CN109474894A - Terminal positioning processing method, device and electronic equipment - Google Patents

Terminal positioning processing method, device and electronic equipment Download PDF

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Publication number
CN109474894A
CN109474894A CN201910004553.7A CN201910004553A CN109474894A CN 109474894 A CN109474894 A CN 109474894A CN 201910004553 A CN201910004553 A CN 201910004553A CN 109474894 A CN109474894 A CN 109474894A
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China
Prior art keywords
terminal
positioning result
network side
side positioning
result
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CN201910004553.7A
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CN109474894B (en
Inventor
王涛
俞帆
俞一帆
张云飞
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Tencent Technology Shenzhen Co Ltd
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Tencent Technology Shenzhen Co Ltd
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Priority to CN201910004553.7A priority Critical patent/CN109474894B/en
Publication of CN109474894A publication Critical patent/CN109474894A/en
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/029—Location-based management or tracking services
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Navigation (AREA)

Abstract

The embodiment provides a kind of terminal positioning processing method, device and electronic equipments.The terminal positioning processing method includes: the error criterion obtained for the network side positioning result of terminal and the web-based history side positioning result of the terminal and actual location result；According to the network side positioning result and the error criterion, the confidence index of the network side positioning result is calculated；The network side positioning result and the confidence index are sent to the terminal, so that the terminal is based on the network side positioning result and the confidence index is positioned.The accuracy and reliability of terminal positioning result can be improved in the technical solution of the embodiment of the present invention.

Description

Terminal positioning processing method, device and electronic equipment
Technical field
The present invention relates to computer and fields of communication technology, in particular to a kind of terminal positioning processing method, device And electronic equipment.
Background technique
Currently, positioning terminal (such as vehicle termination) is when being positioned, it will usually the positioning result of grid of reference side, than Such as RTK (Real-time kinematic, in real time dynamic) positioning result of grid of reference side, but since positioning terminal can not Determine the reliability of the positioning result of network side, therefore the positioning result that finally determines of positioning terminal will appear inaccuracy and can not By the problem of.
Summary of the invention
The embodiment provides a kind of terminal positioning processing method, device and electronic equipments, and then at least one Determine the accuracy and reliability that terminal positioning result can be improved in degree.
Other characteristics and advantages of the invention will be apparent from by the following detailed description, or partially by the present invention Practice and acquistion.
According to an aspect of an embodiment of the present invention, a kind of terminal positioning processing method is provided, comprising: obtain for eventually The error criterion of the network side positioning result at end and the web-based history side positioning result of the terminal and actual location result； According to the network side positioning result and the error criterion, the confidence index of the network side positioning result is calculated；By institute It states network side positioning result and the confidence index is sent to the terminal, so that the terminal is based on the network side positioning As a result it is positioned with the confidence index.
According to an aspect of an embodiment of the present invention, a kind of terminal positioning processing method is provided, comprising: it is fixed to receive network The confidence index of network side positioning result and the network side positioning result that position server is sent, wherein the confidence level Index is the error according to the web-based history side positioning result of the network side positioning result and terminal and actual location result What index was calculated；Localization process is carried out according to the network side positioning result and the confidence index.
According to an aspect of an embodiment of the present invention, a kind of terminal positioning processing unit is provided, comprising: acquiring unit, The network side positioning result of terminal and the web-based history side positioning result and actual location knot of the terminal are directed to for obtaining The error criterion of fruit；Computing unit, for calculating the network side according to the network side positioning result and the error criterion The confidence index of positioning result；Transmission unit, for the network side positioning result and the confidence index to be sent to The terminal, so that the terminal is based on the network side positioning result and the confidence index is positioned.
In some embodiments of the invention, aforementioned schemes are based on, the acquiring unit is configured that acquisition for described At least one location data of terminal progress network positions；It is calculated according at least one location data for the terminal At least one positioning result；Fusion treatment is carried out at least one positioning result, obtains the network side positioning of the terminal As a result.
In some embodiments of the invention, aforementioned schemes are based on, the acquiring unit is configured that according to dynamic in real time The difference information of the satellite-signal of RTK base station feedback and the satellite-signal observed quantity of terminal feedback, calculate for described First positioning result of terminal；And/or the second of the terminal is determined according to the information of the collected terminal of roadside unit Positioning result, or receive second positioning result that roadside unit is determined according to the information of the collected terminal；With/ Or obtain installation on the terminal for carrying out the beacon signal that the signal receiver of fingerprint location receives, according to described Beacon signal determines the third positioning result of the terminal.
In some embodiments of the invention, aforementioned schemes are based on, the computing unit is configured that according to the network side Positioning result determines that the target component for calculating the confidence index, the target component are used to indicate where the terminal Influence situation of the region to network positions precision；According to the target component and the error criterion, calculates the confidence level and refer to Number.
In some embodiments of the invention, aforementioned schemes are based on, the computing unit is configured that according to the network side Positioning result determines the region where the terminal；Corresponding relationship based on region and target component, the determining and terminal institute The corresponding target component in region.
In some embodiments of the invention, aforementioned schemes are based on, the computing unit is configured that the error criterion It is normalized, the index value after obtaining normalized；After calculating the target component and the normalized The product of index value obtains the confidence index.
In some embodiments of the invention, aforementioned schemes are based on, the terminal includes vehicle communication terminal；The transmission Unit is configured that generation includes the vehicle communication message of the network side positioning result, the finger in the vehicle communication message Determine the confidence index that field is used to indicate the network side positioning result；The vehicle communication message is sent to the vehicle Communication terminal.
According to an aspect of an embodiment of the present invention, a kind of terminal positioning processing unit is provided, comprising: receiving unit, For receiving the network side positioning result of network location server transmission and the confidence index of the network side positioning result, In, the confidence index is fixed according to the web-based history side positioning result of the network side positioning result and terminal and reality What the error criterion of position result was calculated；Processing unit, for being referred to according to the network side positioning result and the confidence level Number carries out localization process.
In some embodiments of the invention, aforementioned schemes are based on, the processing unit is configured that according to the confidence level Index determines the terminal side positioning that the positioning device installed in the weight and the terminal of the network side positioning result is got As a result weight；The weight of weight and the terminal side positioning result based on the network side positioning result, to the network Side positioning result and the terminal side positioning result carry out fusion treatment, obtain the actual location result of the terminal.
In some embodiments of the invention, aforementioned schemes are based on, if the processing unit is configured that the confidence level refers to Number is greater than or equal to first threshold, then using the network side positioning result as the actual location result of the terminal；If or institute Confidence index is stated more than or equal to second threshold, then to the inertia measurement list in the network side positioning result and the terminal The positioning result of member carries out fusion treatment, obtains the actual location result of the terminal；If or the confidence index be less than or Equal to third threshold value, then the positioning result to the Inertial Measurement Unit in the network side positioning result, the terminal and described The carry out fusion treatment of the positioning result of sensor points cloud in terminal, obtains the actual location result of the terminal.
In some embodiments of the invention, be based on aforementioned schemes, the processing unit to the network side positioning result, The positioning result of sensor points cloud on the positioning result of Inertial Measurement Unit in the terminal and the terminal melt Close the process of processing, comprising: carry out at fusion to the positioning result of the network side positioning result and the Inertial Measurement Unit Reason, the network side positioning result after being corrected；To the network side positioning result and the sensor points cloud after the correction The positioning result of preset range carries out fusion treatment, wherein the confidence index and the preset range are at inverse correlation relationship.
In some embodiments of the invention, aforementioned schemes, the terminal positioning processing unit further include: feedback are based on Member, for according to the terminal actual location result and the network side positioning result, calculate the actual location result with The error criterion of the network side positioning result, by the error criterion of the actual location result and the network side positioning result Feed back to the network location server；Or the actual location result of the terminal is fed back into the network location server, So that the network location server calculates the error criterion of the actual location result Yu the network side positioning result.
According to an aspect of an embodiment of the present invention, a kind of computer-readable medium is provided, computer is stored thereon with Program realizes such as above-mentioned terminal positioning processing method as described in the examples when the computer program is executed by processor.
According to an aspect of an embodiment of the present invention, a kind of electronic equipment is provided, comprising: one or more processors； Storage device, for storing one or more programs, when one or more of programs are held by one or more of processors When row, so that one or more of processors realize such as above-mentioned terminal positioning processing method as described in the examples.
In the technical solution provided by some embodiments of the present invention, by according to network side positioning result and terminal The error criterion of web-based history side positioning result and actual location result calculates the confidence index of network side positioning result, and Network side positioning result and confidence index are sent to terminal, enable terminal reference net when determining actual location result The confidence index of network side positioning result, and determine based on the confidence index reliability of network side positioning result, Jin Erke To select to avoid network side to the degree of dependence of the network side positioning result based on the reliability of the network side positioning result Also the network side positioning result is placed one's entire reliance upon when positioning result is unreliable and the positioning result inaccuracy that causes terminal last Problem effectively increases the accuracy and reliability of terminal positioning result.
It should be understood that above general description and following detailed description be only it is exemplary and explanatory, not It can the limitation present invention.
Detailed description of the invention
The drawings herein are incorporated into the specification and forms part of this specification, and shows and meets implementation of the invention Example, and be used to explain the principle of the present invention together with specification.It should be evident that the accompanying drawings in the following description is only the present invention Some embodiments for those of ordinary skill in the art without creative efforts, can also basis These attached drawings obtain other attached drawings.In the accompanying drawings:
Fig. 1 is shown can be using the schematic diagram of the exemplary system architecture of the technical solution of the embodiment of the present invention；
Fig. 2 diagrammatically illustrates the flow chart of terminal positioning processing method according to an embodiment of the invention；
Fig. 3 diagrammatically illustrates the network side positioning result according to an embodiment of the invention for obtaining and being directed to terminal Flow chart；
Fig. 4 diagrammatically illustrate it is according to an embodiment of the invention according to network side positioning result and error criterion, Calculate the flow chart of the confidence index of network side positioning result；
Fig. 5 diagrammatically illustrates the flow chart of terminal positioning processing method according to an embodiment of the invention；
Fig. 6 diagrammatically illustrates according to an embodiment of the invention according to network side positioning result and the confidence level The flow chart of index progress localization process；
Fig. 7 diagrammatically illustrates the flow chart of terminal positioning processing method according to an embodiment of the invention；
Fig. 8 diagrammatically illustrates the structure of the system according to an embodiment of the invention that localization process is carried out to terminal Figure；
Fig. 9 shows the interactive process schematic diagram between each equipment in system shown in Fig. 8；
Figure 10 diagrammatically illustrates the stream that fusion positioning and confidence index calculating are carried out in step S904 shown in Fig. 9 Cheng Tu；
Figure 11 diagrammatically illustrates in step S906 shown in Fig. 9 positioning terminal for network side positioning result and terminal side Positioning result is merged the flow chart to determine actual location result；
Figure 12 shows the application architecture schematic diagram of V2X according to an embodiment of the invention；
Figure 13 diagrammatically illustrates the block diagram of terminal positioning processing unit according to an embodiment of the invention；
Figure 14 diagrammatically illustrates the block diagram of terminal positioning processing unit according to an embodiment of the invention；
Figure 15 shows the structural schematic diagram for being suitable for the computer system for the electronic equipment for being used to realize the embodiment of the present invention.
Specific embodiment
Example embodiment is described more fully with reference to the drawings.However, example embodiment can be with a variety of shapes Formula is implemented, and is not understood as limited to example set forth herein；On the contrary, thesing embodiments are provided so that the present invention will more Fully and completely, and by the design of example embodiment comprehensively it is communicated to those skilled in the art.
In addition, described feature, structure or characteristic can be incorporated in one or more implementations in any suitable manner In example.In the following description, many details are provided to provide and fully understand to the embodiment of the present invention.However, It will be appreciated by persons skilled in the art that technical solution of the present invention can be practiced without one or more in specific detail, Or it can be using other methods, constituent element, device, step etc..In other cases, it is not shown in detail or describes known side Method, device, realization or operation are to avoid fuzzy each aspect of the present invention.
Block diagram shown in the drawings is only functional entity, not necessarily must be corresponding with physically separate entity. I.e., it is possible to realize these functional entitys using software form, or realized in one or more hardware modules or integrated circuit These functional entitys, or these functional entitys are realized in heterogeneous networks and/or processor device and/or microcontroller device.
Flow chart shown in the drawings is merely illustrative, it is not necessary to including all content and operation/step, It is not required to execute by described sequence.For example, some operation/steps can also decompose, and some operation/steps can close And or part merge, therefore the sequence actually executed is possible to change according to the actual situation.
Fig. 1 is shown can be using the schematic diagram of the exemplary system architecture of the technical solution of the embodiment of the present invention.
As shown in Figure 1, system architecture may include vehicle termination 101, network location server 102, RTK base station 103 With roadside aware base station 104.Wherein, network location server 102 and vehicle termination 101, RTK base station 103 and roadside perceive It can be attached, for example can be carried out by wired communications links, wireless communication link etc. by network between base station 104 Connection.
It should be understood that vehicle termination 101, network location server 102, RTK base station 103 and roadside perception in Fig. 1 The number of base station 104 is only schematical.According to needs are realized, it is fixed to can have any number of vehicle termination 101, network Position server 102, RTK base station 103 and roadside aware base station 104.
In one embodiment of the invention, network location server 102 is available arrives what RTK base station 103 was fed back The difference information of satellite-signal, and get the collected end message of roadside aware base station 104 (for example camera is collected The signal message etc. that image information, ultrasonic radar sense), while the satellite-signal for getting the feedback of vehicle termination 101 is seen Measurement and fingerprint location observed quantity.And then network location server 102 can be according to the satellite-signal that RTK base station 103 is fed back Satellite-signal observed quantity that difference information and vehicle termination 101 are fed back determines the first positioning result, according to roadside aware base station 104 collected end messages determine the second positioning result, and are determined according to the fingerprint location observed quantity that vehicle termination 101 is fed back Third positioning result.After determining the first positioning result, the second positioning result and third positioning result, network location service Device 102 can merge these three positioning results, obtain the network side positioning result for vehicle termination 101.
It, can be according to the net after network location server 102 gets the network side positioning result of vehicle termination 101 The error criterion of network side positioning result and the web-based history side positioning result of vehicle termination 101 and actual location result calculates net The confidence index of network side positioning result, and the network side positioning result and the confidence index are sent to vehicle termination 101.
Vehicle termination 101, can be according to the network after getting the network side positioning result and the confidence index Side positioning result and the confidence index carry out localization process.It, then can be only with network if more larger than the confidence index Actual location result of the side positioning result as vehicle termination 101；Or it will be on network side positioning result and vehicle termination 101 IMU (Inertial Measurement Unit, Inertial Measurement Unit) positioning result is merged, using as vehicle termination 101 Actual location result；Or it will be on the IMU positioning result and vehicle termination 101 on network side positioning result, vehicle termination 101 The positioning result of sensor points cloud (such as camera point cloud, radar points cloud) merged, using the reality as vehicle termination 101 Border positioning result.
It, can since terminal is capable of the confidence index of grid of reference side positioning result when determining actual location result To determine the reliability of network side positioning result based on the confidence index, so can based on the network side positioning result can The degree of dependence to the network side positioning result is selected by property, thus can be avoided network side positioning result it is unreliable when it is also complete It is fixed to effectively increase terminal for the problem for the positioning result inaccuracy for causing terminal last dependent on the network side positioning result entirely The accuracy and reliability of position result.
The realization details of the technical solution of the embodiment of the present invention is described in detail below:
Fig. 2 diagrammatically illustrates the flow chart of terminal positioning processing method according to an embodiment of the invention, the end End location processing method can be executed by server, which can be network location server shown in Fig. 1.Reference Shown in Fig. 2, which includes at least step S210 to step S230, is described in detail as follows:
In step S210, it is fixed for the network side positioning result of terminal and the web-based history side of the terminal to obtain The error criterion of position result and actual location result.
In one embodiment of the invention, the web-based history side positioning result of terminal and the error of actual location result refer to Mark, which can be, passes through the error criterion directly fed back after calculating by terminal.For example terminal is according to the network side positioning result received After determining actual location result, which is calculated according to the network side positioning result and actual location result.Its In, which can be terminal according to the calculated error of previous network positions result and actual location result Index value；It is also possible to terminal according to preceding network positions result and the corresponding actual location knot of each network positions result several times After fruit calculates multiple error criterions, the mean error index value that is obtained by way of calculating average value.
In one embodiment of the invention, the web-based history side positioning result of terminal and the error of actual location result refer to Mark is also possible to what network location server was calculated according to the actual location result of network side positioning result and terminal feedback. Wherein, which can be the previous actual location knot according to previous network side positioning result and terminal feedback The error index value that fruit is calculated；It is also possible to each net according to preceding network positions result and terminal feedback several times After the corresponding actual location result of network positioning result calculates multiple error criterions, what is obtained by way of calculating average value is flat Equal error index value.
In one embodiment of the invention, as shown in figure 3, obtaining the network side positioning knot for being directed to terminal in step S210 The process of fruit includes the following steps S310 to step S330, and detailed description are as follows:
In step s310, at least one location data for carrying out network positions to terminal is obtained.
In one embodiment of the invention, correspond to one kind for carrying out every kind of location data of network positions to terminal Network positions mode.Such as to terminal carry out network positions mode include RTK positioning, roadside unit (Road Side Unit, Abbreviation RSU, for example can be roadside aware base station etc.) positioning, fingerprint location etc..It includes RTK that RTK, which positions corresponding location data, The difference information of the satellite-signal of base station feedback and the satellite-signal observed quantity of terminal feedback；Roadside unit positioning is corresponding fixed Position data include the location information etc. of the collected road object of roadside unit；The corresponding location data of fingerprint location includes installation The beacon signal etc. that signal receiver at the terminal receives.
In step s 320, at least one positioning knot for the terminal is calculated according at least one location data Fruit.
In one embodiment of the invention, if location data includes the difference letter of the satellite-signal of RTK base station feedback Breath and terminal feedback satellite-signal observed quantity, then can according to RTK base station feed back satellite-signal difference information and The satellite-signal observed quantity of terminal feedback, calculates the first positioning result for being directed to terminal.Wherein, RTK base station is getting it After the satellite-signal observed, the satellite-signal and its actual coordinate information observed according to it calculates satellite-signal Then the difference information is fed back to network location server by difference information.
It in one embodiment of the invention, can if location data includes the information of the collected terminal of roadside unit To determine the second positioning result of terminal according to the information of the collected terminal of roadside unit.It should be noted that if trackside Unit can directly determine the positioning result of terminal according to the information of collected terminal, then network location server can be direct Get the second positioning result that roadside unit is determined according to the information of collected terminal.
In one embodiment of the invention, if location data include installation at the terminal for carrying out fingerprint location The beacon signal that signal receiver receives can then determine the third positioning result of terminal according to the beacon signal.
It should be noted that " fingerprint " in fingerprint location can be some information or signal a feature or multiple spies It levies (most commonly signal strength).It is undetermined such as known to certain positions and fixed sending device sends signal or information Position equipment receives the signal or information of sending device transmission, and then can be according to the feature of the signal or information that receive (such as Signal strength) estimate the positional relationship between equipment and sending device to be positioned, and determine the position of equipment to be positioned with this It sets.
In step S330, fusion treatment is carried out at least one positioning result, obtains the network side of the terminal Positioning result.
In one embodiment of the invention, if only a kind of positioning result, can directly using the positioning result as Network side positioning result, if can be tied by Kalman filtering algorithm to this variety of positioning there are many positioning result Fruit carries out fusion treatment.
With continued reference to shown in Fig. 2, in step S220, according to the network side positioning result and the error criterion, count Calculate the confidence index of the network side positioning result.
In one embodiment of the invention, as shown in figure 4, being referred in step S220 according to network side positioning result and error Mark calculates the process of the confidence index of network side positioning result, includes the following steps S410 and step S420, is described in detail such as Under:
In step S410, the target component for calculating the confidence index is determined according to network side positioning result, The target component is used to indicate influence situation of the terminal region to network positions precision.
In one embodiment of the invention, since network positions may not be identical in the positioning accuracy of different zones, than Such as in the case where unobstructed and have block in the case where the accuracy of network positions of (such as tunnel scene) may be not phase With, therefore terminal region can be reflected to the response condition of network positions precision by target component.Specifically, may be used With the precision according to the network positions of different zones come the corresponding relationship of setting area and target component, and then can be according to end The network side positioning result at end determines the region where terminal, with based on the corresponding relationship in region and target component it is determining with eventually The corresponding target component in region where holding.
With continued reference to shown in Fig. 4, in the step s 420, according to the target component and the error criterion, described in calculating Confidence index.
In one embodiment of the invention, can to terminal feed back web-based history side positioning result error criterion into Row normalized, the index value after obtaining normalized, for example the error criterion is normalized into the value between 0-1,1 table Show it is error free, 0 expression error have exceeded a specified range.Then it calculates target component obtained in step S410 and this is returned One changes the product of treated index value, to obtain confidence index.
With continued reference to shown in Fig. 2, in step S230, the network side positioning result and the confidence index are sent To the terminal, so that the terminal is based on the network side positioning result and the confidence index is positioned.
In one embodiment of the invention, data packet or notification message can be sent to terminal, by network side positioning As a result terminal is sent to confidence index.
In an application scenarios of the invention, terminal above-mentioned can be vehicle communication terminal, then logical to vehicle Believe that terminal sends network side positioning result and when confidence index, can be generated include the network side positioning result vehicle it is logical Believe message, and the confidence index that network side positioning result is indicated by the specific field in the vehicle communication message, in turn Vehicle communication message is sent to vehicle communication terminal.
Fig. 5 diagrammatically illustrates the flow chart of terminal positioning processing method according to an embodiment of the invention, the end End location processing method can be executed by terminal, which can be vehicle termination shown in Fig. 1.Referring to Figure 5, should Terminal positioning processing method includes at least step S510 and step S520, is described in detail as follows:
In step S510, network side positioning result and the network side positioning knot that network location server is sent are received The confidence index of fruit, wherein the confidence index is the web-based history according to the network side positioning result and terminal What the error criterion of side positioning result and actual location result was calculated.
In one embodiment of the invention, the web-based history side positioning result of terminal and the error of actual location result refer to Mark, which can be, passes through the error criterion directly fed back after calculating by terminal.For example terminal is according to the network side positioning result received After determining actual location result, which is calculated according to the network side positioning result and actual location result.Its In, which can be terminal according to the calculated error of previous network positions result and actual location result Index value；It is also possible to terminal according to preceding network positions result and the corresponding actual location knot of each network positions result several times After fruit calculates multiple error criterions, the mean error index value that is obtained by way of calculating average value.
In one embodiment of the invention, the web-based history side positioning result of terminal and the error of actual location result refer to Mark is also possible to what network location server was calculated according to the actual location result of network side positioning result and terminal feedback. Wherein, which can be the previous actual location knot according to previous network side positioning result and terminal feedback The error index value that fruit is calculated；It is also possible to each net according to preceding network positions result and terminal feedback several times After the corresponding actual location result of network positioning result calculates multiple error criterions, what is obtained by way of calculating average value is flat Equal error index value.
In an embodiment of the present invention, the calculation of confidence index in the technical solution of previous embodiment into Elaboration is gone, details are not described herein.
In step S520, localization process is carried out according to the network side positioning result and the confidence index.
In one embodiment of the invention, as shown in fig. 6, according to network side positioning result and described being set in step S520 Index of reliability carries out the process of localization process, includes the following steps:
Step S610 is determined according to the confidence index and is pacified in the weight and the terminal of the network side positioning result The weight for the terminal side positioning result that the positioning device of dress is got.
In one embodiment of the invention, the positioning device installed in terminal can be IMU positioning device, sensor points Cloud positioning device (such as camera point cloud, radar points cloud).
In one embodiment of the invention, if the confidence level of network side positioning result is larger, then can be by network side The weight of positioning result is arranged larger, and is arranged smaller by the weight of terminal side positioning result；If network side positioning result Confidence level it is smaller, then the weight of network side positioning result can be arranged smaller, and by the weight of terminal side positioning result It is arranged larger.
Step S620, the weight of weight and the terminal side positioning result based on the network side positioning result, to institute It states network side positioning result and the terminal side positioning result carries out fusion treatment, obtain the actual location result of the terminal.
In one embodiment of the invention, fusion treatment is being carried out to network side positioning result and terminal side positioning result When, fusion parameters can be arranged according to the weight of network side positioning result and the weight of terminal side positioning result, so that fusion The result of processing is more heavily weighted toward the biggish positioning result of weight, while can reduce the complexity of blending algorithm.It is alternatively possible to It is merged by the way of Kalman filtering.
It in one embodiment of the invention, can be by net if the confidence index is greater than or equal to first threshold Network side positioning result directly as the terminal actual location as a result, the algorithm complexity of this mode is lower.For example, if setting Index of reliability is up to 1, then first threshold can be set to the value close to 1, such as 0.9,0.95, with confidence index compared with When big, actual location result of the network side positioning result as terminal is directlyed adopt.
It in one embodiment of the invention, can be to network side if confidence index is greater than or equal to second threshold The positioning result of Inertial Measurement Unit on positioning result and terminal carries out fusion treatment, obtains the actual location knot of the terminal Fruit.For example, if confidence index is up to 1, then second threshold can be set to be closer to 1 value, such as 0.7,0.8, with In confidence index less hour, network side positioning result is optimized by the IMU positioning result in terminal, to obtain terminal Actual location result.
In one embodiment of the invention, if confidence index is less than or equal to third threshold value, to the network side Positioning result, Inertial Measurement Unit in the terminal positioning result and the terminal on sensor points cloud positioning result Carry out fusion treatment, obtain the actual location result of the terminal.For example, if confidence index is up to 1, then third threshold Value can be set to the farther away value of distance 1, such as 0.5,0.6, determined by the IMU in terminal when confidence index is smaller Position result, sensor points cloud positioning result optimize network side positioning result jointly, to obtain the actual location result of terminal.
In one embodiment of the invention, to the positioning knot of the Inertial Measurement Unit in network side positioning result, terminal The process of the carry out fusion treatment of the positioning result of sensor points cloud on fruit and terminal can be first to network side positioning result Carry out fusion treatment with the positioning result of Inertial Measurement Unit, the network side positioning result after being corrected, then to correction after Network side positioning result and sensor points cloud preset range positioning result carry out fusion treatment, wherein the confidence level refers to Several and preset range is at inverse correlation relationship.If higher than confidence index, then the precision of the network side positioning result after correcting Also higher, and then the positioning result of small range of sensor points cloud can only be selected to be merged again；If confidence index Smaller, then the precision of the network side positioning result after correcting is relatively low, and then can choose large range of sensor points cloud Positioning result is merged again, to improve the accuracy of the actual location result of obtained terminal.
It should be noted that in other embodiments of the invention, it can also be to network side positioning result, inertia measurement list The positioning result of member and the positioning result of sensor points cloud carry out fusion treatment simultaneously；It is also possible to first converged network side positioning knot The positioning result of fruit and sensor points cloud, then merge the positioning result of Inertial Measurement Unit.
As shown in fig. 7, terminal positioning processing method according to an embodiment of the invention, in the reality for determining terminal It, can be with following steps after positioning result:
Step S710 calculates the reality according to the actual location result of the terminal and the network side positioning result The error criterion of positioning result and the network side positioning result.
It in one embodiment of the invention, can be by the difference of the actual location result of terminal and network side positioning result Error criterion as network side positioning result；It can also be in the actual location result and network side positioning knot that terminal is calculated After the difference of fruit, which is normalized, to obtain the error criterion of network side positioning result.
The error criterion of the actual location result and the network side positioning result is fed back to the net by step S720 Network location-server.And then network location server can refer to according to the actual location result and the error of network side positioning result Mark the confidence index for the network side positioning result that calculated for subsequent is sent.
In other embodiments of the invention, actual location result only can also be fed back to network location service by terminal Device, and then network location server can calculate error criterion according to the actual location result and network side positioning result, and According to the confidence index for the network side positioning result that the error criterion calculated for subsequent is sent.
Above respectively from the angle of network location server and terminal to the terminal positioning processing method of the embodiment of the present invention It is described in detail, does below in conjunction with realization details of the Fig. 8 to Figure 12 to the technical solution of the embodiment of the present invention and further explain It states:
As shown in figure 8, in one embodiment of the invention, the system for carrying out localization process to terminal may include: RTK Base station 801, roadside aware base station 802, network location server 803, mobile communications network 804 and positioning terminal 805.
Wherein, RTK base station 801 is for carrying out RTK Differential positioning, the RTK base station 801 can by wired private network or The mode of person's mobile communication is connected to network location server 803.RTK base station 801 is mainly used for receiving GNSS (Global Navigation Satellite System, Global Navigation Satellite System) satellite-signal may include Beidou satellite navigation system System (BeiDou Navigation Satellite System, abbreviation BDS) signal, GPS (Global Positioning System, global positioning system) signal, GLNOASS (abbreviation of Russian " Global Navigation Satellite System ") signal, GALILEO (Galileo satellite navigation system, galileo satellite navigation system) signal etc..RTK base station 801 needs It is deployed in spacious unobstructed and glitch-free position, main function is exactly according to the GNSS signal being currently received and oneself The location information of body carries out combined calculation, to obtain GNSS differential signal and be supplied to network location server 803.
Roadside aware base station 802 is roadside unit, wherein include the sensor devices such as camera, ultrasonic radar, These sensor devices can according to itself position and the position of the road object (such as vehicle, pedestrian, accident) detected come The actual location position of object is calculated, and the positioning result being calculated is handled back to network location server 803.
The main function of network location server 803 includes: the solution of the differential signal of (1) based on more RTK base stations 801 It calculates, and the original observed quantity of GNSS for combining positioning terminal 805 to feed back carries out RTK positioning calculation beyond the clouds, obtains RTK positioning knot Fruit；(2) the roadside perceptual positioning result of the road object fed back from roadside aware base station 802 is obtained；(3) positioning terminal is obtained The fingerprint location observed quantity of 805 feedbacks, and fingerprint location result is calculated according to this observed quantity；(4) RTK positioning is being got As a result, after all or part in fingerprint location result and roadside perceptual positioning result, the net of network location server 803 is solved Network side positioning as a result, and combine positioning terminal 805 to feed back terminal every time final positioning result (in such as automatic Pilot scene The fusion positioning result that vehicle termination side is completed) determine the confidence index of network side positioning result.
Mobile communications network 804 is used to provide the confidence index between network location server 803 and positioning terminal 805 Publication and data transmit, for example can be 3G/4G/5G network, be also possible to some dedicated networks.
Positioning terminal 805 can be autonomous driving vehicle, which is equipped with RTK terminal, for observing the original observation of GNSS Amount, and be sent to network location server 803 and carry out RTK positioning；It is fixed that the autonomous driving vehicle can may also be equipped with progress fingerprint The location fingerprint observed quantity received can be sent to network location service by the beacon signal reception device of position, the beacon signal reception device Device 803 carries out fingerprint location；In addition, the autonomous driving vehicle can also be positioned using multi-source fusion positioning method, such as Can by LiDAR (Light Detection And Ranging, i.e. laser acquisition and measurement, that is, laser radar), take the photograph As the equipment such as head, IMU gyroscope, wheel range finder carry out terminal side positioning, the positioning results of these equipment can and network side Positioning result is merged together, and higher positioning accuracy is obtained using alap computational complexity.Certainly, this is fixed Position terminal 805 may also be able to be other equipment, such as common vehicle, mobile phone, and the positioning terminal 805 may only have RTK whole at this time It holds and does not include these equipment for the beacon signal reception device of fingerprint location or all perhaps, and the network positions that place one's entire reliance upon The network side positioning result that server 803 provides.
The interactive process between each equipment in system shown in Fig. 8 is described in detail below in conjunction with Fig. 9, such as Fig. 9 It is shown, specifically comprise the following steps:
Step S901, RTK base station carries out joint meter with the location information of itself according to the GNSS signal being currently received It calculates, to obtain GNSS differential signal, is then sent to network location server according to higher frequency.Wherein, RTK base station can Periodically to feed back GNSS differential signal to network location server.
Step S902, roadside aware base station are carrying out obstacle distance spy by camera capturing pictures and ultrasonic radar After survey, corresponding location information analysis is carried out, and the positioning result that analysis obtains is fed back into network location server.In addition, The detection information for the pictorial information and ultrasonic radar that roadside aware base station can also only grab camera is fed back to network Location-server calculates in order to which network location server carries out corresponding positioning result identification.Wherein, roadside aware base station Positioning result (or camera and the collected information of ultrasonic radar) periodically can be fed back into network location server.
Step S903, the original sight of GNSS that positioning terminal (such as autonomous driving vehicle) obtains the RTK terminal being arranged thereon The beacon signal and positioning terminal that measurement, the beacon signal reception device based on fingerprint location receive are positioned in a upper fusion The actual location result that period obtains feeds back to network location server.Wherein, positioning terminal can be by above three primary system one Be encapsulated in a uplink message and be sent to network location server, for network location server carry out positioning calculation, fusion with And the calculating of positioning confidence index；In addition, positioning terminal can also transmit above three according to three uplink messages respectively Value, or mutual combination can also be carried out to carry out message upload.In addition, positioning terminal is in network location server The data of biography can also be only comprising the part in above three value, or also may include other numbers except above three value According to.
Step S904, network location server are being received from RTK base station, roadside aware base station and positioning terminal difference After the relevant information of transmission, it will carry out relevant fusion positioning and confidence index calculates.Specific calculating process will be following It is described in detail in embodiment.
Step S905, network location server is after being calculated network side positioning result and confidence index, by net Network side positioning result and confidence index are sent to positioning terminal by mobile communications network.
Step S906, positioning terminal is in the network side positioning result and confidence index for receiving network location server feedback Afterwards, optimal fusion location algorithm is determined according to confidence index, by network side positioning result and terminal side positioning result (as swashed Some in the positioning results such as optical radar positioning result, camera positioning result, IMU gyroscope positioning result and wheel range finder Or certain) merged to determine final actual location result.Concrete processing procedure will carry out in detail in the following embodiments Explanation.
The process that fusion positioning and confidence index calculating are carried out in above-mentioned steps S904 is elaborated below in conjunction with Figure 10, Specifically comprise the following steps:
Step S1001, network location server are being received from RTK base station, roadside aware base station and positioning terminal point After the relevant information not sent, corresponding positioning clearing are carried out, RTK positioning result is calculated, roadside aware base station is determined Position result and fingerprint location result.
Step S1002, network location server are obtaining all or part of positioning result in three of the above positioning result Fusion calculation is carried out, later to obtain fusion positioning result.Wherein, blending algorithm can be filtered using kalman (Kalman) and be calculated Method.If only having used one such positioning result in fusion, which is just that fused network side is fixed Position result.
Step S1003, network location server are practical fixed according to the history that network side positioning result and positioning terminal are fed back Position result carries out the calculating of confidence index.
In one embodiment of the invention, confidence index can be calculate by the following formula:
η=a × b
Wherein, the b in formula (0≤b≤1) represents network side positioning result and the positioning terminal determination in last period Error confidence level between actual location result, the error confidence level can be normalized to the coefficient between one 0 to 1 with table Show the size of error, for example 1 represents error free, 0 Representative errors have exceeded a specified range.
A (0 < a≤1) represents the multipath conditions in positioning section in formula, can be according to geographical ambient zone point, such as rural area public affairs Road, highway far from urban district etc. are 1, and a value such as city de-occlusion region, serious shielding region can be reduced accordingly.Wherein, if A value is set primarily to being associated with the degree of association between last period position error and the possible position error of current period, specifically For, because b value only represents the error confidence level of last locating periodically, and a can represent current locating periodically to a certain extent Maximum scene and multipath conditions are influenced for network positions precision.It in one embodiment of the invention, can will be in map Each region be associated with an a value, can be according to this net then after obtaining the network side positioning result of current period Network side positioning result determines the region at the current probably place of positioning terminal, then gets the associated a value in the region.
It should be noted that being real from positioning terminal to network location server feedback history in embodiment shown in Fig. 10 Border positioning result, and the network side positioning result for calculating by network location server previous cycle is gone through with what positioning terminal was fed back Error confidence level b between the positioning result of historical facts border.In other embodiments of the invention, positioning terminal can also calculate previous Error confidence level b between the network side positioning result and history actual location result in period, then directly by the error confidence Degree b feeds back to network location server, in order to which the network location server calculates confidence index.
In one embodiment of the invention, when network location server refers in acquisition network side positioning result and confidence level After number, these information are sent to positioning terminal by network, in order to which positioning terminal calculates actual positioning result.
Positioning terminal is elaborated in above-mentioned steps S906 below in conjunction with Figure 11 to determine network side positioning result and terminal side Position result is merged the process to determine actual location result, is specifically comprised the following steps:
Network side positioning result and IMU positioning result are combined by step S1101, to be corrected by IMU positioning result Network side positioning result.
In one embodiment of the invention, since the frequency of network positions is usually lower, in a locating periodically Interior, positioning in real time can be realized accurately in conjunction with IMU positioning, and (there are displacement error, proportional error and backgrounds for IMU positioning White noise error, and error is constantly accumulated, so cannot be used for positioning for a long time, but location frequency is higher).Wherein, IMU positioning result and the cohesive process of network side positioning result namely the process merged, can be fixed according to network side in fusion The confidence index of position result to carry out dynamic regulation to fusion process.If the confidence level than network side positioning result is higher, The weight of network side positioning result can be then arranged larger；It, can be by net if the confidence level of network side positioning result is lower The weight setting of network side positioning result is smaller.
Step S1102, by the network side positioning result after being corrected by IMU positioning result and point cloud (such as laser radar point Cloud, camera point cloud etc.) positioning result progress fusion treatment.It wherein, can be according to network side positioning when carrying out fusion treatment As a result confidence index carrys out the physical extent of selected element cloud computing, then can be very if very higher than confidence index A cloud computing is carried out in small range；If confidence index is lower, a cloud computing range can be expanded.
In one embodiment of the invention, when carrying out fusion treatment to each positioning result, Kalman can be used Filtering algorithm carries out fusion treatment.Wherein it is possible to determine Kalman filtering according to the confidence index of network side positioning result Parameter in algorithm, for example, in transition matrix each positioning result syncretic relation etc., to improve the convergence rate of blending algorithm, And reduce the calculation amount of blending algorithm.
It should be noted that illustrating only part terminal side positioning result (i.e. point cloud positioning result and IMU positioning in Figure 11 As a result), more terminal side positioning results can also be increased in other embodiments of the invention and carry out fusion treatment.In addition, When determining last actual location result based on network side positioning result, positioning terminal directly can also just use high confidence Spend the network positions of index as a result, can also network positions result for different confidence index determined using different fusions Network side positioning result and IMU positioning result when as higher such as confidence index, only carried out fusion treatment, work as confidence by position mode When degree index is lower, in conjunction with cloud positioning result etc..
In a concrete application scene of the invention, the technical solution of the embodiment of the present invention can be applied in V2X In the transmittance process of (Vehicle to everything, vehicle communication with the outside world) message.It is specific as shown in figure 12, in answering for V2X With in framework, can directly be communicated by PC5 interface between UE (User Equipment, user equipment), such as UE A (vehicle Terminal) it is directly communicated between UE B (vehicle termination), UE D (fixture), between UE B and UE C (pedestrian's terminal) Directly communicated；UE can also by Uu interface and NG-RAN (Next Generation Radio Access Network, Next-Generation networks) it is attached communication, as between UE A and NG-RAN, between UE D and NG-RAN.
The confidence index for the network side positioning result being calculated can be added to V2X message by network location server In, it is then forwarded to equipment of the core network 1201, is then forwarded to access net via equipment of the core network, and then be forwarded to by access net Corresponding UE (such as UE A or UE D etc.).Wherein, equipment of the core network 1201 may include UDM (Unified Data Management, uniform data management function), PCF (Policy Control Function, policy control functions), V2XCF (Vehicle to everything Control Function, vehicle communication with the outside world control function), NEF (Network Exposure Function, network exposure function), AF (Application Function, application function), UPF (User Plane Function, user plane functions), SMF (Session Management Function, conversation management functional), AMF (Access and Mobility Management Function, access and mobile new management function) etc..
In one embodiment of the invention, the network can also be carried when forwarding network side positioning result between UE The confidence index of side positioning result.As extension, in an embodiment of the present invention, as long as there is off position in V2X communication Communication information (including V2X message set) in can carry the field of a confidence index, to indicate the confidence of the position Degree.In addition, can also add a confidence index in the V2X message for other V2X message and be used to indicate the V2X The confidence level of relevant information in message, such as some V2X message are used to that how many vehicle of road to be notified, then can also add One confidence index indicates the reliability of the information.
The device of the invention embodiment introduced below, can be used for executing at the terminal positioning in the above embodiment of the present invention Reason method.For undisclosed details in apparatus of the present invention embodiment, the above-mentioned terminal positioning processing method of the present invention is please referred to Embodiment.
Figure 13 diagrammatically illustrates the block diagram of terminal positioning processing unit according to an embodiment of the invention.
Referring to Fig.1 shown in 3, terminal positioning processing unit 1300 according to an embodiment of the invention, comprising: obtain single Member 1302, computing unit 1304 and transmission unit 1306.
Wherein, acquiring unit 1302 is used to obtain the history of the network side positioning result and the terminal for terminal The error criterion of network side positioning result and actual location result；Computing unit 1304 is used for according to the network side positioning result With the error criterion, the confidence index of the network side positioning result is calculated；Transmission unit 1306 is used for the network Side positioning result and the confidence index are sent to the terminal so that the terminal be based on the network side positioning result and The confidence index is positioned.
In one embodiment of the invention, acquiring unit 1302 is configured that acquisition for carrying out network to the terminal At least one location data of positioning；At least one positioning for the terminal is calculated according at least one location data As a result；Fusion treatment is carried out at least one positioning result, obtains the network side positioning result of the terminal.
In one embodiment of the invention, acquiring unit 1302 is configured that according to real-time kinematical RTK base station feedback The satellite-signal observed quantity of the difference information of satellite-signal and terminal feedback calculates the first positioning knot for the terminal Fruit；And/or the second positioning result of the terminal is determined according to the information of the collected terminal of roadside unit, or receive road Second positioning result that side unit is determined according to the information of the collected terminal；And/or obtain be mounted on it is described It is used to carry out the beacon signal that the signal receiver of fingerprint location receives in terminal, according to beacon signal determination The third positioning result of terminal.
In one embodiment of the invention, computing unit 1304 is configured that determines according to the network side positioning result For calculating the target component of the confidence index, it is fixed to network that the target component is used to indicate the terminal region The influence situation of position precision；According to the target component and the error criterion, the confidence index is calculated.
In one embodiment of the invention, computing unit 1304 is configured that determines according to the network side positioning result Region where the terminal；Corresponding relationship based on region and target component, determination are corresponding with the region where the terminal Target component.
In one embodiment of the invention, computing unit 1304, which is configured that, is normalized place to the error criterion Reason, the index value after obtaining normalized；The product of index value after calculating the target component and the normalized, Obtain the confidence index.
In one embodiment of the invention, the terminal includes vehicle communication terminal；The transmission unit 1306 configures Are as follows: generation includes the vehicle communication message of the network side positioning result, and the specific field in the vehicle communication message is used In the confidence index for indicating the network side positioning result；It is whole that the vehicle communication message is sent to the vehicle communication End.
Figure 14 diagrammatically illustrates the block diagram of terminal positioning processing unit according to an embodiment of the invention.
Referring to Fig.1 shown in 4, terminal positioning processing unit 1400 according to an embodiment of the invention, comprising: receive single Member 1402 and processing unit 1404.
Wherein, receiving unit 1402 is used to receive the network side positioning result and the network of network location server transmission The confidence index of side positioning result, wherein the confidence index is according to the network side positioning result and terminal What the error criterion of web-based history side positioning result and actual location result was calculated；Processing unit 1404 is used for according to Network side positioning result and the confidence index carry out localization process.
In one embodiment of the invention, processing unit 1404 is configured that according to confidence index determination The weight for the terminal side positioning result that the positioning device installed in the weight of network side positioning result and the terminal is got；Base In the weight of the network side positioning result and the weight of the terminal side positioning result, to the network side positioning result and institute It states terminal side positioning result and carries out fusion treatment, obtain the actual location result of the terminal.
In one embodiment of the invention, if processing unit 1404 is configured that the confidence index is greater than or equal to First threshold, then using the network side positioning result as the actual location result of the terminal；If or the confidence index More than or equal to second threshold, then to the positioning result of the Inertial Measurement Unit in the network side positioning result and the terminal Fusion treatment is carried out, the actual location result of the terminal is obtained；If or the confidence index be less than or equal to third threshold value, Then to the sensor on the positioning result and the terminal of the Inertial Measurement Unit in the network side positioning result, the terminal The carry out fusion treatment of the positioning result of point cloud, obtains the actual location result of the terminal.
In one embodiment of the invention, processing unit 1404 is configured to the network side positioning result, the end The carry out fusion treatment of the positioning result of sensor points cloud on the positioning result of Inertial Measurement Unit on end and the terminal Process, comprising: fusion treatment is carried out to the positioning result of the network side positioning result and the Inertial Measurement Unit, is obtained Network side positioning result after correction；To the preset range of network side positioning result and the sensor points cloud after the correction Positioning result carry out fusion treatment, wherein the confidence index and the preset range are at inverse correlation relationship.
In one embodiment of the invention, the terminal positioning processing unit 1400 further include: feedback unit is used for root Actual location result and the network side positioning result according to the terminal, calculate the actual location result and the network side The error criterion of positioning result feeds back to the error criterion of the actual location result and the network side positioning result described Network location server；Or the actual location result of the terminal is fed back into the network location server, for the net Network location-server calculates the error criterion of the actual location result Yu the network side positioning result.
Figure 15 shows the structural schematic diagram for being suitable for the computer system for the electronic equipment for being used to realize the embodiment of the present invention.
It should be noted that the computer system 1500 of the electronic equipment shown in Figure 15 is only an example, it should not be to this The function and use scope of inventive embodiments bring any restrictions.
As shown in figure 15, computer system 1500 include central processing unit (Central Processing Unit, CPU) 1501, it can be according to the program being stored in read-only memory (Read-Only Memory, ROM) 1502 or from depositing It stores up the program that part 1508 is loaded into random access storage device (Random Access Memory, RAM) 1503 and executes each Kind movement appropriate and processing.In RAM 1503, it is also stored with various programs and data needed for system operatio.CPU1501, ROM 1502 and RAM 1503 is connected with each other by bus 1504.Input/output (Input/Output, I/O) interface 1505 It is also connected to bus 1504.
I/O interface 1505 is connected to lower component: the importation 1506 including keyboard, mouse etc.；Including such as cathode Ray tube (Cathode Ray Tube, CRT), liquid crystal display (Liquid Crystal Display, LCD) etc. and loudspeaking The output par, c 1507 of device etc.；Storage section 1508 including hard disk etc.；And including such as LAN (Local Area Network, local area network) card, modem etc. network interface card communications portion 1509.Communications portion 1509 is via such as The network of internet executes communication process.Driver 1510 is also connected to I/O interface 1505 as needed.Detachable media 1511, such as disk, CD, magneto-optic disk, semiconductor memory etc., are mounted on as needed on driver 1510, in order to It is mounted into storage section 1508 as needed from the computer program read thereon.
Particularly, according to an embodiment of the invention, may be implemented as computer below with reference to the process of flow chart description Software program.For example, the embodiment of the present invention includes a kind of computer program product comprising be carried on computer-readable medium On computer program, which includes the program code for method shown in execution flow chart.In such reality It applies in example, which can be downloaded and installed from network by communications portion 1509, and/or from detachable media 1511 are mounted.When the computer program is executed by central processing unit (CPU) 1501, executes in the system of the application and limit Various functions.
It should be noted that computer-readable medium shown in the embodiment of the present invention can be computer-readable signal media Or computer readable storage medium either the two any combination.Computer readable storage medium for example can be with System, device or the device of --- but being not limited to --- electricity, magnetic, optical, electromagnetic, infrared ray or semiconductor, or it is any more than Combination.The more specific example of computer readable storage medium can include but is not limited to: have one or more conducting wires Electrical connection, portable computer diskette, hard disk, random access storage device (RAM), read-only memory (ROM), erasable type are programmable Read-only memory (Erasable Programmable Read Only Memory, EPROM), flash memory, optical fiber, Portable, compact Disk read-only memory (Compact Disc Read-Only Memory, CD-ROM), light storage device, magnetic memory device or The above-mentioned any appropriate combination of person.In the present invention, computer readable storage medium can be it is any include or storage program Tangible medium, which can be commanded execution system, device or device use or in connection.And in this hair In bright, computer-readable signal media may include in a base band or as carrier wave a part propagate data-signal, In carry computer-readable program code.The data-signal of this propagation can take various forms, including but not limited to Electromagnetic signal, optical signal or above-mentioned any appropriate combination.Computer-readable signal media can also be computer-readable Any computer-readable medium other than storage medium, the computer-readable medium can send, propagate or transmit for by Instruction execution system, device or device use or program in connection.The journey for including on computer-readable medium Sequence code can transmit with any suitable medium, including but not limited to: wireless, wired etc. or above-mentioned is any appropriate Combination.
Flow chart and block diagram in attached drawing are illustrated according to the system of various embodiments of the invention, method and computer journey The architecture, function and operation in the cards of sequence product.In this regard, each box in flowchart or block diagram can generation A part of one module, program segment or code of table, a part of above-mentioned module, program segment or code include one or more Executable instruction for implementing the specified logical function.It should also be noted that in some implementations as replacements, institute in box The function of mark can also occur in a different order than that indicated in the drawings.For example, two boxes succeedingly indicated are practical On can be basically executed in parallel, they can also be executed in the opposite order sometimes, and this depends on the function involved.Also it wants It is noted that the combination of each box in block diagram or flow chart and the box in block diagram or flow chart, can use and execute rule The dedicated hardware based systems of fixed functions or operations is realized, or can use the group of specialized hardware and computer instruction It closes to realize.
Being described in unit involved in the embodiment of the present invention can be realized by way of software, can also be by hard The mode of part realizes that described unit also can be set in the processor.Wherein, the title of these units is in certain situation Under do not constitute restriction to the unit itself.
As on the other hand, present invention also provides a kind of computer-readable medium, which be can be Included in electronic equipment described in above-described embodiment；It is also possible to individualism, and without in the supplying electronic equipment. Above-mentioned computer-readable medium carries one or more program, when the electronics is set by one for said one or multiple programs When standby execution, so that the electronic equipment realizes method described in above-described embodiment.
It should be noted that although being referred to several modules or list for acting the equipment executed in the above detailed description Member, but this division is not enforceable.In fact, embodiment according to the present invention, it is above-described two or more Module or the feature and function of unit can embody in a module or unit.Conversely, an above-described mould The feature and function of block or unit can be to be embodied by multiple modules or unit with further division.
Through the above description of the embodiments, those skilled in the art is it can be readily appreciated that example described herein is implemented Mode can also be realized by software realization in such a way that software is in conjunction with necessary hardware.Therefore, according to the present invention The technical solution of embodiment can be embodied in the form of software products, which can store non-volatile at one Property storage medium (can be CD-ROM, USB flash disk, mobile hard disk etc.) in or network on, including some instructions are so that a calculating Equipment (can be personal computer, server, touch control terminal or network equipment etc.) executes embodiment according to the present invention Method.
Those skilled in the art after considering the specification and implementing the invention disclosed here, will readily occur to of the invention its Its embodiment.This application is intended to cover any variations, uses, or adaptations of the invention, these modifications, purposes or Person's adaptive change follows general principle of the invention and including the undocumented common knowledge in the art of the present invention Or conventional techniques.
It should be understood that the present invention is not limited to the precise structure already described above and shown in the accompanying drawings, and And various modifications and changes may be made without departing from the scope thereof.The scope of the present invention is limited only by the attached claims.

Claims (15)

1. a kind of terminal positioning processing method characterized by comprising
It obtains for the network side positioning result of terminal and the web-based history side positioning result of the terminal and actual location knot The error criterion of fruit；
According to the network side positioning result and the error criterion, the confidence index of the network side positioning result is calculated；
The network side positioning result and the confidence index are sent to the terminal, so that the terminal is based on the net Network side positioning result and the confidence index are positioned.
2. terminal positioning processing method according to claim 1, which is characterized in that obtain the network side positioning for being directed to terminal As a result, comprising:
Obtain at least one location data for carrying out network positions to the terminal；
At least one positioning result for being directed to the terminal is calculated according at least one location data；
Fusion treatment is carried out at least one positioning result, obtains the network side positioning result of the terminal.
3. terminal positioning processing method according to claim 2, which is characterized in that according at least one location data Calculate at least one positioning result for being directed to the terminal, comprising:
According to the satellite-signal observation of the difference information of the satellite-signal of real-time kinematical RTK base station feedback and terminal feedback Amount calculates the first positioning result for being directed to the terminal；And/or
The second positioning result of the terminal is determined according to the information of the collected terminal of roadside unit, or receives trackside list Second positioning result that member is determined according to the information of the collected terminal；And/or
Obtain installation on the terminal for carrying out the beacon signal that the signal receiver of fingerprint location receives, according to institute State the third positioning result that beacon signal determines the terminal.
4. terminal positioning processing method according to claim 1, which is characterized in that according to the network side positioning result and The error criterion calculates the confidence index of the network side positioning result, comprising:
Determine that the target component for calculating the confidence index, the target component are used according to the network side positioning result In influence situation of the instruction terminal region to network positions precision；
According to the target component and the error criterion, the confidence index is calculated.
5. terminal positioning processing method according to claim 4, which is characterized in that true according to the network side positioning result Determine the target component for calculating the confidence index, comprising:
The region where the terminal is determined according to the network side positioning result；
Corresponding relationship based on region and target component determines target component corresponding with the region where the terminal.
6. terminal positioning processing method according to claim 4, which is characterized in that according to the target component and the mistake Poor index calculate the confidence index, comprising:
The error criterion is normalized, the index value after obtaining normalized；
The product of index value after calculating the target component and the normalized, obtains the confidence index.
7. terminal positioning processing method according to any one of claim 1 to 6, which is characterized in that the terminal includes Vehicle communication terminal；
The network side positioning result and the confidence index are sent to the terminal, comprising:
Generation includes the vehicle communication message of the network side positioning result, and the specific field in the vehicle communication message is used In the confidence index for indicating the network side positioning result；
The vehicle communication message is sent to the vehicle communication terminal.
8. a kind of terminal positioning processing method characterized by comprising
The confidence index of network side positioning result and the network side positioning result that network location server is sent is received, In, the confidence index is fixed according to the web-based history side positioning result of the network side positioning result and terminal and reality What the error criterion of position result was calculated；
Localization process is carried out according to the network side positioning result and the confidence index.
9. terminal positioning processing method according to claim 8, which is characterized in that according to the network side positioning result and The confidence index carries out localization process, comprising:
The positioning device installed in the weight and the terminal of the network side positioning result is determined according to the confidence index The weight of the terminal side positioning result got；
The weight of weight and the terminal side positioning result based on the network side positioning result, to the network side positioning knot Fruit and the terminal side positioning result carry out fusion treatment, obtain the actual location result of the terminal.
10. terminal positioning processing method according to claim 8, which is characterized in that according to the network side positioning result Localization process is carried out with the confidence index, comprising:
If the confidence index is greater than or equal to first threshold, using the network side positioning result as the reality of the terminal Border positioning result；Or
If the confidence index is greater than or equal to second threshold, to used on the network side positioning result and the terminal Property measuring unit positioning result carry out fusion treatment, obtain the actual location result of the terminal；Or
If the confidence index is less than or equal to third threshold value, to used in the network side positioning result, the terminal Property measuring unit positioning result and the terminal on sensor points cloud positioning result carry out fusion treatment, obtain described The actual location result of terminal.
11. terminal positioning processing method according to claim 10, which is characterized in that the network side positioning result, The positioning result of sensor points cloud on the positioning result of Inertial Measurement Unit in the terminal and the terminal melt Conjunction processing, comprising:
Fusion treatment is carried out to the positioning result of the network side positioning result and the Inertial Measurement Unit, after being corrected Network side positioning result；
The positioning result of the preset range of network side positioning result and the sensor points cloud after the correction is merged Processing, wherein the confidence index and the preset range are at inverse correlation relationship.
12. the terminal positioning processing method according to any one of claim 8 to 11, which is characterized in that according to After network side positioning result and the confidence index carry out localization process, the terminal positioning processing method further include:
According to the actual location result of the terminal and the network side positioning result, calculate the actual location result with it is described The error criterion of network side positioning result feeds back the error criterion of the actual location result and the network side positioning result To the network location server；Or
The actual location result of the terminal is fed back into the network location server, for the network location server meter Calculate the error criterion of the actual location result Yu the network side positioning result.
13. a kind of terminal positioning processing unit characterized by comprising
Acquiring unit is directed to the network side positioning result of terminal and the web-based history side positioning knot of the terminal for obtaining The error criterion of fruit and actual location result；
Computing unit, for calculating the network side positioning result according to the network side positioning result and the error criterion Confidence index；
Transmission unit, for the network side positioning result and the confidence index to be sent to the terminal, so that described Terminal is based on the network side positioning result and the confidence index is positioned.
14. a kind of terminal positioning processing unit characterized by comprising
Receiving unit, for receiving the network side positioning result and the network side positioning result of network location server transmission Confidence index, wherein the confidence index is fixed according to the web-based history side of the network side positioning result and terminal What the error criterion of position result and actual location result was calculated；
Processing unit, for carrying out localization process according to the network side positioning result and the confidence index.
15. a kind of electronic equipment characterized by comprising
One or more processors；
Storage device, for storing one or more programs, when one or more of programs are by one or more of processing When device executes, so that one or more of processors realize the terminal positioning processing as described in any one of claims 1 to 7 Method, or realize the terminal positioning processing method as described in any one of claim 8 to 12.
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