WO2018045888A1 - Positioning switching method and apparatus - Google Patents

Positioning switching method and apparatus Download PDF

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Publication number
WO2018045888A1
WO2018045888A1 PCT/CN2017/099259 CN2017099259W WO2018045888A1 WO 2018045888 A1 WO2018045888 A1 WO 2018045888A1 CN 2017099259 W CN2017099259 W CN 2017099259W WO 2018045888 A1 WO2018045888 A1 WO 2018045888A1
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Prior art keywords
positioning module
positioning
module
target
environment
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PCT/CN2017/099259
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French (fr)
Chinese (zh)
Inventor
刘沙
洪子麒
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高德信息技术有限公司
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Publication of WO2018045888A1 publication Critical patent/WO2018045888A1/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/01—Determining conditions which influence positioning, e.g. radio environment, state of motion or energy consumption
    • G01S5/012—Identifying whether indoors or outdoors
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/029—Location-based management or tracking services
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination

Definitions

  • the present invention relates to the field of positioning technologies, and in particular, to a positioning switching method and apparatus.
  • the current positioning service can be implemented by various positioning methods, such as: satellite positioning, network positioning (for example: base station positioning, WIFI (Wireless-Fidelity) positioning, geomagnetic positioning, Bluetooth positioning, etc.), sensor fusion positioning, etc.
  • satellite positioning for example: base station positioning, WIFI (Wireless-Fidelity) positioning, geomagnetic positioning, Bluetooth positioning, etc.
  • WIFI Wireless-Fidelity
  • geomagnetic positioning geomagnetic positioning
  • Bluetooth positioning etc.
  • sensor fusion positioning etc.
  • Different positioning methods have different precision, power consumption, and coverage area size, specifically, as shown in Table 1 below.
  • the embodiment of the invention provides a method and a device for locating a location, which are used to solve the problem that the prior art can only adapt to different environments when using only a single positioning mode.
  • a positioning information acquiring unit configured to acquire positioning information
  • a target positioning module determining unit configured to determine a target positioning module according to the positioning information
  • the positioning module switching unit is configured to: when the current positioning module is different from the target positioning module, switch the current positioning module to the target positioning module.
  • the technical solution of the present invention determines the target positioning module according to the positioning information, and switches the current positioning module to the target positioning module when the current positioning module is different from the target positioning module.
  • a plurality of positioning modules are integrated, and when the target positioning module determined according to the positioning information is inconsistent with the currently used positioning module, the positioning module is switched, and since the positioning information can largely reflect the actual environment, The positioning module is switched according to the positioning information, so that the target positioning module determined according to the positioning information is more in line with the actual environment. Therefore, the positioning method provided by the technical solution of the present invention can be more flexibly adapted to different environments.
  • FIG. 1 is a schematic flowchart of a method for performing location switching according to an embodiment of the present invention
  • FIG. 2 is a schematic diagram of a schematic diagram of switching between positioning modules according to an embodiment of the present invention.
  • FIG. 3 is a second schematic diagram of the principle of switching between positioning modules according to an embodiment of the present disclosure.
  • FIG. 4 is a schematic diagram 3 of a schematic diagram of switching between positioning modules according to an embodiment of the present invention.
  • FIG. 5 is a schematic structural diagram of a positioning switching apparatus according to an embodiment of the present invention.
  • the positioning switching method and device provided by the embodiment of the present invention determine the target positioning module according to the positioning information after acquiring the positioning information, and switch the current positioning module to the target positioning module when the current positioning module is different from the target positioning module. Different positioning modules are switched according to different positioning information, and the positioning mode can be adapted to different environments by switching the positioning module.
  • the GNSS positioning module the sensor fusion positioning module, and the network positioning module mentioned in the embodiments of the present invention are described.
  • the GNSS (Global Navigation Satellite System) positioning module mentioned in the embodiment of the present invention includes one or more of the following positioning methods: GPS (Global Positioning System) positioning, GLONASS (GLOBAL) NAVIGATION SATELLITE SYSTEM, Glo Nas satellite navigation system) positioning, Galileo (Galileo satellite navigation system) positioning and Beidou satellite navigation system positioning.
  • the sensor fusion positioning module refers to the use of data sources such as accelerometers, gyroscopes, geomagnetism, light perception, and imaging to determine the usage scene, and uses inertial derivation (filtering algorithm) to integrate positioning elements during the switching process.
  • data sources such as accelerometers, gyroscopes, geomagnetism, light perception, and imaging to determine the usage scene, and uses inertial derivation (filtering algorithm) to integrate positioning elements during the switching process.
  • the NL (Network Location) module includes one or more of the following positioning methods: WIFI positioning, Bluetooth positioning, and base station positioning.
  • the NL module is mainly associated with the location information through the identifier of the device.
  • the mobile device recognizes an Identity, it indicates that the mobile device is around the device identified by the Identity, and in order to improve the accuracy, there is some filtering in this part. / Fusion program.
  • the NL module needs to do data query, and due to the limitation of the amount of data, most solutions store the associated data of the device identification code and the location information on the server, and obtain network positioning results by interacting with the server during positioning. This method belongs to "online" positioning.
  • the associated data of the device's identification code and location information can also be stored on the local end of the mobile device.
  • the local query can provide the positioning result.
  • the NL module used in the embodiment of the present invention includes two types: “online” positioning and “offline” positioning.
  • FIG. 1 is a method for locating a location according to an embodiment of the present invention.
  • the method is applicable to a terminal device that integrates at least two types of positioning modules.
  • the method specifically includes the following steps:
  • Step S101 Acquire positioning information.
  • the positioning information may include positioning information used by each positioning module for positioning, such as signal strength of the positioning information, positioning module identification, and the like.
  • Step S102 determining a target positioning module according to the positioning information.
  • Step S103 When it is determined that the current positioning module is different from the target positioning module, the current positioning module is switched to the target positioning module.
  • the determined target positioning module when the determined target positioning module is different from the current positioning module, it indicates that the current positioning module is not applicable to the current environment or the current positioning module cannot provide the positioning result in the current environment, but according to the positioning information.
  • the determined target positioning module can be applied to the current environment or can provide better positioning results. Therefore, when it is determined that the current positioning module is different from the target positioning module, the current positioning module is switched to the target positioning module. Of course, if it is determined that the current positioning module is consistent with the target positioning module, no switching is required.
  • the positioning module with the highest accuracy of the feedback positioning result in each positioning module integrated on the terminal is used as the initial positioning module, and the initial positioning module is determined as the current positioning module; if the positioning request is low precision, the feedback positioning result in each positioning module is the fastest.
  • the positioning module is used as an initial positioning module, and the initial positioning module is determined as the current positioning module.
  • the positioning accuracy of the GNSS positioning module is high. Therefore, the GNSS positioning module is included in the embodiment of the present invention.
  • the GNSS signal strength in the positioning information is greater than or equal to the pre-determination.
  • the current positioning module is switched to the GNSS positioning module.
  • determining the target positioning module according to the positioning information specifically: determining whether the GNSS signal strength in the positioning information is greater than or equal to the first intensity threshold; if yes, determining that the target positioning module is a GNSS positioning module; , the positioning information is continuously monitored, and the target positioning module is determined according to the monitoring result.
  • the GNSS positioning module is preferentially used for positioning, that is, the GNSS in determining the positioning information.
  • the target positioning module is determined as a GNSS positioning module, and the GNSS positioning module is used for positioning to provide higher positioning accuracy, and the GNSS signal strength in determining the positioning information is less than the first intensity.
  • the target positioning module is determined based on the monitoring result.
  • the first intensity threshold may be set according to actual positioning requirements, for example, the first intensity threshold is 60.
  • the positioning module includes a GNSS positioning module, a sensor fusion positioning module, and an NL module.
  • determining the target positioning module according to the monitoring result may include, but is not limited to, the following two implementation manners, specifically:
  • Embodiment 1 determining a target positioning module according to the monitoring result, including:
  • Step A1 If the current positioning module is a GNSS positioning module, and the monitoring result is that the GNSS signal strength is less than the first intensity threshold for the first time duration, the sensor fusion positioning module is determined as the target positioning module;
  • Step A2 If the current positioning module is a sensor fusion positioning module, and the monitoring result is that the GNSS signal strength is less than the first intensity threshold for the second duration, the network positioning module is determined to be the target positioning module;
  • Step A3 If the current positioning module is a network positioning module, and the monitoring result is that the signal strength of the positioning information used for the network positioning is less than the second intensity threshold in the third time period, the sensor fusion positioning module is determined as the target positioning module.
  • the first duration, the second duration, and the third duration can be freely set according to actual positioning requirements, but the first duration is less than the second duration, for example, the first duration is 30 seconds, and the second duration is 60 seconds, The third duration is 50 seconds, and the second intensity threshold can also be freely set according to the actual positioning requirement.
  • the second intensity threshold is 70.
  • the network positioning module includes a high-precision network positioning module and a low-precision network positioning module
  • the determining that the network positioning module is a target positioning module in the step A2 includes:
  • the target positioning module is determined to be a high-precision network positioning module; if the determination result is no, the target positioning module is determined to be a low-precision network positioning module.
  • the positioning module includes: a GNSS positioning module, a sensor fusion positioning module, and an NL module.
  • a GNSS positioning module In the positioning process, real-time acquisition or periodic acquisition of positioning information, and determination of target positioning according to positioning information.
  • the module further determines whether to switch the positioning module according to the relationship between the current positioning module and the target positioning module, and the specific process may be as follows:
  • the target positioning module is determined to be a GNSS positioning module, and the positioning module is not switched; If the GNSS signal strength in the acquired positioning information is less than the first intensity threshold, the timing is started, and the GNSS signal strength is continuously monitored. If the GNSS signal strength is greater than or equal to the first intensity threshold in a certain period of the first duration, the target is determined.
  • the positioning module is a GNSS positioning module. If the GNSS signal strength is less than the first intensity threshold in the first time period, the sensor fusion positioning module is determined as the target positioning module, and the current positioning module is switched to the sensor fusion positioning module.
  • Case 12 If the current positioning module is a sensor fusion positioning module, if the GNSS signal strength in the positioning information acquired in the current period is greater than or equal to the first intensity threshold, the target positioning module is determined to be a GNSS positioning module, and the current positioning module is switched to the GNSS.
  • a positioning module if the GNSS signal strength in the positioning information acquired in the current period is less than the first intensity threshold, the timing is started, and the GNSS signal strength is continuously monitored, and if the GNSS signal strength is greater than or equal to the first in a certain period of the second duration The strength threshold determines that the target positioning module is a GNSS positioning module. If the GNSS signal strength is less than the first intensity threshold in the second time period, the NL module is determined to be the target positioning module, and the current positioning module is switched to the NL module.
  • the current positioning module is an NL module, if the GNSS signal strength in the positioning information acquired in the current period is greater than or equal to the first intensity threshold, the target positioning module is determined to be a GNSS positioning module, and the current positioning module is switched to the GNSS positioning module.
  • the GNSS signal strength in the positioning information acquired in the current period is less than the first intensity threshold, start timing, continuously monitor the GNSS signal strength and the signal strength of the positioning information used for network positioning: if the GNSS signal strength is less than the third time duration Signal of the first intensity threshold and positioning information for network positioning If the strength is less than the second intensity threshold, the sensor fusion positioning module is determined as the target positioning module, and the current positioning module is switched to the sensor fusion positioning module; if the GNSS signal strength is less than the first intensity threshold in the third time period and is used for the network If the signal strength of the located positioning information is greater than the second intensity threshold, determining that the NL module is the target positioning module; if the GNSS signal strength of a certain period in the third duration is greater than or equal to the first intensity threshold, determining that the GNSS positioning module is the target Positioning module.
  • the NL module includes a NL-H module (Network Location-High accuracy, high-precision network positioning) and an NL-L module (Network). Location–Low accuracy, low precision network positioning).
  • the switching process shown in Figure 3 is as follows:
  • Case 21 If the current positioning module is a GNSS positioning module, if the GNSS signal strength in the positioning information acquired in the current period is greater than or equal to the first intensity threshold, the target positioning module is determined to be a GNSS positioning module, and the positioning module is not switched; If the GNSS signal strength in the obtained positioning information is less than the first intensity threshold, the timing is started, and the GNSS signal strength is continuously monitored. If the GNSS signal strength is greater than or equal to the first intensity threshold in a certain period of the first duration, the target positioning is determined. The module is a GNSS positioning module. If the GNSS signal strength is less than the first intensity threshold in the first time period, the sensor fusion positioning module is determined as the target positioning module, and the current positioning module is switched to the sensor fusion positioning module.
  • Case 22 If the current positioning module is a sensor fusion positioning module, if the GNSS signal strength in the positioning information acquired in the current period is greater than or equal to the first intensity threshold, the target positioning module is determined to be a GNSS positioning module, and the current positioning module is switched to the GNSS. a positioning module; if the GNSS signal strength in the positioning information acquired in the current period is less than the first intensity threshold, the timing is started, and the GNSS signal strength is continuously monitored, and if the GNSS signal strength is greater than or equal to the first in a certain period of the second duration The intensity threshold determines that the target positioning module is a GNSS positioning module.
  • the NL-H module is the target positioning module. If not, the NL-L module is determined to be the target positioning module.
  • Case 23 If the current positioning module is an NL module (NL-L module or NL-H module), if the GNSS signal strength in the positioning information acquired in the current period is greater than or equal to the first intensity threshold, the target positioning module is determined to be a GNSS positioning module.
  • Embodiment 2 Determine a target positioning module according to the monitoring result, including:
  • Step B1 using a preset indoor and outdoor judgment module to determine the current environment according to the monitored positioning information
  • Step B2 Determine a positioning module corresponding to the current environment from the corresponding relationship between the pre-stored environment and the positioning module, and determine the positioning module as the target positioning module.
  • the preset environment includes an outdoor environment, an indoor and outdoor boundary environment, and an indoor environment, wherein the outdoor environment refers to an environment outside the building, the indoor environment refers to an environment inside the building, and the indoor and outdoor boundary environment includes an outdoor environment and Transitional areas of the indoor environment, such as the exterior and interior areas of the edge of the building.
  • the corresponding relationship between the pre-stored environment and the positioning module includes any one of the following or a combination thereof: the outdoor environment corresponds to the GNSS positioning module and the low-precision network positioning module; the indoor and outdoor boundary environment corresponds to the sensor fusion positioning module; and the indoor environment corresponds to the high-precision network positioning module.
  • the GNSS positioning module is preferentially used for positioning in the embodiment of the present invention.
  • whether the target positioning module is a GNSS positioning module or a low-precision network positioning module is further determined according to whether the GNSS signal strength is greater than or equal to the first intensity threshold, specifically:
  • the positioning module corresponding to the current environment is determined from the corresponding relationship between the pre-stored environment and the positioning module, and the positioning module is determined.
  • the target positioning module includes: determining, from the correspondence between the pre-stored environment and the positioning module, a positioning module corresponding to the outdoor environment as a GNSS positioning module and an NL-L module; determining whether the current GNSS signal strength is greater than or equal to the first intensity threshold, if The GNSS positioning module is used as the target positioning module; if not, the NL-L module is used as the target positioning module.
  • the positioning module includes: a GNSS positioning module, a sensor fusion positioning module, an NL-H module, and an NL-L module, and acquires positioning information in real time during the positioning process. Determining whether the GNSS signal strength in the positioning information is greater than or equal to the first intensity threshold, and if yes, determining that the GNSS positioning module is the target positioning module, if otherwise, continuously monitoring the positioning information, and using the preset indoor and outdoor judging module according to the monitored positioning information Determining the current environment, determining the positioning module corresponding to the current environment from the corresponding relationship between the pre-stored environment and the positioning module, and determining the positioning module as the target positioning module, and the specific switching flow Cheng can be as follows:
  • the current positioning module is a GNSS positioning module. If the GNSS signal strength of the positioning information acquired in the current period is greater than or equal to the first intensity threshold, the target positioning module is determined to be a GNSS positioning module, and the positioning module is not switched; The GNSS signal strength in the positioning information is less than the first intensity threshold, and the positioning information is continuously monitored, and the preset indoor and outdoor judging module is used to judge the current environment according to the monitored positioning information: if the environment is an outdoor environment and the GNSS signal strength When the threshold is less than the first intensity threshold, the NL-L module is determined as the target positioning module, and if the environment is an outdoor environment and the GNSS signal strength is greater than or equal to the first intensity threshold, the GNSS positioning module is used as the target positioning module; If the environment is indoor, the NL-H module is determined as the target positioning module; if the environment is the indoor and outdoor boundary environment, the sensor fusion positioning module is determined as the target positioning module.
  • the current positioning module is an NL-L module. If the GNSS signal strength of the positioning information acquired in the current period is greater than or equal to the first intensity threshold, the target positioning module is determined to be a GNSS positioning module; if the positioning information acquired in the current period is GNSS If the signal strength is less than the first intensity threshold, the positioning information is continuously monitored, and the preset indoor and outdoor judgment module is used to determine the current environment: if the environment is an outdoor environment and the GNSS signal strength is less than the first intensity threshold, then NL- The L module is determined as the target positioning module.
  • the GNSS positioning module is used as the target positioning module; if the environment is indoor, the NL-H module is determined.
  • the target positioning module is determined as the target positioning module; if the environment is the indoor and outdoor boundary environment, the sensor fusion positioning module is determined as the target positioning module.
  • the current positioning module is a sensor fusion positioning module. If the GNSS signal strength of the positioning information acquired in the current period is greater than or equal to the first intensity threshold, the target positioning module is determined to be a GNSS positioning module; if the positioning information acquired in the current period is GNSS If the signal strength is less than the first intensity threshold, the positioning information is continuously monitored, and the preset indoor and outdoor judgment module is used to determine the current environment: if the environment is an outdoor environment and the GNSS signal strength is less than the first intensity threshold, then NL is The -L module is determined as the target positioning module.
  • the GNSS positioning module is used as the target positioning module; if the environment is indoor, the NL-H is used. The module is determined as the target positioning module; if the environment is the indoor and outdoor boundary environment, the sensor fusion positioning module is determined as the target positioning module.
  • the current positioning module is an NL-H module. If the GNSS signal strength in the positioning information acquired in the current period is greater than or equal to the first intensity threshold, the target positioning module is determined to be a GNSS positioning module; if the positioning information acquired in the current period is GNSS If the signal strength is less than the first intensity threshold, the positioning information is continuously monitored, and the preset indoor and outdoor judging module is used to judge the current environment: if the environment is an outdoor environment and the GNSS signal strength is less than the first When the intensity threshold is used, the NL-L module is determined as the target positioning module.
  • the GNSS positioning module is used as the target positioning module;
  • the NL-H module is determined as the target positioning module; if the environment is the indoor and outdoor boundary environment, the sensor fusion positioning module is determined as the target positioning module.
  • the signal strength of the GNSS positioning module may be affected in the indoor environment.
  • the positioning of the GNSS positioning module is weak, the current positioning module is switched to the sensor fusion positioning module or the NL-H module, when the positioning is not accurate or the positioning position is unchanged.
  • Pedestrians are positioned in the indoor environment to provide accurate positioning results.
  • the current positioning module is switched to the NL-L module to provide accurate Position the results.
  • the technical solution of the present invention determines the target positioning module according to the positioning information, and switches the current positioning module to the target positioning module when the current positioning module is different from the target positioning module.
  • a plurality of positioning modules are integrated, and when the target positioning module determined according to the positioning information is inconsistent with the currently used positioning module, the positioning module is switched, and since the positioning information can largely reflect the actual environment, The positioning module is switched according to the positioning information, so that the target positioning module determined according to the positioning information is more in line with the actual environment. Therefore, the positioning method provided by the technical solution of the present invention can be more flexibly adapted to different environments.
  • the embodiment of the present invention further provides a positioning switching device, as shown in FIG. 5 .
  • a positioning switching device is provided in the embodiment of the present invention. As shown in FIG. 5, the device includes: a positioning information acquiring unit 501, configured to acquire positioning information, and a target positioning module determining unit 502, configured to determine a target positioning module according to the positioning information.
  • the positioning module switching unit 503 is configured to switch the current positioning module to the target positioning module when the current positioning module is different from the target positioning module.
  • the target positioning module determining unit 502 includes: a determining subunit 5021, configured to determine whether the GNSS signal strength of the global navigation satellite system in the positioning information is greater than or equal to
  • the first processing sub-unit 5022 is configured to: when the determining sub-unit 5021 determines that the result is YES, determine that the target positioning module is a GNSS positioning module; and the second processing sub-unit 5023 is configured to determine the result of the determining sub-unit 5021. If not, the positioning information is continuously monitored, and the target positioning module is determined according to the monitoring result.
  • the second processing subunit 5023 is specifically configured to: if the current positioning module is a GNSS positioning module, and the monitoring result is that the GNSS signal strength is continuous If the first intensity threshold is less than the first intensity threshold, the sensor fusion positioning module is determined as the target positioning module; if the current positioning module is the sensor fusion positioning module, and the monitoring result is that the GNSS signal strength is less than the first intensity in the second continuous duration
  • the threshold is determined to be a target positioning module; if the current positioning module is a network positioning module, and the monitoring result is that the signal strength of the positioning information used for network positioning continues to be less than the second intensity threshold in the third time period, the sensor is determined.
  • the fusion positioning module is a target positioning module.
  • the network positioning module includes a high-precision network positioning module and a low-precision network positioning module
  • the second processing sub-unit 5023 determines that the network positioning module is a target positioning module, and specifically The method is: determining whether a localization database of a high-precision positioning module is stored locally, and if the determination result is yes, determining that the target positioning module is a high-precision network positioning module; if the determination result is no, determining that the target positioning module is a low-precision network positioning Module.
  • the second processing sub-unit 5023 is configured to: determine, by using a preset indoor/outdoor determining module, the current environment according to the monitored positioning information; From the corresponding relationship between the pre-stored environment and the positioning module, the positioning module corresponding to the current environment is determined, and the positioning module is determined as the target positioning module.
  • the corresponding relationship between the pre-stored environment and the positioning module includes any one or a combination of the following: an outdoor environment corresponding to the GNSS positioning module and a low-precision network positioning module;
  • the outer boundary environment corresponds to the sensor fusion positioning module;
  • the indoor environment corresponds to the high-precision network positioning module.
  • the second processing sub-unit 5023 determines that the current environment is an outdoor environment, determining the current location from the corresponding relationship between the pre-stored environment and the positioning module.
  • the positioning module corresponding to the environment is determined as the target positioning module, and is specifically configured to: determine the positioning module corresponding to the outdoor environment as the GNSS positioning module and the low-precision network positioning module from the correspondence between the pre-stored environment and the positioning module And determining whether the current GNSS signal strength is greater than the first intensity threshold, and if so, using the GNSS positioning module as the target positioning module; if not, using the low-precision network positioning module as the target positioning module.
  • embodiments of the present invention can be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or a combination of software and hardware. Moreover, the invention can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage and optical storage, etc.) including computer usable program code.
  • the computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture comprising the instruction device.
  • the apparatus implements the functions specified in one or more blocks of a flow or a flow and/or block diagram of the flowchart.
  • These computer program instructions can also be loaded onto a computer or other programmable data processing device such that a series of operational steps are performed on a computer or other programmable device to produce computer-implemented processing for execution on a computer or other programmable device.
  • the instructions provide steps for implementing the functions specified in one or more of the flow or in a block or blocks of a flow diagram.

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Abstract

Disclosed in the present invention are a positioning switching method and apparatus, used for resolving the problem in the prior art of being unable to adapt well to various different environments when using a single positioning method to implement positioning. The positioning switching method comprises: acquiring positioning information; on the basis of the positioning information, determining a target positioning module; and, when determining that the current positioning module is not the same as the target positioning module, switching the current positioning module to the target positioning module. Using the positioning method provided in the technical solution of the present invention enables more flexible adaptation to different environments.

Description

一种定位切换方法及装置Positioning switching method and device
本申请要求2016年09月07日递交的申请号为201610806557.3、发明名称为“一种定位切换方法及装置”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。The present application claims the priority of the Chinese Patent Application Serial No. PCT Application Serial No.
技术领域Technical field
本发明涉及定位技术领域，尤其涉及一种定位切换方法及装置。The present invention relates to the field of positioning technologies, and in particular, to a positioning switching method and apparatus.
背景技术Background technique
目前的定位服务可通过多种定位方式实现，例如：卫星定位、网络定位(例如：基站定位、WIFI(Wireless-Fidelity，无线保真)定位、地磁定位、蓝牙定位等)、传感器融合定位等，不同的定位方式存在不同的精度、功耗以及覆盖区大小，具体来说，如下表1所示。The current positioning service can be implemented by various positioning methods, such as: satellite positioning, network positioning (for example: base station positioning, WIFI (Wireless-Fidelity) positioning, geomagnetic positioning, Bluetooth positioning, etc.), sensor fusion positioning, etc. Different positioning methods have different precision, power consumption, and coverage area size, specifically, as shown in Table 1 below.
Figure PCTCN2017099259-appb-000001
Figure PCTCN2017099259-appb-000001
表1Table 1
不同的定位方式存在不同的精度与使用环境，使得定位方式整合难度大，集成环境复杂，目前没有公开相关技术能够将不同的定位方式整合，从而使得在定位过程中仅使用单一的定位方式进行定位，无法很好的适应各种不同的环境。Different positioning methods have different precisions and usage environments, which makes the positioning method difficult to integrate and the integrated environment is complex. Currently, there is no disclosure related technology that can integrate different positioning methods, so that only a single positioning method is used for positioning during the positioning process. Can not adapt well to a variety of different environments.
发明内容Summary of the invention
本发明实施例提供了一种定位切换方法及装置，用以解决现有技术中仅使用单一定位方式进行定位时，无法很好的适应各种不同环境的问题。The embodiment of the invention provides a method and a device for locating a location, which are used to solve the problem that the prior art can only adapt to different environments when using only a single positioning mode.
本发明实施例提供的一种定位切换方法，该方法包括：A positioning switching method provided by an embodiment of the present invention includes:
获取定位信息；Get location information;
根据所述定位信息确定目标定位模块；Determining a target positioning module according to the positioning information;
确定当前定位模块与所述目标定位模块不同时，将当前定位模块切换为所述目标定 位模块。Determining that the current positioning module is different from the target positioning module, and switching the current positioning module to the target setting Bit module.
本发明实施例提供的一种定位切换装置，该装置包括：A positioning switching device provided by an embodiment of the present invention includes:
定位信息获取单元，用于获取定位信息；a positioning information acquiring unit, configured to acquire positioning information;
目标定位模块确定单元，用于根据所述定位信息确定目标定位模块；a target positioning module determining unit, configured to determine a target positioning module according to the positioning information;
定位模块切换单元，用于确定当前定位模块与所述目标定位模块不同时，将当前定位模块切换为所述目标定位模块。The positioning module switching unit is configured to: when the current positioning module is different from the target positioning module, switch the current positioning module to the target positioning module.
本发明技术方案，在获取到定位信息之后，根据定位信息确定目标定位模块，并在当前定位模块与目标定位模块不同时，将当前定位模块切换为目标定位模块。本发明技术方案中集成了多种定位模块，当根据定位信息确定出的目标定位模块与当前采用的定位模块不一致时进行定位模块切换，由于定位信息在很大程度上能够真实反映实际环境，因此根据定位信息来切换定位模块，使得根据定位信息确定出的目标定位模块更符合实际环境，因此，采用本发明技术方案提供的定位方式更加能够灵活地适应不同的环境。After obtaining the positioning information, the technical solution of the present invention determines the target positioning module according to the positioning information, and switches the current positioning module to the target positioning module when the current positioning module is different from the target positioning module. In the technical solution of the present invention, a plurality of positioning modules are integrated, and when the target positioning module determined according to the positioning information is inconsistent with the currently used positioning module, the positioning module is switched, and since the positioning information can largely reflect the actual environment, The positioning module is switched according to the positioning information, so that the target positioning module determined according to the positioning information is more in line with the actual environment. Therefore, the positioning method provided by the technical solution of the present invention can be more flexibly adapted to different environments.
附图说明DRAWINGS
图1为本发明实施例提供的定位切换方法的示意流程图；FIG. 1 is a schematic flowchart of a method for performing location switching according to an embodiment of the present invention;
图2为本发明实施例提供的定位模块之间切换的原理示意图之一；2 is a schematic diagram of a schematic diagram of switching between positioning modules according to an embodiment of the present invention;
图3为本发明实施例提供的定位模块之间切换的原理示意图之二；FIG. 3 is a second schematic diagram of the principle of switching between positioning modules according to an embodiment of the present disclosure;
图4为本发明实施例提供的定位模块之间切换的原理示意图之三；4 is a schematic diagram 3 of a schematic diagram of switching between positioning modules according to an embodiment of the present invention;
图5为本发明实施例提供的定位切换装置的结构示意图。FIG. 5 is a schematic structural diagram of a positioning switching apparatus according to an embodiment of the present invention.
具体实施方式detailed description
本发明实施例提供的定位切换方法及装置，在获取到定位信息之后，根据定位信息确定目标定位模块，并在当前定位模块与目标定位模块不同时，将当前定位模块切换为目标定位模块，实现了根据不同的定位信息切换不同的定位模块，通过定位模块的切换，使得定位方式能够适应不同的环境。The positioning switching method and device provided by the embodiment of the present invention determine the target positioning module according to the positioning information after acquiring the positioning information, and switch the current positioning module to the target positioning module when the current positioning module is different from the target positioning module. Different positioning modules are switched according to different positioning information, and the positioning mode can be adapted to different environments by switching the positioning module.
首先，对本发明实施例中所提到的GNSS定位模块、传感器融合定位模块和网络定位模块进行说明。First, the GNSS positioning module, the sensor fusion positioning module, and the network positioning module mentioned in the embodiments of the present invention are described.
本发明实施例中所提到的GNSS(Global Navigation Satellite System，全球导航卫星***)定位模块包括以下定位方式中的一种或多种：GPS(Global Positioning System，全球定位***)定位、GLONASS(GLOBAL NAVIGATION SATELLITE SYSTEM，格洛 纳斯卫星导航***)定位、Galileo(Galileo satellite navigation system，伽利略卫星导航***)定位以及北斗卫星导航***定位等。The GNSS (Global Navigation Satellite System) positioning module mentioned in the embodiment of the present invention includes one or more of the following positioning methods: GPS (Global Positioning System) positioning, GLONASS (GLOBAL) NAVIGATION SATELLITE SYSTEM, Glo Nas satellite navigation system) positioning, Galileo (Galileo satellite navigation system) positioning and Beidou satellite navigation system positioning.
传感器融合定位模块是指使用加速度计、陀螺仪、地磁、光感以及摄像等数据源来判断使用场景，并在切换过程中使用惯性推导(滤波算法)一体化定位元素。The sensor fusion positioning module refers to the use of data sources such as accelerometers, gyroscopes, geomagnetism, light perception, and imaging to determine the usage scene, and uses inertial derivation (filtering algorithm) to integrate positioning elements during the switching process.
NL(Network Location，网络定位)模块包括以下定位方式中的一种或多种：WIFI定位、蓝牙定位以及基站定位等。NL模块主要通过设备的识别码(Identity)与位置信息关联，当移动设备识别到某一Identity时，表示移动设备在此Identity标识的设备周围，而为了使精度的提升，这部分也存在一些滤波/融合的方案。在具体定位时，NL模块需要做数据查询，而由于数据量的限制，多数的方案将设备的识别码与位置信息的关联数据存在服务器上，在定位时通过与服务器进行网络交互来取得定位结果，此种方式属于"在线"定位，但若移动设备的空间足够，也可将设备的识别码与位置信息的关联数据存储在移动设备本地端，在定位时，无需与服务器进行交互，直接在本地查询即可提供定位结果，此种方式属于"离线"定位，本发明实施例中采用的NL模块包含“在线”定位和“离线”定位两种。The NL (Network Location) module includes one or more of the following positioning methods: WIFI positioning, Bluetooth positioning, and base station positioning. The NL module is mainly associated with the location information through the identifier of the device. When the mobile device recognizes an Identity, it indicates that the mobile device is around the device identified by the Identity, and in order to improve the accuracy, there is some filtering in this part. / Fusion program. In the specific positioning, the NL module needs to do data query, and due to the limitation of the amount of data, most solutions store the associated data of the device identification code and the location information on the server, and obtain network positioning results by interacting with the server during positioning. This method belongs to "online" positioning. However, if the space of the mobile device is sufficient, the associated data of the device's identification code and location information can also be stored on the local end of the mobile device. When positioning, there is no need to interact with the server. The local query can provide the positioning result. The NL module used in the embodiment of the present invention includes two types: "online" positioning and "offline" positioning.
下面结合说明书附图，对本发明实施例进行详细描述。The embodiments of the present invention are described in detail below with reference to the accompanying drawings.
图1为本发明实施例提供的定位切换方法，该方法适用于集成有至少两种定位模块的终端设备，该方法具体包括以下步骤：FIG. 1 is a method for locating a location according to an embodiment of the present invention. The method is applicable to a terminal device that integrates at least two types of positioning modules. The method specifically includes the following steps:
步骤S101，获取定位信息。Step S101: Acquire positioning information.
在本发明实施例中，定位信息可包括各个定位模块用于定位的定位信息，如定位信息的信号强度、定位模块标识等。In the embodiment of the present invention, the positioning information may include positioning information used by each positioning module for positioning, such as signal strength of the positioning information, positioning module identification, and the like.
步骤S102，根据定位信息确定目标定位模块。Step S102, determining a target positioning module according to the positioning information.
步骤S103，确定当前定位模块与目标定位模块不同时，将当前定位模块切换为目标定位模块。Step S103: When it is determined that the current positioning module is different from the target positioning module, the current positioning module is switched to the target positioning module.
本发明实施例中，在确定出的目标定位模块与当前定位模块不同时，则表明当前定位模块不适用于当前环境或者当前定位模块在当前环境下不能较好的提供定位结果，而根据定位信息确定的目标定位模块，能够适用当前环境或者能够提供较好的定位结果，因此，在确定当前定位模块与目标定位模块不同时，将当前定位模块切换为目标定位模块。当然，若确定当前定位模块与目标定位模块一致，则无需切换。In the embodiment of the present invention, when the determined target positioning module is different from the current positioning module, it indicates that the current positioning module is not applicable to the current environment or the current positioning module cannot provide the positioning result in the current environment, but according to the positioning information. The determined target positioning module can be applied to the current environment or can provide better positioning results. Therefore, when it is determined that the current positioning module is different from the target positioning module, the current positioning module is switched to the target positioning module. Of course, if it is determined that the current positioning module is consistent with the target positioning module, no switching is required.
在实际应用中，在用户开机后第一次接收到定位请求时，根据接收到的定位请求，判断该定位请求属于高精度定位请求还是低精度定位请求；如果是高精度定位请求，则 将终端上集成的各个定位模块中反馈定位结果精度最高的定位模块作为初始定位模块，将初始定位模块确定为当前定位模块；若为低精度定位请求，则将各个定位模块中反馈定位结果最快的定位模块作为初始定位模块，将初始定位模块确定为当前定位模块。在定位过程中，需要重复执行本发明实施例提供的定位切换方法，也即重复执行步骤S101、S102和S103，以不断调整当前定位模块，适应不同的环境。In the actual application, when the positioning request is received for the first time after the user is powered on, according to the received positioning request, it is determined whether the positioning request belongs to a high-precision positioning request or a low-precision positioning request; if it is a high-precision positioning request, The positioning module with the highest accuracy of the feedback positioning result in each positioning module integrated on the terminal is used as the initial positioning module, and the initial positioning module is determined as the current positioning module; if the positioning request is low precision, the feedback positioning result in each positioning module is the fastest. The positioning module is used as an initial positioning module, and the initial positioning module is determined as the current positioning module. During the positioning process, the positioning switching method provided by the embodiment of the present invention is repeatedly performed, that is, steps S101, S102, and S103 are repeatedly performed to continuously adjust the current positioning module to adapt to different environments.
优选地，由于GNSS定位模块的定位精度较高，因此，本发明实施例中包括GNSS定位模块，不管当前定位模块为任何一种定位模块，只要检测到定位信息中的GNSS信号强度大于或等于预置的第一强度阈值时，则将当前定位模块切换至GNSS定位模块。Preferably, the positioning accuracy of the GNSS positioning module is high. Therefore, the GNSS positioning module is included in the embodiment of the present invention. The GNSS signal strength in the positioning information is greater than or equal to the pre-determination. When the first intensity threshold is set, the current positioning module is switched to the GNSS positioning module.
优选地，前述步骤102中，根据定位信息确定目标定位模块，具体包括：判断定位信息中的GNSS信号强度是否大于或等于第一强度阈值；若是，则确定目标定位模块为GNSS定位模块；若否，则持续监测定位信息，并根据监测结果确定出目标定位模块。Preferably, in the foregoing step 102, determining the target positioning module according to the positioning information, specifically: determining whether the GNSS signal strength in the positioning information is greater than or equal to the first intensity threshold; if yes, determining that the target positioning module is a GNSS positioning module; , the positioning information is continuously monitored, and the target positioning module is determined according to the monitoring result.
从多个定位模块的精度、功耗以及覆盖区对比分析可知，GNSS定位模块的精度最高，因此，本发明实施例中，优先选择使用GNSS定位模块进行定位，也即在判定定位信息中的GNSS信号强度大于或等于第一强度阈值时，将目标定位模块确定为GNSS定位模块，采用GNSS定位模块进行定位，以提供较高的定位精度，而在判定定位信息中的GNSS信号强度小于第一强度阈值时，则根据监测结果确定目标定位模块。其中，第一强度阈值可以根据实际定位需求进行设定，例如：第一强度阈值为60。The accuracy of the GNSS positioning module is the highest. Therefore, in the embodiment of the present invention, the GNSS positioning module is preferentially used for positioning, that is, the GNSS in determining the positioning information. When the signal strength is greater than or equal to the first intensity threshold, the target positioning module is determined as a GNSS positioning module, and the GNSS positioning module is used for positioning to provide higher positioning accuracy, and the GNSS signal strength in determining the positioning information is less than the first intensity. At the threshold, the target positioning module is determined based on the monitoring result. The first intensity threshold may be set according to actual positioning requirements, for example, the first intensity threshold is 60.
本发明实施例中，定位模块包括GNSS定位模块、传感器融合定位模块和NL模块，其中前述步骤102中，根据监测结果确定目标定位模块具体可包括但不仅限于以下两种实施方式，具体来说：In the embodiment of the present invention, the positioning module includes a GNSS positioning module, a sensor fusion positioning module, and an NL module. In the foregoing step 102, determining the target positioning module according to the monitoring result may include, but is not limited to, the following two implementation manners, specifically:
实施方式1，根据监测结果确定目标定位模块，包括：Embodiment 1, determining a target positioning module according to the monitoring result, including:
步骤A1、若当前定位模块为GNSS定位模块，且监测结果为GNSS信号强度在持续的第一时长内均小于第一强度阈值，则确定传感器融合定位模块为目标定位模块；Step A1: If the current positioning module is a GNSS positioning module, and the monitoring result is that the GNSS signal strength is less than the first intensity threshold for the first time duration, the sensor fusion positioning module is determined as the target positioning module;
步骤A2、若当前定位模块为传感器融合定位模块，且监测结果为GNSS信号强度在持续的第二时长内均小于第一强度阈值，则确定网络定位模块为目标定位模块；Step A2: If the current positioning module is a sensor fusion positioning module, and the monitoring result is that the GNSS signal strength is less than the first intensity threshold for the second duration, the network positioning module is determined to be the target positioning module;
步骤A3、若当前定位模块为网络定位模块，且监测结果为用于网络定位的定位信息的信号强度持续在第三时长内小于第二强度阈值，则确定传感器融合定位模块为目标定位模块。Step A3: If the current positioning module is a network positioning module, and the monitoring result is that the signal strength of the positioning information used for the network positioning is less than the second intensity threshold in the third time period, the sensor fusion positioning module is determined as the target positioning module.
本实施例中，第一时长、第二时长以及第三时长均可以根据实际定位需求进行自由设定，但需保证第一时长小于第二时长，例如：第一时长为30秒，第二时长为60秒， 第三时长为50秒，而第二强度阈值也可以根据实际定位需求进行自由设定，例如：第二强度阈值的取值为70。In this embodiment, the first duration, the second duration, and the third duration can be freely set according to actual positioning requirements, but the first duration is less than the second duration, for example, the first duration is 30 seconds, and the second duration is 60 seconds, The third duration is 50 seconds, and the second intensity threshold can also be freely set according to the actual positioning requirement. For example, the second intensity threshold is 70.
优选地，前述网络定位模块包括高精度网络定位模块和低精度网络定位模块，所述步骤A2中确定网络定位模块为目标定位模块，具体包括：Preferably, the network positioning module includes a high-precision network positioning module and a low-precision network positioning module, and the determining that the network positioning module is a target positioning module in the step A2 includes:
判断本地是否存储有高精度定位模块的定位数据库，若判定结果为是，则确定目标定位模块为高精度网络定位模块；若判定结果为否，则确定目标定位模块为低精度网络定位模块。It is determined whether the location database of the high-precision positioning module is stored locally. If the determination result is yes, the target positioning module is determined to be a high-precision network positioning module; if the determination result is no, the target positioning module is determined to be a low-precision network positioning module.
作为较为具体的实施例，如图2所示，定位模块包括：GNSS定位模块、传感器融合定位模块以及NL模块，在定位过程中，实时获取或者周期性获取定位信息，并根据定位信息确定目标定位模块，进而根据当前定位模块与目标定位模块的关系确定是否切换定位模块，具体流程可如下：As a more specific embodiment, as shown in FIG. 2, the positioning module includes: a GNSS positioning module, a sensor fusion positioning module, and an NL module. In the positioning process, real-time acquisition or periodic acquisition of positioning information, and determination of target positioning according to positioning information. The module further determines whether to switch the positioning module according to the relationship between the current positioning module and the target positioning module, and the specific process may be as follows:
情况11、若当前定位模块为GNSS定位模块，若当前周期获取的定位信息中GNSS信号强度大于或等于第一强度阈值，则确定目标定位模块为GNSS定位模块，不进行定位模块切换；若当前周期获取的定位信息中GNSS信号强度小于第一强度阈值，则开始计时，持续监测GNSS信号强度，若在第一时长内的某个周期监测到GNSS信号强度大于或等于第一强度阈值，则确定目标定位模块为GNSS定位模块，若在第一时长内监测到GNSS信号强度均小于第一强度阈值，则确定传感器融合定位模块为目标定位模块，并将当前定位模块切换至传感器融合定位模块。Case 11. If the current positioning module is a GNSS positioning module, if the GNSS signal strength in the positioning information acquired in the current period is greater than or equal to the first intensity threshold, the target positioning module is determined to be a GNSS positioning module, and the positioning module is not switched; If the GNSS signal strength in the acquired positioning information is less than the first intensity threshold, the timing is started, and the GNSS signal strength is continuously monitored. If the GNSS signal strength is greater than or equal to the first intensity threshold in a certain period of the first duration, the target is determined. The positioning module is a GNSS positioning module. If the GNSS signal strength is less than the first intensity threshold in the first time period, the sensor fusion positioning module is determined as the target positioning module, and the current positioning module is switched to the sensor fusion positioning module.
情况12、若当前定位模块为传感器融合定位模块，若当前周期获取的定位信息中GNSS信号强度大于或等于第一强度阈值，则确定目标定位模块为GNSS定位模块，并将当前定位模块切换至GNSS定位模块；若当前周期获取的定位信息中GNSS信号强度小于第一强度阈值，则开始计时，持续监测GNSS信号强度，若在第二时长内的某个周期监测到GNSS信号强度大于或等于第一强度阈值，则确定目标定位模块为GNSS定位模块，若在第二时长内监测到GNSS信号强度均小于第一强度阈值，则确定NL模块为目标定位模块，并将当前定位模块切换至NL模块。Case 12: If the current positioning module is a sensor fusion positioning module, if the GNSS signal strength in the positioning information acquired in the current period is greater than or equal to the first intensity threshold, the target positioning module is determined to be a GNSS positioning module, and the current positioning module is switched to the GNSS. a positioning module; if the GNSS signal strength in the positioning information acquired in the current period is less than the first intensity threshold, the timing is started, and the GNSS signal strength is continuously monitored, and if the GNSS signal strength is greater than or equal to the first in a certain period of the second duration The strength threshold determines that the target positioning module is a GNSS positioning module. If the GNSS signal strength is less than the first intensity threshold in the second time period, the NL module is determined to be the target positioning module, and the current positioning module is switched to the NL module.
情况13、若当前定位模块为NL模块，若当前周期获取的定位信息中GNSS信号强度大于或等于第一强度阈值，则确定目标定位模块为GNSS定位模块，并将当前定位模块切换至GNSS定位模块；若当前周期获取的定位信息中GNSS信号强度小于第一强度阈值，则开始计时，持续监测GNSS信号强度以及用于网络定位的定位信息的信号强度：若在第三时长内GNSS信号强度均小于第一强度阈值且用于网络定位的定位信息的信号 强度均小于第二强度阈值，则确定传感器融合定位模块为目标定位模块，并将当前定位模块切换至传感器融合定位模块；若在第三时长内GNSS信号强度均小于第一强度阈值且用于网络定位的定位信息的信号强度大于第二强度阈值，则确定NL模块为目标定位模块；若在第三时长内某个周期的GNSS信号强度大于或等于第一强度阈值，则确定GNSS定位模块为目标定位模块。Case 13. If the current positioning module is an NL module, if the GNSS signal strength in the positioning information acquired in the current period is greater than or equal to the first intensity threshold, the target positioning module is determined to be a GNSS positioning module, and the current positioning module is switched to the GNSS positioning module. If the GNSS signal strength in the positioning information acquired in the current period is less than the first intensity threshold, start timing, continuously monitor the GNSS signal strength and the signal strength of the positioning information used for network positioning: if the GNSS signal strength is less than the third time duration Signal of the first intensity threshold and positioning information for network positioning If the strength is less than the second intensity threshold, the sensor fusion positioning module is determined as the target positioning module, and the current positioning module is switched to the sensor fusion positioning module; if the GNSS signal strength is less than the first intensity threshold in the third time period and is used for the network If the signal strength of the located positioning information is greater than the second intensity threshold, determining that the NL module is the target positioning module; if the GNSS signal strength of a certain period in the third duration is greater than or equal to the first intensity threshold, determining that the GNSS positioning module is the target Positioning module.
作为较为具体的另一个实施例，如图3所示，在图2所示的基础上，NL模块包括NL-H模块(Network Location–High accuracy，高精度网络定位)和NL-L模块(Network Location–Low accuracy，低精度网络定位)。图3所示的切换流程如下：As a more specific embodiment, as shown in FIG. 3, on the basis of FIG. 2, the NL module includes a NL-H module (Network Location-High accuracy, high-precision network positioning) and an NL-L module (Network). Location–Low accuracy, low precision network positioning). The switching process shown in Figure 3 is as follows:
情况21、若当前定位模块为GNSS定位模块，若当前周期获取的定位信息中GNSS信号强度大于或等于第一强度阈值，则确定目标定位模块为GNSS定位模块，不进行定位模块切换；若当前周期获取的定位信息中GNSS信号强度小于第一强度阈值，则开始计时，持续监测GNSS信号强度，若在第一时长内的某个周期监测到GNSS信号强度大于或等于第一强度阈值则确定目标定位模块为GNSS定位模块，若在第一时长内监测到GNSS信号强度均小于第一强度阈值，则确定传感器融合定位模块为目标定位模块，并将当前定位模块切换至传感器融合定位模块。Case 21: If the current positioning module is a GNSS positioning module, if the GNSS signal strength in the positioning information acquired in the current period is greater than or equal to the first intensity threshold, the target positioning module is determined to be a GNSS positioning module, and the positioning module is not switched; If the GNSS signal strength in the obtained positioning information is less than the first intensity threshold, the timing is started, and the GNSS signal strength is continuously monitored. If the GNSS signal strength is greater than or equal to the first intensity threshold in a certain period of the first duration, the target positioning is determined. The module is a GNSS positioning module. If the GNSS signal strength is less than the first intensity threshold in the first time period, the sensor fusion positioning module is determined as the target positioning module, and the current positioning module is switched to the sensor fusion positioning module.
情况22、若当前定位模块为传感器融合定位模块，若当前周期获取的定位信息中GNSS信号强度大于或等于第一强度阈值，则确定目标定位模块为GNSS定位模块，并将当前定位模块切换至GNSS定位模块；若当前周期获取的定位信息中GNSS信号强度小于第一强度阈值，则开始计时，持续监测GNSS信号强度，若在第二时长内的某个周期监测到GNSS信号强度大于或等于第一强度阈值，则确定目标定位模块为GNSS定位模块，若在第二时长内监测到GNSS信号强度均小于第一强度阈值，则判断本地是否存储有高精度定位模块的定位数据库，若有，则确定NL-H模块为目标定位模块，若无，则确定NL-L模块为目标定位模块。Case 22: If the current positioning module is a sensor fusion positioning module, if the GNSS signal strength in the positioning information acquired in the current period is greater than or equal to the first intensity threshold, the target positioning module is determined to be a GNSS positioning module, and the current positioning module is switched to the GNSS. a positioning module; if the GNSS signal strength in the positioning information acquired in the current period is less than the first intensity threshold, the timing is started, and the GNSS signal strength is continuously monitored, and if the GNSS signal strength is greater than or equal to the first in a certain period of the second duration The intensity threshold determines that the target positioning module is a GNSS positioning module. If the GNSS signal strength is less than the first intensity threshold during the second time period, it is determined whether the local positioning database of the high-precision positioning module is stored, and if so, the determination is performed. The NL-H module is the target positioning module. If not, the NL-L module is determined to be the target positioning module.
情况23、若当前定位模块为NL模块(NL-L模块或NL-H模块)，若当前周期获取的定位信息中GNSS信号强度大于或等于第一强度阈值，则确定目标定位模块为GNSS定位模块，并将当前定位模块切换至GNSS定位模块；若当前周期获取的定位信息中GNSS信号强度小于第一强度阈值，则开始计时，持续监测GNSS信号强度以及用于网络定位的定位信息的信号强度：若在第三时长内GNSS信号强度均小于第一强度阈值且用于网络定位的定位信息的信号强度均小于第二强度阈值，则确定传感器融合定位模块 为目标定位模块，并将当前定位模块切换至传感器融合定位模块；若在第三时长内GNSS信号强度均小于第一强度阈值且用于网络定位的定位信息的信号强度大于第二强度阈值，则确定NL模块为目标定位模块；若在第三时长内某个周期的GNSS信号强度大于或等于第一强度阈值，则确定GNSS定位模块为目标定位模块。Case 23: If the current positioning module is an NL module (NL-L module or NL-H module), if the GNSS signal strength in the positioning information acquired in the current period is greater than or equal to the first intensity threshold, the target positioning module is determined to be a GNSS positioning module. And switching the current positioning module to the GNSS positioning module; if the GNSS signal strength in the positioning information acquired in the current period is less than the first intensity threshold, starting timing, continuously monitoring the GNSS signal strength and the signal strength of the positioning information used for network positioning: If the GNSS signal strength is less than the first intensity threshold in the third time period and the signal strength of the positioning information used for network positioning is less than the second intensity threshold, determining the sensor fusion positioning module Positioning the module for the target, and switching the current positioning module to the sensor fusion positioning module; if the GNSS signal strength is less than the first intensity threshold in the third time period and the signal strength of the positioning information used for the network positioning is greater than the second intensity threshold, Determining that the NL module is a target positioning module; if the GNSS signal strength of a certain period in the third time period is greater than or equal to the first intensity threshold, determining that the GNSS positioning module is the target positioning module.
实施方式二、根据监测结果确定出目标定位模块，包括：Embodiment 2: Determine a target positioning module according to the monitoring result, including:
步骤B1、采用预置的室内外判断模块根据监测到的定位信息，确定当前所处环境；Step B1: using a preset indoor and outdoor judgment module to determine the current environment according to the monitored positioning information;
步骤B2、从预存的环境与定位模块的对应关系中，确定出当前所处环境对应的定位模块，并将该定位模块确定为目标定位模块。Step B2: Determine a positioning module corresponding to the current environment from the corresponding relationship between the pre-stored environment and the positioning module, and determine the positioning module as the target positioning module.
本实施例中，预先设置的环境包括室外环境、室内外边界环境以及室内环境，其中，室外环境指建筑物外部的环境，室内环境指建筑物内部的环境，而室内外边界环境包括室外环境和室内环境的过渡区域，如建筑物边缘的外部和内部区域。预存的环境与定位模块的对应关系包括以下任意一种或其组合：室外环境对应GNSS定位模块和低精度网络定位模块；室内外边界环境对应传感器融合定位模块；室内环境对应高精度网络定位模块。In this embodiment, the preset environment includes an outdoor environment, an indoor and outdoor boundary environment, and an indoor environment, wherein the outdoor environment refers to an environment outside the building, the indoor environment refers to an environment inside the building, and the indoor and outdoor boundary environment includes an outdoor environment and Transitional areas of the indoor environment, such as the exterior and interior areas of the edge of the building. The corresponding relationship between the pre-stored environment and the positioning module includes any one of the following or a combination thereof: the outdoor environment corresponds to the GNSS positioning module and the low-precision network positioning module; the indoor and outdoor boundary environment corresponds to the sensor fusion positioning module; and the indoor environment corresponds to the high-precision network positioning module.
由于室外环境对应GNSS定位模块和NL-L模块，而本发明实施例中在可以使用GNSS定位模块进行定位时，均优先使用GNSS定位模块进行定位，因此，在根据定位信息确定当前所处环境为室外环境时，进一步根据GNSS信号强度是否大于或等于第一强度阈值，确定目标定位模块为GNSS定位模块还是低精度网络定位模块，具体来说：The GNSS positioning module is preferentially used for positioning in the embodiment of the present invention. In the outdoor environment, whether the target positioning module is a GNSS positioning module or a low-precision network positioning module is further determined according to whether the GNSS signal strength is greater than or equal to the first intensity threshold, specifically:
本发明实施例中，在前述步骤B2中确定当前所处环境为室外环境时，从预存的环境与定位模块的对应关系中，确定出当前所处环境对应的定位模块，并将该定位模块确定为目标定位模块，包括：从预存的环境与定位模块的对应关系中确定室外环境对应的定位模块为GNSS定位模块和NL-L模块；判断当前GNSS信号强度是否大于或等于第一强度阈值，若是，则将GNSS定位模块作为目标定位模块；若否，则将NL-L模块作为目标定位模块。In the embodiment of the present invention, when the current environment is determined to be an outdoor environment, the positioning module corresponding to the current environment is determined from the corresponding relationship between the pre-stored environment and the positioning module, and the positioning module is determined. The target positioning module includes: determining, from the correspondence between the pre-stored environment and the positioning module, a positioning module corresponding to the outdoor environment as a GNSS positioning module and an NL-L module; determining whether the current GNSS signal strength is greater than or equal to the first intensity threshold, if The GNSS positioning module is used as the target positioning module; if not, the NL-L module is used as the target positioning module.
作为较为具体的实施例，如图4所示，定位模块包括：GNSS定位模块、传感器融合定位模块、NL-H模块和NL-L模块，在定位过程中，实时获取或者周期性获取定位信息，判断定位信息中的GNSS信号强度是否大于或等于第一强度阈值，若是则确定GNSS定位模块为目标定位模块，若否则持续监测定位信息，并采用预置的室内外判断模块根据监测到的定位信息确定当前所处环境，从预存的环境与定位模块的对应关系中，确定出当前所处环境对应的定位模块，并将该定位模块确定为目标定位模块，具体的切换流 程可如下：As a more specific embodiment, as shown in FIG. 4, the positioning module includes: a GNSS positioning module, a sensor fusion positioning module, an NL-H module, and an NL-L module, and acquires positioning information in real time during the positioning process. Determining whether the GNSS signal strength in the positioning information is greater than or equal to the first intensity threshold, and if yes, determining that the GNSS positioning module is the target positioning module, if otherwise, continuously monitoring the positioning information, and using the preset indoor and outdoor judging module according to the monitored positioning information Determining the current environment, determining the positioning module corresponding to the current environment from the corresponding relationship between the pre-stored environment and the positioning module, and determining the positioning module as the target positioning module, and the specific switching flow Cheng can be as follows:
情况31、当前定位模块为GNSS定位模块，若当前周期获取的定位信息中GNSS信号强度大于或等于第一强度阈值，则确定目标定位模块为GNSS定位模块，不进行定位模块切换；若当前周期获取的定位信息中GNSS信号强度小于第一强度阈值，则持续监测定位信息，并采用预置的室内外判断模块根据监测的定位信息判断当前所处环境：若所处环境为室外环境且GNSS信号强度小于第一强度阈值时，则将NL-L模块确定为目标定位模块，若所处环境为室外环境且GNSS信号强度大于或等于第一强度阈值，则将GNSS定位模块作为目标定位模块；若所处环境为室内环境，则将NL-H模块确定为目标定位模块；若所处的环境为室内外边界环境，则将传感器融合定位模块确定为目标定位模块。Case 31: The current positioning module is a GNSS positioning module. If the GNSS signal strength of the positioning information acquired in the current period is greater than or equal to the first intensity threshold, the target positioning module is determined to be a GNSS positioning module, and the positioning module is not switched; The GNSS signal strength in the positioning information is less than the first intensity threshold, and the positioning information is continuously monitored, and the preset indoor and outdoor judging module is used to judge the current environment according to the monitored positioning information: if the environment is an outdoor environment and the GNSS signal strength When the threshold is less than the first intensity threshold, the NL-L module is determined as the target positioning module, and if the environment is an outdoor environment and the GNSS signal strength is greater than or equal to the first intensity threshold, the GNSS positioning module is used as the target positioning module; If the environment is indoor, the NL-H module is determined as the target positioning module; if the environment is the indoor and outdoor boundary environment, the sensor fusion positioning module is determined as the target positioning module.
情况32、当前定位模块为NL-L模块，若当前周期获取的定位信息中GNSS信号强度大于或等于第一强度阈值，则确定目标定位模块为GNSS定位模块；若当前周期获取的定位信息中GNSS信号强度小于第一强度阈值，则持续监测定位信息，并采用预置的室内外判断模块判断当前所处环境：若所处环境为室外环境且GNSS信号强度小于第一强度阈值时则将NL-L模块确定为目标定位模块，若所处环境为室外环境且GNSS信号强度大于或等于第一强度阈值则将GNSS定位模块作为目标定位模块；若所处环境为室内环境则将NL-H模块确定为目标定位模块；若所处的环境为室内外边界环境则将传感器融合定位模块确定为目标定位模块。Case 32: The current positioning module is an NL-L module. If the GNSS signal strength of the positioning information acquired in the current period is greater than or equal to the first intensity threshold, the target positioning module is determined to be a GNSS positioning module; if the positioning information acquired in the current period is GNSS If the signal strength is less than the first intensity threshold, the positioning information is continuously monitored, and the preset indoor and outdoor judgment module is used to determine the current environment: if the environment is an outdoor environment and the GNSS signal strength is less than the first intensity threshold, then NL- The L module is determined as the target positioning module. If the environment is an outdoor environment and the GNSS signal strength is greater than or equal to the first intensity threshold, the GNSS positioning module is used as the target positioning module; if the environment is indoor, the NL-H module is determined. The target positioning module is determined as the target positioning module; if the environment is the indoor and outdoor boundary environment, the sensor fusion positioning module is determined as the target positioning module.
情况33、当前定位模块为传感器融合定位模块，若当前周期获取的定位信息中GNSS信号强度大于或等于第一强度阈值，则确定目标定位模块为GNSS定位模块；若当前周期获取的定位信息中GNSS信号强度小于第一强度阈值，则持续监测定位信息，并采用预置的室内外判断模块判断当前所处环境：若所处环境为室外环境且GNSS信号强度小于第一强度阈值时，则将NL-L模块确定为目标定位模块，若所处环境为室外环境且GNSS信号强度大于或等于第一强度阈值，则将GNSS定位模块作为目标定位模块；若所处环境为室内环境则将NL-H模块确定为目标定位模块；若所处的环境为室内外边界环境，则将传感器融合定位模块确定为目标定位模块。Case 33: The current positioning module is a sensor fusion positioning module. If the GNSS signal strength of the positioning information acquired in the current period is greater than or equal to the first intensity threshold, the target positioning module is determined to be a GNSS positioning module; if the positioning information acquired in the current period is GNSS If the signal strength is less than the first intensity threshold, the positioning information is continuously monitored, and the preset indoor and outdoor judgment module is used to determine the current environment: if the environment is an outdoor environment and the GNSS signal strength is less than the first intensity threshold, then NL is The -L module is determined as the target positioning module. If the environment is an outdoor environment and the GNSS signal strength is greater than or equal to the first intensity threshold, the GNSS positioning module is used as the target positioning module; if the environment is indoor, the NL-H is used. The module is determined as the target positioning module; if the environment is the indoor and outdoor boundary environment, the sensor fusion positioning module is determined as the target positioning module.
情况34、当前定位模块为NL-H模块，若当前周期获取的定位信息中GNSS信号强度大于或等于第一强度阈值，则确定目标定位模块为GNSS定位模块；若当前周期获取的定位信息中GNSS信号强度小于第一强度阈值，则持续监测定位信息，并采用预置的室内外判断模块判断当前所处环境：若所处环境为室外环境且GNSS信号强度小于第一 强度阈值时，则将NL-L模块确定为目标定位模块，若所处环境为室外环境且GNSS信号强度大于或等于第一强度阈值，则将GNSS定位模块作为目标定位模块；若所处环境为室内环境，则将NL-H模块确定为目标定位模块；若所处的环境为室内外边界环境，则将传感器融合定位模块确定为目标定位模块。Case 34: The current positioning module is an NL-H module. If the GNSS signal strength in the positioning information acquired in the current period is greater than or equal to the first intensity threshold, the target positioning module is determined to be a GNSS positioning module; if the positioning information acquired in the current period is GNSS If the signal strength is less than the first intensity threshold, the positioning information is continuously monitored, and the preset indoor and outdoor judging module is used to judge the current environment: if the environment is an outdoor environment and the GNSS signal strength is less than the first When the intensity threshold is used, the NL-L module is determined as the target positioning module. If the environment is an outdoor environment and the GNSS signal strength is greater than or equal to the first intensity threshold, the GNSS positioning module is used as the target positioning module; In the indoor environment, the NL-H module is determined as the target positioning module; if the environment is the indoor and outdoor boundary environment, the sensor fusion positioning module is determined as the target positioning module.
作为较为具体的实施例，行人在步行时，若步行路线包括室内环境(例如：商场)和室外环境，若使用GNSS定位模块进行定位服务，在室内环境时，GNSS定位模块的信号强度可能受到影响，导致定位不准确或者定位位置无变化的情况，采用本发明实施例的定位切换方法，在GNSS定位模块的信号强度变弱时，将当前定位模块切换为传感器融合定位模块或者NL-H模块，对行人在室内环境的行走路线进行定位，以提供准确的定位结果；而在室外环境下，若GNSS定位模块的信号强度变弱时，将当前定位模块切换为NL-L模块，以提供准确的定位结果。As a more specific embodiment, when walking, if the walking route includes an indoor environment (for example, a shopping mall) and an outdoor environment, if the GNSS positioning module is used for the positioning service, the signal strength of the GNSS positioning module may be affected in the indoor environment. When the positioning of the GNSS positioning module is weak, the current positioning module is switched to the sensor fusion positioning module or the NL-H module, when the positioning is not accurate or the positioning position is unchanged. Pedestrians are positioned in the indoor environment to provide accurate positioning results. In the outdoor environment, if the signal strength of the GNSS positioning module becomes weak, the current positioning module is switched to the NL-L module to provide accurate Position the results.
本发明技术方案，在获取到定位信息之后，根据定位信息确定目标定位模块，并在当前定位模块与目标定位模块不同时将当前定位模块切换为目标定位模块。本发明技术方案中集成了多种定位模块，当根据定位信息确定出的目标定位模块与当前采用的定位模块不一致时进行定位模块切换，由于定位信息在很大程度上能够真实反映实际环境，因此根据定位信息来切换定位模块，使得根据定位信息确定出的目标定位模块更符合实际环境，因此，采用本发明技术方案提供的定位方式更加能够灵活地适应不同的环境。After obtaining the positioning information, the technical solution of the present invention determines the target positioning module according to the positioning information, and switches the current positioning module to the target positioning module when the current positioning module is different from the target positioning module. In the technical solution of the present invention, a plurality of positioning modules are integrated, and when the target positioning module determined according to the positioning information is inconsistent with the currently used positioning module, the positioning module is switched, and since the positioning information can largely reflect the actual environment, The positioning module is switched according to the positioning information, so that the target positioning module determined according to the positioning information is more in line with the actual environment. Therefore, the positioning method provided by the technical solution of the present invention can be more flexibly adapted to different environments.
以上为本发明实施例提供的定位切换方法，基于同样的发明思路，本发明实施例还提供一种定位切换装置，如图5所示。The above is the positioning switching method provided by the embodiment of the present invention. Based on the same inventive concept, the embodiment of the present invention further provides a positioning switching device, as shown in FIG. 5 .
本发明实施例提供的一种定位切换装置，如图5所示，该装置包括：定位信息获取单元501，用于获取定位信息；目标定位模块确定单元502，用于根据定位信息确定目标定位模块；定位模块切换单元503，用于确定当前定位模块与目标定位模块不同时，将当前定位模块切换为目标定位模块。A positioning switching device is provided in the embodiment of the present invention. As shown in FIG. 5, the device includes: a positioning information acquiring unit 501, configured to acquire positioning information, and a target positioning module determining unit 502, configured to determine a target positioning module according to the positioning information. The positioning module switching unit 503 is configured to switch the current positioning module to the target positioning module when the current positioning module is different from the target positioning module.
在一种可能的实施方式中，本发明实施例提供的装置中，目标定位模块确定单元502，包括：判断子单元5021，用于判断定位信息中的全球导航卫星***GNSS信号强度是否大于或等于第一强度阈值；第一处理子单元5022，用于在判断子单元5021判定结果为是时，确定目标定位模块为GNSS定位模块；第二处理子单元5023，用于在判断子单元5021判定结果为否时，持续监测定位信息，并根据监测结果确定出目标定位模块。In a possible implementation, in the apparatus provided by the embodiment of the present invention, the target positioning module determining unit 502 includes: a determining subunit 5021, configured to determine whether the GNSS signal strength of the global navigation satellite system in the positioning information is greater than or equal to The first processing sub-unit 5022 is configured to: when the determining sub-unit 5021 determines that the result is YES, determine that the target positioning module is a GNSS positioning module; and the second processing sub-unit 5023 is configured to determine the result of the determining sub-unit 5021. If not, the positioning information is continuously monitored, and the target positioning module is determined according to the monitoring result.
在一种可能的实施方式中，本发明实施例提供的装置中，第二处理子单元5023，具体用于：若当前定位模块为GNSS定位模块，且监测结果为GNSS信号强度在持续的第 一时长内均小于第一强度阈值，则确定传感器融合定位模块为目标定位模块；若当前定位模块为传感器融合定位模块，且监测结果为GNSS信号强度在持续的第二时长内均小于第一强度阈值，则确定网络定位模块为目标定位模块；若当前定位模块为网络定位模块，且监测结果为用于网络定位的定位信息的信号强度持续在第三时长内小于第二强度阈值，则确定传感器融合定位模块为目标定位模块。In a possible implementation manner, in the apparatus provided by the embodiment of the present invention, the second processing subunit 5023 is specifically configured to: if the current positioning module is a GNSS positioning module, and the monitoring result is that the GNSS signal strength is continuous If the first intensity threshold is less than the first intensity threshold, the sensor fusion positioning module is determined as the target positioning module; if the current positioning module is the sensor fusion positioning module, and the monitoring result is that the GNSS signal strength is less than the first intensity in the second continuous duration The threshold is determined to be a target positioning module; if the current positioning module is a network positioning module, and the monitoring result is that the signal strength of the positioning information used for network positioning continues to be less than the second intensity threshold in the third time period, the sensor is determined. The fusion positioning module is a target positioning module.
在一种可能的实施方式中，本发明实施例提供的装置中，网络定位模块包括高精度网络定位模块和低精度网络定位模块，第二处理子单元5023确定网络定位模块为目标定位模块，具体用于：判断本地是否存储有高精度定位模块的定位数据库，若判定结果为是，则确定目标定位模块为高精度网络定位模块；若判定结果为否，则确定目标定位模块为低精度网络定位模块。In a possible implementation manner, in the apparatus provided by the embodiment of the present invention, the network positioning module includes a high-precision network positioning module and a low-precision network positioning module, and the second processing sub-unit 5023 determines that the network positioning module is a target positioning module, and specifically The method is: determining whether a localization database of a high-precision positioning module is stored locally, and if the determination result is yes, determining that the target positioning module is a high-precision network positioning module; if the determination result is no, determining that the target positioning module is a low-precision network positioning Module.
在一种可能的实施方式中，本发明实施例提供的装置中，第二处理子单元5023，具体用于：采用预置的室内外判断模块根据监测到的定位信息，确定当前所处环境；从预存的环境与定位模块的对应关系中，确定出当前所处环境对应的定位模块，并将该定位模块确定为目标定位模块。In a possible implementation manner, in the apparatus provided by the embodiment of the present invention, the second processing sub-unit 5023 is configured to: determine, by using a preset indoor/outdoor determining module, the current environment according to the monitored positioning information; From the corresponding relationship between the pre-stored environment and the positioning module, the positioning module corresponding to the current environment is determined, and the positioning module is determined as the target positioning module.
在一种可能的实施方式中，本发明实施例提供的装置中，预存的环境与定位模块的对应关系包括以下任意一种或其组合：室外环境对应GNSS定位模块和低精度网络定位模块；室内外边界环境对应传感器融合定位模块；室内环境对应高精度网络定位模块。In a possible implementation manner, in the device provided by the embodiment of the present invention, the corresponding relationship between the pre-stored environment and the positioning module includes any one or a combination of the following: an outdoor environment corresponding to the GNSS positioning module and a low-precision network positioning module; The outer boundary environment corresponds to the sensor fusion positioning module; the indoor environment corresponds to the high-precision network positioning module.
在一种可能的实施方式中，本发明实施例提供的装置中，第二处理子单元5023确定当前所处环境为室外环境时，从预存的环境与定位模块的对应关系中，确定出当前所处环境对应的定位模块，并将该定位模块确定为目标定位模块，具体用于：从预存的环境与定位模块的对应关系中确定室外环境对应的定位模块为GNSS定位模块和低精度网络定位模块；判断当前GNSS信号强度是否大于第一强度阈值，若是，则将GNSS定位模块作为目标定位模块；若否，则将低精度网络定位模块作为目标定位模块。In a possible implementation manner, in the device provided by the embodiment of the present invention, when the second processing sub-unit 5023 determines that the current environment is an outdoor environment, determining the current location from the corresponding relationship between the pre-stored environment and the positioning module. The positioning module corresponding to the environment is determined as the target positioning module, and is specifically configured to: determine the positioning module corresponding to the outdoor environment as the GNSS positioning module and the low-precision network positioning module from the correspondence between the pre-stored environment and the positioning module And determining whether the current GNSS signal strength is greater than the first intensity threshold, and if so, using the GNSS positioning module as the target positioning module; if not, using the low-precision network positioning module as the target positioning module.
本领域内的技术人员应明白，本发明的实施例可提供为方法、***、或计算机程序产品。因此，本发明可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本发明可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器和光学存储器等)上实施的计算机程序产品的形式。Those skilled in the art will appreciate that embodiments of the present invention can be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or a combination of software and hardware. Moreover, the invention can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage and optical storage, etc.) including computer usable program code.
本发明是参照根据本发明实施例的方法、设备(***)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每 一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。The present invention has been described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (system), and computer program products according to embodiments of the invention. It should be understood that each of the flowcharts and/or block diagrams can be implemented by computer program instructions. A process and/or block, and a combination of the processes and/or blocks in the flowcharts and/or block diagrams. These computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing device to produce a machine for the execution of instructions for execution by a processor of a computer or other programmable data processing device. Means for implementing the functions specified in one or more of the flow or in a block or blocks of the flow chart.
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。The computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture comprising the instruction device. The apparatus implements the functions specified in one or more blocks of a flow or a flow and/or block diagram of the flowchart.
这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上，使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。These computer program instructions can also be loaded onto a computer or other programmable data processing device such that a series of operational steps are performed on a computer or other programmable device to produce computer-implemented processing for execution on a computer or other programmable device. The instructions provide steps for implementing the functions specified in one or more of the flow or in a block or blocks of a flow diagram.
显然，本领域的技术人员可以对本发明进行各种改动和变型而不脱离本发明的精神和范围。这样，倘若本发明的这些修改和变型属于本发明权利要求及其等同技术的范围之内，则本发明也意图包含这些改动和变型在内。 It is apparent that those skilled in the art can make various modifications and variations to the invention without departing from the spirit and scope of the invention. Thus, it is intended that the present invention cover the modifications and modifications of the invention

Claims (14)

  1. 一种定位切换方法，其特征在于，该方法包括：A positioning switching method, characterized in that the method comprises:
    获取定位信息；Get location information;
    根据所述定位信息确定目标定位模块；Determining a target positioning module according to the positioning information;
    确定当前定位模块与所述目标定位模块不同时，将当前定位模块切换为所述目标定位模块。When it is determined that the current positioning module is different from the target positioning module, the current positioning module is switched to the target positioning module.
  2. 如权利要求1所述的方法，其特征在于，所述根据所述定位信息确定目标定位模块，具体包括：The method of claim 1, wherein the determining the target positioning module according to the positioning information comprises:
    判断所述定位信息中的全球导航卫星***GNSS信号强度是否大于或等于第一强度阈值；Determining whether the GNSS signal strength of the global navigation satellite system in the positioning information is greater than or equal to a first intensity threshold;
    若是，则确定目标定位模块为GNSS定位模块；If yes, determining that the target positioning module is a GNSS positioning module;
    若否，则持续监测定位信息，并根据监测结果确定出目标定位模块。If not, the positioning information is continuously monitored, and the target positioning module is determined according to the monitoring result.
  3. 如权利要求2所述的方法，其特征在于，根据监测结果确定出目标定位模块，包括：The method of claim 2, wherein determining the target positioning module based on the monitoring result comprises:
    若当前定位模块为GNSS定位模块，且监测结果为GNSS信号强度在持续的第一时长内均小于第一强度阈值，则确定传感器融合定位模块为目标定位模块；If the current positioning module is a GNSS positioning module, and the monitoring result is that the GNSS signal strength is less than the first intensity threshold for the first time duration, the sensor fusion positioning module is determined as the target positioning module;
    若当前定位模块为传感器融合定位模块，且监测结果为GNSS信号强度在持续的第二时长内均小于第一强度阈值，则确定网络定位模块为目标定位模块；If the current positioning module is a sensor fusion positioning module, and the monitoring result is that the GNSS signal strength is less than the first intensity threshold for the second consecutive duration, determining that the network positioning module is the target positioning module;
    若当前定位模块为网络定位模块，且监测结果为用于网络定位的定位信息的信号强度持续在第三时长内小于第二强度阈值，则确定传感器融合定位模块为目标定位模块。If the current positioning module is a network positioning module, and the monitoring result is that the signal strength of the positioning information used for the network positioning is less than the second intensity threshold in the third time duration, the sensor fusion positioning module is determined as the target positioning module.
  4. 如权利要求3所述的方法，其特征在于，所述网络定位模块包括高精度网络定位模块和低精度网络定位模块，所述确定网络定位模块为目标定位模块，具体包括：The method of claim 3, wherein the network positioning module comprises a high-precision network positioning module and a low-precision network positioning module, wherein the determining the network positioning module is a target positioning module, specifically comprising:
    判断本地是否存储有高精度定位模块的定位数据库，若判定结果为是，则确定目标定位模块为高精度网络定位模块；若判定结果为否，则确定目标定位模块为低精度网络定位模块。It is determined whether the location database of the high-precision positioning module is stored locally. If the determination result is yes, the target positioning module is determined to be a high-precision network positioning module; if the determination result is no, the target positioning module is determined to be a low-precision network positioning module.
  5. 如权利要求2所述的方法，其特征在于，根据监测结果确定出目标定位模块，具体包括：The method of claim 2, wherein determining the target positioning module according to the monitoring result comprises:
    采用预置的室内外判断模块根据监测到的定位信息，确定当前所处环境；The preset indoor and outdoor judgment module determines the current environment according to the monitored positioning information;
    从预存的环境与定位模块的对应关系中，确定出当前所处环境对应的定位模块，并将该定位模块确定为目标定位模块。 From the corresponding relationship between the pre-stored environment and the positioning module, the positioning module corresponding to the current environment is determined, and the positioning module is determined as the target positioning module.
  6. 如权利要求5所述的方法，其特征在于，所述预存的环境与定位模块的对应关系包括以下任意一种或其组合：The method according to claim 5, wherein the correspondence between the pre-stored environment and the positioning module comprises any one of the following or a combination thereof:
    室外环境对应GNSS定位模块和低精度网络定位模块；The outdoor environment corresponds to the GNSS positioning module and the low-precision network positioning module;
    室内外边界环境对应传感器融合定位模块；Indoor and outdoor boundary environment corresponding sensor fusion positioning module;
    室内环境对应高精度网络定位模块。The indoor environment corresponds to a high-precision network positioning module.
  7. 如权利要求6所述的方法，其特征在于，确定当前所处环境为室外环境时，从预存的环境与定位模块的对应关系中，确定出当前所处环境对应的定位模块，并将该定位模块确定为目标定位模块，包括：The method according to claim 6, wherein when the current environment is determined to be an outdoor environment, the positioning module corresponding to the current environment is determined from the corresponding relationship between the pre-stored environment and the positioning module, and the positioning is performed. The module is determined to be a target positioning module, including:
    从预存的环境与定位模块的对应关系中确定室外环境对应的定位模块为GNSS定位模块和低精度网络定位模块；Determining, from the correspondence between the pre-stored environment and the positioning module, the positioning module corresponding to the outdoor environment is a GNSS positioning module and a low-precision network positioning module;
    判断当前GNSS信号强度是否大于或等于第一强度阈值，若是，则将GNSS定位模块作为目标定位模块；若否，则将低精度网络定位模块作为目标定位模块。The current GNSS signal strength is determined to be greater than or equal to the first intensity threshold. If yes, the GNSS positioning module is used as the target positioning module; if not, the low-precision network positioning module is used as the target positioning module.
  8. 一种定位切换装置，其特征在于，该装置包括：A positioning switching device, characterized in that the device comprises:
    定位信息获取单元，用于获取定位信息；a positioning information acquiring unit, configured to acquire positioning information;
    目标定位模块确定单元，用于根据所述定位信息确定目标定位模块；a target positioning module determining unit, configured to determine a target positioning module according to the positioning information;
    定位模块切换单元，用于确定当前定位模块与所述目标定位模块不同时，将当前定位模块切换为所述目标定位模块。The positioning module switching unit is configured to: when the current positioning module is different from the target positioning module, switch the current positioning module to the target positioning module.
  9. 如权利要求8所述的装置，其特征在于，所述目标定位模块确定单元，包括：The apparatus according to claim 8, wherein the target positioning module determining unit comprises:
    判断子单元，用于判断所述定位信息中的全球导航卫星***GNSS信号强度是否大于或等于第一强度阈值；a determining subunit, configured to determine whether a GNSS signal strength of the global navigation satellite system in the positioning information is greater than or equal to a first intensity threshold;
    第一处理子单元，用于在判断子单元判定结果为是时，确定目标定位模块为GNSS定位模块；a first processing subunit, configured to determine that the target positioning module is a GNSS positioning module when the determining subunit determines that the result is YES;
    第二处理子单元，用于在判断子单元判定结果为否时，持续监测定位信息，并根据监测结果确定出目标定位模块。The second processing sub-unit is configured to continuously monitor the positioning information when determining that the sub-unit determination result is no, and determine the target positioning module according to the monitoring result.
  10. 如权利要求9所述的装置，其特征在于，所述第二处理子单元，具体用于：The device according to claim 9, wherein the second processing subunit is specifically configured to:
    若当前定位模块为GNSS定位模块，且监测结果为GNSS信号强度在持续的第一时长内均小于第一强度阈值，则确定传感器融合定位模块为目标定位模块；If the current positioning module is a GNSS positioning module, and the monitoring result is that the GNSS signal strength is less than the first intensity threshold for the first time duration, the sensor fusion positioning module is determined as the target positioning module;
    若当前定位模块为传感器融合定位模块，且监测结果为GNSS信号强度在持续的第二时长内均小于第一强度阈值，则确定网络定位模块为目标定位模块；If the current positioning module is a sensor fusion positioning module, and the monitoring result is that the GNSS signal strength is less than the first intensity threshold for the second consecutive duration, determining that the network positioning module is the target positioning module;
    若当前定位模块为网络定位模块，且监测结果为用于网络定位的定位信息的信号强 度持续在第三时长内小于第二强度阈值，则确定传感器融合定位模块为目标定位模块。If the current positioning module is a network positioning module, and the monitoring result is a strong signal for positioning information used for network positioning If the degree continues to be less than the second intensity threshold within the third time period, it is determined that the sensor fusion positioning module is the target positioning module.
  11. 如权利要求10所述的装置，其特征在于，所述网络定位模块包括高精度网络定位模块和低精度网络定位模块，所述第二处理子单元确定网络定位模块为目标定位模块，具体用于：The device according to claim 10, wherein the network positioning module comprises a high-precision network positioning module and a low-precision network positioning module, and the second processing sub-unit determines that the network positioning module is a target positioning module, specifically for :
    判断本地是否存储有高精度定位模块的定位数据库，若判定结果为是，则确定目标定位模块为高精度网络定位模块；若判定结果为否，则确定目标定位模块为低精度网络定位模块。It is determined whether the location database of the high-precision positioning module is stored locally. If the determination result is yes, the target positioning module is determined to be a high-precision network positioning module; if the determination result is no, the target positioning module is determined to be a low-precision network positioning module.
  12. 如权利要求9所述的装置，其特征在于，所述第二处理子单元，具体用于：The device according to claim 9, wherein the second processing subunit is specifically configured to:
    采用预置的室内外判断模块根据监测到的定位信息，确定当前所处环境；The preset indoor and outdoor judgment module determines the current environment according to the monitored positioning information;
    从预存的环境与定位模块的对应关系中，确定出当前所处环境对应的定位模块，并将该定位模块确定为目标定位模块。From the corresponding relationship between the pre-stored environment and the positioning module, the positioning module corresponding to the current environment is determined, and the positioning module is determined as the target positioning module.
  13. 如权利要求12所述的装置，其特征在于，所述预存的环境与定位模块的对应关系包括以下任意一种或其组合：The device according to claim 12, wherein the correspondence between the pre-stored environment and the positioning module comprises any one of the following or a combination thereof:
    室外环境对应GNSS定位模块和低精度网络定位模块；The outdoor environment corresponds to the GNSS positioning module and the low-precision network positioning module;
    室内外边界环境对应传感器融合定位模块；Indoor and outdoor boundary environment corresponding sensor fusion positioning module;
    室内环境对应高精度网络定位模块。The indoor environment corresponds to a high-precision network positioning module.
  14. 如权利要求13所述的装置，其特征在于，所述第二处理子单元确定当前所处环境为室外环境时，从预存的环境与定位模块的对应关系中，确定出当前所处环境对应的定位模块，并将该定位模块确定为目标定位模块，具体用于：The device according to claim 13, wherein the second processing sub-unit determines that the current environment is an outdoor environment, and determines a current environment corresponding to the current environment from the corresponding relationship between the pre-stored environment and the positioning module. Positioning module, and determining the positioning module as a target positioning module, specifically for:
    从预存的环境与定位模块的对应关系中确定室外环境对应的定位模块为GNSS定位模块和低精度网络定位模块；Determining, from the correspondence between the pre-stored environment and the positioning module, the positioning module corresponding to the outdoor environment is a GNSS positioning module and a low-precision network positioning module;
    判断当前GNSS信号强度是否大于第一强度阈值，若是，则将GNSS定位模块作为目标定位模块；若否，则将低精度网络定位模块作为目标定位模块。 The current GNSS signal strength is determined to be greater than the first intensity threshold. If yes, the GNSS positioning module is used as the target positioning module; if not, the low-precision network positioning module is used as the target positioning module.
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