CN112147655A - Method for discriminating positioning track and computer readable storage medium - Google Patents
Method for discriminating positioning track and computer readable storage medium Download PDFInfo
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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
- G01S19/40—Correcting position, velocity or attitude
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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
- G01S19/33—Multimode operation in different systems which transmit time stamped messages, e.g. GPS/GLONASS
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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
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- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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Abstract
The invention discloses an identification method of a positioning track and a computer readable storage medium, wherein the method comprises the following steps: the positioning terminal sequentially acquires a preset number of positioning points from the cached positioning points to obtain a current positioning point set; sequentially acquiring data from a data string of the authentication information; modifying the position data of the middle positioning point in the current positioning point set according to the current embedded data; uploading position data of other positioning points except the last positioning point in the current positioning point set to a central platform; obtaining a new positioning point set; the central platform sequentially acquires a preset number of positioning points from the cached positioning points to obtain a current positioning point set; determining current embedded data according to the position data of each positioning point in the current positioning point set, and adding the current embedded data into a data string queue; and when the length of the data string queue is equal to that of the identification information, identifying the data in the data string queue and emptying the data string queue. The invention can identify the authenticity of the positioning track.
Description
Technical Field
The present invention relates to the field of positioning technologies, and in particular, to a method for identifying a positioning track and a computer-readable storage medium.
Background
The Beidou/GPS mobile positioning equipment continuously uploads the positions of vehicles, ships or people to the central platform through a wireless communication network, and the positions or tracks of the vehicles, the ships and the people can be monitored. However, in some industrial applications, users wish to evade monitoring, for example, sales service personnel, utilize location counterfeiting to forge customer visit records; fixed class line vehicles forge tracks to avoid safety supervision and the like. Therefore, a user of the positioning device may falsely create a positioning data uploading central platform by methods such as network protocol cracking, data memory modification and the like. Therefore, for the central platform, it is necessary to perform authentication in the uploaded positioning track data, and determine whether the positioning data is sent by a specific terminal and has not been forged or tampered, but there is no related authentication scheme at present.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: a method for identifying a positioning track and a computer-readable storage medium are provided, which can identify the authenticity of the positioning track.
In order to solve the technical problems, the invention adopts the technical scheme that: an identification method of a positioning track comprises the following steps:
the positioning terminal caches the position data of the positioning points according to a time sequence;
sequentially acquiring a preset number of positioning points from the cached positioning points to obtain a current positioning point set, wherein the preset number is an odd number;
circularly traversing a preset data string of the identification information, and sequentially acquiring data in the data string as current embedded data;
modifying the position data of the middle positioning point in the current positioning point set according to the current embedded data;
uploading position data of other positioning points except the last positioning point in the current positioning point set to a central platform;
taking the last positioning point in the current positioning point set as a first positioning point, sequentially acquiring a preset number of positioning points from the cached positioning points to obtain a new positioning point set, and taking the new positioning point set as the current positioning point set;
continuing to execute the step of sequentially acquiring one data in the data string as the current embedded data;
the central platform caches the position data of the positioning points uploaded by the positioning terminal according to a time sequence;
sequentially acquiring the positioning points with the preset number from the cached positioning points to obtain a current positioning point set;
determining current embedded data according to the position data of each positioning point in the current positioning point set, and adding the current embedded data into a data string queue;
when the length of the data string queue is equal to that of the identification information, identifying the data in the data string queue and emptying the data string queue;
taking the last positioning point in the current positioning point set as a first positioning point, sequentially acquiring a preset number of positioning points from the cached positioning points to obtain a new positioning point set, and taking the new positioning point set as the current positioning point set;
and continuing to execute the step of determining the current embedded data according to the position data of each positioning point in the current positioning point set and adding the current embedded data into the data string queue.
The invention also relates to a computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps as described above.
The invention has the beneficial effects that: the positioning terminal shifts the position of a specific positioning point, and identification information is hidden in the offset information, so that the identification information is embedded in a positioning track; the central platform can find out a specific positioning point, extract a data string to be identified from the position data of the positioning point, and identify the data string to be identified, so that whether the positioning track is forged or tampered can be identified. The invention can identify the authenticity of the positioning track.
Drawings
FIG. 1 is a flow chart of a method for identifying a location track according to the present invention;
fig. 2 is a flowchart of a method for embedding authentication information into a positioning terminal according to a first embodiment of the present invention;
fig. 3 is a flowchart of a method for extracting authentication information and authenticating by the central platform according to a first embodiment of the present invention.
Detailed Description
In order to explain technical contents, objects and effects of the present invention in detail, the following detailed description is given with reference to the accompanying drawings in conjunction with the embodiments.
The most key concept of the invention is as follows: the positioning terminal shifts the position of a specific positioning point, identification information is hidden in the offset information, and the central platform extracts a data string to be identified from the position data of the specific positioning point and compares the data string with the identification information.
Referring to fig. 1, a method for identifying a positioning track includes:
the positioning terminal caches the position data of the positioning points according to a time sequence;
sequentially acquiring a preset number of positioning points from the cached positioning points to obtain a current positioning point set, wherein the preset number is an odd number;
circularly traversing a preset data string of the identification information, and sequentially acquiring data in the data string as current embedded data;
modifying the position data of the middle positioning point in the current positioning point set according to the current embedded data;
uploading position data of other positioning points except the last positioning point in the current positioning point set to a central platform;
taking the last positioning point in the current positioning point set as a first positioning point, sequentially acquiring a preset number of positioning points from the cached positioning points to obtain a new positioning point set, and taking the new positioning point set as the current positioning point set;
continuing to execute the step of sequentially acquiring one data in the data string as the current embedded data;
the central platform caches the position data of the positioning points uploaded by the positioning terminal according to a time sequence;
sequentially acquiring the positioning points with the preset number from the cached positioning points to obtain a current positioning point set;
determining current embedded data according to the position data of each positioning point in the current positioning point set, and adding the current embedded data into a data string queue;
when the length of the data string queue is equal to that of the identification information, identifying the data in the data string queue and emptying the data string queue;
taking the last positioning point in the current positioning point set as a first positioning point, sequentially acquiring a preset number of positioning points from the cached positioning points to obtain a new positioning point set, and taking the new positioning point set as the current positioning point set;
and continuing to execute the step of determining the current embedded data according to the position data of each positioning point in the current positioning point set and adding the current embedded data into the data string queue.
From the above description, the beneficial effects of the present invention are: the authenticity of the positioning track can be identified.
Further, before sequentially obtaining a piece of data in the data string as the current embedded data, the method further includes:
judging whether the current positioning point set is embedded with identification information or not;
if not, the step of uploading the position data of other positioning points except the last positioning point in the current positioning point set to the central platform is executed;
and if the data string is embedded, executing the step of sequentially acquiring one piece of data in the data string as the current embedded data.
Further, after the new anchor point set is used as the current anchor point set, the step of judging whether the current anchor point set is embedded with the authentication information is continuously executed.
Further, the determining current embedded data according to the position data of each positioning point in the current positioning point set and adding the current embedded data to the front of the data string queue further includes:
judging whether the current positioning point set is embedded with identification information or not;
if not, taking the last positioning point in the current positioning point set as a first positioning point, sequentially acquiring a preset number of positioning points from the cached positioning points to obtain a new positioning point set, and taking the new positioning point set as the current positioning point set;
continuing to execute the step of judging whether the current positioning point set is embedded with the authentication information or not;
and if the current embedded data is embedded, executing the step of determining the current embedded data according to the position data of each positioning point in the current positioning point set and adding the current embedded data into a data string queue.
According to the description, whether the current positioning point set is suitable for embedding the identification information or not is judged, and when the current positioning point set is not suitable for embedding the identification information, the identification information is not embedded into the current positioning point set, so that the positioning track of the embedded identification information is ensured to be slightly different from the original track, and the perceived risk is reduced.
Further, the determining whether the authentication information is embedded in the current anchor point set specifically includes:
respectively calculating the longitude distance and the latitude distance between the first positioning point and the last positioning point in the current positioning point set;
judging whether the larger value of the longitude distance and the latitude distance is larger than zero or not;
if not, judging not to embed;
if so, calculating the distance between the first positioning point and the last positioning point;
judging whether the distance is smaller than or equal to a preset distance;
if not, judging not to embed;
if yes, embedding is judged.
It can be known from the above description that the sufficient distance space between the coordinates is ensured to embed the identification information, and the offset after embedding the identification information is ensured not to exceed the range of the positioning error, thereby ensuring that the positioning track is not distorted.
Further, the modifying, according to the current embedded data, the position data of the middle anchor point in the current anchor point set specifically includes:
taking a coordinate axis corresponding to the greater value of the longitude distance and the latitude distance between the first positioning point and the last positioning point in the current positioning point set as an embedded coordinate axis;
according to a preset equal division number 2N, equally dividing the distance between a first positioning point and a last positioning point in a current positioning point set to obtain 2N equal sections, wherein N is a system number of the identification information;
dividing the first N equal subsections and the last N equal subsections in the 2N equal subsections into two subsections respectively to obtain a first subsection and a second subsection;
calculating the midpoint value of the first positioning point and the last positioning point on the embedding coordinate axis;
if the value of the middle positioning point in the current positioning point set on the embedding coordinate axis is smaller than the midpoint value, modifying the value of the middle positioning point on the embedding coordinate axis according to a first formula, wherein the first formula is z2’＝SLK+(z2-z1)/N，K＝k+1，z2And z2' the original value and the modified value, z, of the intermediate anchor point on the embedding coordinate axis, respectively1For the value of said first anchor point on said embedding coordinate axis, SLKThe value of the starting point of the Kth equal segment in the first subsection on the embedding coordinate axis is obtained, and K is a corresponding numerical value of the current embedded data in an N system;
if the value of the intermediate positioning point on the embedding coordinate axis is larger than or equal to the midpoint value, modifying the value of the intermediate positioning point on the embedding coordinate axis according to a second formula, wherein the second formula is z2’＝SMK+[z2-(z1+z3)/2]/N，K＝k+1，z3For the value of the last anchor point on the embedding coordinate axis, SMKThe value of the starting point of the kth equal segment in the second subsection on said embedding coordinate axis.
Further, the determining of the current embedded data according to the position data of each positioning point in the current positioning point set specifically includes:
determining an embedded coordinate axis according to a coordinate axis corresponding to a larger value of a longitude distance and a latitude distance between a first positioning point and a last positioning point in a current positioning point set;
according to the equal division number 2N, equally dividing the distance between the first positioning point and the last positioning point in the current positioning point set to obtain 2N equal sections;
dividing the first N equal subsections and the last N equal subsections in the 2N equal subsections into two subsections respectively to obtain a first subsection and a second subsection;
calculating the midpoint value of the first positioning point and the last positioning point on the embedding coordinate axis;
if the value of the middle positioning point in the current positioning point set on the embedding coordinate axis is smaller than the midpoint value, calculating a corresponding numerical value of the current embedded data in an N-system according to a third formula, and determining the current embedded data according to the numerical value, wherein the third formula is K-K-1, and K-INT [ (z [ ]2-z1)/j]，INT[]For rounding operation, z2For the value of the intermediate anchor point on the embedding coordinate axis, z1Taking the value of the first positioning point on the embedding coordinate axis, wherein j is the length of the equal segmentation;
if the value of the intermediate positioning point on the embedding coordinate axis is larger than or equal to the midpoint value, calculating a corresponding numerical value of the current embedded data in an N system according to a fourth formula, and determining the current embedded data according to the numerical value, wherein the fourth formula is K-1, and K-INT [ (z ═ K-1, K ═ INT [ (z)2-(z1+z3)/2)/j]Wherein z is3And the value of the last positioning point on the embedding coordinate axis is obtained.
As can be seen from the above description, embedding and extraction identification of authentication information can be realized.
Further, still include:
if the value of the middle positioning point in the current positioning point set on the embedding coordinate axis is smaller than the midpoint value, according to a fifth positioning point setCalculating the original value of the middle positioning point in the current positioning point set on the embedding coordinate axis by a formula, wherein the fifth formula is z2”＝DEC[(z2-z1)/j]×N+z1，z2"and z2DEC [ alpha ] for the original value and the current value of the intermediate anchor point on the embedding coordinate axis]For decimal operation, N is the carry number of the said authentication information;
if the value of the middle positioning point on the embedding coordinate axis is larger than or equal to the midpoint value, calculating the original value of the middle positioning point on the embedding coordinate axis according to a sixth formula, wherein the sixth formula is z2”＝DEC[(z2-(z1+z3)/2)/j]×N+(z1+z3)/2。
From the above description, after identifying the positioning track, the original track data can be restored.
Further, when the length of the data string queue is equal to the length of the identification information, identifying the data in the data string queue, and emptying the data string queue specifically includes:
judging whether the queue length of the data string queue reaches the length of the identification information or not;
if so, extracting the data in the data string queue to obtain a data string to be identified;
judging whether the data string to be identified is consistent with the data string of the identification information;
if the data string queue is consistent with the data string queue, judging that the data string queue passes the authentication, and emptying the data string queue;
if the data string queue is inconsistent with the data string queue, judging that the authentication is not passed, and emptying the data string queue;
and if not, executing the step of taking the last positioning point in the current positioning point set as the first positioning point, sequentially acquiring a preset number of positioning points from the cached positioning points to obtain a new positioning point set, and taking the new positioning point set as the current positioning point set.
According to the above description, whether the positioning data is forged or tampered is judged by comparing the data string to be identified with the identification information.
Further, the authentication information is a terminal identifier of the positioning terminal.
As can be seen from the above description, by setting the identification information as the terminal identifier of the positioning terminal, it can be further determined whether the positioning track data is uploaded by the designated terminal, so that the source of the positioning track can be identified.
The invention also proposes a computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps as described above.
Example one
Referring to fig. 2-3, a first embodiment of the present invention is: a method for identifying a positioning track can be applied to a positioning system.
The method mainly comprises two parts, wherein the first part is that the positioning terminal embeds identification information in the positioning track data, and the second part is that the center platform extracts the identification information from the uploaded positioning track data and identifies the identification information.
As shown in fig. 2, the first part comprises the following steps:
s101: the positioning terminal caches the position data of the positioning points according to a time sequence; specifically, the positioning terminal performs a delay cache on the position data of the positioning points acquired by satellite positioning according to the acquisition time sequence, and may execute step S102 when the number of the cached positioning points reaches a preset number.
S102: and sequentially acquiring a preset number of positioning points from the cached positioning points to obtain a current positioning point set, wherein the preset number is an odd number, and preferably the preset number is 3. In this embodiment, the predetermined number is 3 as an example.
S103: and judging whether the current positioning point set is embedded with the identification information, if so, executing the step S104, and if not, executing the step S111.
Specifically, a longitude distance and a latitude distance between a first positioning point and a last positioning point in a current positioning point set are respectively calculated; then judging whether the larger value of the longitude distance and the latitude distance is larger than zero; if the larger value is equal to zero, the superposition of the position of the first locating point and the position of the last locating point is represented, and the identification information is not suitable to be embedded; if the larger value is larger than zero, calculating the distance between the first positioning point and the last positioning point; and then judging whether the distance is smaller than or equal to a preset distance, preferably, the preset distance is 10 meters, if so, the authentication information is not suitable to be embedded, and if the distance is larger than the preset distance, the authentication information can be embedded in the current positioning point set.
For example, suppose three anchor points in the current anchor point set are sequentially P respectively1(x1,y1)，P2(x2,y2)，P3(x3,y3) Where x represents a longitude coordinate and y represents a latitude coordinate. P1And P3Has a longitude distance of Hx，Hx＝|x1-x3|，P1And P3Has a latitude distance of Hy，Hy＝|y1-y3L. Let Q be HxAnd HyOf (d), i.e. Q ═ max (H)x,Hy) Then judging whether Q is larger than 0, if not, indicating that no enough distance space exists between the coordinates to embed the authentication information, so that the three positioning points are not suitable for embedding the authentication information; if Q is greater than 0, P is calculated1And P3A distance D between13When D is present13When the distance is less than or equal to 10 meters, the three positioning points can be embedded with identification information, and when D is less than or equal to 10 meters13If the positioning point coordinate deviation exceeds the positioning error range (5 meters) due to embedding of the authentication information, the positioning track is distorted, and therefore, the authentication information is not suitable for embedding.
S104: sequentially acquiring data in a data string of preset identification information as current embedded data; preferably, the authentication information is a terminal identifier of the positioning terminal.
That is, each time this step is executed, a new piece of data is sequentially acquired from the data string of the authentication information as the current embedded data. Further, when the last data in the data string of the authentication information has been acquired, the first data of the data string is acquired next time, i.e., the data string of the authentication information is cyclically traversed.
S105: an embedding coordinate axis is selected from a longitude coordinate axis and a latitude coordinate axis. Specifically, a coordinate axis corresponding to a larger value of the longitude distance and the latitude distance between the first positioning point and the last positioning point in the current positioning point set may be selected as the embedding coordinate axis, that is, if Q ═ HxThen, the X coordinate axis, that is, the longitude coordinate axis is used as the embedding coordinate axis, and if Q is HyThen, the Y coordinate axis, i.e., the latitude coordinate axis, is used as the embedding coordinate axis.
S106: and according to a preset equal division number 2N, equally dividing the distance between the first positioning point and the last positioning point in the current positioning point set to obtain 2N equal sections, wherein N is the system number of the identification information.
For example, assuming that the authentication information is represented by 16, the number of equally divided parts is 32, i.e., D1332 equal divisions are performed to obtain 32 equal segments.
S107: dividing the first N equal subsections and the last N equal subsections in the 2N equal subsections into two subsections respectively to obtain a first subsection and a second subsection; namely, the first N equal subsections are used as the first subsections, and the last N equal subsections are used as the second subsections.
For example, for 32 equal segments, the first 16 equal segments are divided into the first subsegments L, which are respectively denoted as L in sequence1,L2,…,L16Dividing the last 16 equal subsections into second subsections M which are respectively expressed as M according to the sequence1,M2,…,M16。
S108: judging whether the value of the middle positioning point in the current positioning point set on the embedding coordinate axis is smaller than the midpoint value of the first positioning point and the last positioning point on the embedding coordinate axis, namely judging z2＜(z1+z3) And/2, wherein z represents a value on the embedding coordinate axis, that is, z is x or y, if yes, step S109 is executed, and if no, step S110 is executed.
For example, assuming the embedding coordinate axis is the X axis, X is judged2＜(x1+x3) If/2 is true, if the embedding coordinate axis is Y-axis, then Y is judged2＜(y1+y3) Whether/2 is true. The step is that whether the middle positioning point is closer to the first positioning point than the last positioning point on the embedding coordinate axis is judged, if yes, the middle positioning point is closer to the first positioning point, and if not, the middle positioning point is closer to the last positioning point.
S109: modifying the value of the intermediate anchor point on the embedding coordinate axis according to a first formula, wherein the first formula is z2’＝SLK+(z2-z1) K +1, wherein z2And z2' the original value and the modified value, z, of the intermediate anchor point on the embedding coordinate axis, respectively1For the value of said first anchor point on said embedding coordinate axis, SLKAnd taking the value of the starting point of the Kth equal segment in the first subsection L on the embedding coordinate axis, wherein K is the corresponding numerical value of the current embedded data in the N-system.
That is, when the embedding coordinate axis is the X axis, the first formula is X2’＝SLK+(x2-x1) K + 1; when the embedding coordinate axis is the Y axis, the first formula is Y2’＝SLK+(y2-y1)/N，K＝k+1。
For example, if the embedded coordinate axis is the X axis and the authentication information is represented by 16, P is2New coordinate X on the X-axis2’＝SLK+(x2-x1)/16。
Assuming that the current embedded data is 0 and the corresponding value in the 16-ary is 0, i.e., K is 0 and thus K is 1, P is2New coordinate X on the X-axis2’＝SL1+(x2-x1) /16, wherein SL1Then the coordinate value of the starting point of the first equal segment in the first sub-segment on the X-axis, that is, X1。
Assuming that the current embedded data is F, the corresponding value in 16-ary is 15, i.e. K is 15, and thus K is 16, then P is2New coordinate X on the X-axis2’＝SL16+(x2-x1)/16，SL16The coordinate value on the X axis of the starting point of the 16 th equal segment in the first subsection.
S110: modifying the value of the intermediate anchor point on the embedding coordinate axis according to a second formula, wherein the second formula is z2’＝SMK+[z2-(z1+z3)/2]K +1, wherein z3For the value of the last anchor point on the embedding coordinate axis, SMKThe value of the starting point of the kth equal segment in the second subsection M on said embedding coordinate axis.
I.e. when the embedding coordinate axis is the X axis, the second formula is X2’＝SMK+[x2-(x1+x3)/2]K + 1; when the embedding coordinate axis is the Y-axis, the second formula is Y2’＝SMK+[y2-(y1+y3)/2]/N，K＝k+1。
For example, if the embedded coordinate axis is the X axis and the authentication information is represented by 16, P is2New coordinate X on the X-axis2’＝SMK+[x2-(x1+x3)/2]/16。
Assuming that the current embedded data is "0", the corresponding value in the 16-ary is 0, i.e., K is 0, and thus K is 1, then P is2New coordinate X on the X-axis2’＝SM1+[x2-(x1+x3)/2]/16, wherein SM1The coordinate value on the X axis of the starting point of the first equal segment in the second sub-segment is obtained.
Assuming that the current embedded data is "F", the corresponding value in 16-ary is 15, i.e. K is 15, and thus K is 16, then P2New coordinate X on the X-axis2’＝SM16+[x2-(x1+x3)/2]/16，SM16The coordinate value on the X axis of the starting point of the 16 th equal segment in the second subsection.
S111: and uploading the position data of other positioning points except the last positioning point in the current positioning point set to the central platform. Further, uploading is carried out according to the sequence in the positioning point set during uploading.
For example, if the current anchor point set does not embed authentication information, P is added1(x1,y1) And P2(x2,y2) And uploading to a central platform. If the identification information is embedded in the current positioning point set, P is added1(x1,y1) And P2(x2’,y2) Or P2(x2,y2') to a central platform.
S112: and taking the last positioning point in the current positioning point set as a first positioning point, sequentially acquiring a preset number of positioning points from the cached positioning points to obtain a new positioning point set, and taking the new positioning point set as the current positioning point set. For example, P3As new P1Then obtain a new P2And P3(e.g., acquiring P4As new P2Obtaining P5As new P3) And obtaining a new anchor point set, using the new anchor point set as the current anchor point set, and then executing step S103.
As shown in fig. 3, the second part includes the steps of:
s201: the central platform caches the position data of the positioning points uploaded by the positioning terminal according to a time sequence; specifically, the position data uploaded by the positioning terminal is delayed and cached, and when the number of cached positioning points reaches a preset number, step S202 may be executed.
S202: sequentially acquiring a preset number of positioning points from the cached positioning points to obtain a current positioning point set; here, the preset number is the same as that in step S102, and the following description will also take the preset number as 3 as an example.
S203: and judging whether the current anchor point set is embedded with the authentication information, if so, executing the step S204, and if not, executing the step S213. The determination of this step can refer to step S103.
For example, suppose three anchor points in the current anchor point set are sequentially P respectively1(x1,y1)，P2(x2,y2)，P3(x3,y3)，P1And P3Has a longitude distance of Hx，P1And P3Has a latitude distance of HyQ is HxAnd HyLarger value of, P1And P3A distance D between13(ii) a If Q is not more than 0, the three positioning points are not embedded into the space of the authentication information; if Q > 0, and D13If the distance is more than 10 meters, the three positioning points have no identification information to be extracted; if Q > 0, and D13And the length is less than or equal to 10 meters, the three positioning points have identification information which can be extracted.
S204: an embedding coordinate axis is determined. Specifically, the embedding coordinate axis may be determined according to a coordinate axis corresponding to a larger value of the longitude distance and the latitude distance between the first positioning point and the last positioning point in the current positioning point set, that is, if Q ═ HxIf the embedded coordinate axis is an X coordinate axis, namely a longitude coordinate axis; if Q ═ HyThe embedding coordinate axis is a Y coordinate axis, that is, a latitude coordinate axis.
S205: and according to the equal division number 2N, equally dividing the distance between the first positioning point and the last positioning point in the current positioning point set to obtain 2N equal sections. I.e. D13Performing 32 equal divisions to obtain 32 equal divisions; each equal segment has a length j ═ D13/32。
S206: the 2N equal segments are averagely divided into two fields, and step S107 is performed, that is, the first N equal segments are used as the first subsegments, and the last N equal segments are used as the second subsegments.
For 32 equal segments, the first 16 equal segments are divided into a first sub-segment L, which are respectively represented as L in sequence1,L2,…,L16Dividing the last 16 equal subsections into second subsections M which are respectively expressed as M according to the sequence1,M2,…,M16。
S207: judging whether the value of the middle positioning point in the current positioning point set on the embedding coordinate axis is smaller than the midpoint value of the first positioning point and the last positioning point on the embedding coordinate axis, namely judging z2＜(z1+z3) Whether/2 holds, wherein z represents in the inset seatIf the value on the axis, i.e., z is x or y, step S208 is executed, and if not, step S209 is executed.
For example, assuming the embedding coordinate axis is the X axis, X is judged2＜(x1+x3) If/2 is true, if the embedding coordinate axis is Y-axis, then Y is judged2＜(y1+y3) Whether/2 is true. The step of judging the value of the middle positioning point on the embedding coordinate axis is in the corresponding range of which subsection is on the embedding coordinate axis, if the above judgment formula is true, the judgment formula indicates that z is2Within the first sub-section L, otherwise within the second sub-section M.
S208: according to a third formula, calculating a corresponding numerical value of the current embedded data in the N system, and determining the current embedded data according to the numerical value, wherein the third formula is that K is K-1, and K is INT [ (z)2-z1)/j]Wherein N is a carry number of the identification information, INT [ 2 ]]For rounding operation, z2For the value of the intermediate anchor point on the embedding coordinate axis, z1For the value of the first anchor point on the embedding coordinate axis, j is the length of an equal segment, i.e. j ═ D13/2N。
That is, when the embedding coordinate axis is the X axis, the third formula is K-1 and K-INT [ (X)2-x1)/j](ii) a When the embedding coordinate axis is the Y axis, the third formula is K-1 and K-INT [ (Y)2-y1)/j]。
For example, assuming that the authentication information is represented by a 16-ary system, j ═ D13/32. Assuming that the calculated K is 1, K is 0, that is, the value of the current embedded data corresponding to the 16-ary system is 0, and thus the current embedded data is "0". Assuming that the calculated K is 16, K is 15, that is, the value of the current embedded data in the 16-ary is 15, so that the current embedded data is "F".
S209: according to a fourth formula, calculating a corresponding numerical value of the current embedded data in the N system, and determining the current embedded data according to the numerical value, wherein the fourth formula is that K is K-1, and K is INT [ (z)2-(z1+z3)/2)/j]Wherein z is3For the value of the last anchor point on the embedding coordinate axis。
That is, when the embedding coordinate axis is the X axis, the fourth formula is K-1 and K-INT [ (X)2-(x1+x3)/2)/j](ii) a When the embedding coordinate axis is the Y axis, the fourth formula is K-1 and K-INT [ (Y)2-(y1+y3)/2)/j]。
S210: and adding the current embedded data into a data string queue.
S211: and judging whether the queue length of the data string queue reaches the length of the identification information, if so, executing step S212, and if not, executing step S213.
S212: and extracting the data in the data string queue for identification, and emptying the data string queue after the identification is finished.
Specifically, data in the data string queue is extracted to obtain a data string to be identified, the length of which is equal to that of the identification information, and then whether the data string to be identified is consistent with that of the identification information or not is judged, if yes, identification is judged to be passed, namely the positioning track data is not forged or tampered, and if not, identification is judged to be failed, namely the positioning track data is illegal. After the determination is completed, the data string queue is cleared, and then whether the subsequent positioning data is legal or not is continuously identified, i.e., step S213 is executed.
S213: and taking the last positioning point in the current positioning point set as a first positioning point, sequentially acquiring a preset number of positioning points from the cached positioning points to obtain a new positioning point set, and taking the new positioning point set as the current positioning point set. I.e. P3As new P1Then obtain a new P2And P3And obtaining a new anchor point set, using the new anchor point set as the current anchor point set, and then executing step S203.
Further, in step S208, the original value of the middle anchor point in the current anchor point set on the embedding coordinate axis is calculated according to a fifth formula, wherein the fifth formula is z2”＝DEC[(z2-z1)/j]×N+z1Wherein, DEC [ alpha ], [ alpha ]]For decimal operation, N is the number of the identification information. I.e. assuming that the authentication information adopts a 16-ary tableWhen the embedding coordinate axis is the X axis, the fifth formula is X2”＝DEC[(x2-x1)/j]×16+x1(ii) a When the embedding coordinate axis is the Y-axis, the fifth formula is Y2”＝DEC[(y2-y1)/j]×16+y1。
In step S209, the original value of the intermediate anchor point on the embedding coordinate axis is calculated according to a sixth formula, z2”＝DEC[(z2-(z1+z3)/2)/j]×N+(z1+z3)/2. That is, assuming that the authentication information is expressed in 16-ary, when the embedding coordinate axis is the X-axis, the sixth formula is X2”＝DEC[(x2-(x1+x3)/2)/j]×16+(x1+x3) 2; when the embedding coordinate axis is the Y-axis, the sixth formula is Y2”＝DEC[(y2-(y1+y3)/2)/j]×16+(y1+y3)/2。
After the original value of the intermediate positioning point on the embedding coordinate axis is calculated, the original position data of the intermediate positioning point, namely the position data acquired by satellite positioning, can be obtained, and therefore the original positioning track data can be obtained.
The embodiment utilizes the characteristic that the positioning error of the current Beidou/GPS civil positioning system is generally within the range of 5 meters to offset the position of a specific positioning point, the offset information contains a terminal specific code, and the offset range is controlled within the error range of the positioning system of 5 meters, so that the track with the offset specific point is displayed without the difference which can be perceived from the original track. In the central platform, a specific positioning point can be found out, a specific code is extracted from the offset of the positioning point so as to identify whether the positioning track is sent by a specified terminal or not and whether the positioning track is forged or falsified, and original track data can be restored.
The embodiment can identify the source and the authenticity of the positioning track data, and the track data embedded with the identification information has little difference with the original track data, so that the display of the positioning track is not influenced, and a user cannot perceive that the positioning track contains hidden identification information and the use of the user is not influenced.
Example two
The present embodiment is a computer-readable storage medium corresponding to the above-mentioned embodiments, on which a computer program is stored, which when executed by a processor implements the steps of:
the positioning terminal caches the position data of the positioning points according to a time sequence;
sequentially acquiring a preset number of positioning points from the cached positioning points to obtain a current positioning point set, wherein the preset number is an odd number;
circularly traversing a preset data string of the identification information, and sequentially acquiring data in the data string as current embedded data;
modifying the position data of the middle positioning point in the current positioning point set according to the current embedded data;
uploading position data of other positioning points except the last positioning point in the current positioning point set to a central platform;
taking the last positioning point in the current positioning point set as a first positioning point, sequentially acquiring a preset number of positioning points from the cached positioning points to obtain a new positioning point set, and taking the new positioning point set as the current positioning point set;
continuing to execute the step of sequentially acquiring one data in the data string as the current embedded data;
the central platform caches the position data of the positioning points uploaded by the positioning terminal according to a time sequence;
sequentially acquiring the positioning points with the preset number from the cached positioning points to obtain a current positioning point set;
determining current embedded data according to the position data of each positioning point in the current positioning point set, and adding the current embedded data into a data string queue;
when the length of the data string queue is equal to that of the identification information, identifying the data in the data string queue and emptying the data string queue;
taking the last positioning point in the current positioning point set as a first positioning point, sequentially acquiring a preset number of positioning points from the cached positioning points to obtain a new positioning point set, and taking the new positioning point set as the current positioning point set;
and continuing to execute the step of determining the current embedded data according to the position data of each positioning point in the current positioning point set and adding the current embedded data into the data string queue.
Further, before sequentially obtaining a piece of data in the data string as the current embedded data, the method further includes:
judging whether the current positioning point set is embedded with identification information or not;
if not, the step of uploading the position data of other positioning points except the last positioning point in the current positioning point set to the central platform is executed;
and if the data string is embedded, executing the step of sequentially acquiring one piece of data in the data string as the current embedded data.
Further, after the new anchor point set is used as the current anchor point set, the step of judging whether the current anchor point set is embedded with the authentication information is continuously executed.
Further, the determining current embedded data according to the position data of each positioning point in the current positioning point set and adding the current embedded data to the front of the data string queue further includes:
judging whether the current positioning point set is embedded with identification information or not;
if not, taking the last positioning point in the current positioning point set as a first positioning point, sequentially acquiring a preset number of positioning points from the cached positioning points to obtain a new positioning point set, and taking the new positioning point set as the current positioning point set;
continuing to execute the step of judging whether the current positioning point set is embedded with the authentication information or not;
and if the current embedded data is embedded, executing the step of determining the current embedded data according to the position data of each positioning point in the current positioning point set and adding the current embedded data into a data string queue.
Further, the determining whether the authentication information is embedded in the current anchor point set specifically includes:
respectively calculating the longitude distance and the latitude distance between the first positioning point and the last positioning point in the current positioning point set;
judging whether the larger value of the longitude distance and the latitude distance is larger than zero or not;
if not, judging not to embed;
if so, calculating the distance between the first positioning point and the last positioning point;
judging whether the distance is smaller than or equal to a preset distance;
if not, judging not to embed;
if yes, embedding is judged.
Further, the modifying, according to the current embedded data, the position data of the middle anchor point in the current anchor point set specifically includes:
taking a coordinate axis corresponding to the greater value of the longitude distance and the latitude distance between the first positioning point and the last positioning point in the current positioning point set as an embedded coordinate axis;
according to a preset equal division number 2N, equally dividing the distance between a first positioning point and a last positioning point in a current positioning point set to obtain 2N equal sections, wherein N is a system number of the identification information;
dividing the first N equal subsections and the last N equal subsections in the 2N equal subsections into two subsections respectively to obtain a first subsection and a second subsection;
calculating the midpoint value of the first positioning point and the last positioning point on the embedding coordinate axis;
if the value of the middle positioning point in the current positioning point set on the embedding coordinate axis is smaller than the midpoint value, modifying the value of the middle positioning point on the embedding coordinate axis according to a first formula, wherein the first formula is z2’＝SLK+(z2-z1)/N，K＝k+1，z2And z2' the original value and the modified value, z, of the intermediate anchor point on the embedding coordinate axis, respectively1For the value of said first anchor point on said embedding coordinate axis, SLKThe value of the starting point of the Kth equal segment in the first subsection on the embedding coordinate axis is obtained, and K is a corresponding numerical value of the current embedded data in an N system;
if the value of the intermediate positioning point on the embedding coordinate axis is larger than or equal to the midpoint value, modifying the value of the intermediate positioning point on the embedding coordinate axis according to a second formula, wherein the second formula is z2’＝SMK+[z2-(z1+z3)/2]/N，K＝k+1，z3For the value of the last anchor point on the embedding coordinate axis, SMKThe value of the starting point of the kth equal segment in the second subsection on said embedding coordinate axis.
Further, the determining of the current embedded data according to the position data of each positioning point in the current positioning point set specifically includes:
determining an embedded coordinate axis according to a coordinate axis corresponding to a larger value of a longitude distance and a latitude distance between a first positioning point and a last positioning point in a current positioning point set;
according to the equal division number 2N, equally dividing the distance between the first positioning point and the last positioning point in the current positioning point set to obtain 2N equal sections;
dividing the first N equal subsections and the last N equal subsections in the 2N equal subsections into two subsections respectively to obtain a first subsection and a second subsection;
calculating the midpoint value of the first positioning point and the last positioning point on the embedding coordinate axis;
if the value of the middle positioning point in the current positioning point set on the embedding coordinate axis is smaller than the midpoint value, calculating a corresponding numerical value of the current embedding data in an N system according to a third formula, and determining the current embedding data according to the numerical value, wherein the third formula is K-1, and K-INT [, ](z2-z1)/j]，INT[]For rounding operation, z2For the value of the intermediate anchor point on the embedding coordinate axis, z1Taking the value of the first positioning point on the embedding coordinate axis, wherein j is the length of the equal segmentation;
if the value of the intermediate positioning point on the embedding coordinate axis is larger than or equal to the midpoint value, calculating a corresponding numerical value of the current embedded data in an N system according to a fourth formula, and determining the current embedded data according to the numerical value, wherein the fourth formula is K-1, and K-INT [ (z ═ K-1, K ═ INT [ (z)2-(z1+z3)/2)/j]Wherein z is3And the value of the last positioning point on the embedding coordinate axis is obtained.
Further, still include:
if the value of the middle positioning point in the current positioning point set on the embedding coordinate axis is smaller than the midpoint value, calculating the original value of the middle positioning point in the current positioning point set on the embedding coordinate axis according to a fifth formula, wherein the fifth formula is z2”＝DEC[(z2-z1)/j]×N+z1，z2"and z2DEC [ alpha ] for the original value and the current value of the intermediate anchor point on the embedding coordinate axis]For decimal operation, N is the carry number of the said authentication information;
if the value of the middle positioning point on the embedding coordinate axis is larger than or equal to the midpoint value, calculating the original value of the middle positioning point on the embedding coordinate axis according to a sixth formula, wherein the sixth formula is z2”＝DEC[(z2-(z1+z3)/2)/j]×N+(z1+z3)/2。
Further, when the length of the data string queue is equal to the length of the identification information, identifying the data in the data string queue, and emptying the data string queue specifically includes:
judging whether the queue length of the data string queue reaches the length of the identification information or not;
if so, extracting the data in the data string queue to obtain a data string to be identified;
judging whether the data string to be identified is consistent with the data string of the identification information;
if the data string queue is consistent with the data string queue, judging that the data string queue passes the authentication, and emptying the data string queue;
if the data string queue is inconsistent with the data string queue, judging that the authentication is not passed, and emptying the data string queue;
and if not, executing the step of taking the last positioning point in the current positioning point set as the first positioning point, sequentially acquiring a preset number of positioning points from the cached positioning points to obtain a new positioning point set, and taking the new positioning point set as the current positioning point set.
In summary, according to the method for identifying a positioning track and the computer-readable storage medium provided by the present invention, the positioning terminal offsets the position of a specific positioning point, the offset information implies the terminal specific code, and the offset range is controlled within the error range of the positioning system, so that the track with the offset specific point shows no perceptible difference from the original track; in the central platform, a specific positioning point can be found out, a specific code is extracted from the offset of the positioning point so as to identify whether the positioning track is sent by a specified terminal or not and whether the positioning track is forged or falsified, and original track data can be restored. The invention can identify the source and the authenticity of the positioning track data, and the track data embedded with the identification information has little difference with the original track data, thereby not influencing the display of the positioning track, and further leading a user not to be aware that the positioning track contains hidden identification information and not influencing the use of the user.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all equivalent changes made by using the contents of the present specification and the drawings, or applied directly or indirectly to the related technical fields, are included in the scope of the present invention.
Claims (10)
1. A method for identifying a localization path, comprising:
the positioning terminal caches the position data of the positioning points according to a time sequence;
sequentially acquiring a preset number of positioning points from the cached positioning points to obtain a current positioning point set, wherein the preset number is an odd number;
circularly traversing a preset data string of the identification information, and sequentially acquiring data in the data string as current embedded data;
modifying the position data of the middle positioning point in the current positioning point set according to the current embedded data;
uploading position data of other positioning points except the last positioning point in the current positioning point set to a central platform;
taking the last positioning point in the current positioning point set as a first positioning point, sequentially acquiring a preset number of positioning points from the cached positioning points to obtain a new positioning point set, and taking the new positioning point set as the current positioning point set;
continuing to execute the step of sequentially acquiring one data in the data string as the current embedded data;
the central platform caches the position data of the positioning points uploaded by the positioning terminal according to a time sequence;
sequentially acquiring the positioning points with the preset number from the cached positioning points to obtain a current positioning point set;
determining current embedded data according to the position data of each positioning point in the current positioning point set, and adding the current embedded data into a data string queue;
when the length of the data string queue is equal to that of the identification information, identifying the data in the data string queue and emptying the data string queue;
taking the last positioning point in the current positioning point set as a first positioning point, sequentially acquiring a preset number of positioning points from the cached positioning points to obtain a new positioning point set, and taking the new positioning point set as the current positioning point set;
and continuing to execute the step of determining the current embedded data according to the position data of each positioning point in the current positioning point set and adding the current embedded data into the data string queue.
2. The method for identifying a localization track according to claim 1, wherein the obtaining a piece of data in the data string sequentially as the current embedded data further comprises:
judging whether the current positioning point set is embedded with identification information or not;
if not, the step of uploading the position data of other positioning points except the last positioning point in the current positioning point set to the central platform is executed;
and if the data string is embedded, executing the step of sequentially acquiring one piece of data in the data string as the current embedded data.
3. The method for identifying a localization track according to claim 2, wherein the step of determining whether the current set of localization points is embedded with the identification information is continued after the new set of localization points is used as the current set of localization points.
4. The method for identifying a localization track according to claim 3, wherein the determining current embedded data according to the position data of each localization point in the current localization point set and adding the current embedded data to the data string queue further comprises:
judging whether the current positioning point set is embedded with identification information or not;
if not, taking the last positioning point in the current positioning point set as a first positioning point, sequentially acquiring a preset number of positioning points from the cached positioning points to obtain a new positioning point set, and taking the new positioning point set as the current positioning point set;
continuing to execute the step of judging whether the current positioning point set is embedded with the authentication information or not;
and if the current embedded data is embedded, executing the step of determining the current embedded data according to the position data of each positioning point in the current positioning point set and adding the current embedded data into a data string queue.
5. The method for identifying a positioning track according to any one of claims 2 to 4, wherein the determining whether the identification information is embedded in the current positioning point set specifically comprises:
respectively calculating the longitude distance and the latitude distance between the first positioning point and the last positioning point in the current positioning point set;
judging whether the larger value of the longitude distance and the latitude distance is larger than zero or not;
if not, judging not to embed;
if so, calculating the distance between the first positioning point and the last positioning point;
judging whether the distance is smaller than or equal to a preset distance;
if not, judging not to embed;
if yes, embedding is judged.
6. The method for identifying a localization track according to claim 1, wherein the modifying the position data of the middle localization point in the current localization point set according to the current embedded data specifically comprises:
taking a coordinate axis corresponding to the greater value of the longitude distance and the latitude distance between the first positioning point and the last positioning point in the current positioning point set as an embedded coordinate axis;
according to a preset equal division number 2N, equally dividing the distance between a first positioning point and a last positioning point in a current positioning point set to obtain 2N equal sections, wherein N is a system number of the identification information;
dividing the first N equal subsections and the last N equal subsections in the 2N equal subsections into two subsections respectively to obtain a first subsection and a second subsection;
calculating the midpoint value of the first positioning point and the last positioning point on the embedding coordinate axis;
if the middle positioning point in the current positioning point set is in the positionIf the value of the embedding coordinate axis is smaller than the midpoint value, modifying the value of the intermediate positioning point on the embedding coordinate axis according to a first formula, wherein the first formula is z2’＝SLK+(z2-z1)/N，K＝k+1，z2And z2' the original value and the modified value, z, of the intermediate anchor point on the embedding coordinate axis, respectively1For the value of said first anchor point on said embedding coordinate axis, SLKThe value of the starting point of the Kth equal segment in the first subsection on the embedding coordinate axis is obtained, and K is a corresponding numerical value of the current embedded data in an N system;
if the value of the intermediate positioning point on the embedding coordinate axis is larger than or equal to the midpoint value, modifying the value of the intermediate positioning point on the embedding coordinate axis according to a second formula, wherein the second formula is z2’＝SMK+[z2-(z1+z3)/2]/N，K＝k+1，z3For the value of the last anchor point on the embedding coordinate axis, SMKThe value of the starting point of the kth equal segment in the second subsection on said embedding coordinate axis.
7. The method for identifying a positioning track according to claim 6, wherein the determining of the current embedded data according to the position data of each positioning point in the current positioning point set specifically comprises:
determining an embedded coordinate axis according to a coordinate axis corresponding to a larger value of a longitude distance and a latitude distance between a first positioning point and a last positioning point in a current positioning point set;
according to the equal division number 2N, equally dividing the distance between the first positioning point and the last positioning point in the current positioning point set to obtain 2N equal sections;
dividing the first N equal subsections and the last N equal subsections in the 2N equal subsections into two subsections respectively to obtain a first subsection and a second subsection;
calculating the midpoint value of the first positioning point and the last positioning point on the embedding coordinate axis;
if the value of the middle positioning point in the current positioning point set on the embedding coordinate axis is smaller than the midpoint value, calculating a corresponding numerical value of the current embedded data in an N-system according to a third formula, and determining the current embedded data according to the numerical value, wherein the third formula is K-K-1, and K-INT [ (z [ ]2-z1)/j]，INT[]For rounding operation, z2For the value of the intermediate anchor point on the embedding coordinate axis, z1Taking the value of the first positioning point on the embedding coordinate axis, wherein j is the length of the equal segmentation;
if the value of the intermediate positioning point on the embedding coordinate axis is larger than or equal to the midpoint value, calculating a corresponding numerical value of the current embedded data in an N system according to a fourth formula, and determining the current embedded data according to the numerical value, wherein the fourth formula is K-1, and K-INT [ (z ═ K-1, K ═ INT [ (z)2-(z1+z3)/2)/j]Wherein z is3And the value of the last positioning point on the embedding coordinate axis is obtained.
8. The method of identifying a localization track according to claim 7, further comprising:
if the value of the middle positioning point in the current positioning point set on the embedding coordinate axis is smaller than the midpoint value, calculating the original value of the middle positioning point in the current positioning point set on the embedding coordinate axis according to a fifth formula, wherein the fifth formula is z2”＝DEC[(z2-z1)/j]×N+z1，z2"and z2DEC [ alpha ] for the original value and the current value of the intermediate anchor point on the embedding coordinate axis]For decimal operation, N is the carry number of the said authentication information;
if the value of the middle positioning point on the embedding coordinate axis is larger than or equal to the midpoint value, calculating the original value of the middle positioning point on the embedding coordinate axis according to a sixth formula, wherein the sixth formula is z2”＝DEC[(z2-(z1+z3)/2)/j]×N+(z1+z3)/2。
9. The method for identifying a localization track according to claim 1, wherein, when the length of the data string queue is equal to the length of the identification information, identifying the data in the data string queue and emptying the data string queue specifically comprises:
judging whether the queue length of the data string queue reaches the length of the identification information or not;
if so, extracting the data in the data string queue to obtain a data string to be identified;
judging whether the data string to be identified is consistent with the data string of the identification information;
if the data string queue is consistent with the data string queue, judging that the data string queue passes the authentication, and emptying the data string queue;
if the data string queue is inconsistent with the data string queue, judging that the authentication is not passed, and emptying the data string queue;
and if not, executing the step of taking the last positioning point in the current positioning point set as the first positioning point, sequentially acquiring a preset number of positioning points from the cached positioning points to obtain a new positioning point set, and taking the new positioning point set as the current positioning point set.
10. A computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, carries out the steps of any of claims 1-9.
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