CN113740889A

CN113740889A - Positioning method and device, equipment, storage medium and positioning system

Info

Publication number: CN113740889A
Application number: CN202111006871.0A
Authority: CN
Inventors: 江国平
Original assignee: Hangzhou Haikang Auto Software Co ltd
Current assignee: Hangzhou Haikang Auto Software Co ltd
Priority date: 2021-08-30
Filing date: 2021-08-30
Publication date: 2021-12-03

Abstract

The embodiment of the application provides a positioning method, a positioning device, a storage medium and a positioning system, wherein a first inertial positioning point and a first satellite positioning point of a positioning object at a first moment are respectively determined based on an inertial signal and a satellite positioning signal which are acquired at the first moment; determining a first distance between a first inertial positioning point and a first satellite positioning point, and estimating a second distance for positioning the movement of the object in the time duration from the first moment to the second moment; determining a second satellite positioning point of the positioning object at a second moment based on the satellite positioning signal acquired at the second moment; determining an inertial positioning prediction point of the positioning object at a second moment according to the first distance, the second distance and the second satellite positioning point; and determining a track positioning point of the positioning object at the second moment based on the second satellite positioning point and the inertial positioning prediction point. According to the method and the device, the positioning accuracy of the object can be improved when the object leaves an area with poor positioning signal quality and the satellite positioning signal is obtained again.

Description

Positioning method and device, equipment, storage medium and positioning system

Technical Field

The present application relates to the field of positioning technologies, and in particular, to a positioning method, an apparatus, a storage medium, and a positioning system.

Background

Currently, vehicles are equipped with Advanced Driving Assistance Systems (ADAS). The ADAS has a positioning function, periodically collects satellite positioning signals and determines the positioning point of the vehicle. In practical application, there are areas with poor satellite positioning signal quality, such as tunnels and urban canyons. When the vehicle is located in these areas, the positioning accuracy is low, and the actual positioning point of the vehicle cannot be correctly determined.

In the related art, an Inertial Measurement Unit (IMU) is used to solve the above-described problems. Specifically, in an area with poor satellite positioning signal quality, the position of the vehicle is determined by using inertial signals acquired by the IMU and an inertial navigation algorithm.

However, the IMU has an accumulated error in the positioning result obtained by directly integrating the acceleration due to factors such as a serious zero drift of the gyroscope, a vibration of the vehicle, and the like. When the vehicle leaves an area with poor satellite positioning signal quality and the satellite positioning signals are obtained again, compared with positioning points with accumulated errors determined based on inertial signals acquired by the IMU, the positioning points determined based on the satellite positioning signals have sudden changes. In this case, if the positioning point of the vehicle is determined directly based on the satellite positioning signal and the inertial signal, the error of the finally determined positioning point is large, and the positioning accuracy of the vehicle is low.

Disclosure of Invention

An object of the embodiments of the present application is to provide a positioning method, a positioning device, a positioning apparatus, a storage medium, and a positioning system, so as to improve positioning accuracy of an object when the object leaves an area with poor quality of positioning signals and acquires satellite positioning signals again. The specific technical scheme is as follows:

in a first aspect, an embodiment of the present application provides a positioning method, where the method includes:

respectively determining a first inertial positioning point and a first satellite positioning point of a positioning object at a first moment based on an inertial signal and a satellite positioning signal acquired at the first moment;

determining a first distance between the first inertial positioning point and the first satellite positioning point, and estimating a second distance of the movement of the positioning object in a time length from a first time to a second time, wherein the time length from the first time to the second time is the time length of an acquisition cycle of the satellite positioning signal;

determining a second satellite positioning point of the positioning object at the second moment based on the satellite positioning signal acquired at the second moment;

determining an inertial positioning prediction point of the positioning object at the second moment according to the first distance, the second distance and the second satellite positioning point;

and determining a track positioning point of the positioning object at the second moment based on the second satellite positioning point and the inertial positioning prediction point.

In a second aspect, an embodiment of the present application provides a positioning apparatus, including:

the first determining unit is used for respectively determining a first inertial positioning point and a first satellite positioning point of a positioning object at a first moment based on an inertial signal and a satellite positioning signal which are acquired at the first moment;

a second determining unit, configured to determine a first distance between the first inertial positioning point and the first satellite positioning point, and estimate a second distance that the positioning object moves within a duration from a first time to a second time, where the duration from the first time to the second time is a duration of an acquisition cycle of the satellite positioning signal;

a third determining unit, configured to determine a second satellite positioning point of the positioning object at the second time based on the satellite positioning signal acquired at the second time;

a fourth determining unit, configured to determine an inertial positioning prediction point of the positioning object at the second time according to the first distance, the second distance, and the second satellite positioning point;

and the fifth determining unit is used for determining the track positioning point of the positioning object at the second moment based on the second satellite positioning point and the inertial positioning prediction point.

In a third aspect, an embodiment of the present application provides an electronic device, including a processor, a communication interface, a memory, and a communication bus, where the processor, the communication interface, and the memory complete mutual communication through the communication bus;

the memory is used for storing a computer program;

the processor is configured to implement any of the positioning method steps provided in the first aspect when executing the program stored in the memory.

In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and the computer program, when executed by a processor, implements any of the positioning method steps provided in the first aspect.

In a fifth aspect, embodiments of the present application further provide a computer program product, which when run on a computer, causes the computer to perform any of the positioning method steps provided in the first aspect.

In a sixth aspect, an embodiment of the present application further provides a positioning system, including a satellite positioning module, an inertial measurement unit, and a processor;

the satellite positioning module is used for acquiring satellite positioning signals;

the inertia measuring device is used for acquiring an inertia signal;

the processor is configured to perform any of the positioning method steps provided in the first aspect.

In a seventh aspect, the present application also provides a vehicle, including a vehicle main body and the positioning system provided in the above sixth aspect.

The embodiment of the application has the following beneficial effects:

in the technical scheme provided by the embodiment of the application, a first inertial positioning point of a positioning object is determined based on an inertial signal acquired at a first moment, and a first satellite positioning point is determined based on a satellite positioning signal acquired at the first moment. And determining an inertial positioning prediction point of the positioning object at a second moment based on a first distance between the first inertial positioning point and the first satellite positioning point and the estimated second distance of the movement of the positioning object in the time length of the acquisition cycle of the satellite positioning signal. The inertial positioning prediction point is an inertial positioning point which weakens the accumulated error as much as possible. This contributes to improving the accuracy of positioning the object based on the inertial positioning point.

And determining a track positioning point of the positioning object at the second moment based on the second satellite positioning point and the inertial positioning prediction point. The determination of the track positioning point comprehensively considers two factors of an inertial positioning point and a satellite positioning point. Therefore, the positioning accuracy of the positioning object is improved, and meanwhile, the track curve of the positioning object generated based on the track positioning point can be smooth, and the track quality is optimized.

Therefore, in the embodiment of the application, when the positioning object leaves the area with poor quality of the positioning signal and the satellite positioning signal is obtained again, the inertial positioning point which weakens the accumulated error as much as possible and the second satellite positioning point can be used for determining the track positioning point of the positioning object, so that the positioning accuracy of the positioning object is improved.

Of course, not all advantages described above need to be achieved at the same time in the practice of any one product or method of the present application.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be 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 it is also obvious for a person skilled in the art to obtain other embodiments according to the drawings.

Fig. 1 is a schematic view of a scene of an object positioning application in the related art.

Fig. 2 is a first structural diagram of a positioning system according to an embodiment of the present application.

Fig. 3 is a scene schematic diagram of an object positioning application according to an embodiment of the present application.

Fig. 4 is a schematic structural diagram of a second positioning system according to an embodiment of the present application.

Fig. 5 is a schematic structural diagram of a third positioning system according to an embodiment of the present application.

Fig. 6 is a schematic diagram of a fourth structure of a positioning system according to an embodiment of the present application.

Fig. 7 is a first flowchart of a positioning method according to an embodiment of the present application.

Fig. 8 is a second flowchart of a positioning method according to an embodiment of the present application.

Fig. 9 is a third flowchart illustrating a positioning method according to an embodiment of the present application.

Fig. 10 is a fourth flowchart illustrating a positioning method according to an embodiment of the present application.

Fig. 11 is a fifth flowchart illustrating a positioning method according to an embodiment of the present application.

Fig. 12 is a sixth flowchart of a positioning method according to an embodiment of the present application.

Fig. 13 is a seventh flowchart illustrating a positioning method according to an embodiment of the present application.

Fig. 14 is an eighth flowchart of a positioning method according to an embodiment of the present application.

Fig. 15 is a ninth flowchart illustrating a positioning method according to an embodiment of the present application.

Fig. 16 is a tenth flowchart illustrating a positioning method according to an embodiment of the present application.

Fig. 17 is a schematic structural diagram of a positioning device according to an embodiment of the present application.

Fig. 18 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments that can be derived by one of ordinary skill in the art from the description herein are intended to be within the scope of the present disclosure.

Currently, vehicles are all fitted with ADAS. The ADAS has a positioning function, periodically collects satellite positioning signals, further determines the positioning point of the vehicle, and reports the real-time positioning point of the vehicle to the background server. And the background server displays the real-time positioning point of the vehicle and the track of the vehicle, which are reported by the ADAS, based on the positioning point reported by the ADAS.

In practical applications, the positioning accuracy of the vehicle depends on the quality of the satellite positioning signal in the area where the vehicle is located. For example, in areas such as tunnels and "urban canyons", the satellite positioning signal quality is poor, and when a vehicle is located in these areas, the positioning accuracy is low, and the actual positioning point of the vehicle cannot be correctly determined, that is, the trajectory of the vehicle cannot be determined.

In the related art, an IMU is used to solve the above-described problems. Specifically, in an area with poor satellite positioning signal quality, an inertial signal and an inertial navigation algorithm acquired by an IMU are utilized, and a historical positioning point is combined to determine a positioning point of a current vehicle, so that a trajectory curve of the vehicle is determined.

However, the IMU has a problem of serious zero drift, and when the vehicle is located in an area with poor satellite positioning signal quality, an accumulated error exists when the IMU determines the positioning point of the vehicle in combination with the influence of factors such as vehicle vibration. Therefore, when the vehicle leaves an area with poor satellite positioning signal quality and the satellite positioning signals are obtained again, compared with the positioning points determined based on the inertial signals acquired by the IMU, the positioning points determined based on the satellite positioning signals have sudden changes. At this time, if the positioning point of the vehicle is determined directly based on the satellite positioning signal and the inertial signal, the error of the finally determined positioning point is large, and the formed trajectory curve has a shape of a broken-line type straight line.

As shown in fig. 1, after the vehicle enters the tunnel, the vehicle cannot receive the satellite positioning signal, and then the inertial signal is acquired by the IMU, and the positioning point of the vehicle is determined by the inertial signal. Due to the accumulated error of the IMU, the trajectory curve of the vehicle is plotted as curve 1 in fig. 1, using the positioning points determined by the inertial signals.

And when the vehicle exits the tunnel, the vehicle receives the satellite positioning signal again. At this time, the vehicle uses the satellite positioning signal to determine the vehicle's position, such as position 1 in fig. 1, and the inertial signal to determine the vehicle's position 2. A certain distance exists between the positioning point 1 and the positioning point 2, so that at the exit of the tunnel, the trajectory curve of the vehicle has the shape of a broken-line-shaped straight line, such as the part marked by a circle shown in fig. 1.

In addition, when the vehicle leaves an area with poor satellite positioning signal quality and the satellite positioning signal is obtained again, it is likely that the satellite positioning signal drifts because the distance between the positioning point determined by the satellite positioning signal and the positioning point determined by the inertial signal is too large, and the satellite positioning signal is discarded. In this case, the vehicle always adopts the setpoint determined by the inertial signal acquired by the IMU. The IMU cumulative error is increasing, which further reduces the vehicle positioning accuracy.

In order to solve the above problem, when a positioning object leaves an area with poor quality of a positioning signal and a positioning signal is obtained again, the positioning accuracy of the positioning object is improved. As shown in fig. 2. The positioning system is mounted on a positioning object. The positioning object may be a vehicle, a person, a robot, or the like. The positioning system comprises a satellite positioning module 21, inertial measurement means 22 and a processor 23. The processor 23 may include a System-on-a-Chip (SoC), a Micro Controller Unit (MCU), and the like.

And the satellite positioning module 21 is used for acquiring satellite positioning signals and transmitting the satellite positioning signals to the processor 23. The satellite Positioning signal may be a Global Positioning System (GPS) signal. The Satellite positioning signal may also be a BeiDou Navigation Satellite System (BDS) signal. This is not limited in the embodiments of the present application.

And an inertia measurement device 22 for acquiring the inertia signal and transmitting the inertia signal to the processor 23. The inertial measurement unit 22 may also be used to collect information such as the direction of motion of the subject.

The processor 23 is configured to perform deviation rectification processing on the inertial positioning point, specifically: respectively determining a first inertial positioning point and a first satellite positioning point of a positioning object at a first moment based on the inertial signal and the satellite positioning signal acquired at the first moment; determining a first distance between a first inertial positioning point and a first satellite positioning point, and estimating a second distance of the positioning object moving in the time length from the first moment to the second moment, wherein the time length from the first moment to the second moment is the time length of an acquisition cycle of a satellite positioning signal; determining a second satellite positioning point of the positioning object at a second moment based on the satellite positioning signal acquired at the second moment; and determining an inertial positioning prediction point of the positioning object at the second moment according to the first distance, the second distance and the second satellite positioning point.

The inertial positioning point is a positioning point obtained based on the inertial signal, and the inertial positioning prediction point is a positioning point obtained by performing deviation rectification processing on the inertial positioning point.

And the processor 23 is further configured to determine a trajectory positioning point of the positioning object at the second time based on the second satellite positioning point and the inertial positioning prediction point.

And determining a track positioning point of the positioning object at the second moment based on the second satellite positioning point and the inertial positioning prediction point. The determination of the track positioning point comprehensively considers two factors of an inertial positioning point and a satellite positioning point. Therefore, while improving the positioning accuracy of the positioning object, the trajectory curve of the positioning object generated based on the trajectory positioning point can be smoothed, as shown by the circled portion of the trajectory curve 2 shown in fig. 3, optimizing the trajectory quality.

In one embodiment of the present application, the processor 23 may include a system on chip SoC 231 and a micro control module MCU 232, such as the positioning system shown in fig. 4. The satellite positioning module 21 is connected with the MCU 232, the MCU 232 is connected with the SoC 231, and the SoC 231 is connected with the inertia measurement device 22.

The processing performance of SoC 231 is higher than MCU 232. But fewer module types are directly supported for access by SoC 231. And MCU 232 has pins thereon for connection to the various modules. Based on this, under the condition that the SoC 231 does not have a pin connected with the satellite positioning module 21, the satellite positioning module 21 can be connected to the SoC 231 through the MCU 232, so as to perform the above-mentioned correction processing on the inertial positioning point, thereby positioning the positioning object and improving the positioning accuracy of the positioning object.

In another embodiment of the present application, taking positioning objects (e.g., vehicles, mobile robots, etc.) with wheels (e.g., wheels) as an example, the positioning system shown in fig. 5 may further include a wheel pulse sensor 24. The wheel pulse sensor 24 is connected to the processor 23.

In one example, the wheel pulse sensor 24 may be connected to the MCU 232, and the MCU 232 is connected to the SoC 231. In another example, in the case where the SoC 231 has a pin connected to the wheel pulse sensor 24, the wheel pulse sensor 4 may be directly connected to the SoC 231.

In the embodiment of the present application, as long as it is ensured that the wheel pulse sensor 24 can communicate with the SoC 231, a specific connection manner between the SoC 231 and the wheel pulse sensor 24 is not particularly limited.

The wheel pulse sensor 24 is configured to collect a wheel pulse signal and transmit the wheel pulse signal to the processor 23.

The processor 23 may determine the speed of the movement of the positioning object (for ease of understanding, this speed will be referred to simply as the wheel pulse speed hereinafter) using the wheel pulse signal in conjunction with the wheel diameter of the positioning object. In addition, the processor 23 may also determine the velocity of the movement of the positioning object (for ease of understanding, this velocity is hereinafter simply referred to as inertial velocity) using the inertial signal of the positioning object.

The processor 23 performs a weighted average of the wheel pulse velocity and the inertial velocity to obtain a weighted velocity. The processor 23, using the weighted velocity, and the direction of motion of the object, can determine an inertial position point at which to locate the object.

The inertia signal has an accumulated error, and the wheel pulse signal has no accumulated error. Therefore, the accuracy of determining the velocity using the wheel pulse signal is higher than the accuracy of determining the velocity using the inertia signal. In the embodiment of the present application, the processor 23 performs weighted average on the wheel pulse speed and the inertial speed to determine the speed of the positioning object, which is equivalent to performing authentication on the inertial signal by using the wheel pulse signal, so that the influence of the accumulated error of the inertial positioning point can be effectively reduced, and the accuracy of the inertial positioning point can be improved.

In one embodiment of the present application, the positioning system, as shown in fig. 6, may further include a communication module 25.

And the communication module 25 is used for sending the trajectory positioning points of the object determined by the processor 23 to the background server and sending information from the background server to the processor 23.

In the embodiment of the present application, the positioning system may further include other modules, such as a screen for displaying information, which is not limited to this.

Based on the above positioning system, an embodiment of the present application provides a positioning method, as shown in fig. 7. The method may be applied to the processor 23 of the positioning system shown in fig. 2, or may be applied to the background server shown in fig. 6, which is not limited thereto. For ease of understanding, the following description will be made with reference to a processor as the main execution body, and is not intended to be limiting. The positioning method comprises the following steps:

step S71, respectively determining a first inertial positioning point and a first satellite positioning point of the positioning object at the first time based on the inertial signal and the satellite positioning signal acquired at the first time.

In the embodiment of the application, the satellite positioning module acquires satellite positioning signals of a positioning object in real time, and the IMU acquires inertial signals of the positioning object in real time. The processor acquires inertial signals of a positioning object and satellite positioning signals of the positioning object in real time. The inertial signal may be a signal acquired by the IMU or an inertial signal acquired by another inertial device. The inertial signal is a vector and may include the acceleration and direction of motion of the object. The satellite positioning signal may be a GPS signal or a BDS signal.

The processor determines an inertial positioning point of the positioning object at the first moment as a first inertial positioning point based on the inertial signal of the positioning object acquired at the first moment. The processor determines a satellite positioning point of the positioning object at a first time as a first satellite positioning point based on the satellite positioning signal of the positioning object acquired at the first time. The first time may be any time, and is not limited thereto. The first inertial positioning point and the first satellite positioning point can be represented in the form of position coordinates.

In this embodiment, if the positioning system does not include the wheel pulse sensor, the processor determines the inertial velocity of the positioning object at the first time by using the inertial signal of the positioning object acquired at the first time. The processor may determine an inertial positioning point for positioning the object at the first time instant directly using the inertial velocity and the direction of motion of the object.

In one embodiment of the present application, the positioning system may further comprise a wheel pulse sensor. The wheel pulse sensor sends a wheel pulse signal to the processor based on the rotation of the wheel on which the object is positioned.

In this case, the processor determines the wheel pulse velocity of the positioning object at the first time instant by using the wheel pulse signal of the positioning object acquired at the first time instant in combination with the wheel diameter of the positioning object. In addition, the processor determines the inertial velocity of the positioning object at the first moment by using the inertial signal of the positioning object acquired at the first moment. The processor performs weighted averaging on the wheel pulse speed and the inertial speed to obtain a weighted speed. The processor determines an inertial positioning point of the positioning object at the first moment by using the weighted velocity and the moving direction of the positioning object.

The inertia signal has an accumulated error, and the wheel pulse signal has no accumulated error. Therefore, the accuracy of determining the velocity using the wheel pulse signal is higher than the accuracy of determining the velocity using the inertia signal. In the embodiment of the application, the processor performs weighted average on the wheel pulse speed and the inertia speed to determine the speed of the positioning object, and equivalently, the wheel pulse signal is used for authenticating the inertia signal, so that the influence of the accumulated error of the inertia positioning point can be effectively reduced, and the accuracy of the inertia positioning point is improved.

Step S72, determining a first distance between the first inertial positioning point and the first satellite positioning point, and estimating a second distance of the object moving in the time length from the first time to the second time, wherein the time length from the first time to the second time is the time length of the acquisition cycle of the satellite positioning signals.

After determining the first inertial positioning point and the first satellite positioning point, the processor may calculate a distance between the first inertial positioning point and the first satellite positioning point, i.e., a first distance.

Further, after acquiring the inertial signal of the positioning object at the first time, the processor may acquire the velocity of the positioning object at the first time, such as the weighted velocity or the inertial velocity described above, based on the inertial signal at the first time. The processor estimates a distance that the positioning object moves, namely a second distance, in a time period from the first time to the second time by using the speed of the positioning object at the first time.

In the embodiment of the application, the time length of the acquisition cycle of the satellite positioning signal can be a fixed value, that is, the processor can acquire the satellite positioning signal according to a fixed frequency.

Step S73, determining a second satellite positioning point of the positioning object at the second time based on the satellite positioning signal acquired at the second time.

When the time reaches the second time, the processor acquires the satellite positioning signals of the positioning object at the second time, and determines a second satellite positioning point of the positioning object at the second time based on the satellite positioning signals at the second time.

And step S74, determining an inertial positioning prediction point of the positioning object at the second moment according to the first distance, the second distance and the second satellite positioning point.

After the first distance and the second distance are obtained, the processor starts to perform deviation rectification processing on the inertial positioning point by using the first distance, the second distance and the second satellite positioning point, namely, the inertial positioning point of the positioning object at the second moment is predicted, so that the offset distance between the inertial positioning point at the second moment and the satellite positioning point is reduced, and the accumulated error of the inertial positioning point is reduced. Here, the inertial positioning point at which the positioning object is predicted at the second time may also be referred to as an inertial positioning prediction point.

And step S75, determining the track positioning point of the positioning object at the second moment based on the second satellite positioning point and the inertial positioning prediction point.

In the embodiment of the application, after the processor obtains the second satellite positioning point and the inertial positioning prediction point, the processor may fuse the second satellite positioning point and the inertial positioning prediction point to obtain a track positioning point of the positioning object at the second time. Further, the processor generates a trajectory curve of the positioning object by using the trajectory positioning point of the positioning object.

In the embodiment of the present application, corresponding weights may be configured for the inertial signal and the satellite positioning signal, respectively. And the processor fuses the second satellite positioning point and the inertial positioning prediction point based on the weight of the inertial signal and the weight of the satellite positioning signal to obtain a track positioning point of the positioning object at the second moment. Further, the processor generates a trajectory curve of the positioning object by using the trajectory positioning point of the positioning object.

In one embodiment of the present application, to further improve the accuracy of object positioning, the state of the satellite positioning signal, the weight of the inertial signal and the weight of the satellite positioning signal, and the acquisition frequency of the inertial signal may be adjusted.

For example, when the satellite positioning signal is normal and the satellite positioning signal does not carry an abnormal identifier, it indicates that the intensity of the satellite positioning signal is high, the confidence of the satellite positioning signal is high, and a positioning object is positioned according to the satellite positioning signal, so that high positioning accuracy can be obtained. In this case, the acquisition frequency of the inertial signal may be set to a preset acquisition frequency, the weight value of the inertial signal when determining the track positioning point is a first weight value, and the weight value of the satellite positioning signal when determining the track positioning point is a second weight value;

when the satellite positioning signal is abnormal, the intensity of the satellite positioning signal is weak, even the satellite positioning signal can not be acquired, the confidence coefficient of the satellite positioning signal is low, and a positioning object is positioned according to the satellite positioning signal, so that the low positioning precision can be obtained. This situation is more suitable for a situation where the positioning object enters an area where the satellite positioning signal quality is poor. Under the condition, the acquisition frequency of the inertial signal can be gradually increased, the acquisition frequency of the inertial signal is greater than or equal to the preset acquisition frequency, and the magnitude of the acquisition frequency of the inertial signal can be in inverse proportion to time; in addition, the weight value of the inertia signal when the track positioning point is determined is a fifth weight value, and the weight value of the satellite positioning signal when the track positioning point is determined is a sixth weight value;

when the satellite positioning signal is normal and carries the abnormal identifier, the satellite positioning signal is weak in strength, the confidence coefficient of the satellite positioning signal is low, and the positioning object is positioned according to the satellite positioning signal, so that low positioning accuracy can be obtained. This situation is more suitable for a situation where the positioning object has just left an area where the satellite positioning signal quality is poor. At this time, the acquisition frequency of the inertial signal can be reduced, namely the acquisition frequency of the inertial signal is greater than or equal to a preset acquisition frequency, and the magnitude of the acquisition frequency of the inertial signal is in direct proportion to time; in addition, the weight value of the inertia signal when the track positioning point is determined is a third weight value, and the weight value of the satellite positioning signal when the track positioning point is determined is a fourth weight value;

the first weight value is smaller than the third weight value, and the third weight value is smaller than the fifth weight value; the second weight value is greater than the fourth weight value, and the fourth weight value is greater than the sixth weight value.

In one embodiment of the present application, the inertial signal may comprise an acceleration signal. In this case, as shown in fig. 8, the above step S72 may be subdivided into the following steps.

In step S721, a first distance between the first inertial positioning point and the first satellite positioning point is determined.

Step S722, determining a first velocity of the positioning object at the first time according to the acceleration signal of the positioning object acquired at the first time.

In the embodiment of the present application, the execution order of step S721 and step S722 is not limited.

Step S723, estimating a second distance moved by the positioning object in the duration from the first time to the second time by using the first speed and the duration from the first time to the second time.

In the embodiment of the present application, a duration from the first time to the second time is a duration of an acquisition cycle of the satellite positioning signal. The processor obtains the acceleration signal using the inertial signal, and further estimates a second distance that the positioning object moves within the acquisition period duration of the satellite positioning signal using the acceleration signal and the acquisition period duration of the satellite positioning signal.

For example, the processor may estimate the second distance the located object moves over the duration of the acquisition period of the satellite positioning signals using the following equation:

S＝v*T；

where S denotes the second distance, v denotes the first velocity determined based on the acceleration signal, and T denotes a time period from the first time to the second time, that is, a time period during the acquisition cycle of the satellite positioning signal.

Based on the determined first distance and the second distance, subsequent deviation rectification processing can be carried out on the inertial positioning point to obtain inertial positioning prediction of the positioning object at the second moment, and then the positioning accuracy of the positioning object is improved.

In another embodiment of the present application, the inertial signal may include an acceleration signal, and the positioning object may further have a wheel pulse sensor mounted thereon. In this case, as shown in fig. 9, the above step S72 may be subdivided into the following steps.

In step S724, a first distance between the first inertial positioning point and the first satellite positioning point is determined. The same as step S721 described above.

Step S725 determines a first velocity of the positioning object at the first time according to the acceleration signal of the positioning object acquired at the first time. The same as step S722 described above.

Step S726, determining a second speed of the positioning object at the first time according to the wheel pulse signal acquired by the wheel pulse sensor at the first time.

And the wheel pulse sensor acquires wheel pulse signals for positioning the object. The processor determines a second velocity of the positioned object at the first time based on the wheel pulse signal of the positioned object acquired at the first time.

For example, the wheel pulse sensor transmits a wheel pulse signal every time the wheel of the positioning object rotates one turn. If the processor receives 5 wheel pulse signals within 1 second(s) and the radius of the wheel is 20 centimeters (cm), then the second speed for locating the object is determined to be 5 x (2 x pi x 20) 628 cm/s.

In step S727, the first speed and the second speed are weighted-averaged to obtain a target speed.

In the embodiment of the application, the processor can configure the weight of the pulse speed of the wheel and the weight of the inertia speed in advance. The processor performs weighted average on the first speed and the second speed by using the configured weight to obtain a target speed.

In step S728, a second distance traveled by the positioning object in the duration from the first time to the second time is estimated using the target speed and the duration from the first time to the second time.

The wheel pulse signal does not have the problem of accumulated error relative to the inertial signal. And performing weighted fusion on the first speed and the second speed to obtain the target speed, namely, performing authentication on the inertia signal by using the wheel pulse signal, and improving the accuracy of the determined target speed. And then, the target speed is subsequently utilized, the second distance of the object movement can be accurately estimated, and the positioning precision of the positioned object is improved.

In another embodiment of the present application, as shown in fig. 10, the above step S74 may be subdivided into the following steps.

Step S741, determining a deviation rectifying distance corresponding to the minimum distance of the first distance and the second distance.

In the embodiment of the application, the processor can preset a rule for determining the deviation rectifying distance. And the processor determines the deviation rectifying distance corresponding to the minimum distance in the first distance and the second distance according to the rule for determining the deviation rectifying distance.

In one embodiment, the rule is determined as: and multiplying the minimum distance of the first distance and the second distance by a preset proportional value to obtain the deviation rectifying distance. That is, step S741 may specifically be: determining a minimum distance of the first distance and the second distance; and calculating the product of the minimum distance and a preset proportional value to obtain the deviation correcting distance. The preset proportion value can be set according to actual requirements.

For example, the preset proportional value may be 1/4, 1/5, 2/5, or the like. The preset ratio value is 1/4 for example. The first distance is S0 and the second distance is S1. If S0> S1, the deviation rectifying distance is 1/4 × S1. And if S0 is not more than S1, the deviation rectifying distance is 1/4 × S0.

Optionally, the preset proportional value may be a reciprocal of the preset deviation rectifying time. For example, if the preset deviation rectifying time is 4, the preset proportional value is 1/4. For another example, if the predetermined deviation rectifying time is 5, the predetermined ratio is 1/5.

The preset deviation rectifying times are the maximum times for carrying out deviation rectifying processing on one inertia positioning point. For example, the number of times of the deviation correction processing of the inertial positioning point obtained based on the inertial signal is 0, and if the inertial positioning prediction point is determined once based on the inertial positioning point, the number of times of the deviation correction processing of the inertial positioning point is increased by 1; and determining the inertial positioning prediction point again based on the inertial positioning point determined by the inertial positioning point, and adding 1 to the deviation correction processing frequency of the inertial positioning point again. Simply, it can be understood that the preset deviation correcting times are as follows: after step S71 is executed once, the maximum number of times steps S72-S75 are executed in a loop; alternatively, the maximum number of inertial positioning prediction points is determined.

In another embodiment, the determination rule is: and subtracting the preset deviation value from the minimum distance of the first distance and the second distance to obtain the deviation rectifying distance. That is, step S741 may specifically be: determining a minimum distance of the first distance and the second distance; and calculating the difference value between the minimum distance and the preset deviation value to obtain the deviation rectifying distance. The preset deviation value can be set according to actual requirements.

For example, the predetermined deviation value may be 1, 5, or 7 meters, etc. The default deviation value is 5 for example. The first distance is S0 and the second distance is S1. If S0> S1, the deviation rectifying distance is S1-5. If S0 is less than or equal to S1, the deviation rectifying distance is S0-5.

The determination rule may be set according to actual requirements, and is not limited thereto.

Step S742 refers to the direction from the first satellite positioning point to the first inertial positioning point, and uses a point a third distance from the second satellite positioning point as an inertial positioning prediction point of the positioning object at the second time, where the third distance is a difference between the first distance and the rectification distance.

It can be understood that the direction from the second satellite positioning point to the inertial positioning prediction point is the same as or approximately the same as the direction from the first satellite positioning point to the first inertial positioning point, and the distance between the second satellite positioning point and the inertial positioning prediction point is smaller than the distance between the first satellite positioning point and the first inertial positioning point by the rectification distance.

After the processor obtains the second satellite positioning point, a point which is a third distance away from the second satellite positioning point can be used as an inertial positioning prediction point of the positioning object at the second moment in the direction from the first satellite positioning point to the first inertial positioning point.

In the embodiment of the application, the processor determines the corresponding deviation rectifying distance by comprehensively considering the first distance between the inertial positioning point and the satellite positioning point and the second distance for moving the positioning object in the time length of the acquisition cycle of the satellite positioning signal, so that the deviation rectifying distance is reduced by the distance between the inertial positioning point and the satellite positioning point. The distance between the inertial positioning point and the satellite positioning point can be smoothly reduced, the accumulated error of the inertial positioning point is reduced, the positioning precision of the positioning object is further improved, and the problem that the track curve of the positioning object has the shape of a broken line type straight line is effectively solved.

In one embodiment of the present application, in order to achieve the synchronization between the inertial positioning point and the satellite positioning point, as shown in fig. 11, after determining the inertial positioning prediction point of the positioning object at the second time instant in step S74, the following steps may be further included:

and step S76, detecting whether the distance between the second satellite positioning point and the inertial positioning prediction point is within a preset distance range. If so, ending the deviation rectification processing of the inertia positioning point, and determining the track positioning point of the positioning object directly based on the newly acquired inertia signal and the satellite positioning signal in a new calculation period of the track positioning point; if not, step S77 is executed.

The preset distance range can be set according to actual requirements. For example, if the requirement for the positioning accuracy is high, the preset distance range may be set to a small value; if the requirement for the positioning accuracy is low, the preset distance range may be set to a large value.

In the embodiment of the present application, the execution sequence of step S75 and step S76 is not limited. The two steps may or may not be performed simultaneously. For example, S75 may be performed again in the case where it is determined that the distance between the second satellite positioning point and the inertial positioning prediction point is within the preset distance range, or S76 may be performed after S75 is performed.

In step S77, step S71 is executed again with the second time as a new first time.

In the embodiment of the application, the processor detects whether the distance between the second satellite positioning point and the inertial positioning prediction point is within a preset distance range.

If not, the processor can determine that the inertial positioning prediction point and the second satellite positioning point are not synchronized, and return to execute the step S71 to continue the rectification processing until the inertial positioning prediction point and the second satellite positioning point are synchronized.

If so, the processor can synchronize the inertial positioning prediction point with the second satellite positioning point, continuously perform the deviation rectification processing on the subsequent inertial signal without the positioning object, and finish the deviation rectification processing. And in a next calculation cycle of the track positioning point, the processor directly utilizes the acquired inertial signal and the satellite positioning signal to respectively determine the inertial positioning point and the satellite positioning point, and directly utilizes the determined inertial positioning point and the satellite positioning point to determine the track positioning point of the positioning object without executing the deviation rectification processing.

In one embodiment of the present application, in order to achieve the synchronization between the inertial positioning point and the satellite positioning point, as shown in fig. 12, after determining the inertial positioning prediction point of the positioning object at the second time instant in step S74, the following steps may be further included:

and step S78, detecting and determining whether the accumulated times of the inertia positioning prediction points reach the preset deviation correcting times. If not, step S79 is executed to continue the correction processing and to re-determine the inertial positioning prediction point. If so, the deviation rectification processing of the inertial positioning point can be finished.

The preset deviation correcting times can be set according to actual requirements. For example, the preset deviation rectifying times can be 4, 5 or 7.

In the embodiment of the application, the primary inertial positioning prediction point is determined, namely, primary deviation rectification processing is carried out on the inertial positioning point.

In the embodiment of the present application, the execution sequence of step S75 and step S78 is not limited. Both may be performed simultaneously.

And step S79, taking the second time as a new first time, taking the inertial positioning prediction point as a new first inertial positioning point, taking the second satellite positioning point as a new first satellite positioning point, and returning to execute the step S72.

And after determining the inertial positioning prediction point of the positioning object at the second moment, the processor detects whether the accumulated times of the inertial positioning prediction point reaches the preset deviation rectifying times. If not, the inertia positioning point and the satellite positioning point are not synchronized, and step S79 is executed to continue the prediction processing, that is, the deviation rectification processing is continued. If so, the inertia positioning point and the satellite positioning point are considered to be synchronous, and the prediction processing is finished, namely the deviation correction processing is finished.

And under the condition that the accumulated times of the inertial positioning prediction points do not reach the preset deviation correcting times, the processor takes the second moment as a new first moment, takes the inertial positioning prediction points as new first inertial positioning points and takes the second satellite positioning points as new first satellite positioning points. And then, the processor carries out new deviation rectification processing on the first inertial positioning point, namely, an inertial positioning prediction point of the positioning object at a new second moment. At this time, 1 is added to the cumulative number of times the inertial positioning prediction point is determined.

For example, the first time is t₁. Processor determines t₁The inertial positioning point at the moment is an inertial positioning point 1, the first satellite positioning point is a satellite positioning point 1, and the distance d between the inertial positioning point 1 and the satellite positioning point 1 is calculated₁And estimating the distance d of the movement of the positioning object during the acquisition period of the satellite positioning signal₂。

The processor may determine thatTwo time t ₂2 of the satellite. Processor dependent on distance d₁、d₂And a satellite positioning point 2 for determining the positioning object at t₂The inertial positioning of the moment predicts point 2. Further, the cumulative number of times the inertial positioning prediction point is determined plus 1. The processor performs weighted fusion on the inertial positioning prediction point 2 and the satellite positioning point 2 to obtain t₂And (5) positioning a track positioning point 1 of the object at the moment.

In addition, the processor detects whether the accumulated times of the inertia positioning prediction points reaches a preset time threshold value. If not, the processor will t₂The moment is used as a new first moment, the inertial positioning prediction point 2 is used as a new first inertial positioning point, the satellite positioning point 2 is used as a new first satellite positioning point, and the distance d between the inertial positioning prediction point 2 and the satellite positioning point 2 is calculated₁₁And estimating the distance d of the movement of the positioning object during the acquisition period of the satellite positioning signal₁₂And re-determining the inertial positioning prediction point.

In the embodiment of the application, the deviation correction processing of the preset deviation correction times is carried out on the inertia positioning point obtained based on the inertia signal, so that the accumulated error of the inertia signal is reduced to the maximum extent, the satellite positioning point and the inertia positioning point are synchronized to the maximum extent, and the positioning precision of a subsequent positioning object is improved.

In another embodiment of the present application, the embodiments shown in fig. 11 and 12 described above may be combined to maximally improve the positioning accuracy of the positioning object. Specifically, as shown in fig. 13, after determining the inertial positioning prediction point of the positioning object at the second time in step S74, the method may further include the following steps:

step S710, detecting and determining whether the accumulated times of the inertia positioning prediction points reach the preset deviation correcting times. If not, step S711 is executed to continue the correction processing and to re-determine the inertial positioning prediction point. If yes, go to step S712.

In the embodiment of the present application, the execution order of step S75 and step S710 is not limited. Both may or may not be performed simultaneously. For example, S710 may also be performed after S75 is performed.

Step S711, taking the second time as a new first time, taking the inertial positioning prediction point as a new first inertial positioning point, taking the second satellite positioning point as a new first satellite positioning point, and returning to execute step S72.

Step S712, detecting whether the distance between the second satellite positioning point and the inertial positioning prediction point is within a preset distance range. If yes, ending the deviation rectifying processing; if not, step S713 is executed.

In step S713, step S71 is executed again with the second time as a new first time.

The descriptions of the steps S710 to S713 are relatively simple, and refer to the descriptions of fig. 11 and fig. 12, which are not described herein again.

In an embodiment of the present application, as shown in fig. 14, the embodiment of the present application may be further optimized, including the following steps:

step S751, a fourth distance between the second satellite positioning point and the first satellite positioning point is calculated.

In step S752, it is detected whether the fourth distance is smaller than the first preset distance threshold. If yes, go to step S753; if not, step S754 is executed.

And S753, determining a track positioning point of the positioning object at a second moment based on the second satellite positioning point and the inertial positioning prediction point.

In step S754, step S71 is executed again with the second time as a new first time.

The moving object has its specific physical characteristics. The physical characteristic may be determined from a physical relationship of speed, duration, and distance. For example, if the velocity of the positioning object is 10m/s and the acquisition cycle duration of the satellite positioning signal is 1s, the moving distance of the positioning object is 10 × 1 to 10m for one acquisition cycle duration. If the distance between the first satellite positioning point and the second satellite positioning point reaches 100m, and 100 is far greater than 10, it can be determined that the second satellite positioning point does not conform to the physical attribute of the object motion.

In the embodiment of the application, a first preset distance threshold is preset in the processor, and the first preset distance threshold can be determined according to physical characteristics of the moving object. And after the processor obtains the second satellite positioning signal, calculating a fourth distance between the second satellite positioning point and the first satellite positioning point. And if the fourth distance is detected to be smaller than the first preset distance threshold, the second satellite positioning point can be considered to be in accordance with the physical characteristics of the moving object, and the processor determines the track positioning point of the positioning object at the second moment based on the second satellite positioning point and the inertial positioning prediction point.

If it is detected that the fourth distance is greater than or equal to the first preset distance threshold, it may be determined that the second satellite positioning point does not conform to the physical characteristics of the moving object, the error of the second satellite positioning point is large and cannot be used for determining the trajectory positioning point of the positioning object, the processor may discard the second satellite positioning point, and perform step S71 again with the second time as a new first time to perform a new round of correction processing.

In an embodiment of the present application, the present application further provides a positioning method, as shown in fig. 15, the method may further include the following steps:

in step S714, a trajectory positioning point is extracted from the plurality of trajectory positioning points of the obtained positioning object.

Over a period of time, the processor may obtain a plurality of trajectory fix points at which to locate the object. In order to improve the positioning accuracy, the processor can screen a plurality of track positioning points of the obtained positioning object, so as to further improve the quality of the track curve.

And step S715, generating a track curve of the positioning object according to the extracted track positioning point.

In the embodiment of the application, the processor extracts part of the track positioning points from the plurality of track positioning points of the obtained positioning object, so that abnormal track positioning points can be effectively eliminated, and further the track curve of the positioning object is generated based on normal track positioning points, thereby improving the positioning precision of the positioning object and optimizing the quality of the track curve.

In one embodiment of the present application, the processor may have a correspondence relationship between the speed and the sampling frequency stored therein in advance. The sampling frequency may be a frequency at which the processor uploads the track location point to the background server.

In the embodiment of the application, the speed is proportional to the sampling frequency. I.e. the greater the speed, the greater the sampling frequency. For example, when the speed of the positioning object is less than 36Km/h, the sampling frequency is 0.3 Hz; when the speed of the positioning object is more than or equal to 36Km/h and less than 72Km/h, the sampling frequency is 0.5 Hz; when the speed of the positioning object is greater than or equal to 72Km/h, the sampling frequency is 1 Hz.

In this case, the processor determines a target sampling frequency corresponding to the velocity of the positioning object at the second time based on the correspondence between the velocity and the sampling frequency stored in advance. The speed of the positioning object at the second time may be the above inertial speed or the target speed, which is not limited.

And the processor extracts the track positioning points from the plurality of track positioning points of the obtained positioning object according to the target sampling frequency. And the target sampling frequency is less than the frequency of obtaining the track positioning point of the object. In this way, the processor may generate a trajectory curve of the positioned object based on the extracted trajectory positioning points. In the embodiment of the present application, the trajectory curve may be a bezier curve or other curves, which is not limited herein.

In an optional embodiment, the processor extracts a trajectory positioning point from a plurality of trajectory positioning points of the obtained positioning object according to the target sampling frequency, where the trajectory positioning point may be: and the processor extracts a track positioning point every cycle duration corresponding to the target sampling frequency.

In an embodiment of the present application, to further improve the positioning accuracy, the processor may determine a fifth distance between adjacent track positioning points according to an obtaining order of the track positioning points; and screening out a track positioning point corresponding to a fifth distance smaller than a second preset distance threshold from the plurality of track positioning points of the obtained positioning object, and using the track positioning point to generate a track curve. The track positioning point corresponding to the fifth distance may include two track positioning points or one of the two track positioning points, where the fifth distance is obtained through calculation.

For example, the processor may, for each track positioning point, according to the obtaining sequence of the track positioning points, if a fifth distance between the track positioning point and a last obtained track positioning point that is not excluded is greater than or equal to a second preset distance threshold, that the track positioning point does not conform to the physical attribute of the object motion, and the track positioning point is excluded; if the fifth distance between the track positioning point and the last obtained track positioning point which is not excluded is smaller than the second preset distance threshold, the track positioning point is indicated to be in line with the physical attribute of the motion of the object, and the track positioning point is reserved for subsequently generating a track curve of the positioning object.

The second preset distance threshold may be determined according to the period duration of the obtained track location point and the speed of the located object. In the embodiment of the present application, the adjacent track positioning points refer to track positioning points that are not excluded.

Through the embodiment, the track positioning points which do not accord with the physical attributes of the object motion can be eliminated, and the purpose of improving the positioning precision is achieved.

The following describes the positioning method provided in the embodiment of the present application in detail with reference to the flowchart shown in fig. 16.

In step S161, the processor detects whether the satellite positioning signal is normal. If not, executing step S162; if yes, go to step S164.

Step S162, the processor detects whether the inertia positioning point and the satellite positioning point are synchronous. If yes, ending the processing; if not, step S163 is performed.

In the embodiment of the application, when the distance between the inertial positioning point and the satellite positioning point is within the preset distance range, the inertial positioning point and the satellite positioning point are considered to be synchronous. Otherwise, the inertial positioning point and the satellite positioning point are considered to be out of synchronization.

And step S163, the processor performs deviation rectification processing on the inertial positioning point, so that the inertial positioning point and the satellite positioning point are synchronous.

In the embodiment of the application, the primary inertial positioning prediction point is determined based on an inertial positioning point determined by an inertial signal, so that the primary deviation correction processing is performed on the inertial positioning point. In the embodiment of the application, for one inertia positioning point, the deviation rectification processing with preset deviation rectification times can be carried out on the inertia positioning point.

The flow of the deviation rectifying process can be referred to the description of the above-mentioned fig. 7-fig. 15, and is not described herein again.

In the course of performing step S163, the processor may gradually increase the acquisition frequency of the inertial signal. The processor acquires the inertial signal according to the increased acquisition frequency.

The value range of the acquisition frequency of the inertial signal can be set according to actual requirements. For example, the value range of the acquisition frequency of the inertial signal is 20-50 Hz, and the processor gradually increases the acquisition frequency of the inertial signal from 20Hz to 50 Hz.

In addition, in the process of performing step S163, the processor may also acquire a wheel pulse signal. The processor carries out weighting processing on the inertia signal and the wheel pulse signal to obtain the target speed of the positioning object, and further participates in determining the track positioning point of the positioning object.

Because the satellite positioning signal is abnormal at this moment, the processor can directly use the inertial positioning point as the track positioning point of the positioning object. The specific manner of weighting the inertia signal and the wheel pulse signal, that is, the manner of weighting the wheel pulse speed and the inertia speed, is as described above with respect to the wheel pulse signal.

In step S164, the processor detects whether the satellite positioning signal carries an abnormal identifier. If yes, go to step S165; if not, step S166 is executed.

And S165, the processor performs deviation rectification processing on the inertial positioning point, so that the inertial positioning point and the satellite positioning point are synchronous.

In the course of performing step S165, the processor may gradually decrease the acquisition frequency of the inertial signal.

For example, the value range of the acquisition frequency of the inertial signal is 20-50 Hz, and the processor gradually reduces the acquisition frequency of the inertial signal from 50Hz to 20 Hz.

In performing step S165, the processor may exclude the anomalous satellite fix.

The abnormal satellite positioning point is a satellite positioning point which does not accord with the physical characteristics of the movement of the object. See, in particular, the description of fig. 14 above.

In performing step S165, the processor may also collect a wheel pulse signal. And the processor performs weighting processing on the satellite positioning point, the inertia signal and the wheel pulse signal to obtain a track positioning point of the positioning object.

And step S166, the processor performs weighting processing on the satellite positioning point, the inertia signal and the wheel pulse signal to obtain a track positioning point of the positioning object.

In performing step S166, the processor may set the acquisition frequency of the inertial signal to the minimum acquisition frequency. For example, the value range of the acquisition frequency of the inertial signal is 20-50 Hz, and the SoC sets the acquisition frequency of the inertial signal to 20 Hz.

In addition, in the process of executing step S166, the processor may also exclude an abnormal satellite positioning point; and acquiring the wheel pulse signals so as to perform weighting processing on the satellite positioning points, the inertia signals and the wheel pulse signals to obtain the track positioning points of the positioning object.

In step S167, the processor outputs a trajectory positioning point.

The track positioning point may be represented by latitude and longitude information, or may be represented in other manners, which is not limited herein.

Corresponding to the above positioning method, an embodiment of the present application further provides a positioning device, as shown in fig. 17, where the positioning device includes:

a first determining unit 171, configured to determine a first inertial positioning point and a first satellite positioning point of a positioning object at a first time, respectively, based on an inertial signal and a satellite positioning signal acquired at the first time;

a second determining unit 172, configured to determine a first distance between the first inertial positioning point and the first satellite positioning point, and estimate a second distance that the positioning object moves within a time duration from the first time to the second time, where the time duration from the first time to the second time is a time duration of an acquisition cycle of the satellite positioning signal;

a third determining unit 173 for determining a second satellite positioning point of the positioning object at the second time based on the satellite positioning signal acquired at the second time;

a fourth determining unit 174, configured to determine an inertial positioning prediction point of the positioning object at the second time according to the first distance, the second distance, and the second satellite positioning point;

a fifth determining unit 175, configured to determine a trajectory positioning point of the positioning object at the second time based on the second satellite positioning point and the inertial positioning prediction point.

In an alternative embodiment, the inertial signal comprises an acceleration signal; the second determining unit 172 may specifically be configured to:

determining a first speed of the positioning object at a first moment according to the acceleration signal of the positioning object acquired at the first moment;

and estimating a second distance moved by the positioning object in the time length from the first time to the second time by using the first speed and the time length from the first time to the second time.

In an alternative embodiment, the inertial signal comprises an acceleration signal, and the positioning object is provided with a wheel pulse sensor;

the second determining unit 172 may specifically be configured to:

determining a second speed of the positioning object at the first moment according to a wheel pulse signal acquired by the wheel pulse sensor at the first moment;

carrying out weighted average on the first speed and the second speed to obtain a target speed;

and estimating a second distance moved by the positioning object in the time length from the first time to the second time by using the target speed and the time length from the first time to the second time.

In an optional embodiment, the first determining unit 171 may further be configured to:

and after determining the inertial positioning prediction point of the positioning object at the second moment, under the condition that the distance between the second satellite positioning point and the inertial positioning prediction point is not within the preset distance range, taking the second moment as a new first moment, and re-executing the step of respectively determining the first inertial positioning point and the first satellite positioning point of the positioning object at the first moment based on the inertial signal and the satellite positioning signal acquired at the first moment.

In an optional embodiment, the second determining unit 172 may be further configured to:

after determining the inertial positioning prediction point of the positioning object at the second moment, if the accumulated times of the inertial positioning prediction points is not up to the preset deviation correction times, taking the second moment as a new first moment, taking the inertial positioning prediction point as a new first inertial positioning point, taking the second satellite positioning point as a new first satellite positioning point, and re-executing the steps of determining the first distance between the first inertial positioning point and the first satellite positioning point and estimating the second distance for positioning the movement of the object in the time period from the first moment to the second moment;

alternatively, the first determining unit 171 is further configured to:

after the inertial positioning prediction point of the positioning object at the second moment is determined, if the accumulated times of the inertial positioning prediction points reaches the preset deviation correction times, under the condition that the distance between the second satellite positioning point and the inertial positioning prediction point is not within the preset distance range, the second moment is used as a new first moment, and the step of determining the first inertial positioning point and the first satellite positioning point of the positioning object at the first moment respectively based on the inertial signal and the satellite positioning signal acquired at the first moment is executed again.

In an alternative embodiment, the fourth determining unit 174 may be specifically configured to:

determining a deviation rectifying distance corresponding to the minimum distance in the first distance and the second distance;

and taking a point which is a third distance away from the second satellite positioning point as an inertial positioning prediction point of the positioning object at the second moment by referring to the direction from the first satellite positioning point to the first inertial positioning point, wherein the third distance is a difference value between the first distance and the deviation correction distance.

determining a minimum distance of the first distance and the second distance;

and calculating the product of the minimum distance and a preset proportional value to obtain the deviation rectifying distance, wherein the preset proportional value is the reciprocal of the preset deviation rectifying times.

In an alternative embodiment, the fifth determining unit 175 may specifically be configured to:

calculating a fourth distance between the second satellite positioning point and the first satellite positioning point;

if the fourth distance is smaller than the first preset distance threshold, determining a track positioning point of the positioning object at a second moment based on the second satellite positioning point and the inertial positioning prediction point;

alternatively, the first and second electrodes may be,

the first determining unit 171 may further be configured to:

and if the fourth distance is greater than or equal to the first preset distance threshold, taking the second moment as a new first moment, and re-executing the step of respectively determining the first inertial positioning point and the first satellite positioning point of the positioning object at the first moment based on the inertial signal and the satellite positioning signal acquired at the first moment.

In an optional embodiment, the positioning device may further include:

an extracting unit, configured to extract a trajectory positioning point from a plurality of trajectory positioning points of the obtained positioning object;

and the generating unit is used for generating a track curve of the positioning object according to the extracted track positioning point.

In an optional embodiment, the extracting unit may be specifically configured to:

determining a fifth distance between adjacent track positioning points according to the acquisition sequence of the track positioning points;

and screening out a track positioning point corresponding to a fifth distance smaller than a second preset distance threshold from the plurality of track positioning points of the obtained positioning object.

Corresponding to the above positioning method, an embodiment of the present application further provides an electronic device, as shown in fig. 18, including a processor 181, a communication interface 182, a memory 183, and a communication bus 184, where the processor 181, the communication interface 182, and the memory 183 complete mutual communication through the communication bus 184.

A memory 183 for storing a computer program;

the processor 181 is configured to implement the steps of the positioning method described in any of fig. 7-16 above when executing the program stored in the memory 183.

The communication bus mentioned in the electronic device may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The communication bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown, but this does not mean that there is only one bus or one type of bus.

The communication interface is used for communication between the electronic equipment and other equipment.

The Memory may include a Random Access Memory (RAM) or a Non-Volatile Memory (NVM), such as at least one disk Memory. Optionally, the memory may also be at least one memory device located remotely from the processor.

The Processor may be a general-purpose Processor including a Central Processing Unit (CPU), a Network Processor (NP), etc.; but also Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components.

In yet another embodiment provided by the present application, a computer-readable storage medium is further provided, in which a computer program is stored, and the computer program, when executed by a processor, implements the steps of any of the above positioning methods.

In a further embodiment provided by the present application, there is also provided a computer program product which, when run on a computer, causes the computer to perform the steps of any of the positioning methods of the above embodiments.

In yet another embodiment provided herein, a vehicle is also provided that includes the positioning system of any of fig. 2-6.

In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, cause the processes or functions described in accordance with the embodiments of the application to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, from one website site, computer, server, or data center to another website site, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that incorporates one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

All the embodiments in the present specification are described in a related manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, the system, the apparatus, the electronic device, the computer-readable storage medium, and the computer program embodiment are substantially similar to the method embodiment, so that the description is simple, and the relevant points can be referred to the partial description of the method embodiment.

The above description is only for the preferred embodiment of the present application and is not intended to limit the scope of the present application. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application are included in the protection scope of the present application.

Claims

1. A method of positioning, the method comprising:

2. The method of claim 1, wherein the inertial signal comprises an acceleration signal; the step of estimating a second distance traveled by the positioning object over the duration of the first time to the second time comprises:

determining a first speed of the positioning object at the first moment according to the acceleration signal of the positioning object acquired at the first moment;

3. The method of claim 1, wherein the inertial signal comprises an acceleration signal, the positioned object having a wheel pulse sensor mounted thereon;

the step of estimating a second distance traveled by the positioning object over the duration of the first time to the second time comprises:

determining a second speed of the positioning object at the first moment according to the wheel pulse signal acquired by the wheel pulse sensor at the first moment;

4. The method of claim 1, wherein after determining the inertial location prediction point of the located object at the second time instant, the method further comprises:

and under the condition that the distance between the second satellite positioning point and the inertial positioning prediction point is not within a preset distance range, taking the second moment as a new first moment, and re-executing the step of respectively determining the first inertial positioning point and the first satellite positioning point of the positioning object at the first moment based on the inertial signal and the satellite positioning signal acquired at the first moment.

5. The method of claim 1, wherein after determining the inertial location prediction point of the located object at the second time instant, the method further comprises:

if the accumulated times of the inertial positioning prediction points are determined not to reach the preset deviation correcting times, taking the second time as a new first time, taking the inertial positioning prediction points as a new first inertial positioning point, taking the second satellite positioning point as a new first satellite positioning point, re-executing the steps of determining the first distance between the first inertial positioning point and the first satellite positioning point and estimating the second distance moved by the positioning object in the time length from the first time to the second time;

alternatively, the first and second electrodes may be,

and if the accumulated times of the inertial positioning prediction points reach the preset deviation correcting times, taking the second moment as a new first moment under the condition that the distance between the second satellite positioning point and the inertial positioning prediction points is not within a preset distance range, and re-executing the step of respectively determining the first inertial positioning point and the first satellite positioning point of the positioning object at the first moment based on the inertial signal and the satellite positioning signal acquired at the first moment.

6. The method of claim 1, wherein the step of determining an inertial positioning prediction point of the positioning object at the second time instant based on the first distance, the second distance and the second satellite positioning point comprises:

and referring to the direction from the first satellite positioning point to the first inertial positioning point, taking a point which is a third distance from the second satellite positioning point as an inertial positioning prediction point of the positioning object at the second moment, wherein the third distance is a difference value between the first distance and the deviation correction distance.

7. The method of claim 6, wherein the step of determining the deviation correcting distance corresponding to the smallest one of the first distance and the second distance comprises:

determining a minimum distance of the first distance and the second distance;

8. The method according to claim 1, wherein the step of determining a trajectory fix point of the located object at the second time instant based on the second satellite fix point and the inertial positioning prediction point comprises:

if the fourth distance is smaller than a first preset distance threshold, determining a track positioning point of the positioning object at the second moment based on the second satellite positioning point and the inertial positioning prediction point;

alternatively, the first and second electrodes may be,

9. The method according to any one of claims 1-8, further comprising:

extracting a track positioning point from a plurality of obtained track positioning points of the positioning object;

and generating a track curve of the positioning object according to the extracted track positioning point.

10. The method according to claim 9, wherein the step of extracting a trajectory anchor point from the obtained plurality of trajectory anchor points of the positioning object comprises:

and screening out a track positioning point corresponding to a fifth distance smaller than a second preset distance threshold from the obtained plurality of track positioning points of the positioning object.

11. A positioning device, the device comprising:

12. The apparatus of claim 11, wherein the inertial signal comprises an acceleration signal; the second determining unit is specifically configured to:

estimating a second distance that the positioning object moves within the duration of the first time to the second time using the first speed and the duration of the first time to the second time; or

The inertial signal comprises an acceleration signal, and a wheel pulse sensor is mounted on the positioning object;

the second determining unit is specifically configured to:

estimating a second distance moved by the positioning object in the time length from the first time to the second time by using the target speed and the time length from the first time to the second time; or

The first determining unit is further configured to:

after determining the inertial positioning prediction point of the positioning object at the second time, under the condition that the distance between the second satellite positioning point and the inertial positioning prediction point is not within a preset distance range, taking the second time as a new first time, and re-executing the step of determining a first inertial positioning point and a first satellite positioning point of the positioning object at the first time respectively based on the inertial signal and the satellite positioning signal acquired at the first time; or

The second determining unit is further configured to:

after determining the inertial positioning prediction point of the positioning object at the second moment, if the accumulated times of the inertial positioning prediction point is not less than the preset deviation rectifying times, taking the second moment as a new first moment, taking the inertial positioning prediction point as a new first inertial positioning point, taking the second satellite positioning point as a new first satellite positioning point, and re-executing the steps of determining the first distance between the first inertial positioning point and the first satellite positioning point and estimating the second distance moved by the positioning object within the time length from the first moment to the second moment;

or, the first determining unit is further configured to:

after determining the inertial positioning prediction point of the positioning object at the second moment, if determining that the accumulated times of the inertial positioning prediction points reaches a preset deviation correcting time, taking the second moment as a new first moment under the condition that the distance between the second satellite positioning point and the inertial positioning prediction point is not within a preset distance range, and re-executing the step of determining the first inertial positioning point and the first satellite positioning point of the positioning object at the first moment respectively based on the inertial signal and the satellite positioning signal acquired at the first moment; or

The fourth determining unit is specifically configured to:

referring to the direction from the first satellite positioning point to the first inertial positioning point, taking a point which is a third distance from the second satellite positioning point as an inertial positioning prediction point of the positioning object at the second moment, wherein the third distance is a difference value between the first distance and the deviation rectifying distance; or

The fourth determining unit is specifically configured to:

determining a minimum distance of the first distance and the second distance;

calculating the product of the minimum distance and a preset proportional value to obtain a deviation rectifying distance, wherein the preset proportional value is the reciprocal of the preset deviation rectifying times; or

The fifth determining unit is specifically configured to:

or, the first determining unit is further configured to:

if the fourth distance is greater than or equal to the first preset distance threshold, taking the second moment as a new first moment, and re-executing the step of determining a first inertial positioning point and a first satellite positioning point of the positioning object at the first moment respectively based on the inertial signal and the satellite positioning signal acquired at the first moment; or

The device further comprises:

the generating unit is used for generating a track curve of the positioning object according to the extracted track positioning point; or

The extraction unit is specifically configured to:

13. An electronic device is characterized by comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory are communicated with each other through the communication bus;

the memory is used for storing a computer program;

the processor, when executing the program stored in the memory, implementing the method steps of any of claims 1-10.

14. A computer-readable storage medium, characterized in that a computer program is stored in the computer-readable storage medium, which computer program, when being executed by a processor, carries out the method steps of any one of the claims 1-10.

15. A positioning system comprising a satellite positioning module, an inertial measurement unit, and a processor;

the inertia measuring device is used for acquiring an inertia signal;

the processor configured to perform the method steps of any of claims 1-10.