WO2021081892A1 - Procédé, système et dispositif de traitement de données, et support de stockage - Google Patents

Procédé, système et dispositif de traitement de données, et support de stockage Download PDF

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Publication number
WO2021081892A1
WO2021081892A1 PCT/CN2019/114710 CN2019114710W WO2021081892A1 WO 2021081892 A1 WO2021081892 A1 WO 2021081892A1 CN 2019114710 W CN2019114710 W CN 2019114710W WO 2021081892 A1 WO2021081892 A1 WO 2021081892A1
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WIPO (PCT)
Prior art keywords
data
mobile device
autonomous mobile
identification information
collected
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PCT/CN2019/114710
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English (en)
Chinese (zh)
Inventor
王远
黄振昊
孙伟杰
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深圳市大疆创新科技有限公司
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2019/114710 priority Critical patent/WO2021081892A1/fr
Priority to CN201980034411.3A priority patent/CN112236985A/zh
Publication of WO2021081892A1 publication Critical patent/WO2021081892A1/fr

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L63/00—Network architectures or network communication protocols for network security
    • H04L63/02—Network architectures or network communication protocols for network security for separating internal from external traffic, e.g. firewalls
    • H04L63/0209—Architectural arrangements, e.g. perimeter networks or demilitarized zones
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L63/00—Network architectures or network communication protocols for network security
    • H04L63/20—Network architectures or network communication protocols for network security for managing network security; network security policies in general
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/50—Network services
    • H04L67/52—Network services specially adapted for the location of the user terminal

Definitions

  • This application relates to the field of data security technology, and in particular to a data processing method, system, device, and storage medium.
  • Post Processed Knematic (PPK) measurement technology can provide higher accuracy and reliability than Real Time Kinematic (RTK) measurement technology, so PPK measurement technology is more favored by users.
  • PPK Post Processed Knematic
  • RTK Real Time Kinematic
  • the PPK solution service provider provides PPK solution services for each user, and there may be hidden data security risks in this process.
  • Various aspects of this application provide a data processing method, system, equipment, and system to improve the security of data processing.
  • the embodiment of the present application provides a data processing method, including:
  • the embodiment of the present application also provides a data processing method, including:
  • the collected data associated with the first identification information is provided to a target processor corresponding to the first identification information for data processing.
  • An embodiment of the present application also provides a computing device, including a memory, a processor, and a communication component;
  • the memory is used to store one or more computer instructions
  • the processor is coupled with the memory and the communication component, and is configured to execute the one or more computer instructions for:
  • the data collected by the autonomous mobile device is uploaded to the target data processing server through the communication component for processing the data collected by the autonomous mobile device.
  • An embodiment of the present application also provides an autonomous mobile device, which is characterized by including a memory, a processor, and a communication component;
  • the memory is used to store one or more computer instructions
  • the processor is coupled with the memory and the communication component, and is configured to execute the one or more computer instructions for:
  • the collected data associated with the first identification information is provided to a target data processing server corresponding to the first identification information for data processing.
  • An embodiment of the present application also provides a data processing system, including: an autonomous mobile device, a data management device, and multiple data processing servers;
  • the autonomous mobile device is used to provide collected data and received satellite observation data to the data management device;
  • the data management device is configured to determine the target data processing server corresponding to the data collected by the autonomous mobile device according to the satellite observation data provided by the autonomous mobile device; and upload the data collected by the autonomous mobile device to The target data processing server;
  • the multiple data processing servers are configured to process the data collected by the autonomous mobile device when it is determined to be the target data processing server.
  • the target data processing server corresponding to the data collected by the autonomous mobile device can be determined based on the satellite observation data received by the autonomous mobile device in the process of data collection, and the data collected by the autonomous mobile device can be uploaded to the target The data processing server performs processing.
  • different data collected by different autonomous mobile devices can be allocated to the appropriate data processing server based on the satellite observation data, thereby realizing data isolation from the location area dimension, ensuring data privacy, and improving data security.
  • FIG. 1a is a schematic structural diagram of a data processing system provided by an embodiment of this application.
  • FIG. 1b is a schematic diagram of an application scenario provided by an embodiment of this application.
  • FIG. 2 is a schematic diagram of the service scope of a data processing server provided by an embodiment of this application.
  • FIG. 3 is a schematic diagram of a solution for determining a working position when an autonomous mobile device collects data according to an embodiment of the application;
  • FIG. 5 is a schematic flowchart of another data processing method provided by another embodiment of this application.
  • FIG. 6 is a schematic structural diagram of a computing device provided by another embodiment of this application.
  • FIG. 7 is a schematic structural diagram of an autonomous mobile device provided by another embodiment of this application.
  • the PPK solution service provider provides PPK solution services for each user, and there may be hidden data security risks in this process.
  • the target data processing server corresponding to the data collected by the autonomous mobile device can be determined based on the satellite observation data received by the autonomous mobile device during the data collection process, And upload the data collected by the autonomous mobile device to the target data processing server for processing.
  • different data collected by different autonomous mobile devices can be allocated to the appropriate data processing server based on the satellite observation data, thereby realizing the isolation processing of the data, ensuring the privacy of the data, and improving the security of the data.
  • FIG. 1a is a schematic structural diagram of a data processing system provided by an embodiment of this application. As shown in FIG. 1a, the system includes: an autonomous mobile device 10, a data management device 20, and a plurality of data processing servers 30.
  • the data processing system provided in this embodiment can be applied in various data processing scenarios, and is used to upload data to the most suitable data processing server 30 for data processing.
  • PPK solution service scenarios etc. This embodiment does not limit the application scenario.
  • the autonomous mobile device 10 can provide the data it collects and the satellite observation data received during the data collection process.
  • the autonomous mobile device 10 may be a drone or an unmanned car, etc., and the present embodiment is not limited thereto.
  • the autonomous mobile device 10 In the process of collecting data, the autonomous mobile device 10 will maintain contact with satellites and receive satellite observation data.
  • the satellite observation data can reflect the position of the autonomous mobile device 10 when the data is collected.
  • the respective service ranges of multiple data processing servers 30 may be preset, and the service ranges of different data processing servers 30 may not be completely the same, and the data processing services provided by different data processing servers 30 may be independent of each other.
  • the autonomous mobile device 10 can provide the satellite observation data received during the data collection process to the data management device 20, and the data management device 20 can determine the target data corresponding to the data collected by the autonomous mobile device 10 based on the satellite observation data. Processing server 30.
  • the data management device 20 may be a data relay device such as a remote control of the autonomous mobile device 10, a computing device independent of the autonomous mobile device, such as a computer, or a mobile device such as a mobile phone.
  • the autonomous mobile device 10 itself can also be used as the data management device 20 in this embodiment. In this case, the data interaction process between the autonomous mobile device 10 and the data management device 20 mentioned later can be ignored, and the autonomous mobile device 10 can directly interface with the data processing server. For the sake of brevity, it will not be repeated here.
  • the data management device 20 it can learn the respective service ranges of the multiple data processing servers 30. Therefore, the satellite observation data provided by the autonomous mobile device 10 can be used to determine the service range to which the satellite observation data conforms to.
  • the data processing server 30 corresponding to the determined service range serves as the target data processing server 30.
  • the position of the autonomous mobile device 10 when the data is collected is analyzed.
  • this makes the analyzed location situation more in line with the real location situation of the autonomous mobile device 10, so that the data processing server 30 can be allocated to the autonomous mobile device more accurately.
  • it also eliminates the expectation of confusing the location by tampering with the location parameters, thereby preventing the data collected by the autonomous mobile device 10 from being distributed to the inappropriate data processing server 30, which protects data security.
  • the data collected by the autonomous mobile device 10 will be provided to the target data processing server 30.
  • the autonomous mobile device 10 can obtain information of the target data processing server 30 from the data management device 20, so as to autonomously provide the collected data to the target data processing server 30. In this case, the autonomous mobile device 10 needs to establish a communication link with the target data processing server 30 after collecting data.
  • the autonomous mobile device 10 can also provide the collected data to the data management device 20, and the data management device 20 will use the data collected by the autonomous mobile device 10 when the target data processing server 30 is determined. Upload to the target data processing server 30. In this case, the autonomous mobile device 10 does not need to establish a communication link with the target data processing server 30.
  • the removable storage device of the autonomous mobile device 10 may be inserted into the data management device 20 to provide the data collected by the autonomous mobile device 10 to the data management device 20. Compared with the method of autonomously uploading data by the autonomous mobile device 10, the method of relay uploading by the data management device 20 is more convenient.
  • the target data processing server 30 may perform data processing on the data collected by the autonomous mobile device 10.
  • the target data processing server 30 corresponding to the data collected by the autonomous mobile device 10 can be determined based on the satellite observation data received by the autonomous mobile device 10 in the process of collecting data, and the data collected by the autonomous mobile device 10 can be uploaded To the target data processing server 30 for processing.
  • different data collected by different autonomous mobile devices 10 can be distributed to the appropriate data processing server 30 according to the satellite observation data, so as to realize the isolation processing of the data, ensure the privacy of the data, and thereby improve the security of the data.
  • the multiple data processing servers 30 may include multiple regional servers that provide services for different location areas.
  • the data management device 20 can calculate the location area where the autonomous mobile device 10 collects data based on the satellite observation data received by the autonomous mobile device 10; determine the location from multiple regional servers that provide services for different location areas
  • the area server that provides services in the area serves as the target data processing server 30.
  • the data processing server 30 whose service area is defined by a location area is referred to as an area server. It is worth noting that in this embodiment, there may be multiple data processing servers 30 that provide services for a location area, and these data processing servers 30 are described as area servers that provide services for the location area.
  • the location area can be divided according to actual needs. For example, when the autonomous mobile device 10 is used across countries, the location area can be divided from the national dimension and deployed as a regional server that provides services in China, Japan, Japan, Russia, or the European Union. For another example, when the use range of the autonomous mobile device 10 does not cross countries, the location area can be divided from the city dimension, and regional servers that provide services for Beijing, Tianjin, Shanghai or other cities can be deployed. Of course, these are exemplary, and in this embodiment, the division method of the location area is not limited.
  • FIG. 2 is a schematic diagram of the service scope of a data processing server provided by an embodiment of the application.
  • server 1 is a regional server, and its service scope is China
  • server 2 is a regional server, and its service scope is Japan
  • servers 3-6 are also regional servers and provide services for different countries.
  • the data management device 20 When the data management device 20 calculates the location area where the autonomous mobile device 10 collects data, it can select from the list shown in FIG. 2 an area server that can provide services for the location area as the target data processing server 30 .
  • the satellite observation value and ephemeris file corresponding to at least one epoch can be parsed from the satellite observation data received by the autonomous mobile device 10; Single-point positioning solution is used to determine the location information corresponding to at least one epoch; according to the location information corresponding to the at least one epoch, the location area where the autonomous mobile device 10 collects data is determined.
  • An ephemeris file is a set of data describing the trajectory of a satellite.
  • Epoch refers to the sampling moment in the process of collecting data.
  • the single-point positioning solution technology can be used to parse out the satellite observation value and ephemeris file corresponding to at least one epoch from the satellite observation data received by the autonomous mobile device 10, and calculate the respective corresponding at least one epoch. location information. Among them, the single-point positioning solution technology will not be described in detail here.
  • multiple implementation manners can be used to determine the target location area where the autonomous mobile device 10 is located when collecting data.
  • the average longitude, average latitude, and average altitude of at least one epoch can be calculated according to the location information corresponding to each of the at least one epoch, as the working position when the autonomous mobile device 10 collects data;
  • the location area to which the working location of the mobile device 10 when collecting data belongs is determined as the target location area where the autonomous mobile device 10 is located when collecting data.
  • the projection coordinates of at least one epoch can be calculated according to the position information corresponding to each of the at least one epoch, and the projection coordinates of the at least one epoch can be averaged, and the average processing result can be back-projected to obtain
  • the average longitude Lon_AVG, average latitude Lat_AVG, and average altitude H_AVG of at least one epoch are used to indicate the working position of the autonomous mobile device 10 when collecting data.
  • the maximum projection coordinates of each of the at least one epoch in multiple preset orientations can be determined according to the location information corresponding to each of the at least one epoch; Suppose the smallest circumscribed polygon of the polygon formed by the connection of the largest projection coordinates in the azimuth; the area enclosed by the smallest circumscribed polygon (ie, the area within the smallest circumscribed polygon) is used as the working position of the autonomous mobile device 10 when collecting data; the autonomous mobile device 10 The location area to which the work location at the time of collecting data belongs is determined as the target location area where the autonomous mobile device 10 is located when collecting data.
  • At least one epoch may be projected to obtain the respective projection coordinates of the at least one epoch, and the maximum projection coordinate in each preset orientation is selected from these projection coordinates.
  • the preset azimuth includes east, south, west, and north
  • the maximum projection coordinate maxE in the east position, the maximum projection coordinate maxS in the south position, and the maximum projection coordinate in the west position can be selected from these projection coordinates.
  • FIG. 3 is a schematic diagram of a solution for determining a working position when an autonomous mobile device collects data according to an embodiment of the application.
  • the maximum projection coordinates on the multiple preset orientations described above can be connected to form a polygon.
  • a rectangle is taken as an example. It should be understood that when the number of preset orientations is different, the variables of the polygon formed by the connection here may change accordingly. Of course, this embodiment does not limit this.
  • the minimum circumscribed polygon of the polygon formed by the connection can be calculated.
  • the areas (maxE,maxN), (maxW,maxN), (maxE,maxS), (maxW,maxS) can be framed.
  • the area framed by the smallest circumscribed rectangle can be used as a working position when the autonomous mobile device 10 collects data.
  • this embodiment may also adopt other implementation manners to determine the target location area where the autonomous mobile device 10 collects data, and this embodiment is not limited to this.
  • the working position of the autonomous mobile device 10 when the data is collected is calculated, and the location area to which the working position belongs is determined as the time when the autonomous mobile device 10 collects data.
  • the target location area where it is located, and then the area server that will provide services for the target location area is determined as the target data processing server 30. This ensures the authenticity of the work location, so that the autonomous mobile device 10 can be accurately assigned a suitable data processing server 30.
  • the multiple data processing servers 30 may also include multiple specific servers for providing different specific services.
  • the data management device 20 can determine whether the autonomous mobile device 10 provides specific identification information before determining the target data processing server 30 corresponding to the data collected by the autonomous mobile device 10 based on the satellite observation data received by the autonomous mobile device 10.
  • the specific identification information is used to indicate the specific service required.
  • a specific service can be a private service provided for a single user or an exclusive service provided for a specific data content type.
  • the specific identification information may be the address of the server, device number, device name, or data content type, and so on.
  • the autonomous mobile device 10 needs a private service, one or more of the address of the server, the device number, or the device name can be carried in the specific identification information.
  • the autonomous mobile device 10 needs a dedicated service, it can carry data content type information in the specific identification information.
  • the data processing server 30 whose service scope is defined by different specific services is referred to as a specific server. It is worth noting that there may be multiple data processing servers 30 providing the same specific service in this embodiment, and these data processing servers 30 are described as specific servers providing the specific service.
  • the aforementioned operation of determining the target data processing server 30 corresponding to the data collected by the autonomous mobile device 10 can be performed based on the satellite observation data received by the autonomous mobile device 10.
  • the aforementioned operation of determining the target data processing server 30 corresponding to the data collected by the autonomous mobile device 10 can be performed based on the satellite observation data received by the autonomous mobile device 10.
  • a specific server corresponding to the specific identification information may be determined as the target data processing server 30.
  • the autonomous mobile device 10 provides specific identification information, that is, the data collected by the autonomous mobile device 10 is associated with specific identification information, you can search for information that can provide the specific identification information corresponding to the specific identification information.
  • the data processing server 30 of the specific service serves as the target data processing server 30.
  • the server 7 in FIG. 2 is used to provide private services. If the specific identification information provided by the autonomous mobile device 10 carries the device number of the server 7, the server 7 can be determined as the target data processing of the autonomous mobile device 10. Server 30.
  • the server 8 in FIG. 2 is used to provide exclusive services (the corresponding data content type is agriculture).
  • the specific identification information provided by the autonomous mobile device 10 carries the data content type "agriculture", it can be
  • the server 8 is determined as the target data processing server 30 of the autonomous mobile device 10.
  • an identifier such as "private server” can be configured for a specific server that provides private services, and a “dedicated server” can be configured for a specific server that provides exclusive services. "This kind of logo. A judgment condition can be added.
  • the private server use authority of the autonomous mobile device 10 is authenticated, that is, the private server requested by the autonomous mobile device 10 is determined Whether it is a private server with usage rights, if the authentication is passed, the private server is used to provide a private service for the autonomous mobile device 10, otherwise, the service may be denied.
  • an association relationship between the collected data and the specific identification information can be established.
  • the autonomous mobile device 10 can receive or generate at least one specific identification information based on the collected data when collecting data; associate the first specific identification information with at least a part of the collected data, where the first specific identification information is included in At least one specific identification information.
  • the autonomous mobile device 10 may receive at least one specific identification information, and associate the first specific identification information therein with at least a part of the collected data.
  • the at least one specific identification information received by the autonomous mobile device 10 may come from the data management device 20 or other subjects that configure a private server for the autonomous mobile device 10.
  • the data management device 20 may, in response to the task configuration operation for the autonomous mobile device 10, receive the specific identification information of the specific server input by the user of the autonomous mobile device 10, and provide the specific identification information of the specific server Give 10 to autonomous mobile devices.
  • the user of the autonomous mobile device 10 can perform task configuration operations through the data management device 20 before the autonomous mobile device 10 executes the task, and the user can enter the specific identification information of a specific server, which can be the device number of the private server. , Device name or address, etc.
  • the data management device 20 provides the specific identification information input by the user to the autonomous mobile device 10, and the autonomous mobile device 10 can establish an association relationship between the collected data and the specific identification information after the task is completed.
  • the autonomous mobile device 10 can perform content recognition on the collected data to determine the data content type to which the collected data belongs; based on the correspondence between the data content type and specific identification information and the collected data belongs to Generates at least one specific identification information, and associates the first specific identification information with at least a part of the collected data.
  • the autonomous mobile device 10 can determine the type of data content contained in the collected data by performing content recognition on the collected data. Based on this, the autonomous mobile device 10 can establish an association relationship between the collected data and specific identification information after the task is completed.
  • the autonomous mobile device 10 can associate the specific identification information with the collected data after the task is completed based on the received specific identification information.
  • a signature file can be constructed, and specific identification information can be configured in the signature file to ensure the security of the specific identification information.
  • the data collected by the autonomous mobile device 10 and the signature file will be transmitted synchronously, so as to realize the association between the collected data and the specific identification information.
  • different parts of the data collected by the autonomous mobile device 10 are associated with different specific identification information. For example, if the collected data contains part of the data corresponding to the content type of "agriculture”, then this part of the data can be associated with the specific identification information of "agriculture”, and the remaining part of the data can be associated with the "private server”. Specific identification information "equipment number”.
  • the data management device 20 can allocate different parts of the data collected by the autonomous mobile device 10 according to at least one specific identification information provided by the autonomous mobile device 10 and the association relationship between the specific identification information and the collected data. To a different target data processing server 30 for processing.
  • different data processing servers 30 may deploy service algorithms adapted to their service scope. Based on this, in this embodiment, when the data collected by the autonomous mobile device 10 corresponds to multiple target data processing servers 30, the data management device 20 may receive processing results returned by multiple target data processors; The processing result returned by the target data processing server 30 is merged as the final processing result corresponding to the data collected by the autonomous mobile device 10.
  • different service algorithms can be used for different parts of the data collected by the autonomous mobile device 10, so that the data and the service algorithm are more adapted, and different target data processing servers 30 can perform collaborative processing on the data collected by the autonomous mobile device 10.
  • the data management device 20 can receive the processing results returned by the target data processing server 30, and merge these processing results to obtain the final processing results corresponding to the data collected by the autonomous mobile device 10.
  • This collaborative processing method can greatly improve the data The efficiency and accuracy of processing.
  • the target data processing server 30 can perform positioning processing on the data collected by the autonomous mobile device 10, for example, PPK solution processing, map construction, task planning, data analysis, post-processing map creation and model generation based on the PPK solution processing results Wait for subsequent positioning processing, etc., which is not limited in this embodiment.
  • the plurality of data processing servers 30 may also include a rights record server.
  • the authority record server stores service authority record information of several autonomous mobile devices 10.
  • the autonomous mobile device 10 may also provide service authentication information to the data management device 20.
  • the service authentication information includes the product serial number (SN number) of the autonomous mobile device 10 or service purchase record information.
  • the autonomous mobile device 10 may configure service authentication information such as the SN number and the task start time into the aforementioned signature file to provide the service authentication information to the target data processing server 30.
  • the data management device 20 may send the service authentication information to the target data processing server 30 after determining the target data processing server 30.
  • the target data processing server 30 can obtain the service authority record information of the autonomous mobile device 10 from the authority record server; if the service authentication information provided by the autonomous mobile device 10 matches the service authority record information obtained from the authority record server, it is determined The autonomous mobile device 10 passes service certification.
  • the target data processing server 30 may provide data processing services for the autonomous mobile device 10 when it is determined that the autonomous mobile device 10 has passed the service authentication.
  • the target data processing server 30 can determine whether the autonomous mobile device 10 has already activated the service, and determine whether the task start time corresponding to the collected data provided by the autonomous mobile device 10 is later than its service activation time. And in the case where these judgment results are all yes, it is determined that the autonomous mobile device 10 passes the service.
  • the loss of service resources of the data processing server 30 can be effectively avoided, and the utilization rate of service resources can be improved.
  • post-processed differential In the application field of the UAV industry, from aerial surveys to inspections to precision agriculture, more and more precision positioning technologies are applied to map construction, mission planning, data analysis, post-processing mapping/generating models, etc.
  • post-processed differential PPK
  • RTK real-time dynamic differential settlement
  • RTK Kinematic, RTK
  • post-processing differential technology is also widely used in high-precision map generation and route planning in industries such as autonomous driving.
  • the post-processing differential technology is similar to the implementation of dynamic differential technology (RTK), and both use carrier phase differential positioning technology. Because RTK uses a real-time solution method, it strongly relies on the communication link between the base station and the UAV. When the communication link is interrupted in real time, the accuracy of the positioning results will increase significantly, and even return to the single-point positioning mode, reaching meters. Level of positioning error. When the user uses the virtual reference station network RTK, the reliability of the two-way communication link must be ensured to obtain a valid location at each photographing point. At the same time, the RTK technology uses forward filtering for the solution, so its reliability and accuracy are slightly worse than that of PPK.
  • Fig. 1b is a schematic diagram of an application scenario provided by an embodiment of the application.
  • the PPK solution service is taken as an exemplary application scenario
  • Fig. 1b shows a data processing scheme in this application scenario.
  • the unmanned aerial vehicle (UAV, as an autonomous mobile device) transmits the collected data and the received satellite observation data to the remote control (as a data management device), and the base station can selectively transmit the base station data to the remote control.
  • UAV unmanned aerial vehicle
  • the drone can also associate identification information for the data it collects, and transmit the identification information to the remote control.
  • the business server and the solution server in FIG. 1b are deployed in pairs to implement the related functions of the data processing server in the foregoing embodiment.
  • the business server mainly undertakes the function of service authentication
  • the solution server mainly undertakes the function of PPK solution.
  • the business server and the solution server corresponding to the identification information can be used as the target business server and the target solution server.
  • the drone can estimate the operating position of the drone based on the satellite observation data collected by the drone, and select the business server that provides services for the location area based on the location area to which the operating location belongs.
  • the calculation server serves as the target business server and the target solution server.
  • the remote control can provide the data collected by the drone and satellite observation data to the target service server, and the target service server can first perform service authentication on the drone, and if the drone has the right to use the PPK solution service.
  • the target service server can provide the data collected by the drone and satellite observation data to the target solution server, so as to use the target solution server to provide PPK solution services for the drone.
  • Target solution server In the process of PPK solution for drones, the target solution server can also pull base station data from CORS/network RTK operating agency server (exemplary name), and also from the precise ephemeris generator server (Exemplary name) pull data such as ephemeris files as the basic data for PPK calculation. According to this, the target solution server can obtain the satellite observation data synchronously received by the drone (code A) and the base station (code B), and the pseudorange observation value and carrier phase observation value for each satellite can be obtained as follows (Take UAV A and satellite j as examples).
  • L is the carrier phase observation value
  • P is the pseudorange observation value
  • ⁇ is the distance between the satellite and the base station
  • c is the speed of light
  • ⁇ is the clock error
  • T is the tropospheric delay
  • I is the ionospheric delay
  • N is the ambiguity of the whole cycle
  • ⁇ is a random error.
  • the position accuracy of single-point positioning obtained by a single receiver receiving satellite observations is at the centimeter level.
  • the secondary difference of satellite observation data between satellites and stations can greatly reduce or even completely eliminate these error factors, and obtain centimeter-level relative position information of the base station and the UAV.
  • the processing capacity of the target solution server is much higher than that of a single PC. Therefore, the target solution server can continue to carry out map construction, task planning, data analysis, post-processing mapping/generating model, etc. according to the PPK solution results Subsequent positioning processing.
  • the target solution server can return the processing result to the remote control, and the remote control can output or reprocess the processing result.
  • FIG. 4 is a schematic flowchart of a data processing method provided by another embodiment of the application. As shown in FIG. 4, the method includes:
  • the data processing scheme is explained from the side of the data management device.
  • the step of determining the target processor corresponding to the data collected by the autonomous mobile device includes:
  • the regional processor that provides services for the location area is determined as the target processor.
  • the step of determining the target location area where the autonomous mobile device collects data includes:
  • the satellite observation value and the ephemeris file corresponding to the at least one epoch perform a single-point positioning solution to determine the position information corresponding to each of the at least one epoch;
  • the target location area where the autonomous mobile device collects data is determined.
  • the step of determining the target location area where the autonomous mobile device collects data according to the location information corresponding to each of the at least one epoch includes:
  • the step of determining the target location area where the autonomous mobile device collects data according to the location information corresponding to each of the at least one epoch includes:
  • the location area to which the autonomous mobile device collects data is determined as the target location area where the autonomous mobile device collects data.
  • the multiple preset orientations include east, west, south, and north, and the smallest circumscribed polygon is a rectangle.
  • the step before determining the target processor corresponding to the data collected by the autonomous mobile device according to the satellite observation data received by the autonomous mobile device, the step further includes:
  • the operation of determining the target processor corresponding to the data collected by the autonomous mobile device is performed based on the satellite observation data received by the autonomous mobile device.
  • the method further includes:
  • a specific processor corresponding to the specific identification information is determined as the target processor.
  • the method further includes:
  • the specific identification information input by the user of the autonomous mobile device is received, and the specific identification information is provided to the autonomous mobile device.
  • the specific identification information includes one or more of the address, device number, device name, or data content type of the specific processor.
  • the method further includes:
  • the satellite observation data received by the autonomous mobile device is provided to the target processor for the target data processor to perform positioning processing on the autonomous mobile device.
  • the step of acquiring the data collected by the autonomous mobile device and the satellite observation data received by the autonomous mobile device includes:
  • the data collected by the autonomous mobile device and the satellite observation data received by the autonomous mobile device are read from the storage device.
  • the method further includes:
  • the processing results returned by multiple target processors are merged as the final processing result corresponding to the data collected by the autonomous mobile device.
  • the method further includes:
  • the service authentication information is sent to the target processor for the target processor to perform service authentication on the autonomous mobile device.
  • the service authentication information includes the product serial number of the autonomous mobile device and/or service purchase record information.
  • FIG. 5 is a schematic flowchart of another data processing method provided by another embodiment of this application. As shown in Figure 5, the method includes:
  • the data processing solution is explained from the side of the autonomous mobile device.
  • the step of generating at least one piece of identification information based on the collected data includes:
  • At least one piece of identification information is generated based on the correspondence between the data content type and the identification information and the data content type to which the collected data belongs.
  • the step of providing the first identification information and associated collected data to the target processor corresponding to the first identification information for data processing includes:
  • the first identification information and the collected data associated with the first identification information are sent to the data management device, so as to use the data management device to send the collected data associated with the first identification information to the target processing corresponding to the first identification information Device for data processing.
  • the execution subject of each step of the method provided in the foregoing embodiment may be the same device, or different devices may also be the execution subject of the method.
  • the execution subject of steps 500 to 502 may be device A; for another example, the execution subject of steps 500 and 501 may be device A, and the execution subject of step 502 may be device B; and so on.
  • FIG. 6 is a schematic structural diagram of a computing device provided by another embodiment of this application. As shown in FIG. 6, the computing device includes: a memory 60, a processor 61, and a communication component 62.
  • the processor 61 is coupled with the memory 60 and the communication component 62, and is configured to execute computer programs in the memory for:
  • the target data processing server According to the satellite observation data received by the autonomous mobile device, determine the target data processing server corresponding to the data collected by the autonomous mobile device;
  • the data collected by the autonomous mobile device is uploaded to the target data processing server through the communication component for processing the data collected by the autonomous mobile device.
  • the processor 61 is configured to: when determining the target data processing server corresponding to the data collected by the autonomous mobile device:
  • the regional server that provides services for the location area is determined as the target data processing server.
  • the processor 61 is configured to: when calculating the location area where the autonomous mobile device is located when collecting data:
  • the satellite observation value and the ephemeris file corresponding to the at least one epoch perform a single-point positioning solution to determine the position information corresponding to each of the at least one epoch;
  • the target location area where the autonomous mobile device collects data is determined.
  • the processor 61 is configured to: when determining the target location area where the autonomous mobile device collects data according to the location information corresponding to each of the at least one epoch:
  • the processor 61 is configured to: when determining the target location area where the autonomous mobile device collects data according to the location information corresponding to each of the at least one epoch:
  • the location area to which the autonomous mobile device collects data is determined as the target location area where the autonomous mobile device collects data.
  • the multiple preset directions include east, west, south, and north, and the smallest circumscribed polygon is a rectangle.
  • the processor 61 is further configured to: before determining the target data processing server corresponding to the data collected by the autonomous mobile device according to the satellite observation data received by the autonomous mobile device:
  • the operation of determining the target data processing server corresponding to the data collected by the autonomous mobile device is performed based on the satellite observation data received by the autonomous mobile device.
  • the processor 61 is further configured to:
  • a specific server corresponding to the specific identification information is determined as the target data processing server.
  • the processor 61 is further configured to:
  • the specific identification information of the specific server input by the user of the autonomous mobile device is received, and the specific identification information of the specific server is provided to the autonomous mobile device as the specific identification information.
  • the specific identification information includes one or more of the address of the specific server, device number, device name, or data content type.
  • the processor 61 is further configured to:
  • the satellite observation data received by the autonomous mobile device is provided to the target data processing server for the target data processor to perform positioning processing on the autonomous mobile device.
  • the processor 61 reads the data collected by the autonomous mobile device and the satellite observation data received by the autonomous mobile device from the storage device when it detects that the storage device of the autonomous mobile device is inserted into the computing device. .
  • the computing device is the autonomous mobile device itself or a data relay device associated with the autonomous mobile device.
  • the processor 61 is further configured to:
  • the processing results returned by multiple target data processing servers are merged as the final processing result corresponding to the data collected by the autonomous mobile device.
  • the processor 61 is further configured to:
  • the service authentication information is sent to the target data processing server for the target data processing server to perform service authentication on the autonomous mobile device.
  • the service authentication information includes the product serial number of the autonomous mobile device and/or service purchase record information.
  • the computing device further includes: a power supply component 63 and other components. Only part of the components are schematically shown in FIG. 6, which does not mean that the computing device only includes the components shown in FIG. 6.
  • the embodiments of the present application also provide a computer-readable storage medium storing a computer program, and when the computer program is executed, the steps that can be executed by the computing device in the foregoing method embodiments can be implemented.
  • FIG. 7 is a schematic structural diagram of an autonomous mobile device provided by another embodiment of this application.
  • the autonomous mobile device includes: a memory 70, a processor 71, and a communication component 72;
  • the processor 71 coupled with the storage 70 and the communication component 72, is used to execute one or more computer instructions for:
  • the collected data associated with the first identification information is provided to the target data processing server corresponding to the first identification information for data processing.
  • the processor 71 is used to: when generating at least one piece of identification information based on the collected data:
  • At least one piece of identification information is generated based on the correspondence between the data content type and the identification information and the data content type to which the collected data belongs.
  • the processor when the processor provides the first identification information and associated collected data to the target data processing server corresponding to the first identification information for data processing, the processor is used to:
  • the first identification information and the collected data associated with the first identification information are sent to the data management device through the communication component 72, so as to use the data management device to send the collected data associated with the first identification information to the first identification information Corresponding target data processing server for data processing.
  • the autonomous mobile device further includes: a power supply component 73 and other components. Only part of the components are schematically shown in FIG. 7, which does not mean that the autonomous mobile device only includes the components shown in FIG. 7.
  • an embodiment of the present application also provides a computer-readable storage medium storing a computer program, and when the computer program is executed, each step that can be executed by an autonomous mobile device in the foregoing method embodiment can be implemented.
  • the memory in FIGS. 6 and 7 is used to store computer programs, and can be configured to store various other data to support operations on the device where it is located. Examples of such data include instructions for any application or method operating on the device where it is located, contact data, phone book data, messages, pictures, videos, etc.
  • the memory can be implemented by any type of volatile or non-volatile storage devices or their combination, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable and programmable Read only memory (EPROM), programmable read only memory (PROM), read only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.
  • SRAM static random access memory
  • EEPROM electrically erasable programmable read-only memory
  • EPROM erasable and programmable Read only memory
  • PROM programmable read only memory
  • ROM read only memory
  • magnetic memory flash memory
  • flash memory magnetic disk or optical disk.
  • the communication components in FIGS. 6 and 7 are configured to facilitate wired or wireless communication between the device where the communication component is located and other devices.
  • the device where the communication component is located can access a wireless network based on a communication standard, such as WiFi, 2G or 3G, or a combination of them.
  • the communication component receives a broadcast signal or broadcast related information from an external broadcast management system via a broadcast channel.
  • the communication component may be based on near field communication (NFC) technology, radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology, or Other technologies are implemented to facilitate short-range communication.
  • NFC near field communication
  • RFID radio frequency identification
  • IrDA infrared data association
  • UWB ultra-wideband
  • Bluetooth Bluetooth
  • the power supply components in Figures 6 and 7 provide power for various components of the equipment where the power supply components are located.
  • the power supply component may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the device where the power supply component is located.
  • the embodiments of the present invention can be provided as a method, a system, or a computer program product. Therefore, the present invention may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.
  • computer-usable storage media including but not limited to disk storage, CD-ROM, optical storage, etc.
  • These computer program instructions can also be stored in a computer-readable memory that can guide a computer or other programmable data processing equipment to work in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture including the instruction device.
  • the device implements the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.
  • These computer program instructions can also be loaded on a computer or other programmable data processing equipment, so that a series of operation steps are executed on the computer or other programmable equipment to produce computer-implemented processing, so as to execute on the computer or other programmable equipment.
  • the instructions provide steps for implementing the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.
  • the computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
  • processors CPUs
  • input/output interfaces network interfaces
  • memory volatile and non-volatile memory
  • the memory may include non-permanent memory in a computer readable medium, random access memory (RAM) and/or non-volatile memory, such as read-only memory (ROM) or flash memory (flash RAM). Memory is an example of computer readable media.
  • RAM random access memory
  • ROM read-only memory
  • flash RAM flash memory
  • Computer-readable media include permanent and non-permanent, removable and non-removable media, and information storage can be realized by any method or technology.
  • the information can be computer-readable instructions, data structures, program modules, or other data.
  • Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, CD-ROM, digital versatile disc (DVD) or other optical storage, Magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media can be used to store information that can be accessed by computing devices. According to the definition in this article, computer-readable media does not include transitory media, such as modulated data signals and carrier waves.

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Computer Security & Cryptography (AREA)
  • Computer Hardware Design (AREA)
  • Computing Systems (AREA)
  • General Engineering & Computer Science (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

La présente invention concerne un procédé, un dispositif et un système de traitement de données, et un support de stockage. Le système comprend un dispositif mobile auto-hébergé, un dispositif de gestion de données et de multiples serveurs de traitement de données ; le dispositif mobile auto-hébergé est utilisé pour fournir des données collectées et des données d'observation de satellite reçues au dispositif de gestion de données ; le dispositif de gestion de données est utilisé pour déterminer, selon les données d'observation de satellite fournies par le dispositif mobile auto-hébergé, un serveur de traitement de données cible correspondant aux données collectées par le dispositif mobile auto-hébergé et télécharger les données collectées par le dispositif mobile auto-hébergé vers le serveur de traitement de données cible ; les multiples serveurs de traitement de données, lorsqu'ils sont déterminés comme étant le serveur de traitement de données cible, sont utilisés pour traiter les données collectées par le dispositif mobile auto-hébergé. En conséquence, la sécurité des données peut être augmentée.
PCT/CN2019/114710 2019-10-31 2019-10-31 Procédé, système et dispositif de traitement de données, et support de stockage WO2021081892A1 (fr)

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CN201980034411.3A CN112236985A (zh) 2019-10-31 2019-10-31 一种数据处理方法、系统、设备及存储介质

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