for the fact that GNSS cannot be positioned, for example, a positioning system based on a signal system such as UWB, wifi, bluetooth, RFID, radar, laser and the like is integrated at an underground parking lot, a market, a tunnel and the like. When the self-built positioning system is used for positioning and navigation, as the existing vehicle navigation or mobile phone and other terminals are not integrated with the positioning module which can adapt to all signal systems, a user is required to additionally provide positioning terminal equipment matched with a specific signal system in the positioning system, for example, when the user enters the coverage area of the self-built positioning system, the corresponding positioning terminal equipment is required to be distributed, and when the user leaves, the corresponding equipment is returned, so that the user experience is reduced, and the additional operation cost of the self-built positioning system is required to be increased.
In addition, if the self-built positioning system is used for positioning the vehicle, the vehicle-mounted GNSS signal compensation device is arranged, so that the GNSS simulation signal is simulated by using the obtained vehicle position and is sent to the vehicle-mounted user terminal. At this time, all the vehicle-mounted user terminals and all the application programs on the user terminals for navigation and positioning according to the GNSS signals can realize navigation and positioning of the vehicle according to the acquired GNSS simulation signals. Although the method can easily realize positioning in the GNSS signal coverage blind area without changing the existing vehicle navigation and mobile phone navigation configuration, the mode which is open and friendly to any equipment and application program is easy to be used maliciously by unauthorized terminals or application programs, thereby infringement the practical interests of positioning system manufacturers and cooperative application program merchants.
Therefore, how to provide a dedicated vehicle-mounted GNSS signal blind-mate positioning device, system and method becomes a technical problem to be solved in the art.
Disclosure of Invention
According to one aspect of the present invention, a shared onboard GNSS signal compensation device is disclosed, comprising: a first antenna for receiving a positioning signal from a positioning base station; the positioning signal receiving and transmitting module is coupled to the first antenna to receive positioning signals from the positioning base station and/or generated positioning signals and transmit the positioning signals to the positioning base station through the first antenna, and records time information of transmitting and/or receiving the positioning signals; the position information resolving module is coupled to the positioning signal receiving and transmitting module to receive the time information and resolve the position information of the vehicle according to the time information; the GNSS signal simulation module is coupled to the position information calculation module to acquire the position information of the vehicle and simulate corresponding GNSS simulation signals according to the position information of the vehicle; the encryption module is used for carrying out encryption processing on one or more of time information for recording transmitting and/or receiving positioning signals, position information of a vehicle, GNSS simulation signals and GNSS satellite asterisks; and the second antenna radiates the encrypted GNSS simulation signal to the navigation terminal in the vehicle.
According to another aspect of the invention, a shared vehicle-mounted GNSS signal blind-mate positioning system is disclosed, comprising a plurality of positioning base stations and a shared vehicle-mounted GNSS signal compensation device, wherein the GNSS signal compensation device comprises a first antenna and a second antenna, and the first antenna and the plurality of positioning base stations are used for interactively positioning signals; the special vehicle-mounted GNSS signal blind-complement positioning system records time information of transmitting and/or receiving positioning signals so as to calculate the position information of the vehicle; the GNSS signal compensation device generates GNSS simulation signals matched with the vehicle position information according to the vehicle position information, and encrypts one or more of time information for recording transmitting and/or receiving positioning signals, the vehicle position information, the GNSS simulation signals and GNSS satellite signs so as to transmit the signals to the navigation terminal through the second antenna.
According to still another aspect of the present invention, a method for blind-mate positioning of a shared vehicle-mounted GNSS signal is disclosed, comprising: recording time information of transmitting and/or receiving the positioning signals; obtaining the position information of the vehicle by utilizing the time information and the position information of the positioning base station; simulating GNSS simulation signals corresponding to the position information by utilizing the position information of the vehicle; encrypting one or more of time information for recording transmitting and/or receiving positioning signals, position information of a vehicle, GNSS simulation signals and GNSS satellite asterisks, and transmitting the encrypted GNSS simulation signals to a user navigation terminal; and decrypting the GNSS simulation signals, and positioning and navigating the vehicle by using the decrypted GNSS simulation signals.
According to the special vehicle-mounted GNSS signal compensation device, the positioning system and the method, the positioning system is built in the GNSS signal shielding area, the special GNSS signal compensation device is additionally arranged on the vehicle, corresponding GNSS simulation signals are simulated according to the position information of the vehicle obtained by the built positioning system, and the GNSS simulation signals are encrypted and transmitted to the user navigation terminal. And an authorized application program in the user navigation terminal UE decrypts the received GNSS simulation signals so that the GNSS simulation signals can be used for realizing the positioning and navigation of the vehicle by using the GNSS signals in both the GNSS signal coverage area and the GNSS signal shielding area. The problem of poor user experience caused by the fact that the existing user navigation terminal UE does not integrate a positioning module which can adapt to all signal systems and further needs a user to switch equipment back and forth when entering and exiting a self-built positioning system area is solved. The seamless connection of GNSS positioning is realized, the popularization is easy, the GNSS positioning system is compatible with the existing vehicle navigation and mobile phone navigation, and the user experience is improved. In addition, through carrying out encryption processing on GNSS simulation signals, only appointed application programs can realize decryption processing through prestored decryption information, unauthorized terminals or application programs are prevented from being used maliciously, and further the practical interests of positioning system manufacturers and cooperated application program merchants are guaranteed.
Drawings
FIG. 1 is a schematic diagram of a shared onboard GNSS signal blind mate positioning system 100 according to an embodiment of the invention;
FIG. 2 illustrates a modular schematic diagram of a shared onboard GNSS signal compensation device 200 in accordance with one embodiment of the present invention;
FIG. 3 is a flow chart of a method 300 for blind-mate positioning of a shared onboard GNSS signal in accordance with one embodiment of the present invention.
Detailed Description
Specific embodiments of the invention will be described in detail below, it being noted that the embodiments described herein are for illustration only and are not intended to limit the invention. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, it will be apparent to one of ordinary skill in the art that: no such specific details are necessary to practice the invention. In other instances, well-known circuits, materials, or methods have not been described in detail in order not to obscure the invention.
Throughout the specification, references to "one embodiment," "an embodiment," "one example," or "an example" mean: a particular feature, structure, or characteristic described in connection with the embodiment or example is included within at least one embodiment of the invention. Thus, the appearances of the phrases "in one embodiment," "in an embodiment," "one example," or "an example" in various places throughout this specification are not necessarily all referring to the same embodiment or example. Furthermore, the particular features, structures, or characteristics may be combined in any suitable combination and/or sub-combination in one or more embodiments or examples. Moreover, those of ordinary skill in the art will appreciate that the illustrations provided herein are for illustrative purposes and that the illustrations are not necessarily drawn to scale. It will be understood that when an element is referred to as being "connected" or "connected" to another element, it can be directly connected or connected to the other element or intervening elements may be present. In contrast, when an element is referred to as being "directly connected" or "directly connected" to another element, there are no intervening elements present. Like reference numerals designate like elements. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
FIG. 1 is a schematic diagram of a shared onboard GNSS signal blind mate positioning system 100 according to an embodiment of the invention. The shared vehicle-mounted GNSS signal blind-mate positioning system 100 includes a plurality of positioning base stations BS installed in a GNSS signal shielding area, a shared GNSS signal compensation device CD disposed on a vehicle, and a user navigation terminal UE. The GNSS signal shielding area comprises areas where GNSS signals cannot be received or the received GNSS signals are weak, such as urban building dense areas, tunnels, under an overhead, underground parking lots, indoor areas and the like. In one embodiment, the dedicated GNSS signal compensation device CD includes a first antenna A1 and a second antenna A2, where the first antenna A1 interacts positioning signals with the plurality of positioning base stations BS, and the dedicated vehicle-mounted GNSS signal blind compensating positioning system 100 records time information of transmitting and/or receiving the positioning signals to calculate position information of a vehicle where the dedicated GNSS signal compensation device CD is located. In one embodiment, the positioning signal is a UWB (Ultra wide band) signal, a Wifi signal, a bluetooth signal, an RFID signal, a radar signal, or a laser signal. The dedicated GNSS signal compensation device CD generates a GNSS simulation signal matched with the vehicle position information according to the obtained vehicle position information, performs encryption processing in the above process, and finally sends the encrypted GNSS simulation signal to the user navigation terminal UE through the second antenna A2. The encryption processing is to perform encryption processing on one or more of time information for recording transmitting and/or receiving positioning signals, position information of a vehicle, GNSS simulation signals and GNSS satellite asterisks according to a preset encryption rule. In one embodiment, the time information recording the transmitted and/or received positioning signals is encrypted, including adding a perturbation to the time information. In one embodiment, the encryption processing of the location information of the vehicle includes mapping the actual location information of the vehicle to other locations via an encryption algorithm. In one embodiment, the GNSS simulation signal is subjected to a fix process that includes one or more of adding a perturbation signal to the GNSS simulation signal, encoding the GNSS simulation signal, and modulating the GNSS simulation signal. In yet another embodiment, the encryption process is to modify the GNSS satellite constellation in accordance with an encryption algorithm. The authorized application program in the user navigation terminal UE stores decryption information corresponding to encryption processing in advance, decrypts the received GNSS simulation signals by using the decryption information, and accurately displays the position information of the vehicle in a navigation interface by using the decrypted GNSS simulation signals, so that the user navigation terminal UE can realize positioning and navigation of the vehicle by using GNSS signals in both a GNSS signal coverage area and a GNSS signal shielding area.
In one embodiment, the dedicated GNSS signal compensation device CD disposed on the vehicle is pre-bound with the corresponding one or more user navigation terminals UE, and the one or more user navigation terminals UE participating in the binding pre-store corresponding decryption information for encrypting the GNSS simulation signal by the corresponding dedicated GNSS signal compensation device CD, so that the designated user navigation terminal UE can decrypt the GNSS simulation signal, and other users who are not bound are prevented from using the corresponding GNSS simulation signal.
In one embodiment, the positioning base stations BS are at least three and have known positions, so that after the dedicated on-board GNSS signal blind compensating positioning system 100 records the Time information of transmitting and/or receiving the positioning signals, the position information of the vehicle where the dedicated GNSS signal compensating device CD is located is resolved by using the position information of the positioning base stations BS and the Time information of transmitting and/or receiving the positioning signals and using TDOA (Time Difference of Arrival ) or TOA (Time of Arrival).
In one embodiment, the dedicated GNSS signal compensation device CD further obtains the motion state information of the vehicle by using the motion state information obtaining device, so as to estimate the position information of the vehicle by using the motion state information when the vehicle is located at the junction of the GNSS signal coverage area and the GNSS signal gear area and the self-built positioning system does not start to work normally, or correct the measured position information of the vehicle by using the motion state information after the self-built positioning system has started to work. The motion state information acquisition device comprises one or more of an accelerometer, a gyroscope and a magnetometer, and the motion state information comprises one or more of speed, acceleration and space motion angle of the vehicle.
In one embodiment, the position information of the vehicle calculated by the dedicated vehicle-mounted GNSS signal blind-mate positioning system 100 is a longitude and latitude-based geodetic coordinate, and in another embodiment, the position information of the vehicle is a self-built coordinate system, and the dedicated vehicle-mounted GNSS signal blind-mate positioning system 100 also needs to convert the position information of the vehicle based on the self-built coordinate system into the longitude and latitude-based geodetic coordinate, so that the dedicated GNSS signal compensation device CD can simulate a GNSS simulation signal adapted to the position information of the vehicle based on the longitude and latitude-based geodetic coordinate.
In one embodiment, the second antenna A2 for transmitting the GNSS simulation signals in the dedicated GNSS signal compensation device CD is a directional antenna, and limits the radiation direction of the second antenna A2 to a position where the user navigation terminal UE may exist in the vehicle, so as to avoid interference caused by the user navigation terminal UE on other vehicles receiving the GNSS simulation signals and executing the positioning function on the user navigation terminal UE.
In one embodiment, the shared onboard GNSS signal blind mate positioning system 100 limits the GNSS simulation signals transmitted by the GNSS signal compensation device CD to a certain power range, for example, -60dBm to-150 dBm, so as to avoid the excessive power of the GNSS simulation signals, which causes interference to the positioning function performed by the user navigation terminal UE on other vehicles.
In one embodiment, before generating the GNSS simulation signal, the dedicated GNSS signal compensating device CD performs parameter configuration on signals such as frequency points, asterisks, and power of the GNSS satellite signals by using the information that the dedicated vehicle-mounted GNSS signal blind-supplement positioning system 100 needs to record GNSS satellite coordinate information and GNSS satellite constellation, and controls start time, transmission period, transmission times, and the like of transmitting the GNSS simulation signal.
In one embodiment, the dedicated GNSS signal compensation device CD is installed in a wave-transparent area of the vehicle, where the wave-transparent area includes non-metal parts such as a vehicle window, a shark fin antenna, a spoiler, a rearview mirror housing, and the like, so that the wave-transparent area can transmit and receive positioning signals to and from the positioning base station BS and send GNSS simulation signals to the user navigation terminal UE.
FIG. 2 illustrates a modular schematic diagram of a shared onboard GNSS signal compensation device 200 in accordance with one embodiment of the present invention. As shown in fig. 2, the shared onboard GNSS signal compensation device 200 illustratively includes a first antenna 201, a positioning signal transceiver module 202, a location information calculation module 203, a GNSS signal simulation module 204, an encryption module 209, and a second antenna 205. The first antenna 201 is coupled to the positioning signal transceiver module 202, so as to receive a positioning signal from the positioning base station BS and transmit the positioning signal to the positioning signal transceiver module 202, and/or receive a positioning signal generated by the positioning signal transceiver module 202 and radiate the positioning signal to the positioning base station BS. The positioning signal transceiver module 202 records time information of transmitting and/or receiving the positioning signal, and transmits the time information to the position information resolving module 203, so that the position information resolving module 203 can resolve the position information of the vehicle. In one embodiment, the location information of the vehicle that is resolved by the location information resolving module 203 is based on geodetic coordinates of longitude and latitude. In still another embodiment, the location information calculating module 203 further compensates the location information of the vehicle according to the location relationship between the on-board GNSS signal compensation device 200 and the vehicle. The position information calculation module 203 transmits the obtained position information of the vehicle to the GNSS signal simulation module 204, so that the GNSS signal simulation module 204 simulates a corresponding GNSS simulation signal according to the position information of the vehicle. The encryption module 209 performs encryption processing on one or more of the time information of transmitting and/or receiving the positioning signal, the position information of the vehicle, the GNSS simulation signal, and the GNSS satellite star according to a preset encryption rule, and transmits the encrypted GNSS simulation signal to the second antenna 205. In one embodiment, encrypting the time information recorded for transmitting and/or receiving the positioning signal includes adding a disturbance to the time information, and the encryption module 209 is coupled to the positioning signal transceiver module 202 to receive the time information. In one embodiment, the encryption processing of the location information of the vehicle includes mapping the actual location information of the vehicle to other locations via an encryption algorithm, at which time the encryption module 209 is coupled to the location information resolution module 203 to receive the location information of the vehicle. In one embodiment, the GNSS simulation signal may be subject to a fix process that includes one or more of adding a perturbation signal to the GNSS simulation signal, encoding the GNSS simulation signal, and modulating the GNSS simulation signal, wherein the fix module 209 may be coupled to the GNSS signal simulation module 204 to receive the GNSS simulation signal (as shown in FIG. 2). In yet another embodiment, the encryption process is to modify the GNSS satellite constellation in accordance with an encryption algorithm. The second antenna 205 radiates the GNSS simulation signals to the user navigation terminal UE within the vehicle. In one embodiment, the second antenna A2 is a directional antenna, and limits the radiation direction of the second antenna A2 to a position where the user navigation terminal UE may exist in the vehicle, so as to avoid interference caused by the user navigation terminal UE on other vehicles receiving GNSS simulation signals and executing a positioning function on the GNSS simulation signals.
In an embodiment, the on-vehicle GNSS signal compensation device 200 further includes a power control module 206, which controls the received transmission power of the encrypted GNSS simulation signal, and transmits the transmission power to the second antenna 205, so as to avoid interference caused by the excessive GNSS simulation signal to the positioning function executed by the user navigation terminal UE on other vehicles.
In one embodiment, the on-board GNSS signal compensation device 200 further includes a motion state information obtaining module 206 coupled to the position information calculating module 203 to obtain motion state information of the vehicle, and transmitting the motion state information to the position information calculating module 203, so that the position information calculating module 203 uses the motion state information to estimate the position information of the vehicle when the vehicle is located at the junction between the GNSS signal coverage area and the GNSS signal range and the self-built positioning system does not start to work normally, or uses the motion state information to correct the measured position information of the vehicle after the self-built positioning system has started to work.
In one embodiment, the on-vehicle GNSS signal compensation device 200 further includes a storage module 208 coupled to the GNSS signal simulation module 204, where the storage module 208 stores GNSS satellite coordinate information and GNSS satellite constellation, and transmits the stored information to the GNSS signal simulation module 204, so that the GNSS signal simulation module 204 uses the information to implement parameter configuration of signals such as frequency points, asterisks, power, etc. of the GNSS satellite signals, and at the same time, control start time, transmission period, transmission times, etc. of transmitting the GNSS simulation signals.
FIG. 3 is a flow chart of a method 300 for blind-mate positioning of a shared onboard GNSS signal in accordance with one embodiment of the present invention. The method 300 for blind-complement positioning of the vehicle-mounted GNSS signals comprises the following steps:
step 301: recording time information of transmitting and/or receiving the positioning signals;
step 302: obtaining the position information of the vehicle by utilizing the time information and the position information of the positioning base station;
step 303: simulating GNSS simulation signals corresponding to the position information by utilizing the position information of the vehicle;
step 304: encrypting one or more of time information for recording transmitting and/or receiving positioning signals, position information of a vehicle and GNSS simulation signals, and transmitting the encrypted GNSS simulation signals to a user navigation terminal;
step 305: and decrypting the GNSS simulation signals, and positioning and navigating the vehicle by using the decrypted GNSS simulation signals.
According to the special vehicle-mounted GNSS signal compensation device, the positioning system and the method, the positioning system is built in the GNSS signal shielding area, the special GNSS signal compensation device is additionally arranged on the vehicle, corresponding GNSS simulation signals are simulated according to the position information of the vehicle obtained by the built positioning system, and the GNSS simulation signals are encrypted and transmitted to the user navigation terminal. And an authorized application program in the user navigation terminal UE decrypts the received GNSS simulation signals so that the GNSS simulation signals can be used for realizing the positioning and navigation of the vehicle by using the GNSS signals in both the GNSS signal coverage area and the GNSS signal shielding area. The problem of poor user experience caused by the fact that the existing user navigation terminal UE does not integrate a positioning module which can adapt to all signal systems and further needs a user to switch equipment back and forth when entering and exiting a self-built positioning system area is solved. The seamless connection of GNSS positioning is realized, the popularization is easy, the GNSS positioning system is compatible with the existing vehicle navigation and mobile phone navigation, and the user experience is improved. In addition, through carrying out encryption processing on GNSS simulation signals, only appointed application programs can realize decryption processing through prestored decryption information, unauthorized terminals or application programs are prevented from being used maliciously, and further the practical interests of positioning system manufacturers and cooperated application program merchants are guaranteed.
As mentioned above, while the preferred embodiment of the present invention has been illustrated and described, many changes can be made without departing from the spirit and scope of the invention. Thus, the scope of the invention is not limited by the disclosure of the preferred embodiment. Rather, the invention should be determined entirely by reference to the claims that follow.
Claims (7)
1. A shared vehicle-mounted GNSS signal compensation device installed in a wave-transparent region of a vehicle, the wave-transparent region including a window, a shark fin antenna, a spoiler, a rearview mirror housing, the shared vehicle-mounted GNSS signal compensation device comprising:
a first antenna for receiving a positioning signal from a positioning base station;
the positioning signal receiving and transmitting module is coupled to the first antenna to receive positioning signals from the positioning base station and/or generated positioning signals and transmit the positioning signals to the positioning base station through the first antenna, and records time information of transmitting and/or receiving the positioning signals;
the position information resolving module is coupled to the positioning signal receiving and transmitting module to receive the time information and resolve the position information of the vehicle according to the time information;
the GNSS signal simulation module is coupled to the position information calculation module to acquire the position information of the vehicle and simulate corresponding GNSS simulation signals according to the position information of the vehicle;
the encryption module is used for carrying out encryption processing on one or more of time information for recording transmitting and/or receiving positioning signals, position information of a vehicle, GNSS simulation signals and GNSS satellite asterisks, wherein the encryption processing on the time information for recording transmitting and/or receiving positioning signals comprises the step of adding disturbance to the time information; the method comprises the steps of encrypting the position information of the vehicle, wherein the method comprises the steps of mapping the real position information of the vehicle to other positions through an encryption algorithm; encrypting the GNSS simulation signal comprises one or more of adding a disturbance signal to the GNSS simulation signal, encoding the GNSS simulation signal, and modulating the GNSS simulation signal; and
and the second antenna radiates the encrypted GNSS simulation signal to the navigation terminal in the vehicle, wherein the second antenna is a directional antenna, and the radiation direction of the second antenna is limited to a position where the navigation terminal in the vehicle possibly exists.
2. The shared vehicle-mounted GNSS signal compensation apparatus of claim 1, further comprising a power control module to control a transmit power of the encrypted GNSS simulation signals.
3. The shared onboard GNSS signal compensation apparatus of claim 1, further comprising a motion state information acquisition module coupled to the position information resolution module to obtain motion state information of the vehicle and to transmit to the position information resolution module to cause the position information resolution module to estimate the position information of the vehicle using the motion state information.
4. The apparatus for compensating for a vehicle-mounted GNSS signal of claim 1, further comprising a storage module for storing and transmitting the GNSS satellite coordinate information or the GNSS satellite constellation to the GNSS signal emulation module, so that the GNSS signal emulation module configures the frequency point, the star or the power signal of the GNSS satellite signal and controls the start time, the transmission period or the number of transmissions of the GNSS emulation signal.
5. The special vehicle-mounted GNSS signal blind-supplementing positioning system comprises a plurality of positioning base stations and a special vehicle-mounted GNSS signal compensation device arranged in a wave-transmitting area of a vehicle, wherein the wave-transmitting area comprises a vehicle window, a shark fin antenna, a spoiler and a rearview mirror shell, the GNSS signal compensation device comprises a first antenna and a second antenna, and the first antenna and the plurality of positioning base stations are used for interactively positioning signals;
the special vehicle-mounted GNSS signal blind-complement positioning system records time information of transmitting and/or receiving positioning signals so as to calculate the position information of the vehicle;
the GNSS signal compensation device generates GNSS simulation signals matched with the vehicle position information according to the vehicle position information, encrypts one or more of time information for recording transmitting and/or receiving positioning signals, the vehicle position information, the GNSS simulation signals and GNSS satellite signals to be transmitted to the navigation terminal through a second antenna, wherein the second antenna is a directional antenna, and limits the radiation direction of the second antenna to a position where the navigation terminal in the vehicle possibly exists;
wherein the time information of the record transmission and/or the received positioning signal is encrypted and processed, and the method comprises the steps of adding disturbance to the time information; the method comprises the steps of encrypting the position information of the vehicle, wherein the method comprises the steps of mapping the real position information of the vehicle to other positions through an encryption algorithm; encrypting the GNSS simulation signal comprises one or more of adding a disturbance signal to the GNSS simulation signal, encoding the GNSS simulation signal, and modulating the GNSS simulation signal; the authorized application program in the navigation terminal stores decryption information corresponding to encryption processing in advance, and decrypts the received GNSS simulation signal by using the decryption information.
6. The shared onboard GNSS signal blind mate positioning system of claim 5 wherein the GNSS simulation signal transmitted by the GNSS signal compensator is limited to a predetermined power range.
7. A special vehicle-mounted GNSS signal blind-mate positioning method comprises the following steps:
recording time information of transmitting and/or receiving the positioning signals;
obtaining the position information of the vehicle by utilizing the time information and the position information of the positioning base station;
simulating GNSS simulation signals corresponding to the position information by utilizing the position information of the vehicle;
encrypting one or more of time information for recording transmitting and/or receiving positioning signals, position information of a vehicle, GNSS simulation signals and GNSS satellite asterisks, and transmitting the encrypted GNSS simulation signals to a user navigation terminal;
decrypting the GNSS simulation signals, and positioning and navigating the vehicle by using the decrypted GNSS simulation signals;
wherein the time information of the record transmission and/or the received positioning signal is encrypted and processed, and the method comprises the steps of adding disturbance to the time information; the method comprises the steps of encrypting the position information of the vehicle, wherein the method comprises the steps of mapping the real position information of the vehicle to other positions through an encryption algorithm; the encrypting the GNSS simulation signal may include one or more of adding a perturbation signal to the GNSS simulation signal, encoding the GNSS simulation signal, and modulating the GNSS simulation signal.
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| CN112601230B (en) * | 2020-11-30 | 2022-08-23 | 中国人民解放军战略支援部队信息工程大学 | Position data protection method based on time window and position encryption |
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