CN118233045A - Navigation decoy method and device of ground unmanned equipment and electronic equipment - Google Patents

Abstract

The disclosure relates to the technical field of navigation decoy, in particular to a navigation decoy method and a device of ground unmanned equipment. The method comprises the following steps: when the object to be identified exists in the peripheral monitoring area, an identity identification signaling is sent to the peripheral monitoring area; if the preset response information corresponding to the identification signaling is not received, configuring the object to be identified as a decoy target; generating a navigation decoy signal and transmitting the navigation decoy signal to a preset area so that the decoy target receives the navigation decoy signal; wherein the preset area at least comprises the peripheral monitoring area; and acquiring an actual running track of the decoy target, and determining the decoy effect of the navigation decoy signal on the decoy target according to the actual running track. The scheme can judge whether the current navigation decoy signal is effective or not.

Description

Navigation decoy method and device of ground unmanned equipment and electronic equipment

Technical Field

The disclosure relates to the technical field of navigation decoy, in particular to a navigation decoy method of a ground unmanned device, a navigation decoy device of the ground unmanned device and an electronic device.

Background

With the rapid development of computer technology and the perfection of electronic maps, unmanned equipment has been widely used in different fields, such as unmanned automatic express delivery vehicles and unmanned taxis; this also causes a series of safety problems. The related technical scheme for trapping the unmanned aerial vehicle is provided in the related technology, and the functions of capturing, driving away and the like of the unmanned aerial vehicle can be realized. However, in a ground scenario, how to realize the driving-out of the unmanned device, and in particular, how to successfully drive-out the unmanned device, or how to find out the driving-out of the unmanned device to actively leave the current area, the prior art cannot make an accurate judgment.

It should be noted that the information disclosed in the above background section is only for enhancing understanding of the background of the present disclosure and thus may include information that does not constitute prior art known to those of ordinary skill in the art.

Disclosure of Invention

The disclosure provides a navigation decoy method and device of ground unmanned equipment, and electronic equipment, which can judge whether a current navigation decoy signal is effective or not, and effectively overcome the defects in the prior art.

Other features and advantages of the present disclosure will be apparent from the following detailed description, or may be learned in part by the practice of the disclosure.

According to a first aspect of the present disclosure, there is provided a navigation spoofing method of a ground unmanned device, the method comprising:

When the object to be identified exists in the peripheral monitoring area, an identity identification signaling is sent to the peripheral monitoring area; if the preset response information corresponding to the identification signaling is not received, configuring the object to be identified as a decoy target;

Generating a navigation decoy signal and transmitting the navigation decoy signal to a preset area so that the decoy target receives the navigation decoy signal; wherein the preset area at least comprises the peripheral monitoring area;

And acquiring an actual running track of the decoy target, and determining the decoy effect of the navigation decoy signal on the decoy target according to the actual running track.

In some exemplary embodiments, the method further comprises: and updating the navigation decoy signal when judging that the navigation decoy signal is invalid, so that the navigation decoy signal is used for the decoy target to receive the updated navigation decoy signal.

In some exemplary embodiments, the preset region includes a peripheral monitoring region and a target region disposed inside the peripheral monitoring region.

In some exemplary embodiments, upon identifying that the peripheral monitoring area has an object to be identified, the method further comprises:

Collecting the running track of the object to be identified in the peripheral monitoring area;

Predicting the driving path of the object to be identified based on the driving track so as to obtain a first predicted track;

when the preset response information is not received, configuring a first unresponsive state of the object to be identified;

The first predicted trajectory is evaluated based on the first unresponsive state to obtain a second predicted trajectory.

In some exemplary embodiments, the method further comprises:

collecting the current running track of the decoy target in the preset area;

based on the current navigation decoy signal, estimating an expected running track of the decoy target by combining the running track;

and comparing the current running track with the expected running track to judge whether the navigation decoy signal is effective or not.

In some exemplary embodiments, the method further comprises:

And comparing the second predicted track with the current running track to verify whether the navigation decoy signal is effective.

In some exemplary embodiments, the comparing the second predicted trajectory with the current travel trajectory includes:

Calculating the track similarity between the second predicted track and the current running track, and judging that the navigation decoy signal is invalid or not effective when the track similarity is higher than a preset threshold value; or alternatively

And when the track similarity is lower than a preset threshold value, judging that the navigation decoy signal is effective.

In some exemplary embodiments, the method further comprises:

updating the navigation decoy signal when the navigation decoy signal is judged to be invalid, comprising:

determining the reason of failure of the navigation decoy signal according to the comparison result of the track;

Determining a navigation decoy signal updating strategy according to the determined failure reason;

And calculating an updated navigation decoy signal based on the navigation decoy signal update policy.

According to a second aspect of the present disclosure, there is provided a navigation spoofing apparatus of a ground unmanned device, comprising:

The identity authentication module is used for sending an identity recognition signaling to the peripheral monitoring area when recognizing that the peripheral monitoring area has an object to be recognized; if the preset response information corresponding to the identification signaling is not received, configuring the object to be identified as a decoy target;

A decoy signal processing module for generating a navigation decoy signal and transmitting to a preset area so that the decoy target receives the navigation decoy signal; wherein the preset area at least comprises the peripheral monitoring area;

and the decoy analysis module is used for collecting the actual running track of the decoy target and determining the decoy effect of the navigation decoy signal on the decoy target according to the actual running track.

According to a third aspect of the present disclosure, there is provided a storage medium having stored thereon a computer program which, when executed by a processor, implements the above-described navigation spoofing method of a ground unmanned device.

According to a fourth aspect of the present disclosure, there is provided an electronic device comprising:

a processor; and a memory for storing executable instructions of the processor;

wherein the processor is configured to implement the above-described navigation spoofing method of the ground unmanned device via execution of the executable instructions.

According to a fifth aspect of the present disclosure, there is provided a computer program product comprising a computer program which, when executed by a processor, implements the navigation spoofing method of the ground unmanned device in any of the embodiments of the first aspect.

According to the navigation spoofing method of the ground unmanned equipment, which is provided by the embodiment of the disclosure, the identification of an object to be identified in a peripheral monitoring area is firstly carried out, and the object to be identified is determined to be a spoofing target when the identification fails; the navigation decoy of the decoy target is realized by sending the navigation decoy signal to the preset area, the actual running track of the decoy target is collected, and whether the navigation decoy signal takes effect or not is accurately judged by analyzing the actual running track of the decoy target, so that the success rate of the navigation decoy is improved.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure. It will be apparent to those of ordinary skill in the art that the drawings in the following description are merely examples of the disclosure and that other drawings may be derived from them without undue effort.

FIG. 1 schematically illustrates a schematic diagram of a navigation decoy method of a ground unmanned device in an exemplary embodiment of the present disclosure;

FIG. 2 schematically illustrates a distribution diagram of a peripheral monitoring area in accordance with an exemplary embodiment of the present disclosure;

FIG. 3 schematically illustrates a distribution diagram of a peripheral monitoring area, a target area, according to an exemplary embodiment of the present disclosure;

FIG. 4 schematically illustrates a schematic diagram of a navigation spoofing device of a ground unmanned device in an exemplary embodiment of the present disclosure;

fig. 5 schematically illustrates a composition diagram of an electronic device in an exemplary embodiment of the present disclosure.

Detailed Description

Example embodiments will now be described more fully with reference to the accompanying drawings. However, the exemplary embodiments may be embodied in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

Furthermore, the drawings are merely schematic illustrations of the present disclosure and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and thus a repetitive description thereof will be omitted. Some of the block diagrams shown in the figures are functional entities and do not necessarily correspond to physically or logically separate entities. These functional entities may be implemented in software or in one or more hardware modules or integrated circuits or in different networks and/or processor devices and/or microcontroller devices.

In view of the drawbacks and deficiencies of the prior art, the present exemplary embodiment provides a navigation spoofing method for a ground unmanned device, which can be applied to a navigation spoofing for an unmanned device entering a designated area. Referring to fig. 1, specifically, the method may include:

Step S11, when the object to be identified exists in the peripheral monitoring area, an identity identification signaling is sent to the peripheral monitoring area; if the preset response information corresponding to the identification signaling is not received, configuring the object to be identified as a decoy target;

step S12, generating a navigation decoy signal and transmitting the navigation decoy signal to a preset area so that the decoy target receives the navigation decoy signal; wherein the preset area at least comprises the peripheral monitoring area;

And S13, acquiring an actual running track of the decoy target, and determining the decoy effect of the navigation decoy signal on the decoy target according to the actual running track.

The method provided by the example embodiment can firstly identify the object to be identified in the peripheral monitoring area, and determine the object to be identified as a decoy target when the identification fails; the navigation decoy of the decoy target is realized by sending the navigation decoy signal to the preset area, the actual running track of the decoy target is collected, and whether the navigation decoy signal takes effect or not is accurately judged by analyzing the actual running track of the decoy target, so that the success rate of the navigation decoy is improved.

Hereinafter, each step of the navigation spoofing method of the ground unmanned apparatus in the present exemplary embodiment will be described in more detail with reference to the accompanying drawings and examples.

Step S11, when the object to be identified exists in the peripheral monitoring area, an identity identification signaling is sent to the peripheral monitoring area; if the preset response information corresponding to the identification signaling is not received, configuring the object to be identified as a decoy target.

In the present exemplary embodiment, the above-described method may be applied to a control background; the control background can comprise a background terminal device for processing data and man-machine interaction, a storage server for a storage device, a monitoring system for monitoring multimedia data acquisition, a radar device and a navigation decoy system for sending navigation decoy information signals. The data collected by the radar equipment and the monitoring system can be sent to the background terminal equipment in real time, the terminal equipment performs data analysis, generates a data analysis result, and sends corresponding control instructions to the navigation decoy system, the radar equipment and the monitoring equipment. And, the signal transmitting direction of the navigation decoy system can be controlled so that the device traveling on the ground can receive the navigation decoy signal.

For example, for a given protected object, a range of peripheral monitoring areas may be set around its periphery. For example, referring to fig. 2, for the protection object 201, the coordinates corresponding to the protection object may be marked in the electronic map, and a peripheral monitoring area 202 with a certain radius may be configured. Wherein the peripheral monitoring area may be regular circular or oval. Or may be an irregular polygon; for example, the peripheral monitoring area of the protection object may be configured according to a specified monitoring radius according to a street distribution, a building distribution around the protection object. And a plurality of groups of monitoring devices and radar devices can be configured at the periphery of the protection object corresponding to the peripheral monitoring area and used for collecting real-time images and/or real-time video data of the peripheral monitoring area, and the radar is used for identifying the object entering the peripheral monitoring area.

For example, a decoy object database may be preconfigured, including information on the shape, size, color, power form, etc. of the mobile device. The method can judge whether the mobile object enters the peripheral monitoring area or not in real time by carrying out image analysis on the multimedia data acquired in real time, and judge whether the current mobile object is similar to the appearance of the mobile object of the decoy target database or is an object which is not written in the database through image comparison. If the similarity between the current mobile object and the object in the decoy target database is greater than a threshold value or is a new object which is not written, the current object to be identified can be triggered to be configured as the decoy target. The object to be identified may be a vehicle with a similar appearance to a motor vehicle, or an unmanned motor vehicle, or a non-motor vehicle, such as an electric unmanned device.

When a vehicle moving on the ground enters the peripheral monitoring area, for example by image recognition or by radar means, it can first be provided with an identification of the object to be recognized. Meanwhile, the identification signaling can be sent to the peripheral monitoring area. The identity recognition signaling is used for requesting identity information from an object to be recognized; for example, the identification signaling may include: identity information request, encrypted random verification code. For the control background, if the preset response information fed back by the object to be identified is received, the data content of the response information can be verified first, and the corresponding identity information can be marked when the verification is successful. Or if the verification of the response information of the feedback of the object to be identified fails, the object to be identified can be configured as a decoy target. The response information fed back may include, for example, an identification, an encrypted response information of the random verification code. If any one of the identity and the verification code response information fails to verify, the object to be identified is configured as a decoy target.

Step S12, generating a navigation decoy signal and transmitting the navigation decoy signal to a preset area so that the decoy target receives the navigation decoy signal; wherein the preset area at least comprises the peripheral monitoring area.

In this example embodiment, after determining that the target is entered in the peripheral monitoring area, the navigation decoy device may be triggered to send a control instruction to the navigation decoy device, so that the navigation decoy device sends a navigation decoy signal to at least the peripheral monitoring area.

The navigation decoy system may trigger generation of the navigation decoy signal according to the instruction. For example, the navigation decoy system may include a host computer, a radar device, a receiver, a transmitting antenna; the upper computer can be respectively connected with the radar equipment, the receiver and the transmitting antenna. The radar equipment can be utilized to detect the position information of the unmanned aerial vehicle in the target area in real time and feed back the position information to the upper computer; the receiver can acquire real-time parameters such as ephemeris, UTC time, coordinate data and the like of the GPS/Beidou/GLONASS in-orbit satellites in real time through the receiving antenna and display the parameters in the upper computer; the upper computer can calculate navigation decoy signals according to the received satellite data and transmit the navigation decoy signals into a target area by utilizing a transmitting antenna.

And S13, acquiring an actual running track of the decoy target, and determining the decoy effect of the navigation decoy signal on the decoy target according to the actual running track.

In this example embodiment, the real-time monitoring may be performed on the decoy target by using a pre-deployed radar device and/or a monitoring device, so as to obtain coordinate data of the decoy target, and the real-time coordinate data may be marked in a map, so as to obtain a real-time driving track of the decoy target, and the real-time driving track of the decoy target may be displayed in real time in a display of a control background. And the real-time driving track can be analyzed to judge whether the current navigation decoy signal is effective.

In this example embodiment, when it is recognized that the object to be recognized exists in the peripheral monitoring area, the method further includes:

step S21, collecting the running track of the object to be identified in the peripheral monitoring area;

Step S22, predicting the driving path of the object to be identified based on the driving track so as to obtain a first predicted track;

Step S23, when the preset response information is not received, configuring a first unresponsive state of the object to be identified;

Step S24, evaluating the first predicted track based on the first unresponsive state to obtain a second predicted track.

Specifically, for an object to be identified entering a peripheral monitoring area, when the system identifies the object through multimedia data, the coordinate information of the object can be recorded, the identification task of the object is triggered, the track prediction task of the object to be identified is created, and the track prediction task is executed. The first trajectory prediction may be performed using a pre-trained first trajectory prediction model. Specifically, the method may include performing track prediction using a first track prediction model with respect to device information of the object to be identified, such as a device size, a color, a type, a traveled path, a shielding degree of the object to be identified, such as a building and a vegetation in the traveled path, a remote degree of the traveled path, and limiting information not using the protection object as a target as an input of the model, to obtain a first predicted track.

If the response information of the object to be identified for the identity recognition signaling is not received within a period of time, configuring the data response state of the corresponding object to be identified as a first unresponsive state, and marking the object to be identified as a decoy object. Creating a second track prediction task according to the first unresponsive state of the object to be identified, executing the task, and performing track prediction on the generated first predicted track, equipment information of the object to be identified, a driving path, shielding degree of the object to be identified such as buildings and vegetation in the driving path, remote degree of the driving path and limiting information taking the protection object as a target as input of a model by using the first track prediction model to obtain a second predicted track. Therefore, the optimization of the predicted track of the decoy target is realized, the track prediction is completed from two stages, and the accuracy of the preset track is improved.

Or if the response information of the object to be identified aiming at the identity recognition signaling is received, deleting the generated first prediction track, ending the corresponding task, adding the corresponding safety identification information to the object to be identified, and reducing the data operation pressure of the server without executing the track prediction of the second stage.

For the predicted second predicted trajectory, a desired travel trajectory may be used as a decoy target when the navigation decoy signal is not received.

Specifically, a first trajectory prediction model based on a neural network algorithm may be trained in advance; during training, unmanned equipment information such as equipment size, color and type, corresponding real running tracks, shielding degree of buildings, vegetation and the like on equipment in the real running tracks, remote degree of the running tracks, whether a protection object is taken as limiting information of a target or not, taken as a sample data pair, taken as input of a model, and predicted track data output by the model are obtained; and comparing the predicted track data with the corresponding real running track, calculating a loss function, and performing reverse training on the track pre-estimated model so as to obtain the trained track pre-estimated model. When the unmanned equipment is currently identified to enter in the peripheral monitoring area, the acquired data can be used as the input of a track prediction model to acquire a predicted track output by the corresponding model.

In this example embodiment, the method further includes:

Step S31, collecting the current running track of the decoy target in the preset area;

Step S32, based on the current navigation decoy signal, the expected running track of the decoy target is estimated by combining the running track;

And step S33, comparing the current running track and the expected running track to judge whether the navigation decoy signal is effective or not.

Illustratively, the preset zone includes a peripheral monitoring zone and a target zone disposed inside the peripheral monitoring zone. The target area can be an area where the protection object is located and is used as a main release area of the navigation decoy signal; at the same time, the peripheral monitoring area is taken as a secondary release area.

For example, when an object to be recognized is configured as a decoy target, if the decoy target is currently still within the peripheral monitoring area, a navigation decoy signal is transmitted to the peripheral monitoring area and the target area; or if the object to be identified is configured as a decoy target and has entered the target area, a navigation decoy signal is mainly sent to the target area.

Specifically, after the navigation decoy signal is sent, the actual running track of the decoy target in the preset area can be acquired in real time, and marked in the map to be used as the current running track of the decoy target. Wherein, after the navigation decoy signal is sent, the average speed of the decoy target is calculated, and the time period for the effectiveness judgment of the navigation decoy signal is configured according to the average speed. For example, if the driving speed of the decoy target is low and is lower than the preset speed threshold, the time period may be configured to be relatively long, so that an actual driving track with a length greater than a certain threshold may be acquired; for example, the judgment period is set to 2.5 seconds or 3 seconds. Or if the running speed of the decoy target is higher and higher than the preset speed threshold, the time period can be configured to be shorter, so that real-time judgment is realized, for example, the judgment is completed once per second.

After the current running track is collected, the running track between the sent navigation decoy signals and the current navigation decoy signals can be input into a trained second track prediction model, and the expected running track of the decoy target predicted by the model under the action of the navigation decoy signals is obtained. And comparing the expected running track with the acquired actual current running track of the decoy target, calculating the similarity of the track, and judging whether the navigation decoy signal is effective or not. For example, two tracks may be marked in an electronic map and the similarity of the two tracks calculated. For example, the navigation decoy signal may be generated by continuously determining a plurality of consecutive time periods according to the above-defined time period, and generating the navigation decoy signal according to the determination result of the plurality of time periods. For example, if the track similarity between the current running track and the expected running track is greater than a preset similarity threshold, for example, the similarity is greater than 95%, it is determined that the current navigation spoofing signal is effective, or if the currently calculated track similarity threshold is less than 50%, it is determined that the navigation spoofing signal is not effective. Or if the calculated similarity is between 60% and 85%, the navigation spoofing effect can be judged to be unstable.

Specifically, a second trajectory estimation model based on a neural network algorithm may be trained in advance; during training, different navigation decoy signals and the real running track of corresponding unmanned equipment in a target area can be used as sample data pairs, and the navigation decoy signals are used as the input of a model to obtain predicted track data output by the model; and comparing the track data with the corresponding real running track, calculating a loss function, and performing reverse training on the track pre-estimated model so as to obtain a trained second track pre-estimated model.

In this example embodiment, the method further includes: and comparing the second predicted track with the current running track to verify whether the navigation decoy signal is effective.

In this example embodiment, the comparing the second predicted trajectory with the current driving trajectory includes:

Calculating the track similarity between the second predicted track and the current running track, and judging that the navigation decoy signal is invalid or not effective when the track similarity is higher than a preset threshold value; or alternatively

And when the track similarity is lower than a preset threshold value, judging that the navigation decoy signal is effective.

Specifically, the second predicted trajectory is obtained by predicting the trajectory of the decoy target with the protection object as the target using the first trajectory prediction model. The current travel track is a travel track that the decoy target actually generates when the navigation decoy signal has been transmitted.

Under the condition that the comparison result of the similarity of the current running track and the expected running track is obtained, the second predicted track can be utilized to carry out secondary comparison with the current running track, and whether the navigation decoy signal is actually effective is verified according to the similarity of the tracks. For example, if the current driving track is the same as the second predicted track, or the similarity is greater than a preset threshold, for example 90%; indicating that the track prediction result of the decoy target is basically consistent with the actual running result, indicating that the navigation decoy signal is not effective or invalid. Or if the current running track is different from the second predicted track or the similarity is smaller than a preset threshold, for example, smaller than 50%, the navigation decoy signal is effective or unstable.

For example, when similarity determination is performed on the track, an abnormal track section may also be identified for the collected current running track. The abnormal track section may include a track deviated from a road to be driven, an irregular 8-shaped track, a continuous circular track, or the like. If an abnormal track section exists, such as in-situ circle drawing movement, 8-shaped movement or similar fault behaviors of rushing out of a main road into lawns, ponds and the like of the decoy target, the effectiveness or instability of the navigation decoy signal can be judged.

Specifically, when similarity judgment is performed on two tracks, a specific track can be marked in the electronic map, and the track is divided into a plurality of sections according to the period, so that the judgment of the similarity of the tracks is facilitated.

For example, when judging whether the current navigation decoy signal is effective, a plurality of parallel judgment tasks may be created, the first judgment task may be a task for identifying an abnormal track section of the current driving track, and a first effective judgment result is generated according to the identification result; the second judging task may be a second effective judging result obtained by comparing the current running track and the expected running track; the third judging task may be a third effective judging result obtained based on the comparison between the second predicted track and the current running track. And generating a final judgment result according to the two or three judgment results. For example, if only two judgment results are obtained according to the currently collected data, the navigation signal is confirmed to be effective or not effective when the two judgment results are obtained; if the two results are inconsistent, the judgment is unstable. When three judging results are obtained, if two or more judging results are the same, judging whether the judging results are effective, not effective or unstable; or if the three results are different, it may be judged as not effective or unstable.

In this example embodiment, when it is determined that the navigation decoy signal is invalid, updating the navigation decoy signal includes:

Step S41, determining the reason of failure of the navigation decoy signal according to the comparison result of the track;

step S42, a navigation decoy signal updating strategy is determined according to the determined failure reason;

and step S43, calculating updated navigation decoy signals based on the navigation decoy signal updating strategy.

Specifically, when the navigation decoy signal is judged to be not effective, the actual running track in each period can be compared with the expected running track according to the acquisition period, and the failure time of the navigation decoy signal is judged to be initial failure, failure in midway or intermittent failure. And determining and executing an updating strategy of the navigation signal according to the identified failure reason. Among other reasons, failure causes may include: at least one of signal strength and signal emission direction. When updating the navigation decoy signal, the signal strength, frequency band, analog satellite or clock, signal transmission direction, etc. may be modified.

Further, in the present exemplary embodiment, the navigation decoy signal includes a plurality of sub decoy signals that continuously vary.

Specifically, the navigation decoy signal generated for the initial production or the navigation decoy signal updating policy may include a plurality of navigation decoy signals that continuously vary. Through the sub-signals, the ground unmanned equipment can be controlled to make specific or unconventional running tracks; or setting a designated area, and driving the navigation decoy unmanned device to the area by a specific track; configuring an irregular path in a particular track; therefore, the navigation decoy signal can be judged whether to take effect or not, and the judgment accuracy is improved.

It is noted that the above-described figures are only schematic illustrations of processes involved in a method according to an exemplary embodiment of the invention, and are not intended to be limiting. It will be readily appreciated that the processes shown in the above figures do not indicate or limit the temporal order of these processes. In addition, it is also readily understood that these processes may be performed synchronously or asynchronously, for example, among a plurality of modules.

Further, referring to fig. 4, there is also provided a navigation spoofing device 40 of a ground unmanned apparatus in an embodiment of the present example, the device including:

The identity authentication module 401 is configured to send an identity recognition signaling to a peripheral monitoring area when it is recognized that an object to be recognized exists in the peripheral monitoring area; if the preset response information corresponding to the identification signaling is not received, configuring the object to be identified as a decoy target;

a decoy signal processing module 402 for generating a navigation decoy signal and transmitting to a preset area so that the decoy target receives the navigation decoy signal; wherein the preset area at least comprises the peripheral monitoring area;

the decoy analysis module 403 is configured to collect an actual driving track of the decoy target, and determine a decoy effect of the navigation decoy signal on the decoy target according to the actual driving track. .

The specific details of each module in the above-mentioned navigation spoofing device of the ground unmanned device are already described in detail in the navigation spoofing method of the corresponding ground unmanned device, so that the details are not repeated here.

It should be noted that although in the above detailed description several modules or units of a device for action execution are mentioned, such a division is not mandatory. Indeed, the features and functionality of two or more modules or units described above may be embodied in one module or unit in accordance with embodiments of the present disclosure. Conversely, the features and functions of one module or unit described above may be further divided into a plurality of modules or units to be embodied.

Fig. 5 shows a schematic diagram of an electronic device suitable for use in implementing embodiments of the invention.

It should be noted that, the electronic device 1000 shown in fig. 5 is only an example, and should not impose any limitation on the functions and the application scope of the embodiments of the present disclosure.

As shown in fig. 5, the electronic apparatus 1000 includes a central processing unit (Central Processing Unit, CPU) 1001 that can perform various appropriate actions and processes according to a program stored in a Read-Only Memory (ROM) 1002 or a program loaded from a storage portion 1008 into a random access Memory (Random Access Memory, RAM) 1003. In the RAM 1003, various programs and data required for system operation are also stored. The CPU 1001, ROM 1002, and RAM 1003 are connected to each other by a bus 1004. An Input/Output (I/O) interface 1005 is also connected to bus 1004.

The following components are connected to the I/O interface 1005: an input section 1006 including a keyboard, a mouse, and the like; an output portion 1007 including a Cathode Ray Tube (CRT), a Liquid crystal display (Liquid CRYSTAL DISPLAY, LCD), and a speaker, etc.; a storage portion 1008 including a hard disk or the like; and a communication section 1009 including a network interface card such as a LAN (Local Area Network ) card, a modem, or the like. The communication section 1009 performs communication processing via a network such as the internet. The drive 1010 is also connected to the I/O interface 1005 as needed. A removable medium 1011, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like, is installed on the drive 1010 as needed, so that a computer program read out therefrom is installed into the storage section 1008 as needed.

In particular, according to embodiments of the present application, the processes described below with reference to flowcharts may be implemented as computer software programs. For example, embodiments of the present application include a computer program product comprising a computer program loaded on a storage medium, the computer program comprising program code for performing the method shown in the flowchart. In such an embodiment, the computer program may be downloaded and installed from a network via the communication portion 1009, and/or installed from the removable medium 1011. When executed by a Central Processing Unit (CPU) 1001, the computer program performs various functions defined in the system of the present application.

Specifically, the electronic device may be an intelligent mobile electronic device such as a mobile phone, a tablet computer or a notebook computer. Or the electronic device may be an intelligent electronic device such as a desktop computer.

It should be noted that, the storage medium shown in the embodiments of the present invention may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-Only Memory (ROM), an erasable programmable read-Only Memory (Erasable Programmable Read Only Memory, EPROM), a flash Memory, an optical fiber, a portable compact disc read-Only Memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present invention, however, the computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with the computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any storage medium that is not a computer readable storage medium and that can transmit, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a storage medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the foregoing.

The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The units involved in the embodiments of the present invention may be implemented by software, or may be implemented by hardware, and the described units may also be provided in a processor. Wherein the names of the units do not constitute a limitation of the units themselves in some cases.

It should be noted that, as another aspect, the present application also provides a storage medium, which may be included in an electronic device; or may exist alone without being incorporated into the electronic device. The storage medium carries one or more programs which, when executed by an electronic device, cause the electronic device to implement the methods described in the embodiments below. For example, the electronic device may implement the steps shown in fig. 1.

Furthermore, the above-described drawings are only schematic illustrations of processes included in the method according to the exemplary embodiment of the present invention, and are not intended to be limiting. It will be readily appreciated that the processes shown in the above figures do not indicate or limit the temporal order of these processes. In addition, it is also readily understood that these processes may be performed synchronously or asynchronously, for example, among a plurality of modules.

Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any adaptations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

It is to be understood that the present disclosure is not limited to the precise arrangements and instrumentalities shown in the drawings, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims (10)

1. A navigation spoofing method of a ground unmanned device, the method comprising:

When the object to be identified exists in the peripheral monitoring area, an identity identification signaling is sent to the peripheral monitoring area; if the preset response information corresponding to the identification signaling is not received, configuring the object to be identified as a decoy target;

Generating a navigation decoy signal and transmitting the navigation decoy signal to a preset area so that the decoy target receives the navigation decoy signal; wherein the preset area at least comprises the peripheral monitoring area;

And acquiring an actual running track of the decoy target, and determining the decoy effect of the navigation decoy signal on the decoy target according to the actual running track.

2. The method according to claim 1, wherein the method further comprises: and updating the navigation decoy signal when judging that the navigation decoy signal is invalid, so that the navigation decoy signal is used for the decoy target to receive the updated navigation decoy signal.

3. The method of claim 1, wherein the predetermined area comprises a peripheral monitoring area and a target area disposed inside the peripheral monitoring area.

4. A method according to claim 1 or 3, wherein upon identifying the presence of an object to be identified in the peripheral monitoring area, the method further comprises:

Collecting the running track of the object to be identified in the peripheral monitoring area;

Predicting the driving path of the object to be identified based on the driving track so as to obtain a first predicted track;

when the preset response information is not received, configuring a first unresponsive state of the object to be identified;

The first predicted trajectory is evaluated based on the first unresponsive state to obtain a second predicted trajectory.

5. The method according to claim 4, wherein the method further comprises:

collecting the current running track of the decoy target in the preset area;

based on the current navigation decoy signal, estimating an expected running track of the decoy target by combining the running track;

and comparing the current running track with the expected running track to judge whether the navigation decoy signal is effective or not.

6. The method of claim 5, wherein the method further comprises:

And comparing the second predicted track with the current running track to verify whether the navigation decoy signal is effective.

7. The method of claim 6, wherein the comparing the second predicted trajectory to the current travel trajectory comprises:

Calculating the track similarity between the second predicted track and the current running track, and judging that the navigation decoy signal is invalid or not effective when the track similarity is higher than a preset threshold value; or alternatively

And when the track similarity is lower than a preset threshold value, judging that the navigation decoy signal is effective.

8. The method of claim 2, wherein updating the navigation decoy signal upon determining that the navigation decoy signal is invalid comprises:

determining the reason of failure of the navigation decoy signal according to the comparison result of the track;

Determining a navigation decoy signal updating strategy according to the determined failure reason;

And calculating an updated navigation decoy signal based on the navigation decoy signal update policy.

9. A navigation spoofing device for a ground unmanned device, the device comprising:

The identity authentication module is used for sending an identity recognition signaling to the peripheral monitoring area when recognizing that the peripheral monitoring area has an object to be recognized; if the preset response information corresponding to the identification signaling is not received, configuring the object to be identified as a decoy target;

A decoy signal processing module for generating a navigation decoy signal and transmitting to a preset area so that the decoy target receives the navigation decoy signal; wherein the preset area at least comprises the peripheral monitoring area;

and the decoy analysis module is used for collecting the actual running track of the decoy target and determining the decoy effect of the navigation decoy signal on the decoy target according to the actual running track.

10. An electronic device, comprising:

a processor; and a memory for storing executable instructions of the processor;

Wherein the processor is configured to perform the navigation spoofing method of the ground unmanned device of any one of claims 1 to 8 via execution of the executable instructions.