CN118131287A

CN118131287A - Information processing method, apparatus, electronic device, computer readable storage medium, and computer program product

Info

Publication number: CN118131287A
Application number: CN202410372449.4A
Authority: CN
Inventors: 肖宁
Original assignee: Tencent Technology Shenzhen Co Ltd
Current assignee: Tencent Technology Shenzhen Co Ltd
Priority date: 2024-03-27
Filing date: 2024-03-27
Publication date: 2024-06-04

Abstract

The application provides an information processing method, an information processing device, electronic equipment, a computer readable storage medium and a computer program product, which can be applied to the field of maps; the method comprises the following steps: acquiring positioning information of a target object, and acquiring map data of the target object in a preset range of the current position based on the positioning information; determining a first shielding detection result of the target object based on the positioning information and the map data; when the first shielding detection result represents that the satellite signal of the target object is in a suspected shielding state, acquiring satellite observation information and historical average satellite information at the current moment; and determining a second shielding detection result of the target object based on the satellite observation information and the historical average satellite information. The satellite signal shielding judgment method and device can improve accuracy of satellite signal shielding judgment.

Description

Information processing method, apparatus, electronic device, computer readable storage medium, and computer program product

Technical Field

The present application relates to the field of satellite technologies, and in particular, to an information processing method, an apparatus, an electronic device, a computer readable storage medium, and a computer program product.

Background

With the development of satellite technology, satellite signals are increasingly used. Signal shadowing problems often occur because satellite signals may be in a variety of different environments when in use. For this reason, it is necessary to provide a judgment method that can recognize whether or not the current satellite signal is blocked.

In the related art, the current satellite observation information is generally used to perform the shielding judgment on the satellite signal. However, the method is easy to cause misjudgment due to short-time satellite signal mutation, and has low accuracy and reliability.

Disclosure of Invention

The embodiment of the application provides an information processing method, an information processing device, electronic equipment, a computer readable storage medium and a computer program product, which can be at least applied to the map field or the navigation field and can improve the accuracy of satellite signal shielding judgment.

The technical scheme of the embodiment of the application is realized as follows: the embodiment of the application provides an information processing method, which comprises the following steps: acquiring positioning information of a target object, and acquiring map data of the target object in a preset range of a current position based on the positioning information; determining a first occlusion detection result of the target object based on the positioning information and the map data; when the first shielding detection result represents that the satellite signal of the target object is in a suspected shielding state, acquiring satellite observation information and historical average satellite information at the current moment; the historical average satellite information is average information of a plurality of satellite observation information when satellite signals of the target object are not shielded in a preset historical time period; and determining a second shielding detection result of the target object based on the satellite observation information and the historical average satellite information.

An embodiment of the present application provides an information processing apparatus including: the positioning information acquisition module is used for acquiring positioning information of a target object and acquiring map data of the target object in a preset range of the current position based on the positioning information; the first detection module is used for determining a first shielding detection result of the target object based on the positioning information and the map data; the satellite information acquisition module is used for acquiring satellite observation information and historical average satellite information at the current moment when the first shielding detection result represents that the satellite signal of the target object is in a suspected shielded state; the historical average satellite information is average information of a plurality of satellite observation information when satellite signals of the target object are not shielded in a preset historical time period; and the second detection module is used for determining a second shielding detection result of the target object based on the satellite observation information and the historical average satellite information.

In some embodiments, the map data includes road data for a plurality of roads; the first detection module is further used for determining a candidate road sequence based on the positioning information and the road data of the plurality of roads; the candidate road sequence comprises a plurality of road combinations, wherein the road combinations comprise a first candidate road and a second candidate road; the first candidate road is a road where the target object is suspected to be located; determining a third shielding detection result of an ith road combination in the candidate road sequence based on the positioning information and the road data of a first candidate road and a second candidate road in the ith road combination; i is a positive integer; when the third shielding detection result of the ith road combination is that the second candidate road does not shield the target object, determining the third shielding detection result of the (i+1) th road combination based on the positioning information and the road data of the first candidate road and the second candidate road in the (i+1) th road combination; stopping detecting the M+1st road combination when a third shielding detection result of the M road combination in the candidate road sequence is that the second candidate road is suspected to shield the target object, and determining that the satellite signal of which the first shielding detection result is that the target object is in a suspected shielded state; m is a positive integer and M is greater than i.

In some embodiments, the first detection module is further configured to determine that the satellite signal of the target object is not in an occluded state when the third occlusion detection result of each road combination is that the second candidate road does not occlude the target object.

In some embodiments, the first detection module is further configured to determine a first probability that the target object is located on each road based on the positioning information and road data of the plurality of roads; for each road, when the first probability that the target object is positioned on any road is larger than a preset probability threshold value, determining the corresponding road as the first candidate road; acquiring a first included angle between each road and a target candidate road; the target candidate road is a first candidate road with the largest first probability; for each road, determining the corresponding road as the second candidate road when a first included angle between any road and the target candidate road is smaller than a preset first angle threshold; and constructing the candidate road sequence based on the determined first candidate roads and the second candidate roads.

In some embodiments, the first detection module is further configured to determine a second included angle between the first candidate road and the second candidate road based on road data of the first candidate road and the second candidate road in the i-th road combination; when the second included angle is larger than or equal to a preset second angle threshold, a third shielding detection result of the ith road combination is obtained, wherein the second candidate road does not shield the target object; when the second included angle is smaller than the second angle threshold value, obtaining the road attribute of the first candidate road and the second candidate road from the road data; and determining a third shielding detection result of the ith road combination based on the positioning information and the road attributes of the first candidate road and the second candidate road.

In some embodiments, the first detection module is further configured to determine that the second candidate road does not occlude the target object as a result of the third occlusion detection of the ith road combination when the road attribute of the first candidate road is not an under-viaduct road or the road attribute of the second candidate road is not an on-viaduct road; when the road attribute of the first candidate road is an overpass lower road and the road attribute of the second candidate road is an overpass upper road, determining a road distance between the first candidate road and the second candidate road based on the positioning information and the road data; determining a distance threshold for misalignment between the first candidate road and the second candidate road based on the road data; and determining a third shielding detection result of the ith road combination based on the road distance and the distance threshold.

In some embodiments, the first detection module is further configured to obtain a position coordinate of the target object from the positioning information; projecting the position coordinates onto the first candidate road and the second candidate road respectively, and correspondingly obtaining a first projection point of the first candidate road and a second projection point of the second candidate road; and determining the distance between the first projection point and the second projection point based on the road data, and obtaining the road distance between the first candidate road and the second candidate road.

In some embodiments, the first detection module is further configured to determine a first road width of the first candidate road and a second road width of the second candidate road based on the road data; and determining an average value of the first road width and the second road width as a distance threshold value of misalignment between the first candidate road and the second candidate road.

In some embodiments, the first detection module is further configured to obtain a first number of lanes of the first candidate road and a second number of lanes of the second candidate road from the road data; the lane width of the lane is obtained, the product of the first number of lanes and the lane width is determined to be the first road width, and the product of the second number of lanes and the lane width is determined to be the second road width.

In some embodiments, the first detection module is further configured to determine that the third occlusion detection result of the ith road combination is that the second candidate road does not occlude the target object when the road distance is greater than or equal to the distance threshold; and when the road distance is smaller than the distance threshold value, determining that the third shielding detection result of the ith road combination is that the second candidate road is suspected to shield the target object.

In some embodiments, the satellite observation information comprises a plurality of categories of first observation information, the historical average satellite information comprising one second observation information corresponding to each category of first observation information; the second detection module is further used for acquiring weight parameters corresponding to each piece of second observation information; for each piece of second observation information, determining the product of the weight parameters corresponding to the second observation information and the second observation information as a signal threshold value of the first observation information corresponding to the second observation information; and when each piece of first observation information is smaller than or equal to the corresponding signal threshold value, determining that the satellite signal of the target object is in a shielded state as a second shielding detection result.

An embodiment of the present application provides an electronic device, including: a memory for storing computer executable instructions or computer programs; and the processor is used for realizing the information processing method provided by the embodiment of the application when executing the computer executable instructions or the computer programs stored in the memory.

The embodiment of the application provides a computer readable storage medium, which stores a computer program or computer executable instructions for implementing the information processing method provided by the embodiment of the application when being executed by a processor.

The embodiment of the application provides a computer program product, which comprises a computer program or a computer executable instruction, and the computer program or the computer executable instruction realize the information processing method provided by the embodiment of the application when being executed by a processor.

The embodiment of the application has the following beneficial effects:

According to the embodiment of the application, first, a first shielding detection result is determined based on positioning information of a target object and map data of the target object in a preset range of a current position, and when the first shielding detection result represents that satellite signals of the target object are in a suspected shielding state, a second shielding detection result is determined based on satellite observation information and historical average satellite information. Therefore, the embodiment of the application combines the current positioning information, the map data and the satellite observation information to comprehensively judge the shielding condition of the satellite signals, and can improve the accuracy and the effectiveness of satellite signal shielding judgment.

Drawings

FIG. 1 is a schematic diagram of a mobile terminal according to an embodiment of the present application in an occluded area inside a vehicle;

FIG. 2 is a schematic diagram of an information processing system according to an embodiment of the present application;

fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present application;

FIG. 4 is a schematic diagram of a first flow of an information processing method according to an embodiment of the present application;

FIG. 5 is a schematic diagram of a second flow of an information processing method according to an embodiment of the present application;

FIG. 6 is a schematic diagram of a third flow of an information processing method according to an embodiment of the present application;

fig. 7 is a fourth flowchart of an information processing method according to an embodiment of the present application;

FIG. 8 is a schematic diagram of a module of an information processing system according to an embodiment of the present application;

FIG. 9 is a schematic diagram of orthographic projection of a positioning information point according to an embodiment of the present application;

FIG. 10 is a first schematic view of an underbridge being occluded by an over-bridge road provided by an embodiment of the present application;

FIG. 11 is a second schematic view of an under-bridge road being occluded by an over-bridge road provided by an embodiment of the present application;

Fig. 12 is a schematic view of an under-bridge road not covered by an over-bridge road according to an embodiment of the present application.

It should be noted that the above "first", "second", "third" and "fourth" are only used to distinguish between different schemes, and do not represent the degree of preference or priority in implementation.

Detailed Description

The present application will be further described in detail with reference to the accompanying drawings, for the purpose of making the objects, technical solutions and advantages of the present application more apparent, and the described embodiments should not be construed as limiting the present application, and all other embodiments obtained by those skilled in the art without making any inventive effort are within the scope of the present application.

In the following description, reference is made to "some embodiments" which describe a subset of all possible embodiments, but it is to be understood that "some embodiments" can be the same subset or different subsets of all possible embodiments and can be combined with one another without conflict.

In the following description, the terms "first", "second", "third" and the like are merely used to distinguish similar objects and do not represent a specific ordering of the objects, it being understood that the "first", "second", "third" may be interchanged with a specific order or sequence, as permitted, to enable embodiments of the application described herein to be practiced otherwise than as illustrated or described herein.

In the present embodiment, the term "module" or "unit" refers to a computer program or a part of a computer program having a predetermined function and working together with other relevant parts to achieve a predetermined object, and may be implemented in whole or in part by using software, hardware (such as a processing circuit or a memory), or a combination thereof. Also, a processor (or multiple processors or memories) may be used to implement one or more modules or units. Furthermore, each module or unit may be part of an overall module or unit that incorporates the functionality of the module or unit.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the embodiments of the application is for the purpose of describing embodiments of the application only and is not intended to be limiting of the application.

In the embodiment of the application, the relevant data collection processing should be strictly according to the requirements of relevant national laws and regulations when the example is applied, so as to acquire the informed consent or independent consent of the personal information body, and develop the subsequent data use and processing within the authorized range of the laws and regulations and the personal information body.

Before describing embodiments of the present application in further detail, the terms and terminology involved in the embodiments of the present application will be described, and the terms and terminology involved in the embodiments of the present application will be used in the following explanation.

1) Global navigation satellite system (Global Navigation SATELLITE SYSTEM, GNSS): also known as global satellite navigation systems, are space-based radio navigation positioning systems that provide users with all-weather 3-dimensional coordinates and velocity and time information at any location on the earth's surface or near earth space, including one or more satellite constellations and augmentation systems required to support a particular job. The global navigation satellite system mainly has four types: the Beidou satellite navigation system (BDS), the Global Positioning System (GPS), the Geranos satellite navigation system (GLONASS) and the Galileo satellite navigation system (GALILEO).

2) Visual satellite state output statement (GPS SATELLITES IN VIEW, GPGSV): namely, "GPS satellites in view", is a type of GPS data string of NMEA (National Marine Electronics Association) standard 0183; NMEA is a standardized data format for data exchange between GPS and other types of navigation instruments; the visible satellite state output statement provides information about the current visible satellites of the GPS receiver, including the number of visible satellites, the number of each satellite, the position (in azimuth and elevation), and the signal strength (signal to noise ratio); the format of the visual satellite state output statement is ：$GPGSV,numberOfMessages,messageNumber,satellitesInView,prnNumber1,elevation1,azimuth1,snr1,prnNumber2,elevation2,azimuth2,snr2,…,*checksum;, where numberOfMessages indicates that the GPGSV message has several parts in total, messageNumber is the current message number, SATELLITESINVIEW is the number of visual satellites, prnNumber1 is the Pseudo-Random Noise code (PRN) of the first satellite, for identifying the satellite, elevation1 is the elevation angle (0-90 degrees) of the first satellite, azimuth1 is the azimuth angle (0-359 degrees) of the first satellite, sr 1 is the signal-to-Noise ratio (0-99 dB) of the first satellite, the next data is information about other satellites, the format is the same as the first satellite, and Checksum is used to check the integrity of the visual satellite state output statement.

In the map navigation field, precise scene recognition is very important, and in complex positioning scenes (such as a blocking scene when a vehicle runs under an overhead bridge, etc.), satellite signals received by a global navigation satellite system receiver of navigation equipment are blocked, so that deviation occurs in vehicle positioning, and the vehicle is possibly navigated to an incorrect road. In the related art, the satellite signal is generally shielded and judged only by using the current satellite observation information, the road network condition is not referred, and whether the vehicle is actually positioned under the shielded overhead bridge cannot be accurately identified, so that the accuracy and the reliability of navigation are affected. For example, in fig. 1, when the mobile terminal is placed in an occlusion area inside a vehicle and navigation software in the mobile terminal is used for navigation, only satellite observation information is considered to continuously judge that the vehicle is under an overhead condition, and then an incorrect navigation route is presented. In the related art, when the satellite observation information is used for the occlusion judgment, only the current satellite observation is used, the history observation information is not used, and erroneous judgment is easily caused by short-time signal mutation, so that the accuracy and the reliability are low. When the satellite observation information is used for carrying out shielding judgment, a fixed value is simply used for controlling the threshold value, so that the method cannot adapt to various models and various scenes on the market, and has insufficient generalization capability.

Based on the problems existing in the related art, the embodiment of the application provides an information processing method, an apparatus, an electronic device, a computer readable storage medium and a computer program product, wherein the method is a method for comprehensively judging satellite signal shielding conditions by combining current positioning information, map data and satellite observation information, and is mainly used for identifying whether a target object is truly located under a shielded overpass (not all the overpasses are shielded up and down and can be finely distinguished), so that the accuracy of satellite signal shielding judgment can be improved.

In the information processing method provided by the embodiment of the application, firstly, positioning information of a target object is obtained, and map data of the target object in a preset range of a current position is obtained based on the positioning information; determining a first shielding detection result of the target object based on the positioning information and the map data; then, when the first shielding detection result represents that the satellite signal of the target object is in a suspected shielding state, acquiring satellite observation information and historical average satellite information at the current moment; the historical average satellite information is average information of a plurality of satellite observation information when satellite signals of a target object are not shielded in a preset historical time period; then, a second occlusion detection result of the target object is determined based on the satellite observation information and the historical average satellite information. Therefore, the accuracy and the effectiveness of satellite signal shielding judgment can be improved by comprehensively judging the shielding condition of the satellite signal by combining the current positioning information, the map data and the satellite observation information.

An exemplary application of the information processing apparatus provided by the embodiment of the present application, which is an electronic apparatus for detecting a situation in which a satellite signal of a target object is blocked, is described below. The information processing device provided by the embodiment of the application can be implemented as various types of terminals such as a notebook computer, a tablet computer, a desktop computer, a set-top box, a smart phone, a smart sound box, a smart watch, a smart television, a vehicle-mounted terminal and the like, and also can be implemented as a server. The server may be an independent physical server, a server cluster or a distributed system formed by a plurality of physical servers, or a cloud server providing cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, a content distribution network (Content Delivery Network, CDN), basic cloud computing services such as big data and an artificial intelligent platform. The terminal and the server may be directly or indirectly connected through wired or wireless communication, which is not limited in the embodiment of the present application. Next, an exemplary application when the information processing apparatus is implemented as a terminal or a server will be described.

Referring to fig. 2, fig. 2 is a schematic diagram of an architecture of an information processing system according to an embodiment of the present application, in order to support an information processing application, whether a current satellite signal is in a blocked state is determined by the information processing application, and at least the information processing application is installed on a terminal according to an embodiment of the present application. The information processing system 100 includes at least a terminal 400, a network 300, and a server 200, wherein the server 200 is a server of an information processing application. The server 200 may constitute an information processing apparatus of an embodiment of the present application, that is, an information processing method of an embodiment of the present application is implemented by the server 200. The terminal 400 is connected to the server 200 through the network 300, and the network 300 may be a wide area network or a local area network, or a combination of both.

The user may input a signal detection operation through information processing running on the terminal 400, the terminal 400 generates a signal detection request in response to the signal detection, and transmits the signal detection request to the server 200 through the network 300. After receiving the signal detection request, the server 200 responds to the signal detection request to acquire positioning information of the target object, and acquires map data of the target object in a preset range of the current position based on the positioning information; then, determining a first shielding detection result of the target object based on the positioning information and the map data; then, when the first shielding detection result represents that the satellite signal of the target object is in a suspected shielding state, acquiring satellite observation information and historical average satellite information at the current moment; the historical average satellite information is average information of a plurality of satellite observation information when satellite signals of a target object are not shielded in a preset historical time period; and finally, determining a second shielding detection result of the target object based on the satellite observation information and the historical average satellite information. Meanwhile, the server 200 may further send the second occlusion detection result to the terminal 400, where the terminal 400 displays the second occlusion detection result on the current interface.

In some embodiments, the information processing method of the embodiment of the present application may also be performed by the terminal 400, that is, after the user inputs a signal detection operation through an information processing application running on the terminal 400, the terminal 400 obtains positioning information of the target object in response to the signal detection operation, and obtains map data of the target object within a preset range of the current location based on the positioning information; then, determining a first shielding detection result of the target object based on the positioning information and the map data; then, when the first shielding detection result represents that the satellite signal of the target object is in a suspected shielding state, acquiring satellite observation information and historical average satellite information at the current moment; the historical average satellite information is average information of a plurality of satellite observation information when satellite signals of a target object are not shielded in a preset historical time period; finally, determining a second shielding detection result of the target object based on the satellite observation information and the historical average satellite information; and displaying a second shielding detection result on the current interface.

The information processing method provided by the embodiment of the application can also be implemented based on a cloud platform and through cloud technology, for example, the server 200 can be a cloud server. The method comprises the steps of obtaining positioning information of a target object through a cloud server, obtaining map data of the target object in a preset range of a current position based on the positioning information, determining a first shielding detection result of the target object based on the positioning information and the map data through the cloud server, obtaining satellite observation information and historical average satellite information at the current moment when a satellite signal of the target object is in a suspected shielding state according to the first shielding detection result representation of the target object through the cloud server, or determining a second shielding detection result of the target object based on the satellite observation information and the historical average satellite information through the cloud server.

In some embodiments, a cloud memory may be further provided, and the historical average satellite information may be stored in the cloud memory. In this way, in the process of running the information processing application, historical average satellite information and the like can be directly obtained from the cloud storage, so that the detection efficiency of the shielding condition of the satellite signal of the target object is improved.

Here, cloud technology (Cloud technology) refers to a hosting technology that unifies serial resources such as hardware, software, and networks in a wide area network or a local area network to implement calculation, storage, processing, and sharing of data. The cloud technology is based on the general names of network technology, information technology, integration technology, management platform technology, application technology and the like applied by the cloud computing business mode, can form a resource pool, and is flexible and convenient as required. Cloud computing technology will become an important support. Background services of technical networking systems require a large amount of computing, storage resources, such as video websites, picture-like websites, and more portals. Along with the high development and application of the internet industry, each article possibly has an own identification mark in the future, the identification mark needs to be transmitted to a background system for logic processing, data with different levels can be processed separately, and various industry data need strong system rear shield support, which can be realized through cloud computing.

Fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present application, where the electronic device shown in fig. 3 may be an information processing device, and the information processing device includes: at least one processor 410, a memory 450, at least one network interface 420, and a user interface 430. The various components in the electronic device are coupled together by a bus system 440. It is understood that the bus system 440 is used to enable connected communication between these components. The bus system 440 includes a power bus, a control bus, and a status signal bus in addition to the data bus. But for clarity of illustration the various buses are labeled in fig. 3 as bus system 440.

The Processor 410 may be an integrated circuit chip having signal processing capabilities such as a general purpose Processor, a digital signal Processor (DIGITAL SIGNAL Processor, DSP), or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, etc., where the general purpose Processor may be a microprocessor or any conventional Processor, etc.

The user interface 430 includes one or more output devices 431, including one or more speakers and/or one or more visual displays, that enable presentation of the media content. The user interface 430 also includes one or more input devices 432, including user interface components that facilitate user input, such as a keyboard, mouse, microphone, touch screen display, camera, other input buttons and controls.

Memory 450 may be removable, non-removable, or a combination thereof. Exemplary hardware devices include solid state memory, hard drives, optical drives, and the like. Memory 450 optionally includes one or more storage devices physically remote from processor 410.

Memory 450 includes volatile memory or nonvolatile memory, and may also include both volatile and nonvolatile memory. The non-volatile Memory may be a Read Only Memory (ROM) and the volatile Memory may be a random access Memory (Random Access Memory, RAM). The memory 450 described in embodiments of the present application is intended to comprise any suitable type of memory.

In some embodiments, memory 450 is capable of storing data to support various operations, examples of which include programs, modules and data structures, or subsets or supersets thereof, as exemplified below.

An operating system 451 including system programs, e.g., framework layer, core library layer, driver layer, etc., for handling various basic system services and performing hardware-related tasks, for implementing various basic services and handling hardware-based tasks;

a network communication module 452 for accessing other electronic devices via one or more (wired or wireless) network interfaces 420, the exemplary network interface 420 comprising: bluetooth, wireless compatibility authentication (WiFi), and universal serial bus (Universal Serial Bus, USB), etc.;

a presentation module 453 for enabling presentation of information (e.g., a user interface for operating peripheral devices and displaying content and information) via one or more output devices 431 (e.g., a display screen, speakers, etc.) associated with the user interface 430;

an input processing module 454 for detecting one or more user inputs or interactions from one of the one or more input devices 432 and translating the detected inputs or interactions.

In some embodiments, the apparatus provided in the embodiments of the present application may be implemented in software, and fig. 3 shows an information processing apparatus 455 stored in a memory 450, which may be software in the form of a program, a plug-in, or the like, including the following software modules: the positioning information acquisition module 4551, the first detection module 4552, the satellite information acquisition module 4553 and the second detection module 4554 are logical, and thus may be arbitrarily combined or further split according to the functions implemented. The functions of the respective modules will be described hereinafter.

In other embodiments, the apparatus provided by the embodiments of the present application may be implemented in hardware, and by way of example, the apparatus provided by the embodiments of the present application may be a Processor in the form of a hardware decoding Processor that is programmed to perform the information processing method provided by the embodiments of the present application, for example, the Processor in the form of a hardware decoding Processor may employ one or more Application-specific integrated circuits (ASICs), digital signal processors (DIGITAL SIGNAL processors, DSPs), programmable logic devices (Programmable Logic Device, PLDs), complex Programmable logic devices (Complex Programmable Logic Device, CPLDs), field-Programmable gate arrays (Field-Programmable GATE ARRAY, FPGA), or other electronic components.

The information processing method provided by the embodiments of the present application may be executed by an electronic device, where the electronic device may be a server or a terminal, that is, the information processing method of the embodiments of the present application may be executed by the server or the terminal, or may be executed by interaction between the server and the terminal.

It should be noted that, in the following examples of the information processing method, a map navigation scene is taken as an example, and in the map navigation scene, satellite signals may be used for positioning, navigation and path planning of a target object. When the information processing method provided by the embodiment of the application is used for map navigation scenes, the current shielding state of the satellite signals can be identified, and the navigation positioning strategy is adjusted based on the shielding state, so that the navigation accuracy is improved. Those skilled in the art will understand that the information processing method provided in the embodiment of the present application may be applied to any other scenario using satellite signals, such as a remote sensing satellite scenario and an agricultural satellite scenario.

Fig. 4 is a schematic flow chart of a first procedure of the information processing method according to the embodiment of the present application, and the steps shown in fig. 4 are described below, and as shown in fig. 4, the method includes the following steps S101 to S104, taking an execution subject of the information processing method as an example of a server:

step S101, positioning information of a target object is obtained, and map data of the target object in a preset range of the current position is obtained based on the positioning information.

Here, the target object may be an object that is navigating using a carrier device having a map navigation function. The carrier device with the map navigation function can be a vehicle navigation system, and the target object is a vehicle provided with the vehicle navigation system; or the carrier device with the map navigation function may be a mobile terminal installed with a navigation application, and the target object is a user who is navigating using the navigation application in the mobile terminal. The information processing method provided by the embodiment of the application can be applied to navigation scenes in the running process of the vehicle, navigation scenes in the traveling process of the user and the like. For ease of understanding, the following embodiments are illustrated with respect to a navigation scenario during the travel of a vehicle.

In the embodiment of the application, the positioning information can be acquired by using a global navigation satellite system GNSS. The positioning information of the target object may include a position coordinate of the target object at the current time, a historical positioning track of the target object, a speed at which the target object travels, and the like. The position coordinates can be represented by longitude and latitude, the historical positioning track consists of a plurality of position coordinates in a preset historical time, and the speed comprises a speed size and a speed direction. The method for acquiring positioning information by using the Global Navigation Satellite System (GNSS) is not particularly limited, and for example, the method can be common, GNSS positioning, precise single point positioning (precise point positioning, PPP) or carrier phase differential positioning (Real-TIME KINEMATIC, RTK, real-time dynamic) and the like, and can also acquire a final track reckoning point for fusing GNSS positioning points and vehicle sensor signals to output a position coordinate at the current moment. After the positioning information is acquired, the position coordinates of the target object at the current moment can be acquired from the positioning information. Then, the position coordinates are used as the current position of the target object, and map data of the target object in a preset range of the current position are obtained. It should be noted that, the preset range is not limited in particular in the embodiment of the present application, and may be set by itself based on actual situations. For example, after determining the longitude and latitude coordinates of the vehicle, the map data with the longitude and latitude coordinates as the center and the radius within 200m can be obtained from the map database. The map data may include a plurality of roads within a preset range, and road data of each road.

Step S102, determining a first shielding detection result of the target object based on the positioning information and the map data.

Here, the first occlusion detection result of the target object is used to characterize whether the road on which the target object is located may be occluded by other roads. For example, when the target object is taken as a vehicle, the first shielding detection result is used for representing that the road under the overpass where the vehicle is located may be shielded by the road on the overpass, and then the satellite signal of the target object is suspected to be in a shielded state. First, a road on which the current vehicle is most likely to travel is determined based on positioning information and map data, and a road scene (if parallel roads with the same height exist around, the road is a main road area and an auxiliary road area, and parallel roads with different heights exist around, the road is an overhead area) where the current vehicle is located is determined according to the road. And then, if the road scene is an overhead area, judging whether the current vehicle possibly runs under the blocked overhead based on the positioning information and the map data, and obtaining a first blocking detection result.

In some embodiments, the map data includes road data for a plurality of roads. Referring to fig. 5, fig. 5 shows that determining the first occlusion detection result of the target object based on the positioning information and the map data in step S102 may be achieved by the following steps S1021 to S1024:

Step S1021, a candidate road sequence is determined based on the positioning information and the road data of the plurality of roads.

The candidate road sequence includes a plurality of road combinations including a first candidate road and a second candidate road. The first candidate road is the road where the target object is suspected to be.

Here, the road data may include a length of a road, the number of lanes, a lane width, connectivity between roads, a road shape point representation, road properties (overhead, ramp, main road, auxiliary road, tunnel, etc.), and road class (high speed, province road, country road, etc.), etc. Inter-road connectivity is used to represent roads that can be connected by traffic, and may generally include steering rules for various intersections connecting roads. For example, road a and road share one intersection 1, and the steering rule is that a vehicle traveling on road a can only turn right to road b at intersection 1. Each road has two road end points, and the road shape point of one road is represented as a line segment formed by connecting the two road end points of the road. The road shape point representation may include a direction vector of the road and coordinate information of the road end points.

In the embodiment of the application, due to the problems of accuracy, resolution and the like of the positioning information, the position coordinates of the target object cannot be accurately positioned on the road where the target object is actually positioned, so that a plurality of first candidate roads where the target object is suspected to be positioned can be determined from a plurality of roads based on the positioning information and the road data of the plurality of roads. Then, a plurality of roads parallel or angularly close to the first candidate road where the current target object is most likely to be located are determined from among the plurality of roads as a plurality of second candidate roads. A plurality of road combinations are constructed from the plurality of first candidate roads and the plurality of second candidate roads, and then a candidate road sequence is constructed based on the plurality of road combinations. The candidate road sequences do not have the same road combination, namely at least the first candidate road is different or the second candidate road is different between every two road combinations.

In some embodiments, referring to fig. 6, fig. 6 shows that determining a candidate road sequence based on the positioning information and the road data of a plurality of roads in step S1021 may be achieved by the following steps S10211 to S10215:

step S10211, determining a first probability that the target object is located on each road based on the positioning information and the road data of the plurality of roads.

Here, the road on which the target object is suspected to be located and the road on which it is most likely to be located may be determined based on the positioning information and the road data of the plurality of roads using a map matching algorithm. Map matching refers to the process of matching positioning track points to roads in a road network, and is part of track preprocessing. Because of errors in the global navigation satellite system, the position coordinates of the actually acquired target object are often near the road. Taking a target object as a vehicle example, the vehicle can only run in a road network, and at the moment, the fact that each track point (namely the position coordinates at a plurality of moments) is actually positioned on which road is needed to be judged through map matching, so that an error correction effect is achieved. It should be noted that, the map matching algorithm in the embodiment of the present application is not particularly limited, and may be various algorithms based on a hidden markov model (Hidden Markov Model, HMM), a conditional random field (conditional random field, CRF), a maximum weight, a local path inference, an intelligent optimization algorithm, a deep learning, and the like. The embodiment of the application is exemplified by a map matching process of a Hidden Markov Model (HMM).

First, the road data includes a road shape point representation, which may include a direction vector of a road and coordinate information of a road end point. The distance between the position coordinates and each road is determined based on the position coordinates of the target object and the road shape point representation of each road. The speed of the target object is obtained from the positioning information of the target object, and the speed has a magnitude and a direction, so that the included angle between the position coordinate and each road can be determined based on the speed direction of the target object. And determining the observation probability of the target object on each road based on the hidden Markov model HMM, the position coordinates and the distance and the included angle between each road. For each road, the smaller the distance between the position coordinates and the road is, the larger the observation probability that the target object is positioned on the road is; the smaller the included angle between the position coordinates and the road, the larger the observation probability that the target object is located on the road. The road data also comprises the connectivity among the roads, and the transition probability of each road can be determined based on the positioning track formed by the position coordinates of the target object at a plurality of historical moments, the connectivity among the roads and the road shape point representation of each road. The satellite signal angle change can be determined based on a positioning track formed by position coordinates of the target object at a plurality of historical moments; determining a change in road angle between the communicating roads based on the inter-road connectivity and the road shape point representation; the more the satellite signal angle change is consistent with the road included angle change, the greater the transition probability is, and the smaller the transition probability is otherwise. For example, the positioning track of the target object is displayed as a left turn, and when the road a turns left to the road b and turns right to the road c, the transition probability of the road b is higher and the transition probability of the road c is lower. The product of the transmission probability and the transition probability is determined as a first probability. For example, knowing that there is a road b and a road c communicating with a road a based on the connectivity between roads, the transition probability of the road a to the road b is 0.2, the transition probability of the road a to the road c is 0.8, the emission probability of the target object on the road b is 0.4, the emission probability on the road c is 0.6, the first probability of the target object on the road b is 0.2x0.4=0.08, and the first probability of the target object on the road c is 0.8x0.6=0.48.

Step S10212, for each road, determining the corresponding road as a first candidate road when the first probability that the target object is located on any road is greater than a preset probability threshold.

The probability threshold is not particularly limited in the embodiment of the application, and can be set automatically based on actual precision requirements, and the probability threshold only needs to be satisfied with a value between 0 and 1. For any road, when the first probability that the target object is located on the road is greater than the probability threshold, the road is determined to be a first candidate road.

Step S10213, obtaining a first included angle between each road and the target candidate road.

The target candidate road is the first candidate road having the greatest first probability.

In the embodiment of the application, after the first probability of each road is obtained, the maximum first probability is determined from the first probabilities. And determining the first candidate road with the maximum first probability as a target candidate road, wherein the target candidate road is the road where the target object is most likely to be located. And obtaining a direction vector of each road from the road data, and determining a first included angle between the road and the target candidate road based on the direction vector of the road and the direction vector of the target candidate road for any road.

Step S10214, for each road, determining the corresponding road as a second candidate road when the first included angle between any road and the target candidate road is smaller than a preset first angle threshold.

The preset first angle threshold is not particularly limited in the embodiment of the application, and can be set automatically based on actual precision requirements, and the threshold which only needs to meet the first angle threshold is 0-90 degrees. The smaller the preset first angle threshold value is, the higher the accuracy degree of the determined second candidate road is. The second candidate road is a road parallel or angularly close to the target candidate road.

Step S10215, constructing a candidate road sequence based on the determined plurality of first candidate roads and the determined plurality of second candidate roads.

Here, the combination processing may be performed on the plurality of first candidate roads and the plurality of second candidate roads, resulting in a plurality of road combinations. The combination processing is to randomly select a first candidate road from a plurality of first candidate roads at a time, and randomly select a second candidate road from a plurality of second candidate roads to form a road combination. After multiple picks, the multiple road combinations generated cover all combinations possibilities. And arranging the plurality of road combinations according to sequence numbers to obtain candidate road sequences. The method for ordering the plurality of road combinations in the candidate road sequence is not limited in the embodiment of the application.

According to the embodiment of the application, the road combinations which are possibly the elevated areas are screened out through the positioning information and the road data of the plurality of roads, so that the first shielding detection result can be judged according to the road combinations, the satellite signal shielding condition can be judged by combining the road data, the problem that the vehicle is under the elevated condition only by considering the satellite observation information possibly and continuously judging, and then the wrong navigation route is presented is solved, and the accuracy and the reliability of manuscript-drawing navigation are realized.

Step S1022, determining, for the ith road combination in the candidate road sequence, a third occlusion detection result of the ith road combination based on the positioning information and the road data of the first candidate road and the second candidate road in the ith road combination.

Wherein i is a positive integer.

Here, the third occlusion detection result of the ith road combination is used to characterize whether the second candidate road in the ith road combination is suspected to occlude the target object on the first candidate road.

In the embodiment of the present application, in step S1022, based on the positioning information and the road data of the first candidate road and the second candidate road in the ith road combination, the determination of the third shielding detection result of the ith road combination may be implemented in the following manner: first, determining a second included angle between a first candidate road and a second candidate road based on road data of the first candidate road and the second candidate road in an ith road combination; then, when the second included angle is larger than or equal to a preset second angle threshold value, a third shielding detection result of the ith road combination is obtained as a second candidate road non-shielding target object; when the second included angle is smaller than a second angle threshold value, obtaining road attributes of the first candidate road and the second candidate road from the road data; and determining a third shielding detection result of the ith road combination based on the positioning information and the road attributes of the first candidate road and the second candidate road.

For example, for the 1 st road combination in the candidate road sequence, the direction vectors of the first candidate road and the second candidate road may be obtained from the road data of the first candidate road and the second candidate road in the 1 st road combination, respectively. Then, a second included angle between the first candidate road and the second candidate road is determined according to the direction vector of the first candidate road and the direction vector of the second candidate road. And comparing the second included angle with a preset second angle threshold, and if the second included angle is larger than or equal to the preset second angle threshold, the first candidate road and the second candidate road are not likely to be overhead areas, the second candidate road is unlikely to block the first candidate road, and at the moment, the third blocking detection result is that the second candidate road does not block the target object. If the second included angle between the first candidate road and the second candidate road in the 1 st road combination is smaller than the second angle threshold, the first candidate road and the second candidate road may be an overhead area, the second candidate road may block the first candidate road, and at this time, the road attribute of the first candidate road and the second candidate road is obtained from the road data, and then the next judgment is performed. It should be noted that, the preset second angle threshold is not limited in particular, and may be set automatically based on actual accuracy requirements, and only the threshold satisfying the second angle threshold is required to be 0-90 degrees. The second angle threshold may be equal in value to the first angle threshold.

According to the embodiment of the application, the road combination of the non-overhead area is eliminated by comparing the second included angle between the first candidate road and the second candidate road with the second angle threshold, so that the efficiency and the accuracy of satellite signal shielding judgment are improved, and the navigation efficiency and the navigation accuracy are further improved.

In the embodiment of the application, based on the positioning information and the road attribute of the first candidate road and the second candidate road, the determination of the third shielding detection result of the ith road combination can be realized by the following modes: firstly, when the road attribute of a first candidate road is not an overpass lower road or the road attribute of a second candidate road is not an overpass upper road, determining that a third shielding detection result of an ith road combination is a second candidate road non-shielding target object; when the road attribute of the first candidate road is a overpass lower road and the road attribute of the second candidate road is an overpass upper road, determining a road distance between the first candidate road and the second candidate road based on the positioning information and the road data; then, determining a distance threshold value of misalignment between the first candidate road and the second candidate road based on the road data; and determining a third shielding detection result of the ith road combination based on the road distance and the distance threshold.

For example, road attributes may include overpass lower roads, overpass upper roads, ramps, main roads, auxiliary roads, tunnels, and the like. For the 1 st road combination in the candidate road sequence, or if the road attribute of the first candidate road is not the under-viaduct road or the road attribute of the second candidate road is not the on-viaduct road, the second candidate road is not likely to be located above the first candidate road, and the second candidate road is unlikely to block the first candidate road, where the third blocking detection result is that the second candidate road does not block the target object. The above steps are repeated for the 2 nd road combination. If the road attribute is null, the road scene between the first candidate road and the second candidate road cannot be determined, and therefore, the third occlusion detection result in this case is also determined as the second candidate road non-occlusion target object. If the road attribute of the first candidate road in the 2 nd road combination is the overpass lower road and the road attribute of the second candidate road is the overpass upper road, the second candidate road may be located above the first candidate road and shade the first candidate road, at this time, the road distance between the first candidate road and the second candidate road and the non-overlapping distance threshold between the first candidate road and the second candidate road are determined based on the positioning information and the road data, and then the next judgment is performed.

According to the embodiment of the application, the road combination that the second candidate road cannot be positioned above the first candidate road is eliminated through the road attribute, so that the efficiency and the accuracy of satellite signal shielding judgment are improved, and the navigation efficiency and the navigation accuracy are further improved.

In some embodiments, determining the road spacing between the first candidate road and the second candidate road based on the positioning information and the road data may be accomplished by: firstly, acquiring the position coordinates of a target object from positioning information; then, the position coordinates are projected onto the first candidate road and the second candidate road respectively, and a first projection point of the first candidate road and a second projection point of the second candidate road are correspondingly obtained; and finally, determining the distance between the first projection point and the second projection point based on the road data, and obtaining the road distance between the first candidate road and the second candidate road.

In the embodiment of the application, the road shape point in the road data of the road is represented as a line segment formed by connecting two road end points of the road. After the position coordinates of the target object are obtained, a vertical line may be made from the position coordinates to the line segment of the first candidate road by using the orthographic projection method, and an intersection point of the vertical line and the line segment of the first candidate road may be determined as the first projection point of the first candidate road. And similarly, orthographic projection is carried out to obtain a second projection point of the second candidate road. The coordinate information of the first projection point is determined based on the coordinate information of the two road end points of the first candidate road and the position coordinates of the target object. The coordinate information of the second projection point is determined based on the coordinate information of the two road end points of the second candidate road and the position coordinates of the target object. It should be noted that, the method for calculating the coordinates of the projection points in the embodiment of the present application is not particularly limited, and reference may be made to the orthographic projection method, the geometric solution method, and the like in the related art. After the coordinate information of the first projection point and the coordinate information of the second projection point are obtained, a distance between the first projection point and the second projection point may be determined according to the coordinate information of the first projection point and the coordinate information of the second projection point, and the distance may be determined as a road distance between the first candidate road and the second candidate road.

In some embodiments, determining a distance threshold for misalignment between the first candidate road and the second candidate road based on the road data may be accomplished by: first, determining a first road width of a first candidate road and a second road width of a second candidate road based on road data; then, an average value of the first road width and the second road width is determined as a distance threshold value of misalignment between the first candidate road and the second candidate road.

In the embodiment of the application, the threshold value of the distance between the first candidate road and the second candidate road is the minimum distance between the first candidate road and the second candidate road. The first road width of the first candidate road and the second road width of the second candidate road may be directly obtained from the road data. The minimum distance between the two parallel roads, which are not overlapped with each other, is half of the sum of the widths of the two roads, and therefore, the average value of the width of the first road and the width of the second road is determined as the distance threshold value of the misalignment between the first candidate road and the second candidate road.

In some embodiments, determining the first link width of the first candidate link and the second link width of the second candidate link based on the link data may be accomplished by: firstly, acquiring a first road number of a first candidate road and a second road number of a second candidate road from road data; then, the lane width of the lane is obtained, and the product of the first number of lanes and the lane width is determined as the first road width, and the product of the second number of lanes and the lane width is determined as the second road width.

In the embodiment of the application, if the first road width of the first candidate road and the second road width of the second candidate road do not exist in the road data, the first road number of the first candidate road and the second road number of the second candidate road can be obtained from the road data. Each road may include multiple lanes: various types of lanes such as a straight lane, a right-turn lane, and a left-turn lane. One lane width, for example, 3.5m, can be obtained on the basis of conventional lane data (3.5 m, 3.75m, etc.), assuming that the lane width of each lane is equal. The product of the first number of lanes and the lane width is determined as a first road width and the product of the second number of lanes and the lane width is determined as a second road width.

According to the method and the device for estimating the first road width and the second road width, the first road width and the second road width can be estimated by assuming that the lane widths of all lanes are equal, the problem that no road width data exists in road data is solved, the data processing efficiency is improved, and further the satellite information shielding detection efficiency is improved.

In some embodiments, determining a third occlusion detection result for an ith road combination based on the road spacing and the spacing threshold comprises: this can be achieved by: when the road distance is larger than or equal to the distance threshold value, determining that a third shielding detection result of the ith road combination is a second candidate road non-shielding target object; and when the road distance is smaller than the distance threshold value, determining a third shielding detection result of the ith road combination as a suspected shielding target object of the second candidate road.

In the embodiment of the application, when the road distance between the first candidate road and the second candidate road is smaller than the distance threshold, the first candidate road and the second candidate road may have an overlapping area on parallel surfaces arranged in parallel, and the second candidate road may shade the first candidate road. At this time, the third occlusion detection result is determined to be the suspected occlusion target object of the second candidate road. Or when the road distance between the first candidate road and the second candidate road is greater than or equal to the distance threshold value, the first candidate road and the second candidate road may not have an overlapping area on parallel surfaces arranged in parallel, the second candidate road may not shade the first candidate road, and the third shielding detection result is determined to be the second candidate road non-shielding target object.

According to the embodiment of the application, the road distance between the first candidate road and the second candidate road is compared with the distance threshold value which is not overlapped between the first candidate road and the second candidate road, so that the third shielding detection result that the target object is suspected to be shielded by the second candidate road in one road combination can be obtained, the satellite signal of which the first shielding detection result is the target object is in a suspected shielding state is further obtained, the satellite signal shielding condition is judged by combining road data, the problem that the vehicle is under an overhead condition and then the wrong navigation route is presented by only considering satellite observation information in the technical problem 1 is solved, and the navigation accuracy and reliability are improved.

Step S1023, when the third occlusion detection result of the ith road combination is the second candidate road non-occlusion target object, determining the third occlusion detection result of the (i+1) th road combination based on the positioning information and the road data of the first candidate road and the second candidate road in the (i+1) th road combination.

For example, if the third occlusion detection result is the second candidate road non-occlusion target object, determining the third occlusion detection result of the 2 nd road combination based on the positioning information and the road data of the first candidate road and the second candidate road in the 2 nd road combination. For a specific procedure for determining the third occlusion detection result of the 2 nd road combination, reference may be made to the above-described other embodiments for determining the third occlusion detection result of the 1 st road combination.

In step S1024, when the third shielding detection result of the mth road combination in the candidate road sequence is the suspected shielding target object of the second candidate road, the detection of the mth+1th road combination is stopped, and it is determined that the satellite signal of which the first shielding detection result is the target object is in the suspected shielding state.

Wherein M is a positive integer and M is greater than i. In the embodiment of the application, M is smaller than or equal to the number of road combinations in the candidate road sequence. For any road combination, if the third shielding detection result of the road combination is the suspected shielding target object of the second candidate road, the acquisition process of the third shielding detection result of the road combination is directly exited, and the satellite signal of which the first shielding detection result is the target object is determined to be in a suspected shielding state without judging the subsequent road combination.

According to the embodiment of the application, through determining the third shielding detection result of the road combination, the subsequent second shielding detection result judging process is carried out only when the third shielding detection result represents that the satellite signal of the target object is in the suspected shielding state, the satellite signal shielding condition is judged by combining the road data, the problem that the vehicle is under an overhead state only by considering satellite observation information possibly is continuously judged, and then an error navigation route is presented is solved, and the accuracy and the reliability of manuscript-drawing navigation are realized.

In some embodiments, when the third occlusion detection result of each road combination is the second candidate road non-occlusion target object, it is determined that the satellite signal of which the first occlusion detection result is the target object is not in an occluded state.

In the embodiment of the application, if the third shielding detection result of each road combination is the second candidate road non-shielding target object, the satellite signal of the target object is not shielded, and the satellite signal of which the first shielding detection result is the target object is determined not to be in a shielded state, and the subsequent step of determining the second shielding detection result is not performed.

Step S103, when the first shielding detection result represents that the satellite signal of the target object is in a suspected shielding state, acquiring satellite observation information and historical average satellite information at the current moment.

The historical average satellite information is average information of a plurality of satellite observation information when satellite signals of the target object are not shielded in a preset historical time period.

In some embodiments, when the first occlusion detection result is that the satellite signal of the target object is not in an occluded state, storing satellite observation information into a buffer queue; the buffer queue is used for storing historical average satellite information in a preset historical time period. The buffer queue is used for retaining satellite observation information under the condition that satellite signals of a target object are not blocked in a preset historical time period. It should be noted that, in the embodiment of the present application, the preset historical time period is not specifically limited, for example, the preset historical time period may be a T second window (T is a positive number), and the cache queue always stores a plurality of satellite observation information in the T second window and historical average satellite information of the plurality of satellite observation information. If the first occlusion detection result at the current moment is that the satellite signal of the target object is not in an occluded state, the satellite observation information at the current moment can be stored in a buffer queue, at the moment, the earliest piece of satellite observation information in the buffer queue needs to be deleted, and the historical average satellite information is determined again based on the new multiple pieces of satellite observation information.

According to the embodiment of the application, the satellite observation information when the satellite signal of the target object is not in the shielded state as the first shielding detection result is stored in the buffer queue, and the historical average satellite information is determined, so that the second shielding detection result of the target object is determined according to the historical average satellite information, the problem that misjudgment is easily caused by short-time signals when the current satellite observation information is used for shielding judgment in the technical problem 2 is solved, the accuracy and reliability of satellite information shielding judgment are improved, and the accuracy and reliability of navigation are further improved.

Step S104, determining a second shielding detection result of the target object based on the satellite observation information and the historical average satellite information.

In some embodiments, the satellite observation includes multiple categories of first observations, and the historical average satellite information includes one second observation corresponding to each category of first observations. Referring to fig. 7, fig. 7 shows that in step S104, determining the second occlusion detection result of the target object based on the satellite observation information and the historical average satellite information may be achieved by the following steps S1041 to S1043:

Step S1041, obtaining a weight parameter corresponding to each second observation information.

Here, the plurality of categories of first observation information includes a satellite average signal-to-noise ratio, a number of satellites, a high elevation satellite average signal-to-noise ratio, and a high elevation satellite number. The average signal-to-noise ratio of the satellites is the average signal-to-noise ratio CUR_SNR1 of all visible satellites at the current moment, the number of satellites is the number of the current visible satellites CUR_N1, the average signal-to-noise ratio of the satellites with high elevation angles is the average signal-to-noise ratio CUR_SNR2 of the satellites with high elevation angles, and the number of the satellites with high elevation angles is the number of the satellites with high elevation angles CUR_N2 which are currently visible. The high elevation angle satellite is defined as a visible satellite with an elevation angle value in a satellite signal larger than a preset angle threshold (the value is 0-90 degrees, and the value is generally larger, such as 60 degrees). The first observation information of the plurality of categories may be determined from the visible satellite state output statement GPGSV based on the visible satellite state output statement GPGSV for the current time of day acquired by the global navigation satellite system. Second observation information of a plurality of categories within a preset history period can be obtained from the cache queue. The second observation information of the plurality of categories includes a historical satellite average signal-to-noise ratio, a historical average number of satellites, a historical high elevation satellite average signal-to-noise ratio, and a historical average high elevation number of satellites. For example, if the preset historical time period is T seconds, the average signal-to-noise ratio of the historical satellites corresponding to the average signal-to-noise ratio of all the visible satellites at the current time is mean_snr1 of all the visible satellites in T seconds, the number of the historical average satellites corresponding to the number of the current visible satellites is mean_n1 of the number of the visible satellites in T seconds, the average signal-to-noise ratio of the historical high elevation satellites corresponding to the average signal-to-noise ratio of the current high elevation satellite is mean_snr2 of the historical high elevation satellites corresponding to the number of the current high elevation satellites in T seconds, and the number of the historical average high elevation satellites corresponding to the number of the current high elevation satellites is mean_n2 of the number of the high elevation satellites in T seconds.

And acquiring a first weight parameter corresponding to the average signal-to-noise ratio of all visible satellites in T seconds, a second weight parameter corresponding to the average number of visible satellites per second in T seconds, a third weight parameter corresponding to the signal-to-noise ratio of the average high-elevation satellite in T seconds, and a fourth weight parameter corresponding to the average number of visible high-elevation satellites per second in T seconds. The values of the first weight parameter, the second weight parameter, the third weight parameter and the fourth weight parameter are not particularly limited, and can be set according to experience, and only the values within the range of 0-1 are required to be satisfied.

In step S1042, for each second observation information, the product of the weight parameters corresponding to the second observation information and the second observation information is determined as the signal threshold of the first observation information corresponding to the second observation information.

In the embodiment of the application, the product of the average signal-to-noise ratio of the historical satellite and the first weight parameter is determined as the signal threshold value of the average signal-to-noise ratio of the satellite. The product of the historical average satellite number and the second weight parameter is determined as a signal threshold for the satellite number. And determining the product of the historical high-elevation satellite average signal-to-noise ratio and the third weight parameter as a signal threshold of the high-elevation satellite average signal-to-noise ratio. And determining the product of the historical average high-elevation satellite number and the fourth weight parameter as a signal threshold value of the high-elevation satellite number.

In step S1043, when each of the first observation information is less than or equal to the corresponding signal threshold, it is determined that the satellite signal of the target object is in the blocked state as the second blocking detection result.

Here, the second occlusion detection result is determined that the satellite signal of the target object is in an occluded state only when the satellite average signal-to-noise ratio is less than or equal to the signal threshold of the satellite average signal-to-noise ratio and the number of satellites is less than or equal to the signal threshold of the satellite average signal-to-noise ratio and the high elevation satellite average signal-to-noise ratio is less than or equal to the signal threshold of the high elevation satellite average signal-to-noise ratio and the high elevation satellite number is less than or equal to the signal threshold of the high elevation satellite number. Otherwise, determining that the satellite signal of the target object is not in the shielded state as the second shielding detection result.

Compared with the traditional method for judging shielding by referring to the current satellite observation information, the embodiment of the application is based on road data and map matching as priori information, thereby ensuring the effectiveness of scene recognition and avoiding false recognition. In addition, the embodiment of the application also considers the historical average satellite information, solves the problem that the fixed threshold value cannot be used for adapting to various models and various scenes in the market in the technical problem 2 based on the set historical average satellite information dynamic threshold value, and can adapt to the differences and diversity of different areas, scenes and models more effectively.

In some embodiments, in the map navigation scene, navigation processing may be performed on the target object based on the second occlusion detection result. If the second shielding detection result is that the satellite signal of the target object is not in the shielded state, the navigation function is not processed, and navigation is continuously carried out on the target object according to a default scheme. If the second shielding detection result is that the satellite signal of the target object is in a shielded state, the satellite signal is inaccurate, a navigation degradation protection strategy can be implemented, and navigation information provided for the target object is processed in a fuzzy manner.

When the target object is navigated, the first shielding detection result is determined based on the positioning information of the target object and the map data of the target object in the preset range of the current position, and the second shielding detection result is determined based on the satellite observation information and the historical average satellite information only when the first shielding detection result represents that the satellite signal of the target object is in a suspected shielding state. According to the embodiment of the application, the shielding condition of the satellite signal is comprehensively judged by combining the current positioning information, the map data and the satellite observation information, so that the accuracy and the effectiveness of satellite signal shielding judgment can be improved, and navigation can be performed based on the second shielding detection result, and the navigation accuracy can be improved.

In some embodiments, following step S1024, the following steps may also be performed: firstly, obtaining navigation information of a target object; then, determining current steering information of the target object from the navigation information; then, based on the current steering information, determining a first lane in which the target object is suspected to be positioned on a first candidate road in the Mth road combination; and judging whether a second candidate road in the M-th road combination is positioned above the first lane or not based on the map data and the positioning data, and if the second candidate road is positioned above the first lane, obtaining a third shielding detection result of a second candidate road shielding target object in the M-th road combination. At this time, it may be directly determined that the satellite signal of the target object is in the blocked state as a result of the second blocking detection of the target object.

According to the embodiment of the application, the first lane where the target object is located is further judged through the current steering information of the target object, and then the shielding relation between the second candidate road and the first lane is judged according to the map data, so that the second shielding detection result of the target object can be directly obtained, the satellite observation information and the historical average satellite information are not required to be reused, the calculation resource is saved, and the navigation processing efficiency is improved.

In the following, an exemplary application of the embodiment of the present application in a practical application scenario will be described.

The embodiment of the application provides an information processing method, which is a judgment method of a signal shielding scene, and can realize rapid and accurate judgment of the shielding scene by comprehensively utilizing positioning information and map data information. The scheme of the embodiment of the application can be applied to various navigation applications, and the navigation applications can be installed on a mobile terminal, vehicle-mounted equipment and the like, such as mobile phone vehicle-mounted navigation and a vehicle-mounted navigation system. The scheme of the embodiment of the application can improve the recognition capability of special scenes such as satellite shielding, adjust corresponding navigation and positioning experience, improve the product effect of navigation application and bring better experience to users. For example, after the information processing method provided by the embodiment of the application identifies the shielding scene of the vehicle running under the overpass, the navigation strategy can be degraded, the error of navigation application is avoided, accurate and reasonable driving guidance is provided, the wrong-way cost of the user is reduced, and more comfortable driving experience can be brought to the user.

The specific process of the information processing method provided by the embodiment of the application is as follows: step one, obtain the historical positioning information (corresponding to the positioning information in the above embodiment) of the global navigation satellite system GNSS on the carrier device (corresponding to the target object in the above embodiment), including the absolute position P (vehicle position coordinates longitude and latitude coordinates), the vehicle speed V (including the speed and direction), and the satellite state information GPGSV. And step two, combining the current positioning information and the current road data (corresponding to the map data in the embodiment) to obtain the real-time motion state information of the vehicle and the characteristic relation of the road, so as to judge the road on which the current vehicle is most likely to run, and judging the road scene on which the current vehicle is positioned according to the matched optimal road. And thirdly, judging whether the navigation equipment can possibly run under the blocked overhead by combining the current road and map matching information, if not, recording the current satellite observation information, and returning to the first step, otherwise, entering the next step. And step four, judging whether the current satellite is truly shielded or not by comparing each dimension characteristic of the current satellite observation information with each dimension characteristic average value (corresponding to the historical average satellite information in the embodiment) observed by the historical window of the non-overhead area, and if the satellite is judged to be shielded, adjusting the navigation effect, adapting to poorer positioning signals, ensuring user experience, and if the satellite is judged not to be obviously shielded, returning to the step one.

Referring to fig. 8, fig. 8 is a schematic block diagram of an information processing system according to an embodiment of the present application. The information processing system may include a vehicle positioning module 801, a map data module 802, a map matching module 803, scene recognition, signal processing module 804, and signal determination module 805.

The vehicle positioning module 801 may be configured to obtain positioning information of a global navigation satellite system GNSS of an information processing system or fuse positioning information, where the positioning information of the global navigation satellite system GNSS may be obtained based on a method such as a normal GNSS positioning, a precise single point positioning (precise point positioning, PPP), or a carrier phase differential positioning (Real-TIME KINEMATIC, RTK, real-time kinematic). The GNSS positioning point and the sensor signal can be fused to obtain a final track reckoning point, so that positioning point information at the current moment is output, namely the fused positioning information. The positioning information or the fused positioning information of the global navigation satellite system GNSS may include: the vehicle position coordinates comprise longitude and latitude coordinates P, the time T of the current positioning point and the speed information V of the current vehicle, wherein the speed information comprises the speed and the direction. The vehicle positioning module 801 is also configured to acquire satellite observation information GPGSV.

The map data module 802 is configured to obtain local map information of a certain range around the current position according to positioning information of the vehicle positioning module 801, where the local map information includes a length, a number of lanes, a lane width, connectivity between roads, a road shape point representation, road attributes (overhead, ramp, main road, auxiliary road, tunnel, etc.), road grades (high speed, provincial road, rural road, etc.), and the like. Map data is one of important information on which computation depends.

The map matching module 803 is configured to obtain, from the map data module 802, surrounding local road network data within a certain range based on the positioning information. Map matching is performed in combination with the positioning information, the sensor information and the local map data (MAP MATCHING). There are many algorithms for map matching, and there are no specific restrictions, and for example, a hidden Markov model (Hidden Markov Model, HMM) may be used. Optionally, the observation probability (or emission probability) may be defined by the distance and the included angle between the GNSS positioning point and each road, where the closer the distance to the road is, the smaller the distance to the road is, and similarly, the larger the included angle between the signal and the road is, the smaller the probability is, and the smaller the included angle is, the larger the probability is; the transition probability can consider the communication relation between roads and the coincidence degree of the included angle of the communication road and the angle change of the sensor signal (or GNSS signal), and the transition probability is larger when the angle change is coincident, and otherwise, the transition probability is smaller. After the emission probability and the transition probability are obtained, the current best matching road can be obtained by using the viterbi algorithm. After determining the optimal matching road, the special area scene can be identified by judging the attribute of the current road (such as a tunnel, a service area, a toll station and the like), or the special road scene can be identified according to the relation between the current road and the surrounding road (such as a main road area and an auxiliary road area when the surrounding road has parallel roads with the same height, or an overhead area when the surrounding road has parallel roads with different heights). The map matching module 803 may output m candidate roads (corresponding to the first candidate road in the above embodiment) whose map matching probability is greater than the threshold prob_th1, where prob_th1 is a probability threshold value of 0-1.

The scene recognition and signal processing module 804 is configured to obtain, based on the current anchor point and the surrounding road network, all n roads (corresponding to the second candidate road in the above embodiment) whose included angles are smaller than the angle threshold angle_th1 (corresponding to the first candidate road in the above embodiment) and the optimal candidate road (the probability of the highest in the m roads) (n and m may have an intersection), where angle_th1 is an angle threshold (corresponding to the first angle threshold in the above embodiment) and takes a value of 0-90 °, and generally takes a smaller value, to represent a road parallel to or close to the optimal candidate road. The scene recognition and signal processing module 804 is further configured to perform the following calculation for each road in M and each road pair in N:

Assuming that the road in M is M _i and the road in N is N _j, it is determined whether the included angle between the two roads is smaller than the threshold angle_th1 (corresponding to the second angle threshold in the above embodiment), if yes, the next step is entered, otherwise the pair is skipped. And judging whether m _i is an overhead bridge lower road and n _j is an overhead bridge upper road according to the road attribute in the local map data, if so, entering the next step, otherwise, skipping the pair. The number of lanes of the two roads obtained from the data is respectively And/>Then the minimum distance between two parallel non-overlapping roads is estimated to be half of the sum of the widths of the two roads, and assuming that the width of each lane is W (e.g., 3.5m, 3.75m, etc.), the estimated minimum distance between two non-overlapping roads can satisfy the following formula (1).

Wherein D _min is the minimum distance between two paths which are not coincident.

And calculating the distance d between the two roads in the data expression. Each road may be expressed by a line segment composed of two points, and there are many ways of calculating the distance between two roads, which is not particularly limited herein. For example, referring to fig. 9, the current positioning signal point is respectively orthographically projected on the roads m _i and b _j to obtain projection points p _i and p _j, and finally, the distance d between the two points p _i and p _j is approximately expressed as the road distance. The road spacing may satisfy the following formula (2).

D=distance (p _i,p_j) formula (2);

wherein the distance function represents the calculated distance between two points.

In the embodiment of the application, the size of the road distance D and the minimum distance D _min of the non-overlapping two roads can be compared, if D < D _min, the under-bridge road m _i is considered to be possibly blocked by the over-bridge road n _j (shown in fig. 10 and 11), the next step is carried out, and otherwise, the pair is considered to be not blocked (shown in fig. 12), and the pair is skipped. And judging that signal shielding possibly exists at present, directly exiting, and judging the subsequent road pairs no longer.

If the conclusion of the above step is that there is signal occlusion, the enter signal determination module 805 continues processing. If the conclusion obtained in the steps is that no signal shielding exists, the current satellite observation information is put into a buffer queue, and the buffer queue retains satellite information of a T second window under the condition that the history is not shielded by the signal recently. The mean value of each parameter is obtained based on the current T seconds observation information, including but not limited to: average signal-to-noise ratio mean_snr1 for all satellites in view in T seconds, average number of satellites in view per second mean_n1 in T seconds, average high elevation satellite signal-to-noise ratio mean_snr2 in T seconds, and average number of satellites in view per second mean_n2 in T seconds. The high elevation angle satellite is defined as a visible satellite with an elevation angle value of elevation greater than an angle threshold angle_th2 (the value is 0-90 degrees, and is generally larger, such as 60 degrees).

The signal determination module 805 is configured to obtain satellite observation information for the current second. The satellite observations for this second currently include: average signal-to-noise ratio cur_snr1 for all satellites currently, number of satellites currently in view cur_n1, average signal-to-noise ratio cur_snr2 for satellites currently in high elevation, and number of satellites currently in view cur_n2. The signal determination module 805 is further configured to compare the current observed satellite information with the average observed satellite that is determined not to be in the overhead occlusion scene based on the previous T seconds, if the following conditions are simultaneously satisfied: average signal-to-noise ratio cur_snr1< = average signal-to-noise ratio mean_snr1 of all visible satellites within T seconds of the first adjustable parameter a 1; the current visible satellite number cur_n1< = the second adjustable parameter a2×t seconds the average per second visible satellite number mean_n1; the average signal-to-noise ratio cur_snr2< = the average high elevation satellite signal-to-noise ratio mean_snr2 within a third adjustable parameter a3×t seconds; the number of currently visible high elevation satellites cur_n2< = the number of high elevation satellites mean_n2 visible per second averaged over a fourth adjustable parameter a4×t seconds. The current vehicle is considered to be determined to run under the bridge, satellite signals are bad, some degradation protection of the navigation function is needed, otherwise, the signals are considered to be normal, and the original functions can be continuously maintained. The values of the four adjustable parameters are all [0,1].

In the related art, only satellite observation information is mainly considered, no road network condition is referred, only current satellite observation is used, no historical observation information is used, a fixed value is simply used for controlling the threshold value, and the accuracy and the reliability are greatly reduced. And the method has the advantages that the method is easy to cause misjudgment without combining road information, for example, a mobile phone is placed in a shielding area in a vehicle, only satellite observation information is considered to be under an overhead state possibly continuously, historical satellite observation information is not considered, misjudgment is easily caused by short-time signal mutation, a preset fixed threshold value is used, and the method cannot be suitable for various models and various scenes on the market, so that the generalization capability is insufficient. The embodiment of the application not only refers to road data information, but also considers historical satellite observation information, has obvious improvement on accuracy, and generates the dynamic threshold value by utilizing the historical satellite observation information, thereby being more convenient and efficient in algorithm implementation/deployment, having more ideal result and being capable of adapting to different models and different scenes on the market in a self-adaptive way.

It will be appreciated that in the embodiments of the present application, related data such as user information is involved, and when the embodiments of the present application are applied to specific products or technologies, user permissions or agreements need to be obtained, and the collection, use and processing of related data need to comply with relevant laws and regulations and standards of relevant countries and regions.

Continuing with the description below of an exemplary structure of the information processing apparatus 455 implemented as a software module provided by an embodiment of the present application, in some embodiments, as shown in fig. 3, the software module stored in the information processing apparatus 455 of the memory 450 may include: the positioning information acquisition module 4551 is configured to acquire positioning information of a target object, and acquire map data of the target object within a preset range of a current position based on the positioning information; a first detection module 4552 for determining a first occlusion detection result of the target object based on the positioning information and the map data; the satellite information obtaining module 4553 is configured to obtain satellite observation information and historical average satellite information at a current moment when the first occlusion detection result indicates that the satellite signal of the target object is in a suspected occluded state; the historical average satellite information is average information of a plurality of satellite observation information when satellite signals of a target object are not shielded in a preset historical time period; the second detection module 4554 is configured to determine a second occlusion detection result of the target object based on the satellite observation information and the historical average satellite information.

In some embodiments, the map data includes road data for a plurality of roads; the first detection module is further used for determining candidate road sequences based on the positioning information and road data of a plurality of roads; the candidate road sequence comprises a plurality of road combinations, wherein the road combinations comprise a first candidate road and a second candidate road; the first candidate road is a road where the target object is suspected to be; determining a third shielding detection result of the ith road combination in the candidate road sequence based on the positioning information and the road data of the first candidate road and the second candidate road in the ith road combination; i is a positive integer; when the third shielding detection result of the ith road combination is a second candidate road non-shielding target object, determining the third shielding detection result of the (i+1) th road combination based on the positioning information and the road data of the first candidate road and the second candidate road in the (i+1) th road combination; stopping detecting the M+1th road combination when the third shielding detection result of the M th road combination in the candidate road sequence is a suspected shielding target object of the second candidate road, and determining that the satellite signal of which the first shielding detection result is the target object is in a suspected shielding state; m is a positive integer and M is greater than i.

In some embodiments, the first detection module is further configured to determine that the satellite signal of which the first occlusion detection result is the target object is not in an occluded state when the third occlusion detection result of each road combination is the second candidate road non-occlusion target object.

In some embodiments, the first detection module is further configured to determine a first probability that the target object is located on each link based on the positioning information and the link data of the plurality of links; for each road, when the first probability that the target object is positioned on any road is larger than a preset probability threshold value, determining the corresponding road as a first candidate road; acquiring a first included angle between each road and a target candidate road; the target candidate road is a first candidate road with the largest first probability; for each road, when a first included angle between any road and the target candidate road is smaller than a preset first angle threshold value, determining the corresponding road as a second candidate road; and constructing a candidate road sequence based on the determined first candidate roads and the second candidate roads.

In some embodiments, the first detection module is further configured to determine a second included angle between the first candidate road and the second candidate road based on road data of the first candidate road and the second candidate road in the ith road combination; when the second included angle is larger than or equal to a preset second angle threshold value, a third shielding detection result of the ith road combination is obtained as a second candidate road non-shielding target object; when the second included angle is smaller than a second angle threshold value, obtaining road attributes of the first candidate road and the second candidate road from the road data; and determining a third shielding detection result of the ith road combination based on the positioning information and the road attributes of the first candidate road and the second candidate road.

In some embodiments, the first detection module is further configured to determine that the third occlusion detection result of the ith road combination is the second candidate road non-occlusion target object when the road attribute of the first candidate road is not an under-viaduct road or the road attribute of the second candidate road is not an on-viaduct road; when the road attribute of the first candidate road is a overpass lower road and the road attribute of the second candidate road is an overpass upper road, determining a road distance between the first candidate road and the second candidate road based on the positioning information and the road data; determining a distance threshold for misalignment between the first candidate road and the second candidate road based on the road data; and determining a third shielding detection result of the ith road combination based on the road distance and the distance threshold.

In some embodiments, the first detection module is further configured to obtain a position coordinate of the target object from the positioning information; projecting the position coordinates onto a first candidate road and a second candidate road respectively, and correspondingly obtaining a first projection point of the first candidate road and a second projection point of the second candidate road; and determining the distance between the first projection point and the second projection point based on the road data to obtain the road distance between the first candidate road and the second candidate road.

In some embodiments, the first detection module is further for determining a first road width of the first candidate road and a second road width of the second candidate road based on the road data; and determining an average value of the first road width and the second road width as a distance threshold value of misalignment between the first candidate road and the second candidate road.

In some embodiments, the first detection module is further configured to obtain a first number of lanes of the first candidate link and a second number of lanes of the second candidate link from the link data; the lane width of the lane is obtained, the product of the first number of lanes and the lane width is determined as a first road width, and the product of the second number of lanes and the lane width is determined as a second road width.

In some embodiments, the first detection module is further configured to determine that the third occlusion detection result of the ith road combination is the second candidate road non-occlusion target object when the road distance is greater than or equal to the distance threshold; and when the road distance is smaller than the distance threshold value, determining a third shielding detection result of the ith road combination as a suspected shielding target object of the second candidate road.

In some embodiments, the satellite observation includes a plurality of categories of first observation information, the historical average satellite information including one second observation information corresponding to each category of first observation information; the second detection module is also used for acquiring weight parameters corresponding to each piece of second observation information; for each piece of second observation information, determining the product of the weight parameters corresponding to the second observation information and the second observation information as a signal threshold value of the first observation information corresponding to the second observation information; and when each piece of first observation information is smaller than or equal to the corresponding signal threshold value, determining that the satellite signal of the target object is in the blocked state as a second blocking detection result.

Embodiments of the present application provide a computer program product comprising a computer program or computer-executable instructions stored in a computer-readable storage medium. The processor of the electronic device reads the computer-executable instructions from the computer-readable storage medium, and executes the computer-executable instructions, so that the electronic device executes the information processing method according to the embodiment of the present application.

The embodiment of the present application provides a computer-readable storage medium in which computer-executable instructions or a computer program are stored, which when executed by a processor, cause the processor to perform an information processing method provided by the embodiment of the present application, for example, an information processing method as shown in fig. 4.

In some embodiments, the computer readable storage medium may be RAM, ROM, flash memory, magnetic surface memory, optical disk, or CD-ROM; but may be a variety of devices including one or any combination of the above memories.

In some embodiments, computer-executable instructions may be written in any form of programming language, including compiled or interpreted languages, or declarative or procedural languages, in the form of programs, software modules, scripts, or code, and they may be deployed in any form, including as stand-alone programs or as modules, components, subroutines, or other units suitable for use in a computing environment.

As an example, computer-executable instructions may, but need not, correspond to files in a file system, may be stored in a portion of a file that holds other programs or data, such as in one or more scripts in a hypertext markup language (Hyper Text Markup Language, HTML) document, in a single file dedicated to the program in question, or in multiple coordinated files (e.g., files that store one or more modules, sub-programs, or portions of code).

As an example, computer-executable instructions may be deployed to be executed on one electronic device or on multiple electronic devices located at one site or distributed across multiple sites and interconnected by a communication network.

In summary, the information processing method provided by the embodiment of the application not only refers to road data information, but also considers historical satellite observation information, so that the accuracy is obviously improved, and a dynamic threshold value is generated by utilizing the historical satellite observation information, so that the implementation or deployment of an algorithm is more convenient and efficient, the result is more ideal, and different models and different scenes can be adaptively adapted.

The above is merely an example of the present application and is not intended to limit the scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and scope of the present application are included in the protection scope of the present application.

Claims

1. An information processing method, characterized in that the method comprises:

Acquiring positioning information of a target object, and acquiring map data of the target object in a preset range of a current position based on the positioning information;

Determining a first occlusion detection result of the target object based on the positioning information and the map data;

When the first shielding detection result represents that the satellite signal of the target object is in a suspected shielding state, acquiring satellite observation information and historical average satellite information at the current moment; the historical average satellite information is average information of a plurality of satellite observation information when satellite signals of the target object are not shielded in a preset historical time period;

And determining a second shielding detection result of the target object based on the satellite observation information and the historical average satellite information.

2. The method of claim 1, wherein the map data comprises road data for a plurality of roads; the determining, based on the positioning information and the map data, a first occlusion detection result of the target object includes:

determining a candidate road sequence based on the positioning information and road data of the plurality of roads; the candidate road sequence comprises a plurality of road combinations, wherein the road combinations comprise a first candidate road and a second candidate road; the first candidate road is a road where the target object is suspected to be located;

Determining a third shielding detection result of an ith road combination in the candidate road sequence based on the positioning information and the road data of a first candidate road and a second candidate road in the ith road combination; i is a positive integer;

when the third shielding detection result of the ith road combination is that the second candidate road does not shield the target object, determining the third shielding detection result of the (i+1) th road combination based on the positioning information and the road data of the first candidate road and the second candidate road in the (i+1) th road combination;

Stopping detecting the M+1st road combination when a third shielding detection result of the M road combination in the candidate road sequence is that the second candidate road is suspected to shield the target object, and determining that the satellite signal of which the first shielding detection result is that the target object is in a suspected shielded state; m is a positive integer and M is greater than i.

3. The method according to claim 2, wherein the method further comprises:

And when the third shielding detection result of each road combination is that the second candidate road does not shield the target object, determining that the first shielding detection result is that the satellite signal of the target object is not in a shielded state.

4. The method of claim 2, wherein the determining a candidate road sequence based on the positioning information and road data for the plurality of roads comprises:

determining a first probability that the target object is located on each road based on the positioning information and road data of the plurality of roads;

for each road, when the first probability that the target object is positioned on any road is larger than a preset probability threshold value, determining the corresponding road as the first candidate road;

acquiring a first included angle between each road and a target candidate road; the target candidate road is a first candidate road with the largest first probability;

For each road, determining the corresponding road as the second candidate road when a first included angle between any road and the target candidate road is smaller than a preset first angle threshold;

and constructing the candidate road sequence based on the determined first candidate roads and the second candidate roads.

5. The method of claim 2, wherein the determining a third occlusion detection result for the ith road combination based on the positioning information and road data for the first candidate road and the second candidate road in the ith road combination comprises:

Determining a second included angle between a first candidate road and a second candidate road based on road data of the first candidate road and the second candidate road in the ith road combination;

When the second included angle is larger than or equal to a preset second angle threshold, a third shielding detection result of the ith road combination is obtained, wherein the second candidate road does not shield the target object;

When the second included angle is smaller than the second angle threshold value, obtaining the road attribute of the first candidate road and the second candidate road from the road data; and determining a third shielding detection result of the ith road combination based on the positioning information and the road attributes of the first candidate road and the second candidate road.

6. The method of claim 5, wherein the determining a third occlusion detection result for the ith road combination based on the positioning information and the road attributes of the first candidate road and the second candidate road comprises:

When the road attribute of the first candidate road is not the overpass lower road or the road attribute of the second candidate road is not the overpass upper road, determining that the third shielding detection result of the ith road combination is that the second candidate road does not shield the target object;

When the road attribute of the first candidate road is an overpass lower road and the road attribute of the second candidate road is an overpass upper road, determining a road distance between the first candidate road and the second candidate road based on the positioning information and the road data;

determining a distance threshold for misalignment between the first candidate road and the second candidate road based on the road data;

And determining a third shielding detection result of the ith road combination based on the road distance and the distance threshold.

7. The method of claim 6, wherein the determining a road spacing between the first candidate road and the second candidate road based on the positioning information and the road data comprises:

Acquiring the position coordinates of the target object from the positioning information;

Projecting the position coordinates onto the first candidate road and the second candidate road respectively, and correspondingly obtaining a first projection point of the first candidate road and a second projection point of the second candidate road;

and determining the distance between the first projection point and the second projection point based on the road data, and obtaining the road distance between the first candidate road and the second candidate road.

8. The method of claim 6, wherein the determining a distance threshold for misalignment between the first candidate road and the second candidate road based on the road data comprises:

Determining a first road width of the first candidate road and a second road width of the second candidate road based on the road data;

And determining an average value of the first road width and the second road width as a distance threshold value of misalignment between the first candidate road and the second candidate road.

9. The method of claim 8, wherein the determining a first road width of the first candidate road and a second road width of the second candidate road based on the road data comprises:

Acquiring a first road number of the first candidate road and a second road number of the second candidate road from the road data;

The lane width of the lane is obtained, the product of the first number of lanes and the lane width is determined to be the first road width, and the product of the second number of lanes and the lane width is determined to be the second road width.

10. The method of claim 6, wherein the determining a third occlusion detection result for the ith road combination based on the road spacing and the spacing threshold comprises:

when the road distance is greater than or equal to the distance threshold, determining that the third shielding detection result of the ith road combination is that the second candidate road does not shield the target object;

And when the road distance is smaller than the distance threshold value, determining that the third shielding detection result of the ith road combination is that the second candidate road is suspected to shield the target object.

11. The method of any one of claims 1 to 10, wherein the satellite observation information comprises a plurality of categories of first observation information, and the historical average satellite information comprises one second observation information corresponding to each category of first observation information;

The determining, based on the satellite observation information and the historical average satellite information, a second occlusion detection result of the target object includes:

Acquiring a weight parameter corresponding to each piece of second observation information;

For each piece of second observation information, determining the product of the weight parameters corresponding to the second observation information and the second observation information as a signal threshold value of the first observation information corresponding to the second observation information;

And when each piece of first observation information is smaller than or equal to the corresponding signal threshold value, determining that the satellite signal of the target object is in a shielded state as a second shielding detection result.

12. An information processing apparatus, characterized in that the apparatus comprises:

The positioning information acquisition module is used for acquiring positioning information of a target object and acquiring map data of the target object in a preset range of the current position based on the positioning information;

The first detection module is used for determining a first shielding detection result of the target object based on the positioning information and the map data;

The satellite information acquisition module is used for acquiring satellite observation information and historical average satellite information at the current moment when the first shielding detection result represents that the satellite signal of the target object is in a suspected shielded state; the historical average satellite information is average information of a plurality of satellite observation information when satellite signals of the target object are not shielded in a preset historical time period;

And the second detection module is used for determining a second shielding detection result of the target object based on the satellite observation information and the historical average satellite information.

13. An electronic device, the electronic device comprising:

a memory for storing computer executable instructions or computer programs;

A processor for implementing the information processing method according to any one of claims 1 to 11 when executing computer-executable instructions or computer programs stored in the memory.

14. A computer-readable storage medium storing computer-executable instructions or a computer program, wherein the computer-executable instructions or the computer program implement the information processing method according to any one of claims 1 to 11 when executed by a processor.

15. A computer program product comprising computer-executable instructions or a computer program, which, when executed by a processor, implements the information processing method according to any one of claims 1 to 11.