CN114035203A - Pseudo-range signal transmission method, pseudo-range signal transmission device, storage medium, and electronic device - Google Patents
Pseudo-range signal transmission method, pseudo-range signal transmission device, storage medium, and electronic device Download PDFInfo
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- CN114035203A CN114035203A CN202111321779.3A CN202111321779A CN114035203A CN 114035203 A CN114035203 A CN 114035203A CN 202111321779 A CN202111321779 A CN 202111321779A CN 114035203 A CN114035203 A CN 114035203A
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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
- G01S19/015—Arrangements for jamming, spoofing or other methods of denial of service of such systems
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Abstract
The embodiment of the invention provides a pseudo-range signal sending method, a pseudo-range signal sending device, a pseudo-range signal storage medium and an electronic device, which are applied to a pseudo-satellite, wherein the pseudo-range signal sending method comprises the following steps: determining a target time delay difference between the local time of the pseudolite and the navigation time of the target satellite; determining a target distance from the pseudolite to the target satellite; determining the distance from the target satellite to a receiver based on the target time delay difference and the target distance; taking the distance from the satellite to the receiver as a pseudo range of the pseudo satellite to the receiver, and constructing a pseudo range signal containing the pseudo range; and transmitting the pseudo-range signals to the receiver. The invention solves the problems of poor pseudolite interference and poor effect of decoy receivers in the related technology and improves the pseudolite interference and the effect of decoy receivers.
Description
Technical Field
The embodiment of the invention relates to the field of communication, in particular to a pseudo-range signal sending method, a pseudo-range signal sending device, a pseudo-range signal storage medium and an electronic device.
Background
The pseudolite technology is widely applied to the fields of satellite channel simulation, satellite deception jamming, factory testing and the like.
In the related art, the pseudolite spoofing interference technology usually directly adopts a radio frequency forwarding scheme, that is, a received signal is directly delayed through simulation and then is forwarded through power amplification. Or a digital regeneration mode is adopted to generate the suppressive interference. However, for a high-performance anti-spoofing navigation receiver, interference and spoofing effects cannot be generated by adopting the method.
Therefore, the problems of pseudo satellite interference and poor effect of decoy of the receiver exist in the related art.
In view of the above problems in the related art, no effective solution has been proposed.
Disclosure of Invention
The embodiment of the invention provides a pseudo-range signal sending method, a pseudo-range signal sending device, a pseudo-range signal storage medium and an electronic device, and aims to at least solve the problems of pseudo-satellite interference and poor effect of a decoy receiver in the related technology.
According to an embodiment of the present invention, there is provided a pseudo-range signal transmission method applied to a pseudolite, including: determining a target time delay difference between the local time of the pseudolite and the navigation time of the target satellite; determining a target distance from the pseudolite to the target satellite; determining the distance from the target satellite to a receiver based on the target time delay difference and the target distance; taking the distance from the satellite to the receiver as a pseudo range of the pseudo satellite to the receiver, and constructing a pseudo range signal containing the pseudo range; and transmitting the pseudo-range signals to the receiver.
According to another embodiment of the present invention, there is provided a pseudo-range signal transmission apparatus applied to a pseudolite, including: a first determining module, configured to determine, by a pseudolite, a target time delay difference between a local time of the pseudolite and a navigation time of a target satellite; a second determining module for the pseudolite to determine a target distance of the pseudolite to the target satellite; a third determining module, configured to determine, by the pseudolite, a distance from the target satellite to a receiver based on the target time delay difference and the target distance; a construction module, configured to use a distance from the satellite to the receiver as a pseudo-range from the pseudolite to the receiver, and construct a pseudo-range signal including the pseudo-range; a transmitting module for transmitting the pseudo-range signal to the receiver by the pseudolite.
According to yet another embodiment of the invention, there is also provided a computer-readable storage medium having a computer program stored therein, wherein the computer program, when executed by a processor, implements the steps of the method as set forth in any of the above.
According to yet another embodiment of the present invention, there is also provided an electronic device, including a memory in which a computer program is stored and a processor configured to execute the computer program to perform the steps in any of the above method embodiments.
By the method, the pseudo satellite can determine the target time delay difference between the pseudo satellite and the navigation time of the target satellite, determine the target distance from the pseudo satellite to the target satellite, determine the distance from the target satellite to the receiver according to the target time delay difference and the target distance, use the distance from the satellite to the receiver as the pseudo range from the pseudo satellite to the receiver, construct pseudo range signals comprising the pseudo range, and send the pseudo range signals to the receiver. Because the pseudo-range can be carried in the pseudo-range signal sent to the receiver by the pseudo-satellite, the pseudo-range is the same as the distance from the satellite to the receiver, and after the receiver receives the pseudo-range signal, the received pseudo-range signal is considered as the signal sent by the satellite, so that the interference and the decoy of the receiver are realized. Therefore, the problem of poor effects of pseudolite interference and decoy receivers in the related art can be solved, and the effects of the pseudolite interference and the decoy receivers are improved.
Drawings
Fig. 1 is a block diagram of a hardware configuration of a mobile terminal according to a method for transmitting a pseudo-range signal according to an embodiment of the present invention;
fig. 2 is a flowchart of a pseudo-range signal transmission method according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of an exemplary satellite based positioning system according to the present invention;
FIG. 4 is a schematic diagram of a sinc function in accordance with an exemplary embodiment of the present invention;
FIG. 5 is a schematic diagram of a windowing process according to an exemplary embodiment of the invention;
FIG. 6 is a schematic diagram of a fractional delay filter implemented by an FPGA in accordance with an exemplary embodiment of the present invention;
fig. 7 is a flowchart of a method for sending pseudorange signals according to an embodiment of the invention;
fig. 8 is a block diagram of a pseudo-range signal transmission apparatus according to an embodiment of the present invention.
Detailed Description
Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings in conjunction with the embodiments.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.
The method embodiments provided in the embodiments of the present application may be executed in a mobile terminal, a computer terminal, or a similar computing device. Taking the mobile terminal as an example, fig. 1 is a hardware block diagram of the mobile terminal according to the present invention, which is used for transmitting a pseudo-range signal. As shown in fig. 1, the mobile terminal may include one or more (only one shown in fig. 1) processors 102 (the processor 102 may include, but is not limited to, a processing device such as a microprocessor MCU or a programmable logic device FPGA), and a memory 104 for storing data, wherein the mobile terminal may further include a transmission device 106 for communication functions and an input-output device 108. It will be understood by those skilled in the art that the structure shown in fig. 1 is only an illustration, and does not limit the structure of the mobile terminal. For example, the mobile terminal may also include more or fewer components than shown in FIG. 1, or have a different configuration than shown in FIG. 1.
The memory 104 may be used to store a computer program, for example, a software program of an application software and a module, such as a computer program corresponding to the pseudo-range signal transmission method in the embodiment of the present invention, and the processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, so as to implement the method described above. The memory 104 may include high speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include memory located remotely from the processor 102, which may be connected to the mobile terminal over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The transmission device 106 is used to receive or transmit data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider of the mobile terminal. In one example, the transmission device 106 includes a Network adapter (NIC) that can be connected to other Network devices through a base station to communicate with the internet. In one example, the transmission device 106 may be a Radio Frequency (RF) module, which is used to communicate with the internet in a wireless manner.
In this embodiment, a method for sending a pseudo-range signal is provided, and fig. 2 is a flowchart of the method for sending a pseudo-range signal according to an embodiment of the present invention, as shown in fig. 2, the flowchart includes the following steps:
step S202, determining a target time delay difference between the local time of the pseudolite and the navigation time of a target satellite;
step S204, determining the target distance from the pseudolite to the target satellite;
step S206, determining the distance from the target satellite to a receiver based on the target time delay difference and the target distance;
step S208, taking the distance from the satellite to the receiver as a pseudo range from the pseudo satellite to the receiver, and constructing a pseudo range signal containing the pseudo range;
and step S210, sending the pseudo-range signal to the receiver.
In the above embodiment, the method may be applied to a pseudolite, and the pseudolite may determine a target time delay difference between a local time of the pseudolite and a navigation time of a target satellite. I.e., determining a target time delay difference between the local time of the pseudolite and the local time of the target satellite. The target satellite can be a real satellite, such as a Beidou navigation satellite.
In the above embodiments, the pseudolite may also determine a target distance between the pseudolite and the target satellite. And determining the distance from the target satellite to the receiver according to the target distance and the target time delay difference, and determining the distance as the pseudo range from the pseudo satellite to the receiver. After the pseudoranges are determined, pseudorange signals may be generated. The pseudo-range signal includes pseudo-range and other transmission signals.
By the method, the pseudo satellite can determine the target time delay difference between the pseudo satellite and the navigation time of the target satellite, determine the target distance from the pseudo satellite to the target satellite, determine the distance from the target satellite to the receiver according to the target time delay difference and the target distance, use the distance from the satellite to the receiver as the pseudo range from the pseudo satellite to the receiver, construct pseudo range signals comprising the pseudo range, and send the pseudo range signals to the receiver. Because the pseudo-range can be carried in the pseudo-range signal sent to the receiver by the pseudo-satellite, the pseudo-range is the same as the distance from the satellite to the receiver, and after the receiver receives the pseudo-range signal, the received pseudo-range signal is considered as the signal sent by the satellite, so that the interference and the decoy of the receiver are realized. Therefore, the problem of poor effects of pseudolite interference and decoy receivers in the related art can be solved, and the effects of the pseudolite interference and the decoy receivers are improved.
In one exemplary embodiment, determining the target distance of the pseudolite to the target satellite comprises: acquiring a target ephemeris of the target satellite; determining a pseudo-ephemeris for the pseudo-satellite based on the target ephemeris and the navigation time; determining the target range based on the pseudo-ephemeris and the position information of the pseudo-satellite. In this embodiment, the pseudolite may obtain a target ephemeris of the target satellite, generate a corresponding pseudoephemeris according to the navigation time of the target satellite, and determine a target distance between the pseudolite and the satellite according to the pseudoephemeris and the position information of the pseudolite.
In the above embodiment, referring to fig. 3, as shown in fig. 3, a general satellite positioning system needs at least 4 satellites, and a receiver receives a navigation signal from each satellite and calculates a distance to each satellite to achieve positioning. When pseudolite simulation is implemented, the specific position of each satellite needs to be reversely deduced according to the input position of the pseudolite, and the position of the satellite can be calculated according to the pseudolite of the pseudolite and the current time. Therefore, the pseudo-range can be determined through the target time delay difference and the target distance so as to achieve the target of accurately simulating the position of the pseudo-satellite.
In one exemplary embodiment, determining the range of the target satellite to the receiver based on the target time delay difference and the target range comprises: determining a target compensation coefficient corresponding to the target time delay difference; determining a distance of the target satellite to the receiver based on the target compensation coefficient and the target distance. In this embodiment, when determining the distance from the target satellite to the receiver, a target compensation coefficient corresponding to the target delay difference may be determined, and the distance from the target satellite to the receiver may be determined according to the target compensation coefficient and the target distance.
In one exemplary embodiment, determining the range of the target satellite to the receiver based on the target compensation factor and the target range comprises: determining a product of the target compensation coefficient and the target distance as a distance of the target satellite to the receiver. In this embodiment, the distance of the target satellite to the receiver may be the product of the target compensation factor and the target distance.
In an exemplary embodiment, determining the target compensation coefficient corresponding to the target delay difference includes: determining a target sampling function; and determining a target compensation coefficient corresponding to the target time delay difference based on the target sampling function. In this embodiment, a target compensation coefficient corresponding to the target delay difference may be determined according to the target sampling function. That is, the target delay inequality is input into the target sampling function, a matrix including a plurality of coefficients may be determined, and the matrix is determined as a target compensation coefficient.
In one exemplary embodiment, determining the target sampling function comprises: determining a sampling function; and windowing the sampling function to obtain a target sampling function. In this embodiment, the sampling function may be
Where t represents the current time and Δ represents the target delay spread. Windowing the sampling function may be performed by a windowing function. The windowing function may be a Hamming window, denoted as
Where M represents the width of the window. After windowing the sampling function, a target sampling function may be obtained, which may be represented as
Wherein, L represents the number of sampling points in the window, alpha is a self-defined coefficient, and n represents the number of the sampling points. And determining a compensation coefficient corresponding to the time delay difference according to the target sampling function.
In one exemplary embodiment, determining the pseudoranges for the pseudolites based on the target time delay differences and the target ranges comprises: inputting the target time delay difference and the target distance into a decimal delay filter; determining data output by the fractional delay filter as the pseudorange. In this embodiment, after the target delay difference and the target distance are determined, the target delay difference and the target distance may be directly input to the fractional delay filter, and data output by the fractional delay filter may be determined as the pseudorange.
In the above embodiment, a time deviation detection and fractional group delay filtering module (corresponding to the fractional delay filter) is introduced to achieve difference detection and compensation between local time and navigation precision time, so that the generated pseudo range precision is greatly improved, the simulated satellite position is very precise, and application requirements under various scenes can be met.
Fractional group delay filtering is a compensation method for realizing non-integer period delay, and can be realized by a fractional delay filter generally. The fractional delay filtering refers to filtering with a delay interval being a non-integer multiple of a sampling interval, and the impulse response of an ideal fractional delay filter is a sinc function of shift and sampling, wherein the sinc function is schematically shown in fig. 4, and the mathematical expression of the sinc function is
But an ideal fractional delay filter is not realizable because of its infinite length, non-causal, instability. To produce a realizable fractional delay filter, the sinc function may be subjected to finite length (e.g., truncation or windowing) and causal approximation to approximate the ideal fractional delay filter characteristic. The filter can be implemented by approximation by windowing, wherein the schematic diagram of the windowing process can be seen in fig. 5. The method can be realized by adopting a Hamming window mode, so that the filter becomes a filter with finite length realization, and the function of the Hamming window can be expressed as
The windowed function can be expressed as
The schematic diagram of the fractional delay filter implemented by FPGA can be seen in fig. 6, wherein C00, …, Cm 0; c01, …, Cm 1; …, respectively; the coefficients C0n, … and Cmn are the values of the windowed sinc function, serve as n groups of filter coefficients of m taps, are preset in a ROM of an FPGA, data output by a pseudo-range calculation module serve as input data, data sampling is carried out in a fractional group delay filtering module, and then according to dynamic time delay information input by a time deviation detection module, which group of delay phase coefficients are selected to be used for carrying out delay filtering, so that the fractional delay function is realized.
The pseudo-range signal transmission method is described below with reference to the specific embodiment:
fig. 7 is a flowchart of a pseudo-range signal transmission method according to an embodiment of the present invention, and a pseudo-satellite system for performing the pseudo-range signal transmission method may include a time deviation detection module, a fractional group delay filtering module, a pseudo-ephemeris generation module, a pseudo-range calculation module, and a pseudo-range signal generation module. The time deviation module compares the difference between the local time and the navigation time and outputs the difference information between the local time and the navigation time in real time. And the pseudo-ephemeris generation module is used for generating ephemeris information of the pseudo-satellite and generating a corresponding pseudo-ephemeris according to the navigation time information. And the pseudo-range calculation module calculates the distance information from the user to each satellite according to the pseudo-ephemeris and the input user position information. And the decimal group delay filtering module realizes accurate time delay information compensation and alignment. And the pseudo-range signal generation module converts the pseudo-range compensated by time delay into a transmission signal.
In the foregoing embodiment, the pseudo-range information generated by controlling the pseudo-satellite signals is implemented by using the local time and navigation absolute time error identified by the system as a dynamic input variable and using a dynamic fractional group delay filter, so that high-performance system time error compensation can be implemented. Satellite signals can be simulated more vividly, the signal truth is improved, and better simulation, interference and decoy effects are provided. The time precision of the pseudolite system realized by the scheme is basically equivalent to that of a real satellite signal, and practical tests show that the receiver equipment cannot distinguish the difference between the pseudolite signal and the real satellite signal, and the demodulated time information and the demodulated position information cannot identify the difference between the pseudolite signal and the real satellite signal.
Through the above description of the embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but the former is a better implementation mode in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
In this embodiment, a pseudo-range signal sending apparatus is further provided, and the apparatus is used to implement the foregoing embodiments and preferred embodiments, which have already been described and are not described again. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. Although the means described in the embodiments below are preferably implemented in software, an implementation in hardware, or a combination of software and hardware is also possible and contemplated.
Fig. 8 is a block diagram of a pseudo-range signal transmission apparatus according to an embodiment of the present invention, as shown in fig. 8, which is applied to a pseudolite, including:
a first determining module 802, configured to determine, by a pseudolite, a target time delay difference between a local time of the pseudolite and a navigation time of a target satellite;
a second determining module 804 for determining a target distance of the pseudolite to the target satellite;
a third determining module 806 for determining the distance from the target satellite to a receiver based on the target time delay difference and the target distance by the pseudolite;
a constructing module 808, configured to use the distance from the satellite to the receiver as a pseudo-range from the pseudolite to the receiver, and construct a pseudo-range signal including the pseudo-range;
a transmitting module 810 for the pseudolite to transmit the pseudorange signals to the receiver.
The first determining module 802 corresponds to the time offset detecting module, the second determining module 804 corresponds to the pseudo-range calculating module, the third determining module 806 corresponds to the fractional group delay filtering module, and the constructing module 808 corresponds to the pseudo-range signal generating module.
In an exemplary embodiment, the second determining module 804 may determine the target distance of the pseudolite to the target satellite by: acquiring a target ephemeris of the target satellite; determining a pseudo-ephemeris for the pseudo-satellite based on the target ephemeris and the navigation time; determining the target range based on the pseudo-ephemeris and the position information of the pseudo-satellite.
In an exemplary embodiment, the third determining module 806 may determine the distance from the target satellite to the receiver based on the target time delay difference and the target distance by: determining a target compensation coefficient corresponding to the target time delay difference; determining a distance of the target satellite to the receiver based on the target compensation coefficient and the target distance.
In an exemplary embodiment, the third determining module 806 may determine the distance from the target satellite to the receiver based on the target compensation factor and the target distance by: determining a product of the target compensation coefficient and the target distance as a distance of the target satellite to the receiver.
In an exemplary embodiment, the third determining module 806 may determine the target compensation coefficient corresponding to the target delay difference by: determining a target sampling function; and determining a target compensation coefficient corresponding to the target time delay difference based on the target sampling function.
In an exemplary embodiment, the third determination module 806 may determine the target sampling function by: determining a sampling function; and windowing the sampling function to obtain a target sampling function.
In an exemplary embodiment, the third determining module 806 may determine the pseudorange of the pseudolite based on the target time delay difference and the target range by: inputting the target time delay difference and the target distance into a decimal delay filter; determining data output by the fractional delay filter as the pseudorange.
It should be noted that, the above modules may be implemented by software or hardware, and for the latter, the following may be implemented, but not limited to: the modules are all positioned in the same processor; alternatively, the modules are respectively located in different processors in any combination.
Embodiments of the present invention also provide a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the method as set forth in any of the above.
In an exemplary embodiment, the computer-readable storage medium may include, but is not limited to: various media capable of storing computer programs, such as a usb disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk.
Embodiments of the present invention also provide an electronic device comprising a memory having a computer program stored therein and a processor arranged to run the computer program to perform the steps of any of the above method embodiments.
In an exemplary embodiment, the electronic apparatus may further include a transmission device and an input/output device, wherein the transmission device is connected to the processor, and the input/output device is connected to the processor.
For specific examples in this embodiment, reference may be made to the examples described in the above embodiments and exemplary embodiments, and details of this embodiment are not repeated herein.
It will be apparent to those skilled in the art that the various modules or steps of the invention described above may be implemented using a general purpose computing device, they may be centralized on a single computing device or distributed across a network of computing devices, and they may be implemented using program code executable by the computing devices, such that they may be stored in a memory device and executed by the computing device, and in some cases, the steps shown or described may be performed in an order different than that described herein, or they may be separately fabricated into various integrated circuit modules, or multiple ones of them may be fabricated into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A pseudo-range signal transmission method, applied to a pseudolite, comprising:
determining a target time delay difference between the local time of the pseudolite and the navigation time of the target satellite;
determining a target distance from the pseudolite to the target satellite;
determining the distance from the target satellite to a receiver based on the target time delay difference and the target distance;
taking the distance from the satellite to the receiver as a pseudo range of the pseudo satellite to the receiver, and constructing a pseudo range signal containing the pseudo range;
and transmitting the pseudo-range signals to the receiver.
2. The method of claim 1, wherein determining the target range of the pseudolite to the target satellite comprises:
acquiring a target ephemeris of the target satellite;
determining a pseudo-ephemeris for the pseudo-satellite based on the target ephemeris and the navigation time;
determining the target range based on the pseudo-ephemeris and the position information of the pseudo-satellite.
3. The method of claim 1, wherein determining the range of the target satellite to a receiver based on the target time delay difference and the target range comprises:
determining a target compensation coefficient corresponding to the target time delay difference;
determining a distance of the target satellite to the receiver based on the target compensation coefficient and the target distance.
4. The method of claim 3, wherein determining the range of the target satellite to the receiver based on the target compensation factor and the target range comprises:
determining a product of the target compensation coefficient and the target distance as a distance of the target satellite to the receiver.
5. The method of claim 3, wherein determining the target compensation factor corresponding to the target delay difference comprises:
determining a target sampling function;
and determining a target compensation coefficient corresponding to the target time delay difference based on the target sampling function.
6. The method of claim 5, wherein determining a target sampling function comprises:
determining a sampling function;
and windowing the sampling function to obtain a target sampling function.
7. The method of claim 1, wherein determining the pseudorange for the pseudolite based on the target time delay difference and the target range comprises:
inputting the target time delay difference and the target distance into a decimal delay filter;
determining data output by the fractional delay filter as the pseudorange.
8. A pseudo-range signal transmission apparatus, applied to a pseudolite, comprising:
a first determining module, configured to determine, by a pseudolite, a target time delay difference between a local time of the pseudolite and a navigation time of a target satellite;
a second determining module for the pseudolite to determine a target distance of the pseudolite to the target satellite;
a third determining module, configured to determine, by the pseudolite, a distance from the target satellite to a receiver based on the target time delay difference and the target distance;
a construction module, configured to use a distance from the satellite to the receiver as a pseudo-range from the pseudolite to the receiver, and construct a pseudo-range signal including the pseudo-range;
a transmitting module for transmitting the pseudo-range signal to the receiver by the pseudolite.
9. A computer-readable storage medium, in which a computer program is stored, which computer program, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.
10. An electronic device comprising a memory and a processor, wherein the memory has stored therein a computer program, and wherein the processor is arranged to execute the computer program to perform the method of any of claims 1 to 7.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116520367A (en) * | 2023-07-04 | 2023-08-01 | 深圳市天龙世纪科技发展有限公司 | Satellite positioning security method and device based on Internet of things, electronic equipment and medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116520367A (en) * | 2023-07-04 | 2023-08-01 | 深圳市天龙世纪科技发展有限公司 | Satellite positioning security method and device based on Internet of things, electronic equipment and medium |
| CN116520367B (en) * | 2023-07-04 | 2023-09-08 | 深圳市天龙世纪科技发展有限公司 | Satellite positioning security method and device based on Internet of things, electronic equipment and medium |
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