CN113347568A - Positioning method and device, electronic equipment and computer readable storage medium - Google Patents

Positioning method and device, electronic equipment and computer readable storage medium Download PDF

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Publication number
CN113347568A
CN113347568A CN202110645838.6A CN202110645838A CN113347568A CN 113347568 A CN113347568 A CN 113347568A CN 202110645838 A CN202110645838 A CN 202110645838A CN 113347568 A CN113347568 A CN 113347568A
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positioning
path
calibration position
calibration
current moment
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CN113347568B (en
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李志龙
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Guangdong Oppo Mobile Telecommunications Corp Ltd
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Guangdong Oppo Mobile Telecommunications Corp Ltd
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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
    • H04W4/025—Services making use of location information using location based information parameters
    • H04W4/026—Services making use of location information using location based information parameters using orientation information, e.g. compass
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • 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
    • H04W4/025—Services making use of location information using location based information parameters
    • H04W4/027—Services making use of location information using location based information parameters using movement velocity, acceleration information
    • 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
    • H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Navigation (AREA)

Abstract

The application relates to a positioning method and device, an electronic device and a computer readable storage medium. The method comprises the following steps: acquiring an initial position; receiving positioning data and determining the positioning position of the current moment; and determining a calibration position corresponding to the current moment according to the positioning position of the current moment and the calibration position of the historical moment. The positioning method can effectively improve the positioning accuracy of the electronic equipment under the weak signal condition.

Description

Positioning method and device, electronic equipment and computer readable storage medium
Technical Field
The present application relates to the field of positioning technologies, and in particular, to a positioning method and apparatus, an electronic device, and a computer-readable storage medium.
Background
A Global Navigation System (GNSS) provides a positioning position, and the electronic device receives the GNSS positioning position to obtain the movement track information. However, in an indoor environment, GNSS signal strength is attenuated due to being blocked, and when GNSS signal strength is weak, positioning inaccuracy is likely to result.
Disclosure of Invention
The embodiment of the application provides a positioning method and device, electronic equipment and a computer readable storage medium.
The positioning method of the embodiment of the application comprises the following steps: acquiring an initial position; receiving positioning data and determining the positioning position of the current moment; determining a calibration position corresponding to the current moment according to the positioning position of the current moment and the calibration position of the historical moment; and determining the movement track of the electronic equipment according to the calibration positions at different moments.
The positioning device comprises a position acquisition module, a data receiving module, a calibration position module and a movement track module. The position acquisition module is used for acquiring an initial position; the data receiving module is used for receiving the positioning data and determining the positioning position at the current moment; the calibration position module is used for determining a calibration position corresponding to the current moment according to the positioning position of the current moment and the calibration position of the historical moment; and the moving track module is used for determining the moving track of the electronic equipment according to the calibration positions at different moments.
The electronic device of the embodiment of the application comprises a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the processor executes the following steps: acquiring an initial position; receiving positioning data and determining the positioning position of the current moment; determining a calibration position corresponding to the current moment according to the positioning position of the current moment and the calibration position of the historical moment; and determining the movement track of the electronic equipment according to the calibration positions at different moments.
A computer-readable storage medium of an embodiment of the present application, on which a computer program is stored, which, when executed by a processor, implements the steps of: acquiring an initial position; receiving positioning data and determining the positioning position of the current moment; determining a calibration position corresponding to the current moment according to the positioning position of the current moment and the calibration position of the historical moment; and determining the movement track of the electronic equipment according to the calibration positions at different moments.
According to the positioning method and device, the electronic device and the computer readable storage medium, the initial position is obtained, the positioning position of the current moment is determined according to the received positioning data, the calibration position corresponding to the current moment is determined according to the positioning position of the current moment and the calibration position of the historical moment, the movement track of the electronic device is determined by combining the calibration positions of different moments, the positioning position may be inaccurate under the weak signal environment, the influence of the weak signal on the positioning precision can be avoided by calculating the calibration position, the calibration position corresponding to the current moment is determined according to the positioning position of the current moment and the calibration position of the historical moment, and the positioning precision of the electronic device under the weak signal can be effectively improved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic application environment diagram of a positioning method in an embodiment of the present application;
FIG. 2 is a flow chart of a positioning method in an embodiment of the present application;
FIG. 3 is a flow chart of a positioning method in another embodiment of the present application;
FIG. 4 is a flow chart of a positioning method in a further embodiment of the present application;
FIG. 5 is a flow chart of a positioning method in yet another embodiment of the present application;
FIG. 6 is a flow chart of a positioning method in another embodiment of the present application;
FIG. 7 is a block diagram of the structure of one embodiment of the positioning device of the present application;
FIG. 8 is a schematic diagram of one embodiment of an internal structure of an electronic device of the present application;
FIG. 9 is a schematic diagram of a connection between a computer-readable storage medium and a processor according to some embodiments of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific examples described herein are for purposes of illustration only and are not to be construed as limiting the embodiments of the present application.
Currently, the global positioning navigation system (GNSS) includes 4 global positioning navigation systems such as a Global Positioning System (GPS), a GLONASS satellite navigation system (GLONASS), a GALILEO satellite navigation system (GALILEO), and a beidou satellite navigation system (BDS), and 2 regional positioning navigation systems such as a quasi-zenith satellite system (QZSS) and an indian regional satellite navigation system (IRNSS).
Fig. 1 is a schematic application environment diagram of a positioning method in an embodiment of the present application. As shown in fig. 1, the application environment includes a server 101, an electronic device 103, and a global positioning navigation system 105. The electronic device 103 acquires surrounding environment information, enters a weak signal navigation mode, receives information of the global positioning navigation system 105, transmits the information to the server 101, calculates position information according to the information by a positioning algorithm built in the server 101, and then transmits the position information back to the electronic device 103, and the electronic device 103 displays the position information.
The electronic device 103 may include, but is not limited to, a mobile phone, a tablet computer, a notebook computer, a smart watch, a game console, a navigation device, smart glasses, a smart helmet, and the like.
The electronic equipment 103 acquires surrounding environment information and enters a weak signal navigation mode, including but not limited to the fact that the electronic equipment 103 can acquire information of entering a subway and enter a weak signal auxiliary positioning mode; the electronic device 103 can acquire information of entering a shopping mall and enter a weak signal auxiliary positioning mode; the electronic device 103 may obtain information about the entrance into a closed environment such as a corridor, and enter a weak signal assisted positioning mode. All the embodiments of the present application are described by taking the example that the electronic device 103 acquires the information of entering the subway.
Referring to fig. 2, fig. 2 is a flowchart illustrating a positioning method according to an embodiment of the present application.
Step 201, an initial position is obtained.
And acquiring the position information of the surrounding environment, and determining the initial position according to the position information of the surrounding environment.
At present, more and more electronic devices support Near Field Communication (NFC) function, and many users choose to use the NFC of the electronic devices to simulate a bus card function to take a subway. When a user opens the NFC gate, the NFC radio frequency module of the electronic equipment exchanges data with the gate port of the subway, meanwhile, software of the electronic equipment sends an information inquiry command to the NFC control chip, and the NFC control chip replies response message data. And the general response message data contains the number information of the subway gate and the transaction amount information.
In another embodiment, at present, the subway gate supports a user to use the electronic device to brush the two-dimensional code for getting in a station and taking a bus, the user uses the electronic device to scan the two-dimensional code of the subway gate, and at the moment, the electronic device can also exchange data with the subway gate, so that the number information and the transaction amount information of the subway gate can be acquired.
The number of the subway gate is generally unique and can be used as a mapping to a subway station, namely, the number of the subway gate and the subway station have a corresponding relation. The electronic equipment acquires the serial number of the subway gate, and the electronic equipment is located in a subway station at the moment.
The inbound bus needs to pay the amount, and the transaction amount of the inbound bus is different from the transaction amount of the outbound bus, so the transaction amount can be used as the identifier of the inbound bus. When the electronic equipment enters the station, data exchange is carried out with the subway gate to obtain the current transaction amount information, generally speaking, the transaction amount of the entering bus is 0 yuan, and the transaction amount of the bus leaving the station is more than 0 yuan. Therefore, the transaction amount can be used for judging whether the station is entered or the station is exited, and when the acquired current transaction amount is 0 yuan, the electronic equipment enters the subway station; and when the acquired current transaction amount is larger than 0 yuan, the electronic equipment leaves the subway station.
When the current transaction amount is 0 yuan, the electronic equipment obtains the number of the subway gate at the same time, the number of the subway gate and the subway station have the unique corresponding relation, and the position of the subway station is determined and cannot be changed, so that the position information of the subway station corresponding to the number of the subway gate obtained by the electronic equipment can be used as the initial position. When the obtained current transaction amount is 0 yuan, the electronic equipment enters a subway station, and at the moment, the electronic equipment enters a weak signal auxiliary positioning mode.
When the calibration position is the initial position, the calibration position is from the surrounding environment position.
Step 203, receiving the positioning data, and determining the positioning position at the current moment.
The electronic equipment is provided with a GNSS antenna, and GNSS signals can be received through the GNSS antenna. The electronic device may obtain positioning data through GNSS signals, and determine a positioning position at the current time according to the positioning data.
In another embodiment, the electronic device may further acquire a WiFi signal, and acquire positioning data through the WiFi signal, and determine a positioning location at the current time according to the positioning data.
In another embodiment, the electronic device may further acquire a bluetooth signal, acquire positioning data through the bluetooth signal, and determine a positioning location of the current time according to the positioning data.
In another embodiment, the electronic device may further acquire a WiFi signal and a bluetooth signal, and acquire positioning data through the WiFi signal and the bluetooth signal, and determine a positioning location of the current time according to the positioning data.
When the positioning data is acquired, in order to prevent the problem of high power consumption caused by the fact that the electronic equipment acquires the positioning data in real time, the positioning data can be acquired through preset interval time, and the preset interval time refers to the interval time for acquiring two adjacent positioning data. In the present application, the preset interval time may be set to 5 seconds, 10 seconds, 15 seconds, 1 minute, 2 minutes, or the like.
And step 205, determining a calibration position corresponding to the current time according to the positioning position at the current time and the calibration position at the historical time.
If the electronic equipment at the current moment enters the weak signal auxiliary positioning mode, the positioning position at the current moment is an initial position, and the initial position can be obtained without a positioning signal.
The electronic equipment enters a weak signal auxiliary positioning mode, which shows that the positioning position calculated by the electronic equipment according to the received positioning data has larger deviation relative to the accurate positioning position of the electronic equipment, and the positioning data has larger attenuation at the moment, and meanwhile, the deviation has uncertainty. The deviation amplitude and the deviation direction between the positioning position determined by the electronic equipment according to the more severely attenuated positioning data and the accurate positioning position of the electronic equipment are not known, wherein the accurate positioning position of the electronic equipment refers to the real position of the electronic equipment, and the real position is not influenced by the positioning position determined by the electronic equipment according to the more severely attenuated positioning data.
The positioning position determined by the electronic device according to the more severely attenuated positioning data may have a larger deviation from the accurate positioning position of the electronic device itself, and therefore, in the weak signal assisted positioning mode, the positioning position determined by the electronic device according to the more severely attenuated positioning data cannot be directly used, otherwise, the positioning position of the electronic device may be shifted.
Although the positioning position determined by the electronic device according to the more severely attenuated positioning data cannot be directly used, the positioning position has referential property, mainly the approximate positioning position at the current moment can be reflected, so that the calibration position at the current moment can be determined by combining the positioning position at the current moment of the electronic device and the calibration position at the historical moment. Further, the calibration position of the electronic device at the current moment is used as the real position of the electronic device at the current moment.
In the present application, the calibration position at the history time includes the calibration position at the time before the current time. Since the calibration position can be used as the true position of the corresponding time, and the true positions of the electronic device at adjacent times have correlation, the positioning position can be verified by the calibration position. The fact that the electronic equipment has a correlation with the real position of the adjacent time refers to the fact that the real position of a certain time has a correlation with the real position of the previous time of the certain time, namely the real position of the certain time does not have a large difference with the real position of the previous time of the certain time.
In another embodiment, the calibration position at the historical moment can be used for judging whether the positioning position at the current moment is reasonable or not, and if so, the positioning position at the current moment is determined as the calibration position at the current moment; and if the current time is not reasonable, determining the calibration position at the last time as the calibration position at the current time.
Whether the positioning position at the current moment is reasonable or not can be judged by utilizing the calibration position at the historical moment, if so, the positioning position at the current moment of the electronic equipment does not have large offset relative to the real position information at the current moment, and the calibration position corresponding to the current moment is determined according to the positioning position at the current moment and the calibration position at the historical moment; if the current position of the electronic device is not correct, the current position of the electronic device needs to be discarded, and the previous calibration position is determined as the current calibration position.
In another embodiment, the above embodiment may further include acquiring the termination location. The electronic device may exit the weak signal navigation mode based on the obtained termination location. When the electronic device ends the weak signal assisted positioning mode, the electronic device clears all calibration positions.
The termination location may be determined based on ambient location information.
Taking a bus as an example, the bus needs to pay the amount when the bus leaves the station, and the transaction amount of the bus entering the station is different from the transaction amount of the bus leaving the station, so the transaction amount can be used as the mark of the bus leaving the station. When the electronic equipment leaves the station, the electronic equipment exchanges data with the gate of the subway to acquire current transaction amount information, generally speaking, the transaction amount of the incoming bus is 0 yuan, and the transaction amount of the outgoing bus is more than 0 yuan. Therefore, the transaction amount can be used for judging whether the electronic equipment enters the subway station or leaves the subway station, and when the acquired current transaction amount is larger than 0 yuan, the electronic equipment enters the subway station; and when the acquired current transaction amount is larger than 0 yuan, the electronic equipment leaves the subway station.
When the acquired current transaction amount is larger than 0 yuan, the electronic equipment acquires the number of the subway gate at the same time, and the position of the subway station is determined and does not change due to the unique corresponding relation between the number of the subway gate and the subway station, so that the position information of the subway station corresponding to the number of the subway gate acquired by the electronic equipment can be used as a termination calibration position. And when the obtained current transaction amount is larger than 0 yuan, the electronic equipment leaves the subway station, and the electronic equipment finishes the weak signal auxiliary positioning mode.
The positioning method in the embodiment obtains an initial position, receives positioning data, determines a positioning position at a current moment, determines a calibration position corresponding to the current moment according to the positioning position at the current moment and a calibration position at a historical moment, and determines a movement track of the electronic device according to the calibration positions at different moments.
In another embodiment, the historical time includes a first historical time and a second historical time, so that the calibration position corresponding to the current time can be determined according to the positioning position of the current time, the calibration position of the first historical time and the calibration position of the second historical time. As shown in fig. 3, the positioning method includes:
step 201, an initial position is obtained.
Step 203, receiving the positioning data, and determining the positioning position at the current moment.
Wherein steps 201 and 203 remain the same as in the above embodiment.
Step 301, determining a first path according to the calibration position at the first historical time and the calibration position at the second historical time, wherein the first path comprises a first path distance and a first path direction.
The first and second history times are two adjacent times, and the adjacent times are separated by a preset separation time, wherein the preset separation time can be set to be 5 seconds, 10 seconds, 15 seconds, 1 minute, 2 minutes, and the like.
The first path indicates the specific situation that the electronic equipment moves in the preset interval time, and the first path refers to a path formed from a calibration position at a first historical moment to a calibration position at a second historical moment. The first path distance is a distance that the electronic device moves from the calibration position at the first historical time to the calibration position at the second historical time, and the distance that the electronic device moves from the first historical time to the second historical time within the preset interval time is described. The first path direction refers to a direction in which the electronic device moves from the calibration position at the first historical time to the calibration position at the second historical time, and indicates a direction in which the electronic device moves from the first historical time to the second historical time within the preset interval time.
In the present application, the calibration position corresponding to the first historical time t-2 is denoted as pt-2The calibration position corresponding to the second historical time t-1 is denoted as pt-1At this time, the calibration position p at the first historical time is determinedt-2Calibration position p to a second historical timet-1Is represented by
Figure BDA0003109145670000061
The first path is a vector, the vector magnitude of the first path is a first path distance, and the vector direction of the first path is a first path direction.
Step 303, determining a second path according to the positioning position at the current time and the calibration position at the second historical time, wherein the second path comprises a second path distance and a second path direction.
The second history time and the current time are two adjacent times, and the adjacent time interval is a preset interval time, wherein the preset interval time may be set to 5 seconds, 10 seconds, 15 seconds, 1 minute, 2 minutes, and so on.
The second path indicates a specific situation that the electronic device moves within the preset interval time, and the second path is a path formed from the calibration position at the second historical moment to the positioning position at the current moment. The second path distance is a distance that the electronic device moves from the calibration position at the second historical time to the positioning position at the current time, and indicates a distance that the electronic device moves from the second historical time to the current time within a preset interval time. The second path direction refers to a direction in which the electronic device moves from the calibration position at the second historical time to the positioning position at the current time, and illustrates the direction in which the electronic device moves from the historical time at the second historical time to the current time within the preset interval time.
The first history time and the second history time are history times of the current time. The calibration position at the first historical time and the calibration position at the second historical time are both calibration positions corresponding to the historical times.
In the present application, the positioning position corresponding to the current time t is represented as pntAt this time, the calibration position p at the second historical time is sett-1Positioning position pn corresponding to current time ttIs represented as
Figure BDA0003109145670000071
The second path is a vector, the vector mode value of the second path is a second path distance, and the vector direction of the second path is a second path direction.
Step 305, judging whether an included angle between the first path direction and the second path direction is smaller than an included angle threshold value.
The positioning position at the current moment can be from GNSS positioning data or WiFi data or bluetooth data received at the current target moment, and the positioning position at the current moment can be used to represent the real position of the electronic device at the current target moment. In a weak signal environment, GNSS positioning data, WiFi data, or bluetooth data may be severely attenuated, and at this time, the positioning position at the current time may be severely offset from the real position at the current target time, so that the positioning data at the current time cannot be directly used.
The motion track of the electronic equipment in a period of time has continuity, so that whether the positioning position at the current moment is reasonable or not can be judged by utilizing the calibration position at the historical moment.
In an embodiment, whether the positioning position at the current moment is reasonable or not can be judged by calculating an included angle between the first path direction and the second path direction. And judging whether the included angle between the first path direction and the second path direction is smaller than the included angle threshold value or not, so as to judge whether the positioning position at the current moment is reasonable or not.
The included angle threshold may be set at any angle from 0 degrees to 180 degrees, including but not limited to 0 degrees, 10 degrees, 60 degrees, 90 degrees, 130 degrees. When the angle threshold is set at 90 degrees,judging the first path
Figure BDA0003109145670000072
And a second path
Figure BDA0003109145670000073
Whether the dot product of (2) is greater than 0 is determined
Figure BDA0003109145670000074
And judging whether the first path direction and the second path direction are smaller than an included angle threshold value of 90 degrees or not.
When judging
Figure BDA0003109145670000075
And when the first path direction and the second path direction are smaller than the included angle threshold value, judging that the first path direction and the second path direction are smaller than the included angle threshold value. When judging
Figure BDA0003109145670000076
If not, the first path direction and the second path direction are larger than or equal to the threshold value of the included angle.
In another embodiment, the electronic device sends the first path direction and the second path direction to the server, the server determines whether an included angle between the first path direction and the second path direction is smaller than an included angle threshold value, and returns a determination result to the electronic device, and the electronic device receives the determination result.
And when the included angle between the first path direction and the second path direction is smaller than the included angle threshold value, jumping to step 307. And when the included angle between the first path direction and the second path direction is judged to be greater than or equal to the included angle threshold value, the step 309 is skipped.
Step 307, calculating a projection of the second path along the direction of the first path, and determining a projection point as a calibration position corresponding to the current time.
And calculating a first projection distance of the second path distance projected along the first path direction, and determining a position of the calibration position at the previous historical moment, which is extended by the first projection distance along the first path direction, as the calibration position corresponding to the current moment.
Determine the first path sideAn included angle between the calibration position and the second path direction is smaller than an included angle threshold value, a first projection distance of the second path distance projected along the first path direction is calculated, and the position of the calibration position at the previous historical moment, which is extended by the first projection distance along the first path direction, is determined as the calibration position p corresponding to the current momentt。
The included angle between the first path direction and the second path direction is smaller than the included angle threshold, which indicates that the change of the second path direction relative to the first path direction is in a reasonable range, i.e. the second path direction does not change greatly relative to the first path direction.
And the included angle between the first path direction and the second path direction is smaller than the included angle threshold value, and the positioning position at the current moment has the referential property. The electronic equipment calibrates the positioning position at the current moment, and represents the calibrated positioning position at the current moment as a calibration position corresponding to the current moment.
The electronic device calculates a second path distance
Figure BDA0003109145670000081
Along a first path direction
Figure BDA0003109145670000082
First projection distance of projection, i.e. calculation
Figure BDA0003109145670000083
And the calculation result is taken as the first projection distance. Determining the position of the calibration position of the second historical moment, which is extended by the first projection distance along the first path direction, as the calibration position p corresponding to the current momentt。
In another embodiment, the electronic device sends the first path and the second path to the server, the server calibrates the positioning position at the current time, the calibrated positioning position at the current time is represented as a calibration position corresponding to the current time, the calibration position corresponding to the current time is sent to the electronic device, and the electronic device receives the calibration position corresponding to the current time.
Step 309, determining the calibration position at the second historical time as the calibration position corresponding to the current time.
And judging that the included angle between the first path direction and the second path direction is greater than or equal to the included angle threshold value, and determining the second calibration position as the calibration position corresponding to the current moment.
The included angle between the first path direction and the second path direction is greater than or equal to the threshold value of the included angle, which indicates that the change of the second path direction relative to the first path direction is not in a reasonable range at the moment, namely, the second path direction is greatly changed relative to the first path direction.
And when the included angle between the first path direction and the second path direction is larger than or equal to the included angle threshold value, the positioning position at the current moment has no referential property. The electronic equipment abandons the positioning position at the current moment, and takes the calibration position at the second historical moment as the calibration position p corresponding to the current momenttI.e. the calibration position p at the second historical time t-2t-1As a calibration position p corresponding to the current timet。
The above embodiment may further include step 311.
Step 311, calculating a first position of the calibration position corresponding to the current time projected along a preset route, and determining the first position as a display position of the electronic device at the current time.
The calibration position corresponding to the current time can be used as the real position of the electronic device at the current time, but the electronic device moves in a closed environment such as a subway, and the calculated calibration position corresponding to the current time may deviate from the original path. In order to improve the positioning precision and improve the actual use experience, the calibration position corresponding to the current moment can be further processed.
The path in an enclosed environment such as a subway is known, as is the direction and specific location of the subway line. Therefore, the first position projected by the calibration position corresponding to the current time along the preset route can be calculated. The first position falls into the subway line map, so that the condition of deviating the subway line map does not exist, the positioning precision is further improved, and the actual use experience of a user is improved.
And the first position just falls into the subway line, the latitude and longitude information of the first position is obtained, and the latitude and longitude information of the first position is determined as the display information of the electronic equipment at the current moment.
In another embodiment, longitude and latitude information of the calibration position corresponding to the current time is acquired, and the longitude and latitude information of the calibration position corresponding to the current time is determined as display information of the electronic device at the current time.
The positioning method in this embodiment includes obtaining an initial position, receiving positioning data, determining a first path according to a calibration position at a first historical time and a calibration position at a second historical time, where the first path includes a first path distance and a first path direction, determining a second path according to a positioning position at a current time and a calibration position at a second historical time, where the second path includes a second path distance and a second path direction, determining whether an included angle between the first path direction and the second path direction is smaller than an included angle threshold value, calculating a calibration position corresponding to the current time, calculating a first position of a projection of the calibration position corresponding to the current time along a preset path, and determining the first position as a display position of the electronic device at the current time. Whether the positioning position at the current moment is reasonable or not is judged by utilizing the positioning position at the current moment and the calibration position at the historical moment, so that the reasonable positioning position at the current moment is selected, and the positioning accuracy of the electronic equipment under weak signals can be effectively improved.
In one embodiment, the electronic device detects entering the weak signal assisted positioning mode, wherein the user may choose to view the location of the electronic device, please refer to fig. 4.
Step 401, detecting that a user initiates a request for viewing a position of an electronic device.
When the electronic device enters the weak signal assisted positioning mode, a user may initiate a request to view the position of the electronic device at any time.
When a user initiates a request for checking the position of the electronic equipment, a request message is sent to the electronic equipment at the moment, and the electronic equipment detects that the user initiates the request for checking the position of the electronic equipment according to the received request message. When the electronic device detects that the user initiates a request for viewing the position of the electronic device, the position information of the electronic device at the current moment needs to be fed back to the electronic device.
Step 203, receiving the positioning data, and determining the positioning position at the current moment.
Step 301, determining a first path according to the calibration position at the first historical time and the calibration position at the second historical time, wherein the first path comprises a first path distance and a first path direction.
Step 303, determining a second path according to the positioning position at the current time and the calibration position at the second historical time, wherein the second path comprises a second path distance and a second path direction.
Step 305, judging whether an included angle between the first path direction and the second path direction is smaller than an included angle threshold value.
Step 307, calculating a projection of the second path along the direction of the first path, and determining a projection point as a calibration position corresponding to the current time.
Step 309, determining the calibration position at the second historical time as the calibration position corresponding to the current time.
Step 203, step 301 to step 309 are consistent with the above embodiments.
And 403, calculating a first position projected by the calibration position corresponding to the current time along the first preset route, and returning to the first position.
According to the method of the embodiment, the first position of the calibration position corresponding to the current moment projected along the first preset line is calculated, the first position is returned, and the electronic equipment determines the acquired longitude and latitude of the first position as the display information of the electronic equipment at the current moment.
In another embodiment, the calibration position corresponding to the current time is returned, and the electronic device determines the acquired longitude and latitude of the calibration position corresponding to the current time as the display information of the electronic device at the current time.
In another embodiment, the user selects to view the position of the electronic device, after a period of time, the electronic device performs data exchange with the subway gate, at this time, the electronic device enters a weak signal auxiliary positioning mode, the electronic device acquires the first position according to the positioning method of the above embodiment, returns to the first position, and determines the acquired longitude and latitude of the first position as the display information of the electronic device at the current time.
In another embodiment, the user selects to view the position of the electronic device, after a period of time, the electronic device performs data exchange with the subway gate, at this time, the electronic device enters a weak signal auxiliary positioning mode, the electronic device acquires the calibration position corresponding to the current time according to the positioning mode of the above embodiment, returns to the calibration position corresponding to the current time, and determines the longitude and latitude of the acquired calibration position corresponding to the current time as the display information of the electronic device at the current time.
In another embodiment, the electronic device enters a weak signal auxiliary positioning mode, the electronic device acquires a calibration position at preset intervals, when the user selects to view the position of the electronic device, the electronic device determines the acquired longitude and latitude information of the calibration position as the display information of the electronic device at the current moment, and the user views the display information of the electronic device at the current moment.
In another embodiment, the electronic device enters a weak signal auxiliary positioning mode, the electronic device acquires a calibration position at preset intervals, when the user selects to view the position of the electronic device, the electronic device determines the acquired longitude and latitude information of the line position as the display position of the electronic device at the current moment, and the user views the display position of the electronic device at the current moment.
In the positioning method in the above embodiment, the calibration position or the first position corresponding to the current time is calculated by detecting that a request for viewing the position of the electronic device is initiated by a user, and longitude and latitude information of the calibration position or the first position corresponding to the current time is used as the display position of the electronic device at the current time, or when the request for viewing the position of the electronic device is initiated by the user, the calibration position or the first position corresponding to the current time, which is calculated by the electronic device within a preset interval time, is directly returned, and the longitude and latitude information of the calibration position or the first position corresponding to the current time is used as the display position of the electronic device at the current time. When a detection user initiates a request for checking the position of the electronic equipment, the position of the electronic equipment calculated by the electronic equipment within a preset interval time can be directly used, so that the high positioning precision of the returned positioning position can be ensured, and the position of the current electronic equipment can be quickly returned.
In another embodiment, the electronic device receives the positioning data, determines a positioning position at the current moment, calculates a first position projected by the positioning position along a first preset route, and returns to the first position.
The electronic device acquires subway information, enters a weak signal navigation mode, and the subway information may be complex and variable, for example, the subway information includes multiple subway lines, and a specific positioning method please refer to fig. 5.
Step 501, detecting that a plurality of preset lines exist.
According to the embodiment, the first position of the projection of the calibration position corresponding to the current moment along the preset line is calculated, but when a plurality of preset lines exist, each preset line is different, and at this time, the calibration position corresponding to the current moment cannot be projected along a certain preset line at will.
The electronic equipment calculates a first position projected by a calibration position corresponding to the current moment along a preset line, detects that a plurality of preset lines exist around the calibration position corresponding to the current moment, and at the moment, needs to select from the plurality of preset lines.
Step 503, selecting a preset route close to the second path direction as a first preset route.
When the included angle between the first path direction and the second path direction is smaller than the included angle threshold, it is indicated that the second path direction changes reasonably relative to the first path direction at the moment, and the second path direction at the moment is credible, namely, the second path direction represents the movement direction of the electronic equipment from the second historical moment to the current moment.
When the included angle between the first path direction and the second path direction is smaller than the included angle threshold, the second path direction may be used as the reference moving direction, and the preset route close to the second path direction is selected as the first preset route, that is, the preset route having the included angle smaller than the deviation threshold with the second path direction is selected as the first preset route. The deviation threshold may be any selected angle from 0 degrees to 45 degrees, including but not limited to 5 degrees, 10 degrees, 20 degrees, etc.
In another embodiment, included angles between all the preset routes around the calibration position corresponding to the current moment and the second path direction are all larger than a deviation threshold, and at this time, the preset route with the smallest included angle with the second path direction is selected as the first preset route.
In another embodiment, a plurality of preset routes exist around the calibration position corresponding to the current moment, and the included angle between the preset route and the second route direction is smaller than the deviation threshold, and at this time, the preset route with the smallest included angle between the preset route and the second route direction is selected as the first preset route.
And 505, calculating a second position projected by the calibration position corresponding to the current time along the first preset route.
The electronic equipment selects a proper preset route as a first preset route, calculates the projection of the calibration position corresponding to the current moment along the first preset route according to the first preset route, and determines the projected position as a second position.
And step 507, determining display information of the electronic equipment at the current moment according to the second position.
And the electronic equipment determines the longitude and latitude of the second position according to the second position, and determines the longitude and latitude of the second position as the display information of the electronic equipment at the current moment.
In another embodiment, the electronic device determines the longitude and latitude of the calibration position corresponding to the current time according to the calibration position corresponding to the current time, and determines the longitude and latitude of the calibration position corresponding to the current time as the display information of the electronic device at the current time.
In the positioning method in the above embodiment, the existence of multiple preset lines is detected, the preset line close to the second path is selected as the first preset line, the second position of the projection of the calibration position corresponding to the current time along the first preset line is calculated, the display information of the electronic device at the current time is determined according to the second position, the proper preset line is selected and used as the selected preset line, the interference of the peripheral preset lines of the calibration position corresponding to the current time can be avoided, and the accuracy of the projection of the calibration position corresponding to the current time is improved.
In all the above embodiments, determining the movement track of the electronic device according to the calibration positions at different time instants may also be included. And determining the calibration positions corresponding to the electronic equipment at different moments, connecting the calibration positions corresponding to all the moments, and determining the movement track of the electronic equipment.
There are multiple sensors in the electronic equipment, and these sensors can gather electronic equipment's direction of motion and movement distance, and sensor data can not influenced by GNSS signal or wiFi signal or bluetooth signal simultaneously, can combine the direction of motion and the movement distance check calibration position of sensor, further improve electronic equipment's positioning accuracy. Please refer to fig. 6.
Step 601, calculating a calibration position corresponding to the current time.
According to the embodiment, the calibration position corresponding to the electronic equipment at the current moment is calculated.
Step 603, receiving sensor data of the electronic device, and checking a calibration position corresponding to the current time.
And the electronic equipment receives the sensor data of the electronic equipment and verifies the calibration position corresponding to the current moment.
The electronic device sensor data refers to sensor data within a preset interval time. The speed and the acceleration of the electronic equipment in the preset interval time are calculated by using a speed sensor in the electronic equipment, the electronic equipment calculates a first sensor distance which the electronic equipment passes in the preset interval time by using the speed and the acceleration, and the first sensor distance is compared with the second path distance.
When the difference value between the first sensor distance and the second path distance is smaller than the distance threshold value, the second path distance is judged to be within the error range, at the moment, a first projection distance of the second path distance projected along the first path direction is calculated, and the position of the second calibration position, which is extended by the first projection distance along the second path direction, is determined as the calibration position corresponding to the current moment.
When the difference value between the first sensor distance and the second path distance is larger than the distance threshold value, the second path distance is judged to be out of the error range, the second projection distance of the first sensor distance projected along the first path direction is calculated, and the position of the second calibration position, which is extended by the second projection distance along the second path direction, is determined as the calibration position corresponding to the current moment. Wherein the distance threshold may be 10 centimeters, 15 centimeters, 50 centimeters, and so on.
In another embodiment, a first sensor direction of movement of the electronic device over a preset interval is calculated using a direction sensor in the electronic device, and the first sensor direction is compared to the second path direction.
When the included angle between the first sensor direction and the second path direction is smaller than the direction threshold, the second path direction is judged to be within the error range, at the moment, a first projection distance of the second path distance projected along the first path direction is calculated, and the position of the second calibration position, which is extended by the first projection distance along the second path direction, is determined as the calibration position corresponding to the current moment.
And when the included angle between the first sensor direction and the second path direction is larger than the direction threshold, judging that the second path direction is out of the error range, calculating a third projection distance of the second path distance projected along the first sensor direction at the moment, and determining the position of the second calibration position, which is extended by the third projection distance along the first sensor direction, as the calibration position corresponding to the current moment. Where the direction threshold may be 1 degree, 2 degrees, 5 degrees, 10 degrees, etc.
In another embodiment, the speed and acceleration of the electronic device over a preset interval are calculated using a speed sensor in the electronic device, the electronic device calculates a first sensor distance that the electronic device has traveled over the preset interval using the speed and acceleration, and compares the first sensor distance to the second path distance. Meanwhile, the direction sensor in the electronic equipment is used for calculating the direction of a first sensor moving in the preset interval time, and the direction of the first sensor is compared with the direction of a second path.
And when the difference value between the first sensor distance and the second path distance is smaller than the distance threshold value and the included angle between the first sensor direction and the second path direction is smaller than the direction threshold value, judging that the second path distance is within the error range and the second path direction is within the error range. And calculating a first projection distance projected by the second path distance along the first path direction, and determining the position of the second calibration position, which is extended by the first projection distance along the second path direction, as the calibration position corresponding to the current moment.
And when the difference value between the first sensor distance and the second path distance is greater than the distance threshold value and the included angle between the first sensor direction and the second path direction is smaller than the direction threshold value, judging that the second path distance is out of the error range and the second path direction is in the error range. And calculating a second projection distance projected by the first sensor along the first path direction, and determining a position of the second calibration position, which is extended by the second projection distance along the second path direction, as the calibration position corresponding to the current moment.
And when the difference value between the first sensor distance and the second path distance is smaller than the distance threshold value and the included angle between the first sensor direction and the second path direction is larger than the direction threshold value, judging that the second path distance is within the error range and the second path direction is out of the error range. And calculating a third projection distance of the second path distance projected along the first sensor direction, and determining the position of the second calibration position, which is extended by the third projection distance along the first sensor direction, as the calibration position corresponding to the current moment.
And when the difference value between the first sensor distance and the second path distance is greater than the distance threshold value and the included angle between the first sensor direction and the second path direction is greater than the direction threshold value, judging that the second path distance is out of the error range and the second path direction is out of the error range. And calculating a fourth projection distance projected by the first sensor distance along the first sensor direction, and determining the position of the second calibration position, which is extended by the fourth projection distance along the first sensor direction, as the calibration position corresponding to the current moment.
Where the distance threshold may be 10 centimeters, 15 centimeters, 50 centimeters, etc., and the direction threshold may be 1 degree, 2 degrees, 5 degrees, 10 degrees, etc.
Step 605, calculating a third position of the calibration position corresponding to the checked current time in the projection of the first preset line.
When only one preset line exists in the environment, directly calculating the projection of the calibration position corresponding to the current moment after verification on the first preset line, and determining the projection as a third position.
In another embodiment, a plurality of preset lines exist in the environment, a proper selected preset line is selected by the method described in the above embodiment, then the projection of the calibration position corresponding to the current time after verification on the preset line is calculated, and the projection is determined as the third position.
And step 607, determining the display information of the electronic equipment at the current moment according to the third position.
And the electronic equipment determines the acquired longitude and latitude of the third position as the display information of the electronic equipment at the current moment.
The positioning method in the above embodiment calculates the calibration position corresponding to the current time, verifies the calibration position corresponding to the current time according to the received sensor data of the electronic device, calculates a third position of the calibration position corresponding to the current time after verification in the projection of the preset line, and determines the display information of the electronic device at the current time according to the third position. Because the GNSS signal strength does not influence the sensor data, whether the sensor data and the second path have larger difference or not is judged, so that the calibration position corresponding to the current moment calculated through the second path is verified, and the positioning precision of the electronic equipment is further improved.
It should be understood that, although the steps in the flowcharts of fig. 2 to 6 are shown in sequence as indicated by the arrows, the steps are not necessarily performed in sequence as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 2-6 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performing the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternately with other steps or at least some of the sub-steps or stages of other steps.
Referring to fig. 7, fig. 7 is a block diagram of an embodiment of a positioning apparatus, the positioning apparatus including:
a position obtaining module 701, configured to obtain an initial position;
a data receiving module 703, configured to receive positioning data and determine a positioning position at the current time;
the calibration position module 705 is configured to determine a calibration position corresponding to the current time according to the positioning position at the current time and the calibration position at the historical time.
In the positioning device, the initial position is obtained, the positioning data is received, the positioning position at the current moment is determined by using the received positioning data, the calibration position corresponding to the current moment is determined according to the positioning position at the current moment and the calibration position at the historical moment, and the movement track of the electronic equipment is determined according to the calibration positions at different moments. The calibration position can avoid the influence of the weak signal on the positioning precision, and the calibration position corresponding to the current moment is determined according to the positioning position at the current moment and the calibration position at the historical moment, so that the positioning precision of the electronic equipment under the weak signal can be effectively improved.
In another embodiment, the calibration position module 705 determines a first path from a first historical time calibration position and a second historical time calibration position, the first path including a first path distance and a first path direction; the positioning data receiving module 703 receives the positioning position at the current time, and the calibration position module 705 determines a second path according to a second calibration position at a second historical time and the positioning position at the current time, where the second path includes a second path distance and a second path direction; the calibration position module 705 determines a calibrated second path by using the first path and the second path, and determines a calibration position corresponding to the current time according to the calibrated second path.
In another embodiment, when an included angle between the first path direction and the second path direction is smaller than an included angle threshold, the calibration position module 705 calculates a first projection distance of the second path distance projected along the first path direction, and determines a calibration position corresponding to the current time according to position information obtained by extending the calibration position at the second historical time by the first projection distance along the first path direction; when the included angle between the first path direction and the second path direction is greater than or equal to the included angle threshold, the calibration position module 705 determines the calibration position at the second historical time as the calibration position corresponding to the current time.
In another embodiment, the calibration position module 705 calculates a first position of a projection of a calibration position corresponding to the current time along a preset route, and the calibration position module 705 determines the first position as a display position of the electronic device at the current time.
In another embodiment, when a plurality of preset routes are detected to exist, the calibration position module 705 selects a preset route close to the second path as a first preset route, calculates a second position of the calibration position corresponding to the current time projected along the first preset route, and the calibration position module 705 determines the display information of the electronic device at the current time according to the second position.
In another embodiment, when it is detected that the positioning position of the electronic device is normal, the data receiving module 703 receives the positioning position of the electronic device, and the calibration position module 705 determines the calibration position of the electronic device at the current time by combining the positioning position at the current time and the calibration position at the historical time; when the positioning position of the electronic device is detected to be abnormal, the calibration position module 705 discards the positioning position of the electronic device and determines the calibration position at the previous time as the calibration position at the current time.
In another embodiment, the positioning apparatus further includes a moving track module, configured to determine a moving track of the electronic device according to the calibration positions at different time instants.
In another embodiment, the calibration position module 705 corrects the calibration position corresponding to the current time by using the sensor data of the electronic device.
The division of the modules in the positioning apparatus is merely for illustration, and in other embodiments, the positioning apparatus may be divided into different modules as needed to complete all or part of the functions of the positioning apparatus.
Referring to fig. 8, fig. 8 is an embodiment of an internal structure diagram of an electronic device. The electronic device in this embodiment includes a processor 801 and a memory 803 connected by a system bus. The processor 801 is used to provide computing and control capabilities, among other things, to support the operation of the overall electronic device. The memory 803 may include a non-volatile computer-readable storage medium 805 and an internal memory 807. The non-volatile computer-readable storage medium 805 stores an operating system and a computer program. The computer program can be executed by the processor 801 to implement a positioning method provided by the above embodiments. Internal memory 807 provides a cached execution environment for the operating system computer programs in the non-volatile computer-readable storage medium 805. The electronic device may be a mobile phone, a tablet computer, or a personal digital assistant or a wearable device or a wireless smart device.
The implementation of each module in the positioning apparatus provided in the present embodiment may be in the form of a computer program. The computer program may be run on a terminal or a server. The program modules constituted by the computer program may be stored on the memory of the terminal or the server. Which when executed by a processor, performs the steps of the method described in the embodiments of the present application.
Referring to fig. 9, an embodiment of the present application further provides a computer-readable storage medium. One or more computer-readable storage media containing computer-executable instructions that, when executed by one or more processors, cause the processors to perform the steps of the positioning method.
A computer program product comprising instructions which, when run on a computer, cause the computer to perform a positioning method.
Any reference to memory, storage, database, or other medium used by embodiments of the present application may include non-volatile and/or volatile memory. Suitable non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM), which acts as external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), Enhanced SDRAM (ESDRAM), synchronous Link (Synchlink) DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and bus dynamic RAM (RDRAM).
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (10)

1. A method for locating an electronic device, comprising:
acquiring an initial position;
receiving positioning data and determining the positioning position of the current moment;
and determining a calibration position corresponding to the current moment according to the positioning position of the current moment and the calibration position of the historical moment.
2. The positioning method according to claim 1, wherein the historical time includes a first historical time and a second historical time, and the determining the calibration position corresponding to the current time according to the positioning position at the current time and the calibration position at the historical time includes:
determining a first path according to the calibration position of the first historical moment and the calibration position of the second historical moment, wherein the first path comprises a first path distance and a first path direction;
determining a second path according to the positioning position at the current moment and the calibration position at the second historical moment, wherein the second path comprises a second path distance and a second path direction;
and determining a calibrated second path by using the first path and the second path, and determining a calibration position corresponding to the current moment according to the calibrated second path.
3. The positioning method according to claim 2, comprising:
when the included angle between the first path direction and the second path direction is smaller than the included angle threshold value, calculating the projection of the second path along the first path direction, and determining a projection point as a calibration position corresponding to the current moment;
and when the included angle between the first path direction and the second path direction is greater than or equal to the included angle threshold value, determining the calibration position at the second historical moment as the calibration position corresponding to the current moment.
4. The positioning method according to claim 3, comprising:
calculating a first position projected by the calibration position corresponding to the current moment along a first preset route, and determining the first position as a display position of the electronic equipment at the current moment.
5. The positioning method according to claim 4, comprising:
when a plurality of preset routes exist, selecting a preset route close to the second route as a first preset route, calculating a second position projected by the calibration position corresponding to the current moment along the first preset route, and determining display information of the electronic equipment at the current moment according to the second position.
6. The positioning method according to any one of claims 1 to 5, characterized in that the positioning method comprises:
and determining the movement track of the electronic equipment according to the calibration positions at different moments.
7. The positioning method according to any one of claims 1 to 5, characterized in that the positioning method comprises:
and correcting the calibration position corresponding to the current moment according to the sensor data of the electronic equipment.
8. A positioning device, comprising:
the position acquisition module is used for acquiring an initial position;
the data receiving module is used for receiving the positioning data and determining the positioning position at the current moment;
and the calibration position module is used for determining a calibration position corresponding to the current moment according to the positioning position of the current moment and the calibration position of the historical moment.
9. An electronic device comprising a memory and a processor, the memory having stored therein a computer program which, when executed by the processor, causes the processor to carry out the steps of the positioning method according to any of claims 1 to 7.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the positioning method according to any one of claims 1 to 7.
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