CN112147655B - Identification method of positioning track and computer readable storage medium - Google Patents
Identification method of positioning track and computer readable storage medium Download PDFInfo
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- CN112147655B CN112147655B CN201910573943.6A CN201910573943A CN112147655B CN 112147655 B CN112147655 B CN 112147655B CN 201910573943 A CN201910573943 A CN 201910573943A CN 112147655 B CN112147655 B CN 112147655B
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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
- 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 method for identifying a positioning track and a computer readable storage medium, wherein the method comprises the following steps: the positioning terminal sequentially acquires preset number of positioning points from the cached positioning points to obtain a current positioning point set; sequentially acquiring one data from the 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 the position data of other positioning points except the last positioning point in the current positioning point set to a center platform; obtaining a new positioning point set; the center 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 the length 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 positioning track identification method and a computer readable storage medium.
Background
The Beidou/GPS mobile positioning device continuously uploads the positions of vehicles, ships or people to the center platform through a wireless communication network, and can monitor the positions or tracks of the vehicles, ships and people. In some industrial applications, however, users wish to evade monitoring, such as sales service personnel, to utilize location counterfeits to falsify customer call records; the line vehicles are fixed, and the track is forged to evade safety supervision and the like. Therefore, the user of the positioning device may falsely create the positioning data uploading center platform through methods such as cracking of network protocol and modification of data memory. Therefore, for the center platform, authentication is needed in the uploaded positioning track data, and whether the positioning data is sent by a designated terminal and is not forged or tampered is judged, but no related authentication scheme exists at present.
Disclosure of Invention
The technical problems to be solved by the invention are 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 following technical scheme: an identification method of a positioning track, comprising:
the positioning terminal caches the position data of the positioning points according to the time sequence;
Sequentially obtaining 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 data string of preset identification information, and sequentially acquiring one 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 the position data of other positioning points except the last positioning point in the current positioning point set to a center 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 center platform caches the position data of the positioning points uploaded by the positioning terminal according to the time sequence;
sequentially obtaining the 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;
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;
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 continuously executing the steps 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.
The invention also relates to a computer-readable storage medium, on which a computer program is stored, which program, 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 the positioning track; the center platform can find out a specific locating point, extract a data string to be identified from the position data of the locating point, and identify whether the locating track is forged or tampered by identifying the data string to 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 positioning track according to the present invention;
FIG. 2 is a flowchart of a method for embedding authentication information in 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 a central platform according to a first embodiment of the present invention.
Detailed Description
In order to describe the technical contents, the achieved objects and effects of the present invention in detail, the following description will be made with reference to the embodiments in conjunction with the accompanying drawings.
The most critical 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 center platform extracts a data string to be identified from the position data of the specific positioning point and compares the data string to be identified 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 the time sequence;
sequentially obtaining 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 data string of preset identification information, and sequentially acquiring one 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 the position data of other positioning points except the last positioning point in the current positioning point set to a center 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 center platform caches the position data of the positioning points uploaded by the positioning terminal according to the time sequence;
sequentially obtaining the 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;
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;
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 continuously executing the steps 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.
From the above description, the beneficial effects of the invention are as follows: the authenticity of the positioning track can be identified.
Further, the step of sequentially obtaining one data in the data string as the current embedded data further includes:
judging whether the current positioning point set is embedded with authentication 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 a center platform is executed;
if the data string is embedded, the step of sequentially acquiring one data in the data string is executed as the current embedded data.
Further, after the new locating point set is used as the current locating point set, the step of judging whether the current locating point set is embedded with authentication information is continuously executed.
Further, determining current embedded data according to the position data of each positioning point in the current positioning point set, and before adding the current embedded data into a data string queue, further comprising:
judging whether the current positioning point set is embedded with authentication 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;
and if so, executing the steps 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.
It can be seen from the above description that by judging whether the current positioning point set is suitable for embedding the authentication information, when the current positioning point set is unsuitable, the authentication information is not embedded into the current positioning point set, so that the difference between the positioning track of the embedded authentication information and the original track is not large, and the perceived risk is reduced.
Further, the judging whether the current positioning point set is embedded with the authentication information 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 that the embedded type is not embedded;
if yes, 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 that the embedded type is not embedded;
if yes, determining embedding.
From the above description, it can be seen that a sufficient distance space is ensured between the coordinates to embed the authentication information, and the offset after embedding the authentication information is ensured not to exceed the range of the positioning error, so that the positioning track is ensured not to be distorted.
Further, the modifying the position data of the middle positioning point in the current positioning point set according to the current embedded data specifically includes:
taking a coordinate axis corresponding to a larger value in 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 embedding coordinate axis;
equally dividing the distance between the first positioning point and the last positioning point in the current positioning point set according to a preset equal fraction of 2N to obtain 2N equal segments, wherein N is the binary number of the identification information;
Dividing the first N equal segments and the last N equal segments in the 2N equal segments 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 embedded coordinate axis;
if the value of the middle positioning point in the current positioning point set on the embedded coordinate axis is smaller than the midpoint value, according to a first commonModifying the value of the intermediate positioning point on the embedded coordinate axis, wherein the first formula is z 2 ’＝S LK +(z 2 -z 1 )/N，K＝k+1，z 2 And z 2 ' the original value and the modified value of the intermediate positioning point on the embedded coordinate axis are respectively, z 1 S is the value of the first positioning point on the embedded coordinate axis LK The value of the starting point of the K equal segment in the first subsection on the embedded coordinate axis is the value corresponding to the current embedded data in N system;
if the value of the intermediate positioning point on the embedded coordinate axis is greater than or equal to the midpoint value, modifying the value of the intermediate positioning point on the embedded coordinate axis according to a second formula, wherein the second formula is z 2 ’＝S MK +[z 2 -(z 1 +z 3 )/2]/N，K＝k+1，z 3 S is the value of the last positioning point on the embedded coordinate axis MK Is the value of the starting point of the kth equal segment in the second sub-segment on the embedding coordinate axis.
Further, the determining the current embedded data according to the position data of each positioning point in the current positioning point set specifically includes:
determining an embedding coordinate axis according to the coordinate axis corresponding to the larger value in the longitude distance and the latitude distance between the first positioning point and the last positioning point in the current positioning point set;
according to the equal score of 2N, equally dividing the distance between the first locating point and the last locating point in the current locating point set to obtain 2N equal segments;
dividing the first N equal segments and the last N equal segments in the 2N equal segments 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 embedded coordinate axis;
if the value of the middle positioning point in the current positioning point set on the embedded coordinate axis is smaller than the midpoint value, calculating the current embedded coordinate axis according to a third formulaThe data is corresponding to the numerical value in the N system, the current embedded data is determined according to the numerical value, the third formula is k=K-1, and k=INT [ (z) 2 -z 1 )/j]，INT[]To take the whole operation, z 2 Z is the value of the intermediate positioning point on the embedded coordinate axis 1 J is the length of the equal segment for the value of the first positioning point on the embedded coordinate axis;
If the value of the middle positioning point on the embedded coordinate axis is greater than or equal to the midpoint value, calculating a value corresponding to the current embedded data in an N system according to a fourth formula, and determining the current embedded data according to the value, wherein the fourth formula is k=K-1, and k=INT [ (z) 2 -(z 1 +z 3 )/2)/j]Wherein z is 3 And the value of the last positioning point on the embedded coordinate axis is set.
From the above description, embedding of authentication information and extraction and recognition can be achieved.
Further, the method further comprises the following steps:
if the value of the middle positioning point in the current positioning point set on the embedded 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 embedded coordinate axis according to a fifth formula, wherein the fifth formula is z 2 ”＝DEC[(z 2 -z 1 )/j]×N+z 1 ，z 2 "and z 2 For the original value and the current value of the middle positioning point on the embedded coordinate axis, DEC []In order to take decimal operation, N is the binary number of the authentication information;
if the value of the intermediate positioning point on the embedded coordinate axis is greater than or equal to the midpoint value, calculating the original value of the intermediate positioning point on the embedded coordinate axis according to a sixth formula, wherein the sixth formula is z 2 ”＝DEC[(z 2 -(z 1 +z 3 )/2)/j]×N+(z 1 +z 3 )/2。
From the above description, it can be seen that the original track data can be restored after the positioning track is identified.
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;
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 authenticated is consistent with the data string of the authentication information;
if the data strings are consistent, judging that the identification is passed, and emptying the data string queue;
if the data strings are inconsistent, judging that the identification is not passed, and emptying the data string queue;
and if the current positioning point set does not reach the preset positioning point set, executing the step of taking the last positioning point in the current positioning point set as the first positioning point, sequentially acquiring the 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.
As is apparent from the above description, by comparing the data string to be authenticated with the authentication information, it is determined whether the positioning data is falsified or tampered with.
Further, the authentication information is a terminal identifier of the positioning terminal.
As can be seen from the above description, by setting the authentication information as the terminal identifier of the positioning terminal, it is possible to further determine whether the positioning track data is uploaded by the designated terminal, so that the source of the positioning track can be authenticated.
The invention also proposes a computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, carries out the steps as described above.
Example 1
Referring to fig. 2-3, a first embodiment of the present invention is as follows: 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 positioning track data, and the second part is that the center platform extracts the identification information from the uploaded positioning track data and performs identification.
As shown in fig. 2, the first part includes the steps of:
s101: the positioning terminal caches the position data of the positioning points according to the time sequence; specifically, the positioning terminal performs delay buffering on the position data of the positioning points acquired by satellite positioning according to the acquisition time sequence, and when the number of the buffered positioning points reaches the preset number, step S102 can be executed.
S102: and sequentially acquiring 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, a preset number of 3 will be described as an example.
S103: and judging whether the current positioning point set is embedded with authentication information, if so, executing the step S104, and if not, executing the step S111.
Specifically, firstly, respectively calculating the longitude distance and the latitude distance between a first positioning point and a last positioning point in the current positioning point set; then judging whether the larger value of the longitude distance and the latitude distance is larger than zero or not; if the larger value is equal to zero, indicating that the positions of the first positioning point and the last positioning point are coincident, the authentication 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 judging whether the distance is smaller than or equal to a preset distance, preferably, the preset distance is 10 meters, if so, the identification information is not suitable to be embedded, and if the distance is larger than the preset distance, the identification information can be embedded in the current positioning point set.
For example, assume that three anchor points in the current anchor point set are sequentially P 1 (x 1 ,y 1 )，P 2 (x 2 ,y 2 )，P 3 (x 3 ,y 3 ) Where x represents longitude coordinates and y represents latitude coordinates. P (P) 1 And P 3 The longitude distance between them is H x ，H x ＝|x 1 -x 3 |，P 1 And P 3 The latitude distance between them is H y ，H y ＝|y 1 -y 3 | a. The invention relates to a method for producing a fibre-reinforced plastic composite. Let Q be H x And H y Is larger in (a), i.e. q=max (H x ,H y ) Then judging whether Q is larger than 0, if not, indicating that there is probably insufficient distance space between coordinates to embed authentication information, so that the three positioning points are not suitable for embedding authentication information; if Q is greater than 0, calculate P 1 And P 3 Distance D between 13 When D 13 When the distance is less than or equal to 10 meters, the three positioning points can be used for embedding authentication information, and when D 13 If the authentication information is embedded more than 10 meters, the coordinate of the positioning point may deviate by more than the range of the positioning error (5 meters), which causes the distortion of the positioning track, thus being unsuitable for embedding the authentication information.
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.
I.e. each time this step is performed, a new data is sequentially retrieved 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, that is, the data string of the authentication information is circularly traversed.
S105: and selecting an embedded coordinate axis from the longitude coordinate axis and the 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 embedded coordinate axis, i.e. if q=h x The X coordinate axis, i.e., the longitude coordinate axis is taken as the embedding coordinate axis, if Q=H y And taking the Y coordinate axis, namely the latitude coordinate axis as an embedding coordinate axis.
S106: and equally dividing the distance between the first positioning point and the last positioning point in the current positioning point set according to a preset equal fraction of 2N to obtain 2N equal segments, wherein N is the binary number of the identification information.
For example, assuming that the authentication information is represented in 16 bins, the equivalence score is 32, i.e., D 13 32 equal divisions were performed to obtain 32 equal divisions.
S107: dividing the first N equal segments and the last N equal segments in the 2N equal segments into two subsections respectively to obtain a first subsection and a second subsection; the first N equal segments are used as first subsections, and the last N equal segments are used as second subsections.
For example, for 32 equal segments, the first 16 equal segments are divided into a first sub-segment L, denoted in order as L respectively 1 ,L 2 ,…,L 16 Dividing the last 16 equal segments into second subsegments M, which are respectively M in sequence 1 ,M 2 ,…,M 16 。
S108: judging whether the value of the middle positioning point in the current positioning point set on the embedded coordinate axis is smaller than the midpoint value of the first positioning point and the last positioning point on the embedded coordinate axis, namely judging z 2 ＜(z 1 +z 3 ) And/2, wherein z represents a value on the embedded coordinate axis, i.e., z is x or y, if yes, executing step S109, and if no, executing step S110.
For example, assuming that the embedding coordinate axis is the X axis, then determine X 2 ＜(x 1 +x 3 ) Whether/2 is true or not, if the embedding coordinate axis is the Y axis, judging Y 2 ＜(y 1 +y 3 ) Whether/2 is true. The step is to judge whether the middle positioning point is closer to the first positioning point than the last positioning point on the embedded coordinate axis, if so, 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 embedded coordinate axis according to a first formula, wherein the first formula is z 2 ’＝S LK +(z 2 -z 1 ) N, k=k+1, wherein z 2 And z 2 ' the original value and the modified value of the intermediate positioning point on the embedded coordinate axis are respectively, z 1 S is the value of the first positioning point on the embedded coordinate axis LK The value of the starting point of the K-th equal segment in the first sub-segment L on the embedded coordinate axis is given, wherein K is the current embedded coordinate axisThe data is entered into the corresponding value in the N-system.
That is, when the embedding coordinate axis is X axis, the first formula is X 2 ’＝S LK +(x 2 -x 1 ) N, k=k+1; when the embedding coordinate axis is the Y axis, the first formula is Y 2 ’＝S LK +(y 2 -y 1 )/N，K＝k+1。
For example, assuming that the embedding coordinate axis is the X-axis, the authentication information is represented by 16, then P 2 New coordinate X on X-axis 2 ’＝S LK +(x 2 -x 1 )/16。
Assuming that the current embedded data is 0, the corresponding value in the 16 system is 0, i.e., k=0, so k=1, then P 2 New coordinate X on X-axis 2 ’＝S L1 +(x 2 -x 1 ) 16, wherein S L1 Coordinate values in the X-axis of the start point of the first aliquot segment in the first sub-segment, i.e. X 1 。
Assuming that the current embedded data is F, the corresponding value in the 16 system is 15, i.e. k=15, so k=16, then P 2 New coordinate X on X-axis 2 ’＝S L16 +(x 2 -x 1 )/16，S L16 The coordinate value of the start point of the 16 th equal segment in the first sub-segment on the X-axis is obtained.
S110: modifying the value of the intermediate anchor point on the embedded coordinate axis according to a second formula, wherein the second formula is z 2 ’＝S MK +[z 2 -(z 1 +z 3 )/2]N, k=k+1, wherein z 3 S is the value of the last positioning point on the embedded coordinate axis MK Is the value of the starting point of the kth equal segment in the second subsection M on the embedding coordinate axis.
That is, when the embedding coordinate axis is X axis, the second formula is X 2 ’＝S MK +[x 2 -(x 1 +x 3 )/2]N, k=k+1; when the embedded coordinate axis is the Y axis, the second formula is Y 2 ’＝S MK +[y 2 -(y 1 +y 3 )/2]/N，K＝k+1。
For example, let us assume that coordinate axes are embeddedFor X axis, authentication information is expressed by 16 scale, then P 2 New coordinate X on X-axis 2 ’＝S MK +[x 2 -(x 1 +x 3 )/2]/16。
Assuming that the current embedded data is "0", the corresponding value in the 16 system is 0, i.e., k=0, so k=1, then P 2 New coordinate X on X-axis 2 ’＝S M1 +[x 2 -(x 1 +x 3 )/2]16, wherein S M1 Then the coordinate value on the X-axis of the start point of the first aliquot segment in the second sub-segment.
Assuming that the current embedded data is "F", the corresponding value in the 16 system is 15, i.e., k=15, so k=16, then P 2 New coordinate X on X-axis 2 ’＝S M16 +[x 2 -(x 1 +x 3 )/2]/16，S M16 The coordinate value of the start point of the 16 th equal segment in the second sub-segment on the X-axis.
S111: and uploading the position data of other positioning points except the last positioning point in the current positioning point set to the center platform. Further, the uploading is performed according to the sequence in the locating point set during the uploading.
For example, if the current anchor point set is not embedded with authentication information, P will be 1 (x 1 ,y 1 ) And P 2 (x 2 ,y 2 ) Uploading to a central platform. If the current positioning point set is embedded with the authentication information, P is added 1 (x 1 ,y 1 ) P 2 (x 2 ’,y 2 ) Or P 2 (x 2 ,y 2 ') to the central platform.
S112: 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. For example, P is 3 As a new P 1 Then obtain new P 2 And P 3 (e.g. acquire P 4 As a new P 2 Obtaining P 5 As a new P 3 ) Obtaining a new positioning point set, and adding the new positioning point set to the systemAs the current anchor point set, step S103 is then performed.
As shown in fig. 3, the second part includes the steps of:
s201: the center platform caches the position data of the positioning points uploaded by the positioning terminal according to the time sequence; specifically, the location data uploaded by the positioning terminal is buffered in a delayed manner, and when the number of the buffered positioning points reaches the preset number, step S202 may be executed.
S202: sequentially obtaining a preset number of positioning points from the cached positioning points to obtain a current positioning point set; the preset number corresponds to that in step S102, and the following description will also take 3 as an example.
S203: judging whether the current positioning point set is embedded with authentication information, if so, executing step S204, and if not, executing step S213. The judgment in this step can be made with reference to step S103.
For example, assume that three anchor points in the current anchor point set are sequentially P 1 (x 1 ,y 1 )，P 2 (x 2 ,y 2 )，P 3 (x 3 ,y 3 )，P 1 And P 3 The longitude distance between them is H x ，P 1 And P 3 The latitude distance between them is H y Q is H x And H y Larger value of P 1 And P 3 The distance between them is D 13 The method comprises the steps of carrying out a first treatment on the surface of the If Q is not more than 0, the three positioning points are not embedded with the space of the authentication information; if Q > 0, and D 13 More than 10 meters, the three positioning points are not extractable with authentication information; if Q > 0, and D 13 And less than or equal to 10 meters, the three positioning points are provided with the identification information which can be extracted.
S204: an embedding coordinate axis is determined. Specifically, the embedded coordinate axis may be determined according to the coordinate axis corresponding to the 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, i.e. if q=h x The embedded coordinate axis is an X coordinate axis, namely a longitude coordinate axis; if q=h y The embedding coordinate axis is the Y coordinate axis, i.e., the latitude coordinate axis.
S205: and equally dividing the distance between the first positioning point and the last positioning point in the current positioning point set according to the equal fraction 2N to obtain 2N equal segments. I.e. D 13 Performing 32 equal divisions to obtain 32 equal divisions; each equal segment has a length j=d 13 /32。
S206: the 2N equal segments are divided equally into two fields, step S107, i.e. the first N equal segments are the first sub-segments and the last N equal segments are the second sub-segments.
For 32 equal segments, the first 16 equal segments are divided into first subsegments L, which are denoted as L respectively in sequence 1 ,L 2 ,…,L 16 Dividing the last 16 equal segments into second subsegments M, which are respectively M in sequence 1 ,M 2 ,…,M 16 。
S207: judging whether the value of the middle positioning point in the current positioning point set on the embedded coordinate axis is smaller than the midpoint value of the first positioning point and the last positioning point on the embedded coordinate axis, namely judging z 2 ＜(z 1 +z 3 ) And/2, wherein z represents a value on the embedded coordinate axis, i.e., z is x or y, if yes, executing step S208, and if no, executing step S209.
For example, assuming that the embedding coordinate axis is the X axis, then determine X 2 ＜(x 1 +x 3 ) Whether/2 is true or not, if the embedding coordinate axis is the Y axis, judging Y 2 ＜(y 1 +y 3 ) Whether/2 is true. The step is to judge the range of which sub-segment is corresponding to the value of the middle positioning point on the embedding coordinate axis, if the above judgment is true, then z is expressed 2 In the first subsection L, otherwise in the second subsection M.
S208: calculating a corresponding value of the current embedded data in N system according to a third formula, and determining the current embedded data according to the value, wherein the third formula is k=K-1, and k=INT [ (z) 2 -z 1 )/j]Wherein N is the binary number of the authentication information, INT # - []To take the whole operation, z 2 For the middle positioning point to be at the positionEmbedding values on coordinate axes, z 1 For the value of the first anchor point on the embedded coordinate axis, j is the length of the aliquot, i.e., j=d 13 /2N。
That is, when the embedding coordinate axis is the X axis, the third formula is k=K-1, K=INT [ (X) 2 -x 1 )/j]The method comprises the steps of carrying out a first treatment on the surface of the When the embedding coordinate axis is the Y axis, the third formula is k=K-1, K=INT [ (Y) 2 -y 1 )/j]。
For example, assuming that the authentication information is represented in 16 bins, j=d 13 /32. Let k=1 calculated by the dummy design, k=0, that is, the value corresponding to the current embedded data in the 16-system is 0, so the current embedded data is "0". Let k=16 calculated by the dummy design, k=15, i.e. the current embedded data has a corresponding value of 15 in the 16 system, and thus the current embedded data is "F".
S209: calculating a value corresponding to the current embedded data in N system according to a fourth formula, and determining the current embedded data according to the value, wherein the fourth formula is k=K-1, and k=INT [ (z) 2 -(z 1 +z 3 )/2)/j]Wherein z is 3 And the value of the last positioning point on the embedded coordinate axis is set.
That is, when the embedding coordinate axis is the X axis, the fourth formula is k=K-1, K=INT [ (X) 2 -(x 1 +x 3 )/2)/j]The method comprises the steps of carrying out a first treatment on the surface of the When the embedding coordinate axis is the Y axis, the fourth formula is k=K-1, K=INT [ (Y) 2 -(y 1 +y 3 )/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 the step S212, and if not, executing the step S213.
S212: and extracting the data in the data string queue for identification, and emptying the data string queue after the identification is completed.
Specifically, extracting data in the data string queue to obtain a data string to be authenticated, wherein the length of the data string to be authenticated is equal to that of the authentication information, judging whether the data string to be authenticated is consistent with that of the authentication information, if so, judging that authentication is passed, namely that the positioning track data is not forged or tampered, and if not, judging that the authentication is not passed, namely that the positioning track data is illegal. After the judgment is completed, the data string queue is emptied, and then whether the subsequent positioning data is legal or not is continuously identified, namely, step S213 is executed.
S213: 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. I.e. P 3 As a new P 1 Then obtain new P 2 And P 3 A new set of anchor points is obtained, the new set is taken as the current set of anchor points, and then step S203 is performed.
Further, in step S208, the original value of the middle anchor point in the current anchor point set on the embedded coordinate axis is calculated according to a fifth formula, where the fifth formula is z 2 ”＝DEC[(z 2 -z 1 )/j]×N+z 1 Wherein, DEC []In order to take the decimal operation, N is the binary number of the authentication information. That is, assuming that the authentication information is expressed in 16 scale, when the embedding coordinate axis is X-axis, the fifth formula is X 2 ”＝DEC[(x 2 -x 1 )/j]×16+x 1 The method comprises the steps of carrying out a first treatment on the surface of the When the embedding coordinate axis is the Y axis, the fifth formula is Y 2 ”＝DEC[(y 2 -y 1 )/j]×16+y 1 。
In step S209, the original value of the intermediate anchor point on the embedded coordinate axis is calculated according to a sixth formula, wherein the sixth formula is z 2 ”＝DEC[(z 2 -(z 1 +z 3 )/2)/j]×N+(z 1 +z 3 )/2. That is, assuming that the authentication information is expressed in 16 scale, when the embedding coordinate axis is X-axis, the sixth formula is X 2 ”＝DEC[(x 2 -(x 1 +x 3 )/2)/j]×16+(x 1 +x 3 ) 2; when the embedding coordinate axis is the Y axis, the sixth formula is Y 2 ”＝DEC[(y 2 -(y 1 +y 3 )/2)/j]×16+(y 1 +y 3 )/2。
After the original value of the middle positioning point on the embedded coordinate axis is calculated, the original position data of the middle positioning point, namely the position data acquired by satellite positioning, can be obtained, and therefore the original positioning track data can be obtained.
According to the embodiment, the position of the specific locating point is offset by utilizing the characteristic that the locating error of the current Beidou/GPS civil locating system is generally in the range of 5 meters, the specific code of the terminal is hidden in offset information, and the offset range is controlled within the error range of the locating system of 5 meters, so that the track after the offset of the specific point is displayed and has no detectable difference with the original track. In the center platform, a specific locating point can be found, a specific code is extracted from the locating point offset, so that whether a locating track is sent out by a specified terminal and falsified or tampered can be identified, and original track data can be restored.
The embodiment can identify the source and the authenticity of the positioning track data, the track data embedded with the identification information has little difference from the original track data, and the display of the positioning track is not affected, so that a user cannot perceive that the positioning track contains hidden identification information, and the use of the user is not affected.
Example two
The present embodiment is a computer-readable storage medium corresponding to the above embodiment, having stored thereon a computer program which, when executed by a processor, realizes the steps of:
the positioning terminal caches the position data of the positioning points according to the time sequence;
sequentially obtaining 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 data string of preset identification information, and sequentially acquiring one 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 the position data of other positioning points except the last positioning point in the current positioning point set to a center 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 center platform caches the position data of the positioning points uploaded by the positioning terminal according to the time sequence;
sequentially obtaining the 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;
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;
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 continuously executing the steps 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 step of sequentially obtaining one data in the data string as the current embedded data further includes:
Judging whether the current positioning point set is embedded with authentication 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 a center platform is executed;
if the data string is embedded, the step of sequentially acquiring one data in the data string is executed as the current embedded data.
Further, after the new locating point set is used as the current locating point set, the step of judging whether the current locating point set is embedded with authentication information is continuously executed.
Further, determining current embedded data according to the position data of each positioning point in the current positioning point set, and before adding the current embedded data into a data string queue, further comprising:
judging whether the current positioning point set is embedded with authentication 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;
And if so, executing the steps 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 judging whether the current positioning point set is embedded with the authentication information 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 that the embedded type is not embedded;
if yes, 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 that the embedded type is not embedded;
if yes, determining embedding.
Further, the modifying the position data of the middle positioning point in the current positioning point set according to the current embedded data specifically includes:
taking a coordinate axis corresponding to a larger value in 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 embedding coordinate axis;
equally dividing the distance between the first positioning point and the last positioning point in the current positioning point set according to a preset equal fraction of 2N to obtain 2N equal segments, wherein N is the binary number of the identification information;
Dividing the first N equal segments and the last N equal segments in the 2N equal segments 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 embedded coordinate axis;
if the value of the middle positioning point in the current positioning point set on the embedded coordinate axis is smaller than the midpoint value, modifying the value of the middle positioning point on the embedded coordinate axis according to a first formula, wherein the first formula is z 2 ’＝S LK +(z 2 -z 1 )/N，K＝k+1，z 2 And z 2 ' the original value and the modified value of the intermediate positioning point on the embedded coordinate axis are respectively, z 1 S is the value of the first positioning point on the embedded coordinate axis LK The value of the starting point of the K equal segment in the first subsection on the embedded coordinate axis is the value corresponding to the current embedded data in N system;
if the value of the intermediate positioning point on the embedded coordinate axis is greater than or equal to the midpoint value, modifying the value of the intermediate positioning point on the embedded coordinate axis according to a second formula, wherein the second formula is z 2 ’＝S MK +[z 2 -(z 1 +z 3 )/2]/N，K＝k+1，z 3 S is the value of the last positioning point on the embedded coordinate axis MK Is the value of the starting point of the kth equal segment in the second sub-segment on the embedding coordinate axis.
Further, the determining the current embedded data according to the position data of each positioning point in the current positioning point set specifically includes:
determining an embedding coordinate axis according to the coordinate axis corresponding to the larger value in the longitude distance and the latitude distance between the first positioning point and the last positioning point in the current positioning point set;
according to the equal score of 2N, equally dividing the distance between the first locating point and the last locating point in the current locating point set to obtain 2N equal segments;
dividing the first N equal segments and the last N equal segments in the 2N equal segments 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 embedded coordinate axis;
if the value of the middle positioning point in the current positioning point set on the embedded coordinate axis is smaller than the midpoint value, calculating a value corresponding to the current embedded data in an N system according to a third formula, and determining the current embedded data according to the value, wherein the third formula is k=K-1, and k=INT [ (z) 2 -z 1 )/j]，INT[]To take the whole operation, z 2 Z is the value of the intermediate positioning point on the embedded coordinate axis 1 J is the length of the equal segment for the value of the first positioning point on the embedded coordinate axis;
If the value of the middle positioning point on the embedded coordinate axis is greater than or equal to the midpoint value, calculating a value corresponding to the current embedded data in an N system according to a fourth formula, and determining the current embedded data according to the value, wherein the fourth formula is k=K-1, and k=INT [ (z) 2 -(z 1 +z 3 )/2)/j]Wherein z is 3 And the value of the last positioning point on the embedded coordinate axis is set.
Further, the method further comprises the following steps:
if the value of the middle positioning point in the current positioning point set on the embedded coordinate axis is smaller than the midpoint value, calculating the middle positioning point in the current positioning point set according to a fifth formulaThe original value of the point on the embedded coordinate axis is z 2 ”＝DEC[(z 2 -z 1 )/j]×N+z 1 ，z 2 "and z 2 For the original value and the current value of the middle positioning point on the embedded coordinate axis, DEC []In order to take decimal operation, N is the binary number of the authentication information;
if the value of the intermediate positioning point on the embedded coordinate axis is greater than or equal to the midpoint value, calculating the original value of the intermediate positioning point on the embedded coordinate axis according to a sixth formula, wherein the sixth formula is z 2 ”＝DEC[(z 2 -(z 1 +z 3 )/2)/j]×N+(z 1 +z 3 )/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;
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 authenticated is consistent with the data string of the authentication information;
if the data strings are consistent, judging that the identification is passed, and emptying the data string queue;
if the data strings are inconsistent, judging that the identification is not passed, and emptying the data string queue;
and if the current positioning point set does not reach the preset positioning point set, executing the step of taking the last positioning point in the current positioning point set as the first positioning point, sequentially acquiring the 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 identification method and the computer readable storage medium for positioning tracks provided by the invention, the positioning terminal shifts the position of a specific positioning point, the specific code of the terminal is hidden in the offset information, and the shifting range is controlled within the error range of the positioning system, so that the track shifted by the specific point is displayed without a perceptible difference from the original track; in the center platform, a specific locating point can be found, a specific code is extracted from the locating point offset, so that whether a locating track is sent out by a specified terminal and falsified or tampered can be identified, 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 from the original track data, and does not influence the display of the positioning track, thereby leading the user to not perceive that the positioning track contains hidden identification information and not influencing the use of the user.
The foregoing description is only illustrative of the present invention and is not intended to limit the scope of the invention, and all equivalent changes made by the specification and drawings of the present invention, or direct or indirect application in the relevant art, are included in the scope of the present invention.
Claims (10)
1. A method of identifying a positioning trajectory, comprising:
the positioning terminal caches the position data of the positioning points according to the time sequence;
sequentially obtaining 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 data string of preset identification information, and sequentially acquiring one 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 the position data of other positioning points except the last positioning point in the current positioning point set to a center 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 center platform caches the position data of the positioning points uploaded by the positioning terminal according to the time sequence;
sequentially obtaining the 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;
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;
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 continuously executing the steps 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.
2. The method of claim 1, wherein the sequentially obtaining one data in the data string as the current embedded data, further comprises:
Judging whether the current positioning point set is embedded with authentication 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 a center platform is executed;
if the data string is embedded, the step of sequentially acquiring one data in the data string is executed as the current embedded data.
3. The method of authenticating a positioning track according to claim 2, wherein the step of determining whether the current positioning point set is embedded with authentication information is continued after the new positioning point set is regarded as the current positioning point set.
4. The method for identifying a positioning track according to claim 3, wherein determining current embedded data according to the position data of each positioning point in the current positioning point set, and before adding the current embedded data to the data string queue, further comprises:
judging whether the current positioning point set is embedded with authentication 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;
and if so, executing the steps 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 2-4, wherein the determining whether the current positioning point set is embedded with identification information is specifically:
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 that the embedded type is not embedded;
if yes, 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 that the embedded type is not embedded;
if yes, determining embedding.
6. The method for identifying a positioning track according to claim 1, wherein the modifying the position data of the middle positioning point in the current positioning point set according to the current embedded data is specifically:
Taking a coordinate axis corresponding to a larger value in 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 embedding coordinate axis;
equally dividing the distance between the first positioning point and the last positioning point in the current positioning point set according to a preset equal fraction of 2N to obtain 2N equal segments, wherein N is the binary number of the identification information;
dividing the first N equal segments and the last N equal segments in the 2N equal segments 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 embedded coordinate axis;
if the value of the middle positioning point in the current positioning point set on the embedded coordinate axis is smaller than the midpoint value, modifying the value of the middle positioning point on the embedded coordinate axis according to a first formula, wherein the first formula is z 2 ’＝S LK +(z 2 -z 1 )/N，K＝k+1，z 2 And z 2 ' the original value and the modified value of the intermediate positioning point on the embedded coordinate axis are respectively, z 1 S is the value of the first positioning point on the embedded coordinate axis LK The value of the starting point of the K equal segment in the first subsection on the embedded coordinate axis is the value corresponding to the current embedded data in N system;
If the value of the intermediate positioning point on the embedded coordinate axis is greater than or equal to the midpoint value, modifying the value of the intermediate positioning point on the embedded coordinate axis according to a second formula, wherein the second formula is z 2 ’＝S MK +[z 2 -(z 1 +z 3 )/2]/N，K＝k+1，z 3 Is saidThe value of the last positioning point on the embedded coordinate axis S MK Is the value of the starting point of the kth equal segment in the second sub-segment on the embedding coordinate axis.
7. The method for identifying a positioning track according to claim 6, wherein the determining the current embedded data according to the position data of each positioning point in the current positioning point set specifically includes:
determining an embedding coordinate axis according to the coordinate axis corresponding to the larger value in the longitude distance and the latitude distance between the first positioning point and the last positioning point in the current positioning point set;
according to the equal score of 2N, equally dividing the distance between the first locating point and the last locating point in the current locating point set to obtain 2N equal segments;
dividing the first N equal segments and the last N equal segments in the 2N equal segments 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 embedded coordinate axis;
If the value of the middle positioning point in the current positioning point set on the embedded coordinate axis is smaller than the midpoint value, calculating a value corresponding to the current embedded data in an N system according to a third formula, and determining the current embedded data according to the value, wherein the third formula is k=K-1, and k=INT [ (z) 2 -z 1 )/j]，INT[]To take the whole operation, z 2 Z is the value of the intermediate positioning point on the embedded coordinate axis 1 J is the length of the equal segment for the value of the first positioning point on the embedded coordinate axis;
if the value of the middle positioning point on the embedded coordinate axis is greater than or equal to the midpoint value, calculating a value corresponding to the current embedded data in an N system according to a fourth formula, and determining the current embedded data according to the value, wherein the fourth formula is k=K-1, and k=INT [ (z) 2 -(z 1 +z 3 )/2)/j]Wherein z is 3 At the embedding location for the last anchor pointValues on the coordinate axes.
8. The method of identifying a location track as recited in claim 7, further comprising:
if the value of the middle positioning point in the current positioning point set on the embedded 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 embedded coordinate axis according to a fifth formula, wherein the fifth formula is z 2 ”＝DEC[(z 2 -z 1 )/j]×N+z 1 ，z 2 "and z 2 For the original value and the current value of the middle positioning point on the embedded coordinate axis, DEC []In order to take decimal operation, N is the binary number of the authentication information;
if the value of the intermediate positioning point on the embedded coordinate axis is greater than or equal to the midpoint value, calculating the original value of the intermediate positioning point on the embedded coordinate axis according to a sixth formula, wherein the sixth formula is z 2 ”＝DEC[(z 2 -(z 1 +z 3 )/2)/j]×N+(z 1 +z 3 )/2。
9. The method for identifying a positioning 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 is specifically:
judging whether the queue length of the data string queue reaches the length of the identification information;
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 authenticated is consistent with the data string of the authentication information;
if the data strings are consistent, judging that the identification is passed, and emptying the data string queue;
if the data strings are inconsistent, judging that the identification is not passed, and emptying the data string queue;
and if the current positioning point set does not reach the preset positioning point set, executing the step of taking the last positioning point in the current positioning point set as the first positioning point, sequentially acquiring the 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, characterized in that the program, when being executed by a processor, implements the method according to any one of claims 1-9.
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| CA2571466A1 (en) * | 2006-12-22 | 2007-03-21 | Cnv Technologies, Llc | Method and apparatus for collecting data for detecting and locating disturbances |
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