WO2024041112A1 - Positioning method and apparatus, device, and storage medium - Google Patents

Positioning method and apparatus, device, and storage medium Download PDF

Info

Publication number
WO2024041112A1
WO2024041112A1 PCT/CN2023/099724 CN2023099724W WO2024041112A1 WO 2024041112 A1 WO2024041112 A1 WO 2024041112A1 CN 2023099724 W CN2023099724 W CN 2023099724W WO 2024041112 A1 WO2024041112 A1 WO 2024041112A1
Authority
WO
WIPO (PCT)
Prior art keywords
positioning
grid
terminal device
radio frequency
frequency fingerprint
Prior art date
Application number
PCT/CN2023/099724
Other languages
French (fr)
Chinese (zh)
Inventor
索传奇
赵景
吴咸樾
王毛
刘得煌
何坚
Original Assignee
Oppo广东移动通信有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Oppo广东移动通信有限公司 filed Critical Oppo广东移动通信有限公司
Publication of WO2024041112A1 publication Critical patent/WO2024041112A1/en

Links

Classifications

    • 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
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • 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
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

Definitions

  • the present application relates to positioning technology, and in particular, to a positioning method, device, equipment and storage medium.
  • the terminal When the terminal is located on a moving vehicle such as a subway or high-speed rail, affected by the surrounding communication environment, the terminal receives poor satellite signals or even cannot receive satellite signals. It faces positioning problems when positioning through global positioning satellite systems (such as GPS, Beidou, etc.) Problems with low accuracy or inability to locate.
  • a moving vehicle such as a subway or high-speed rail
  • global positioning satellite systems such as GPS, Beidou, etc.
  • the embodiments of the present application are expected to provide a positioning method, device, equipment and storage medium.
  • a positioning method which method includes:
  • radio frequency fingerprint data collected by the terminal device based on a preset data collection strategy
  • the terminal device is positioned according to the radio frequency fingerprint data and the radio frequency fingerprint sample data in the database to obtain a first positioning result, wherein the first positioning result includes the grid of the grid where the terminal device is located. information.
  • the vehicle operating route is gridded according to the operating route characteristics, the radio frequency fingerprint sample data of each grid is saved, and the radio frequency fingerprint data actually collected by the terminal device is used for positioning, and the grid information of the grid where the terminal device is located is determined to achieve
  • the positioning function of terminal equipment in special mobile scenarios such as subways, high-speed rails, and highways.
  • a data collection strategy can also be designed based on the characteristics of the operating line. The collection frequency can be reduced in places with low positioning requirements, and the collection frequency can be increased in places with high positioning requirements. On the basis of ensuring the positioning requirements and positioning accuracy, the power brought by positioning can be reduced. Consumption.
  • a positioning method which method includes:
  • the grid information and first state sequence of the plurality of grids and save them in a database; wherein the first state sequence includes the running time of the vehicle in different grids;
  • radio frequency fingerprint data collected by the terminal device based on a preset data collection strategy
  • the terminal device is positioned according to the first status sequence in the database and the second status sequence of the terminal device to obtain a first positioning result; wherein the first positioning result includes the network where the terminal device is located. grid information.
  • the vehicle operating route is gridded according to the operating route characteristics, and the physical space of each grid is converted into the first state sequence in the time dimension.
  • the second state sequence uses the time dimension to estimate the spatial position and realize the positioning function of the terminal device in special mobile scenarios such as subways, high-speed rails, and highways.
  • a data collection strategy can also be designed based on the characteristics of the operating line. The collection frequency can be reduced in places with low positioning requirements, and the collection frequency can be increased in places with high positioning requirements. On the basis of ensuring the positioning requirements and positioning accuracy, the power brought by positioning can be reduced. Consumption.
  • a positioning device which device includes:
  • a dividing unit configured to mesh the vehicle operating line to obtain multiple grids, wherein each grid corresponds to a sub-route on the operating line;
  • a first acquisition unit configured to acquire grid information and radio frequency fingerprint sample data of the plurality of grids, and save the grid information and radio frequency fingerprint sample data of the plurality of grids into a database
  • the second acquisition unit is configured to acquire the radio frequency fingerprint data collected by the terminal device based on a preset data collection strategy
  • a positioning unit configured to position the terminal device according to the radio frequency fingerprint data and the radio frequency fingerprint sample data in the database to obtain a first positioning result, wherein the first positioning result includes the location of the terminal device.
  • Mesh information for the mesh
  • a positioning device which device includes:
  • a dividing unit configured to mesh the vehicle operating line to obtain multiple grids, wherein each grid corresponds to a sub-route on the operating line;
  • the first acquisition unit is configured to acquire the grid information and the first state sequence of the plurality of grids, and save them in the database; wherein the first state sequence includes the running time of the vehicle in different grids;
  • the second acquisition unit is configured to acquire positioning data collected by the terminal device within a preset time period
  • a positioning unit configured to determine a second state sequence of the terminal device according to the positioning data; wherein the second state sequence includes the duration of the terminal device in different states;
  • the positioning unit is further configured to position the terminal device according to the first status sequence in the database and the second status sequence of the terminal device to obtain a first positioning result; wherein, the first positioning result includes the grid information of the grid where the terminal device is located.
  • a positioning device including: a processor and a memory configured to store a computer program capable of running on the processor,
  • the processor is configured to execute the steps of the foregoing method when running the computer program.
  • a sixth aspect provides a computer-readable storage medium on which a computer program is stored, wherein the steps of the foregoing method are implemented when the computer program is executed by a processor.
  • Figure 1 is a first flow diagram of the positioning method in the embodiment of the present application.
  • Figure 2 is a schematic diagram of the grid division of the operating lines in the embodiment of the present application.
  • FIG. 3 is a schematic diagram of sampling parameters in the embodiment of the present application.
  • Figure 4 is a schematic diagram of a sampling strategy in an embodiment of the present application.
  • Figure 5 is a first schematic diagram of determining the switching timestamp in the embodiment of the present application.
  • Figure 6 is a second schematic diagram of determining the switching timestamp in the embodiment of the present application.
  • Figure 7 is a schematic flowchart of the first process of the device-cloud collaborative positioning method provided by this embodiment of the present application.
  • Figure 8 is a schematic flow chart of the first end positioning method provided by an embodiment of the present application.
  • Figure 9 is a second flow diagram of the device-cloud collaborative positioning method provided by this embodiment of the present application.
  • Figure 10 provides a second flow diagram of the terminal positioning method according to the embodiment of the present application.
  • Figure 11 is a second flow diagram of the positioning method in the embodiment of the present application.
  • Figure 12 is a schematic diagram of the state sequence in the embodiment of the present application.
  • Figure 13 is a third flow diagram of the positioning method in the embodiment of the present application.
  • Figure 14 is a schematic structural diagram of the first component of the positioning device in the embodiment of the present application.
  • Figure 15 is a schematic structural diagram of the second component of the positioning device in the embodiment of the present application.
  • Figure 16 is a schematic structural diagram of the positioning device in the embodiment of the present application.
  • Figure 17 is a schematic diagram of the hardware architecture of a terminal device in an embodiment of the present application.
  • Figure 18 is a schematic structural diagram of the positioning system in the embodiment of the present application.
  • the first aspect provides a positioning method, including:
  • radio frequency fingerprint data collected by the terminal device based on a preset data collection strategy
  • the terminal device is positioned according to the radio frequency fingerprint data and the radio frequency fingerprint sample data in the database to obtain a first positioning result, wherein the first positioning result includes the grid of the grid where the terminal device is located. information.
  • positioning the terminal device based on the radio frequency fingerprint data and the radio frequency fingerprint sample data in the database includes: comparing the radio frequency fingerprint data with the radio frequency fingerprint sample data in the database. Matching is performed to determine at least one radio frequency fingerprint sample data whose matching value is greater than the first matching threshold value; and the grid information and matching value corresponding to the at least one radio frequency fingerprint sample data are used as the first positioning result.
  • the first positioning result also includes a positioning timestamp
  • the method further includes: when the first positioning result is the first positioning result after the terminal device enters the vehicle, obtaining the terminal from the first positioning result.
  • the first positioning result is not the first positioning result after the terminal device enters the vehicle
  • obtain the historical positioning result of the terminal device obtain the switching timestamp of the first grid from the historical positioning result , average running time, maximum running time and minimum running time
  • determine the time when the terminal device enters the second grid from the first grid Switching timestamp add the switching timestamp of the second grid to the first positioning result to obtain a second positioning result.
  • the method further includes: determining the grid information of the grid where the terminal device is located based on the vehicle running time pattern and the switching timestamp of the grid in the second positioning result.
  • positioning the terminal device according to the radio frequency fingerprint data and the radio frequency fingerprint sample data in the database to obtain a first positioning result includes: sending The radio frequency fingerprint data is given to the cloud device, so that the cloud device locates the terminal device according to the radio frequency fingerprint data and the radio frequency fingerprint sample data in the database to obtain the first positioning result; receiving the The first positioning result sent by the cloud device.
  • positioning the terminal device based on the radio frequency fingerprint data and the radio frequency fingerprint sample data in the database includes: combining the radio frequency fingerprint data collected this time by the terminal device and the last time it was collected. Match the radio frequency fingerprint data to obtain a matching value; the matching value is greater than or equal to the second matching threshold value, ignore the radio frequency fingerprint data collected this time; the matching value is less than the second matching threshold value, according to the The radio frequency fingerprint data and the radio frequency fingerprint sample data in the database are used to locate the terminal device.
  • the method further includes: obtaining operating information of the operating line and historical positioning results of the grid; wherein the operating information includes at least one of the following: vehicle operating time within the grid, vehicle The residence time in the grid, the service quality of the network in the grid, the environment in which the grid is located, and the current system time; the data collection strategy is determined based on the operating information and the historical positioning results of the grid, where The above data collection strategy includes collection period, collection window and collection frequency.
  • the grid division of the vehicle operation line to obtain multiple grids includes: dividing the operation line according to the platform positions where the vehicles stop on the operation line and the inter-station positions of the vehicle operation. For the station grid and the inter-station grid, multiple grids are obtained.
  • the second aspect also provides a positioning method, including:
  • the grid information and first state sequence of the plurality of grids and save them in a database; wherein the first state sequence includes the running time of the vehicle in different grids;
  • the terminal device is positioned according to the first status sequence in the database and the second status sequence of the terminal device to obtain a first positioning result; wherein the first positioning result includes the network where the terminal device is located. grid information.
  • determining the second state sequence of the terminal device according to the positioning data includes:
  • the status information of the terminal device at different times within the preset time period is counted to determine the second status sequence.
  • the positioning data includes radio frequency fingerprint data sent by a radio frequency fingerprint device, wherein the radio frequency fingerprint data includes a radio frequency fingerprint device identification and radio frequency signal strength;
  • the static condition includes: the radio frequency fingerprint device identification at the first moment is the same as the radio frequency fingerprint device identification at the previous moment, and the difference between the radio frequency signal intensity at the first moment and the radio frequency signal intensity at the previous moment is less than the intensity threshold. limit.
  • the positioning data includes acceleration
  • the stationary condition includes: the acceleration at the first moment is less than an acceleration threshold.
  • positioning the terminal device according to the first status sequence in the database and the second status sequence of the terminal device to obtain the first positioning result includes:
  • the maximum matching value is greater than the matching threshold value, and the operating line of the first state sequence corresponding to the maximum matching value is determined to be the target operating line where the terminal device is located;
  • the grid information of the grid where the terminal device is located is obtained as the first positioning result.
  • positioning the terminal device according to the first status sequence in the database and the second status sequence of the terminal device to obtain the first positioning result includes:
  • judgment conditions include at least one of the following:
  • the moving state and the stationary state appear alternately in the second state sequence
  • the difference between the durations of any two static states in the second state sequence is less than the first time threshold
  • the maximum duration of the moving state in the second state sequence is less than the second time threshold
  • the maximum duration of the stationary state in the second state sequence is less than the third time threshold.
  • the method further includes:
  • the operating information includes at least one of the following: the operating time of the vehicle in the grid, the residence time of the vehicle in the grid, the The service quality of the network, the environment of the grid, and the current system time;
  • a data collection strategy is determined based on the operation information and the historical positioning results of the grid, where the data collection strategy includes a collection period, a collection window, and a collection frequency.
  • the grid division of the vehicle operation line to obtain multiple grids includes: dividing the operation line according to the platform positions where the vehicles stop on the operation line and the inter-station positions of the vehicle operation. For the station grid and the inter-station grid, multiple grids are obtained.
  • a positioning device which device includes:
  • a dividing unit configured to mesh the vehicle operating line to obtain multiple grids, wherein each grid corresponds to a sub-route on the operating line;
  • a first acquisition unit configured to acquire grid information and radio frequency fingerprint sample data of the plurality of grids, and save the grid information and radio frequency fingerprint sample data of the plurality of grids into a database
  • the second acquisition unit is configured to acquire the radio frequency fingerprint data collected by the terminal device based on a preset data collection strategy
  • a positioning unit configured to position the terminal device according to the radio frequency fingerprint data and the radio frequency fingerprint sample data in the database to obtain a first positioning result, wherein the first positioning result includes the location of the terminal device.
  • Mesh information for the mesh
  • a positioning device which device includes:
  • a dividing unit configured to mesh the vehicle operating line to obtain multiple grids, wherein each grid corresponds to a sub-route on the operating line;
  • the first acquisition unit is configured to acquire the grid information and the first state sequence of the plurality of grids, and save them in the database; wherein the first state sequence includes the running time of the vehicle in different grids;
  • the second acquisition unit is configured to acquire positioning data collected by the terminal device within a preset time period
  • a positioning unit configured to determine a second state sequence of the terminal device according to the positioning data; wherein the second state sequence includes the duration of the terminal device in different states;
  • the positioning unit is further configured to position the terminal device according to the first status sequence in the database and the second status sequence of the terminal device to obtain a first positioning result; wherein, the first positioning result includes the grid information of the grid where the terminal device is located.
  • a positioning device including: a processor and a memory configured to store a computer program capable of running on the processor,
  • the processor is configured to execute the steps of the foregoing method when running the computer program.
  • a sixth aspect provides a computer-readable storage medium on which a computer program is stored, wherein the steps of the foregoing method are implemented when the computer program is executed by a processor.
  • the vehicle operating route is gridded according to the operating route characteristics, the radio frequency fingerprint sample data of each grid is saved, and the radio frequency fingerprint data actually collected by the terminal device is used for positioning to determine the grid where the terminal device is located.
  • information to realize the positioning function of terminal equipment in special mobile scenarios such as subways, high-speed rails, and highways.
  • a data collection strategy can also be designed based on the characteristics of the operating line. The collection frequency is reduced in places with low positioning needs, and the collection frequency is increased in places with high positioning needs. On the basis of ensuring positioning needs and positioning accuracy, the power consumption caused by positioning is reduced. .
  • Figure 1 is a first flow diagram of the positioning method in the embodiment of the present application. As shown in Figure 1, the method may specifically include:
  • Step 101 Grid the vehicle operating route to obtain multiple grids, where each grid corresponds to a sub-route on the operating route;
  • Public operating vehicles are generally designed with fixed operating routes. Operating characteristics such as docking stations and operating schedules grid the operating routes to obtain different types of grids. Furthermore, different positioning strategies can be designed according to different types of grid positioning requirements.
  • the grid division of the vehicle operation line to obtain multiple grids includes: dividing the operation line according to the platform positions where the vehicles stop on the operation line and the inter-station positions of the vehicle operation. For the station grid and the inter-station grid, multiple grids are obtained. As shown in Figure 2, the operating lines include: Grid 1, Grid 2,..., Grid 7. The shaded blocks are the station grids and the solid lines are the inter-station grids.
  • the parking platform area is larger and can be divided into different grids according to the parking platform and the physical space between stations.
  • it is necessary to divide part of the physical space of the station-inter-station connection into a station grid to facilitate differentiation of the wireless environment.
  • the gridding of the vehicle operating line to obtain multiple grids includes: dividing the operating line into multiple grids according to a standard grid dividing method. That is, the simplest division method can be used to divide the running line into multiple grids of equal length.
  • Step 102 Obtain the grid information and radio frequency fingerprint sample data of the multiple grids, and save them in the database;
  • each grid is equipped with a radio frequency fingerprint device corresponding to the operating sub-route.
  • the radio frequency fingerprint data sent by the radio frequency fingerprint device is collected as sample data.
  • the sample data is associated with the grid information and saved to the database. middle.
  • Step 103 Obtain the radio frequency fingerprint data collected by the terminal device based on the preset data collection strategy
  • the radio frequency fingerprint data and the radio frequency fingerprint sample data are data sent by a radio frequency fingerprint device.
  • the radio frequency fingerprint device includes at least one of the following: a base station, a Wi-Fi device, a Bluetooth device, a UWB device, and an ultrasonic device. That is to say, the terminal device receives radio frequency signals sent by surrounding radio frequency fingerprint devices and locates the location based on the radio frequency fingerprint data carried in the radio frequency signals.
  • the data collection strategy includes sampling period, sampling window and sampling frequency. Design a data collection strategy based on the characteristics of the operating line. For places with low positioning needs, shorten the sampling window or reduce the collection frequency. For places with high positioning needs, extend the sampling window or increase the collection frequency. On the basis of ensuring positioning needs and positioning accuracy, reduce positioning brought power consumption.
  • the method further includes: obtaining operating information of the operating line and historical positioning results of the grid; wherein the operating information includes at least one of the following: vehicle operating time within the grid, vehicle The residence time in the grid, the service quality of the network in the grid, the environment in which the grid is located, and the current system time; the data collection strategy is determined based on the operation information and the historical positioning results of the grid, wherein the data The collection strategy includes collection period, collection window and collection frequency.
  • three parameters Ta sampling period
  • T b sampling window
  • F k sampling frequency
  • T a and T b corresponding to grid k are affected by multiple factors, mainly subway line information, network quality of service (QoS) information, historical location information, etc.
  • QoS network quality of service
  • This solution can further dynamically adjust the sampling period, sampling window and sampling frequency through these influencing factors to reduce positioning power consumption while ensuring positioning accuracy.
  • T a (k) f (M k , Q k , L k , G k , F k , t),
  • T b (k) f (M k , Q k , L k , G k , F k , t),
  • G k Grid k is an above-ground or underground section
  • F k : 5 levels can be selected: ⁇ 1, 2, 3, 4, 5 ⁇ , unit is second, sampling frequency,
  • the above formula can first normalize the above influence factors, and then perform a weighting operation according to the configured weight coefficient influence factors to obtain T a and T b .
  • grid k has historical location information can be the historical location information of other terminal devices in grid k, or the current terminal is in grid k historical location information.
  • the sampling frequency level is selected for the grid. For example, if the radio frequency signal coverage of the above-ground subway line is larger, a higher sampling frequency should be set; if the radio frequency signal coverage of the underground line is smaller, a smaller sampling frequency should be set.
  • designing a data collection strategy based on historical positioning results and subway operation rules can significantly shorten the number and frequency of measurements and save terminal power consumption.
  • the terminal device is in the operating stage in Grid 1.
  • the terminal can stop data collection and positioning, reducing power consumption without affecting positioning. Accuracy.
  • data collection and positioning can be started to provide positioning services. For example, performing grid switching on a subway line indicates that the subway is about to arrive at the station, and the terminal provides an arrival reminder service to the user.
  • Step 104 Position the terminal device according to the radio frequency fingerprint data and the radio frequency fingerprint sample data in the database to obtain a first positioning result, where the first positioning result includes the grid where the terminal device is located. grid information.
  • positioning the terminal device based on the radio frequency fingerprint data and the radio frequency fingerprint sample data in the database includes: comparing the radio frequency fingerprint data with the radio frequency fingerprint sample data in the database. Matching is performed to determine at least one radio frequency fingerprint sample data whose matching value is greater than the first matching threshold value; and the grid information and matching value corresponding to the at least one radio frequency fingerprint sample data are used as the first positioning result.
  • the grid information includes: grid identification and running line identification.
  • the matching value calculation method can use Euclidean distance, cosine distance, similarity coefficient and other schemes.
  • the first positioning result also includes a positioning time stamp, which may be a collection time stamp of radio frequency fingerprint data.
  • the radio frequency fingerprint data collected by the terminal at multiple times is obtained, and the radio frequency fingerprint data at each time is matched with the radio frequency fingerprint sample data in the database.
  • the positioning results at multiple times that is, the first positioning result may be Includes grid information of the grid where the terminal is located at multiple times.
  • radio frequency fingerprint data collected by the terminal at multiple times are obtained to obtain positioning results at multiple times, and the positioning result at the latest time of the terminal is further determined as the first positioning result based on the positioning results at multiple times.
  • the method further includes: when the first positioning result is the first positioning result after the terminal device enters the vehicle, obtaining the terminal from the first positioning result.
  • the intermediate time between the first positioning timestamp and the second positioning timestamp is used as the switching timestamp when entering from the first grid to the second grid.
  • time t1 is the timestamp of the last positioning to grid 1
  • the method further includes: when the first positioning result is not the first positioning result after the terminal device enters the vehicle, obtaining the historical positioning result of the terminal device. ; Obtain the switching timestamp, average running time, maximum running time and minimum running time of the first grid from the historical positioning result; Obtain the first positioning of the terminal device to the second grid from the first positioning result the second positioning timestamp; determine the terminal device according to the switching timestamp, average running time, maximum running time and minimum running time of the first grid, and the second positioning timestamp of the second grid The switching timestamp when entering from the first grid to the second grid; the switching timestamp when the second grid is added to the first positioning result to obtain a second positioning result.
  • ts2 can be closer to the real grid switching time.
  • a second positioning can be performed to obtain the second positioning result.
  • the method also includes: determining the grid information of the grid where the terminal device is located based on the vehicle running time pattern and the switching timestamp of the grid in the second positioning result. It can be understood that when the grid switching time of the terminal device conforms to the vehicle running time pattern, it indicates that the positioning result is accurate.
  • the vehicle running time pattern constrains the positioning result, can filter out interfering positioning results, and determine the actual grid of the terminal.
  • positioning the terminal device based on the radio frequency fingerprint data and the radio frequency fingerprint sample data in the database includes: combining the radio frequency fingerprint data collected this time by the terminal device and the last time it was collected.
  • the radio frequency fingerprint data is matched to obtain a matching value; the matching value is greater than or equal to the second matching threshold value, and the radio frequency fingerprint data collected this time is ignored; the matching value is less than
  • the second matching threshold is used to locate the terminal device according to the radio frequency fingerprint data and the radio frequency fingerprint sample data in the database.
  • radio frequency fingerprint data collected this time is processed for positioning. Thereby deleting easy data and improving data processing efficiency.
  • the positioning method provided by the embodiments of this application is applied to terminal devices or cloud devices.
  • positioning the terminal device according to the radio frequency fingerprint data and the radio frequency fingerprint sample data in the database to obtain a first positioning result includes: sending the radio frequency fingerprint data to a cloud device , so that the cloud device locates the terminal device according to the radio frequency fingerprint data and the radio frequency fingerprint sample data in the database to obtain a first positioning result; and receives the first positioning result sent by the cloud device .
  • Figure 7 is a first flow diagram of the device-cloud collaborative positioning method in the embodiment of the present application. As shown in Figure 7, the method includes:
  • subway positioning is taken as an example.
  • Subway related information is used to adjust the collection strategy.
  • the subway related information includes subway operation timetable, subway station location, station stop time, inter-station operation time, operation line location, etc.
  • S3 RF fingerprint data similarity judgment, the matching value is greater than the second matching threshold; if yes, execute S4; if not, return to S2;
  • the radio frequency fingerprint data collected this time is matched with the radio frequency fingerprint data collected last time to obtain a matching value that represents the similarity between the two.
  • the matching value is greater than or equal to the second matching threshold value, it indicates that the terminal position has not changed, and the RF fingerprint data collected this time can be ignored; when the matching value is less than the second matching threshold value, it indicates that the terminal position has changed, and the RF fingerprint data collected this time can be ignored.
  • the radio frequency fingerprint data collected this time is processed for positioning. Thereby deleting easy data and improving data processing efficiency.
  • S4 Send radio frequency fingerprint data to the cloud device, request the cloud device to use the classification algorithm for positioning and return the first positioning result;
  • the radio frequency fingerprint data is matched with the radio frequency fingerprint sample data in the database based on the classification algorithm, and at least one radio frequency fingerprint sample data whose matching value is greater than the first matching threshold value is determined; and the at least one radio frequency fingerprint sample data corresponding to the Grid information and matching values are used as the first positioning result.
  • the first positioning result includes: grid identification (grid ID), operating line identification (operating line), matching value, etc.
  • Figure 8 is a schematic flow chart of the first positioning method in the embodiment of the present application.
  • the terminal device uses a classification algorithm to combine the radio frequency fingerprint data and the radio frequency fingerprint samples in the database based on the classification algorithm. Match the data to determine at least one radio frequency fingerprint sample data whose matching value is greater than the first matching threshold value; use the grid information and matching value corresponding to the at least one radio frequency fingerprint sample data as the first positioning result.
  • positioning can be achieved using a device-cloud collaborative positioning solution, or a device positioning solution can be used to achieve positioning.
  • S5 The terminal device performs secondary positioning and obtains the second positioning result
  • the second positioning result includes: grid identification (grid ID), grid switching timestamp Ts, operating line identification (operating line), matching value, etc.
  • the positioning process is determined to end when it is detected that the terminal device gets off the vehicle, or the positioning process is determined to end when the terminal device receives a subway positioning function closing instruction.
  • the method after the terminal device enters the vehicle, the method also includes determining the terminal's traveling direction based on the positioning result.
  • Figure 9 is a second flow diagram of the device-cloud collaborative positioning method in the embodiment of the present application. As shown in Figure 9, the method includes:
  • S3 RF fingerprint data similarity judgment, the matching value is greater than the second matching threshold; if yes, execute S4; if not, return to S2;
  • S4 Send radio frequency fingerprint data to the cloud device, request the cloud device to use the classification algorithm for positioning and return the first positioning result;
  • S5 The terminal device performs secondary positioning and obtains the second positioning result
  • S6 Use the positioning result to determine whether the traveling direction is successful; if yes, obtain the traveling direction; if not, return to S2.
  • the terminal device needs to count the historical positioning results to determine the direction of travel. If the historical positioning results include three consecutive grids, it is deemed that the determination of the direction of travel is successful, and the terminal device is determined based on the timestamp information of the three consecutive grids.
  • the direction of travel is from A to B or from B to A.
  • FIG. 10 is a second schematic flowchart of the end positioning method according to the embodiment of the present application. As shown in Figure 10, it is entirely up to the terminal device to Realize positioning and direction of travel.
  • the vehicle operating route is gridded according to the operating route characteristics, the radio frequency fingerprint sample data of each grid is saved, and the radio frequency fingerprint data actually collected by the terminal device is used for positioning, and the grid information of the grid where the terminal device is located is determined to achieve
  • the positioning function of terminal equipment in special mobile scenarios such as subways, high-speed rails, and highways.
  • a data collection strategy can also be designed based on the characteristics of the operating line. The collection frequency can be reduced in places with low positioning requirements, and the collection frequency can be increased in places with high positioning requirements. On the basis of ensuring the positioning requirements and positioning accuracy, the power brought by positioning can be reduced. Consumption.
  • FIG. 11 is a second flow diagram of the positioning method in the embodiment of the present application. As shown in Figure 11, the method may specifically include:
  • Step 1101 Grid the vehicle operating route to obtain multiple grids, where each grid corresponds to a sub-route on the operating route;
  • Public operating vehicles are generally designed with fixed operating routes. Operating characteristics such as docking stations and operating schedules grid the operating routes to obtain different types of grids. Furthermore, different positioning strategies can be designed according to different types of grid positioning requirements.
  • the grid division of the vehicle operation line to obtain multiple grids includes: dividing the operation line according to the platform positions where the vehicles stop on the operation line and the inter-station positions of the vehicle operation. For the station grid and the inter-station grid, multiple grids are obtained. As shown in Figure 2, the operating lines include: Grid 1, Grid 2,..., Grid 7. The shaded blocks are the station grids and the solid lines are the inter-station grids.
  • the parking platform area is larger and can be divided into different grids according to the parking platform and the physical space between stations.
  • it is necessary to divide part of the physical space of the station-inter-station connection into a station grid to facilitate differentiation of the wireless environment.
  • the gridding of the vehicle operating line to obtain multiple grids includes: dividing the operating line into multiple grids according to a standard grid dividing method. That is, the simplest division method can be used to divide the running line into multiple grids of equal length.
  • Step 1102 Obtain the grid information and the first state sequence of the multiple grids, and save them in the database; wherein the first state sequence includes the running time of the vehicle in different grids;
  • the running time of vehicles in different grids can be determined based on the vehicle's operating schedule and historical operating rules and other information.
  • the running time is specifically the parking time when the vehicle is in a stationary state or the running time when the vehicle is in a running state.
  • the docking time of grid 1 is T1
  • the running time of grid 2 is T2
  • the docking time of grid 3 is T3
  • the running time of grid 4 is T4,...
  • the first state sequence is recorded as [s: T1, m :T2, s: T3, m: T4,...].
  • Step 1103 Obtain the positioning data collected by the terminal device based on the preset data collection strategy
  • the radio frequency fingerprint data and the radio frequency fingerprint sample data are data sent by a radio frequency fingerprint device.
  • the radio frequency fingerprint device includes at least one of the following: a base station, a Wi-Fi device, a Bluetooth device, a UWB device, and an ultrasonic device. That is to say, the terminal device receives radio frequency signals sent by surrounding radio frequency fingerprint devices and locates the location based on the radio frequency fingerprint data carried in the radio frequency signals.
  • the data collection strategy includes sampling period, sampling window and sampling frequency. Design a data collection strategy based on the characteristics of the operating line. For places with low positioning needs, shorten the sampling window or reduce the collection frequency. For places with high positioning needs, extend the sampling window or increase the collection frequency. On the basis of ensuring positioning needs and positioning accuracy, reduce positioning brought power consumption.
  • the method further includes: obtaining operating information of the operating line and historical positioning results of the grid; wherein the operating information includes at least one of the following: vehicle operating time within the grid, vehicle The residence time in the grid, the service quality of the network in the grid, the environment in which the grid is located, and the current system time; the data collection strategy is determined based on the operation information and the historical positioning results of the grid, wherein the data The collection strategy includes collection period, collection window and collection frequency.
  • three parameters Ta sampling period
  • T b sampling window
  • F k sampling frequency
  • T a and T b corresponding to grid k are affected by multiple factors, mainly subway line information, network quality of service (QoS) information, historical location information, etc.
  • QoS network quality of service
  • This solution can further dynamically adjust the sampling period, sampling window and sampling frequency through these influencing factors to reduce positioning power consumption while ensuring positioning accuracy.
  • T a (k) f (M k , Q k , L k , G k , F k , t),
  • T b (k) f (M k , Q k , L k , G k , F k , t),
  • G k Grid k is an above-ground or underground section
  • F k : 5 levels can be selected: ⁇ 1, 2, 3, 4, 5 ⁇ , unit is second, sampling frequency,
  • the above formula can first normalize the above influence factors, and then perform calculation according to the configured weight coefficient influence factors. Perform weighting operation to obtain T a and T b .
  • grid k has historical location information can be the historical location information of other terminal devices in grid k, or the historical location information of the current terminal in grid k.
  • the sampling frequency level is selected for the grid. For example, if the radio frequency signal coverage of the above-ground subway line is larger, a higher sampling frequency should be set; if the radio frequency signal coverage of the underground line is smaller, a smaller sampling frequency should be set.
  • designing a data collection strategy based on historical positioning results and subway operation rules can significantly shorten the number and frequency of measurements and save terminal power consumption.
  • the terminal device is in the operating stage in Grid 1.
  • the terminal can stop data collection and positioning, reducing power consumption without affecting positioning. Accuracy.
  • data collection and positioning can be started to provide positioning services. For example, performing grid switching on a subway line indicates that the subway is about to arrive at the station, and the terminal provides an arrival reminder service to the user.
  • Step 1104 Determine a second state sequence of the terminal device according to the positioning data; wherein the second state sequence includes the duration of the terminal device in different states;
  • the state of the terminal device includes a static state and a running state.
  • the positioning data is used to determine that the terminal device is in a stationary state and the duration of the stationary state, or is used to determine that the terminal device is in a moving state and the duration of the mobile state.
  • determining the second state sequence of the terminal device based on the positioning data includes: determining that the terminal device is stationary at the first moment when the positioning data at the first moment satisfies the stationary condition. status; when the positioning data at the first moment does not meet the stationary condition, determine that the terminal device is in a moving state at the first moment; count the status information of the terminal device at different moments within the preset time period, and determine The second state sequence.
  • the terminal device collects positioning data at multiple moments within a preset time period, determines the terminal status corresponding to each moment based on the positioning data at multiple moments, and further collects statistics on the stationary state of the terminal device within the preset time period. and/or the duration of the movement state.
  • the positioning data includes radio frequency fingerprint data sent by a radio frequency fingerprint device, wherein the radio frequency fingerprint data includes a radio frequency fingerprint device identification and radio frequency signal strength;
  • the static condition includes: the radio frequency fingerprint device identification at the first moment is the same as the radio frequency fingerprint device identification at the previous moment, and the difference between the radio frequency signal intensity at the first moment and the radio frequency signal intensity at the previous moment is less than the intensity threshold. limit.
  • the radio frequency fingerprint data includes: cell ID (Cell ID, cid), physical cell ID (physical cell ID, pci), frequency point and reference signal receiving power (Reference Signal Receiving Power, RSRP) of the serving cell.
  • Cell ID Cell ID, cid
  • physical cell ID physical cell ID, pci
  • frequency point and reference signal receiving power Reference Signal Receiving Power, RSRP
  • the cid, pci and frequency of the serving cell at the first moment and the previous moment remain unchanged, and the RSRP difference is less than 30dB.
  • the positioning data includes acceleration; the stationary condition includes: the acceleration at the first moment is less than an acceleration threshold.
  • the positioning data includes radio frequency fingerprint data and acceleration;
  • the stationary conditions include: a first condition and a second condition;
  • the first condition is: the radio frequency fingerprint device identification at the first moment is the same as the radio frequency fingerprint device identification at the previous moment, and the difference between the radio frequency signal intensity at the first moment and the radio frequency signal intensity at the previous moment is less than the intensity threshold. value;
  • the second condition is: the acceleration at the first moment is less than the acceleration threshold.
  • the state of the terminal device can also be determined simultaneously through radio frequency fingerprint data and/or acceleration, and the duration of different states of the terminal within a period of time is recorded; for example, moving for 50s, stationary for 60s, and moving for 100s.
  • Stationary for 70s, moving for 125s, stationary for 55s, moving for 90s, and stationary for 62s then the terminal’s second state sequence can be marked as: [m:50, s:60, m:100, s:70, m:125, s:55 , m:90, s:62], where m represents motion and s represents rest.
  • Figure 12 is a schematic diagram of the state sequence in the embodiment of the present application.
  • the movement rules of vehicles in different grids are: the parking time of grid 1 is T1, the running time of grid 2 is T2, and the parking time of grid 3 is T3,..., the first state sequence is recorded as [s: T1, m: T2, s: T3,...].
  • the duration of the terminal equipment in different states is: stationary time is t1, movement time is t2, stationary time is t3, and the second state sequence is recorded as [s: t1, m: t2, s: t3,...].
  • Step 1105 Position the terminal device according to the first status sequence in the database and the second status sequence of the terminal device to obtain a first positioning result; wherein the first positioning result includes the terminal Grid information of the grid where the device is located.
  • positioning the terminal device according to the first status sequence in the database and the second status sequence of the terminal device to obtain the first positioning result includes: converting the first status The sequence is matched with the second state sequence to determine the maximum matching value; the maximum matching value is greater than the matching threshold value, and it is determined that the operating line of the first state sequence corresponding to the maximum matching value is the target operation where the terminal device is located. line; determine the grid where the terminal device is located on the target operating line based on the position of the second state sequence in the first state sequence of the target operating line; obtain the grid of the grid where the terminal device is located information as the first positioning result.
  • sequence matching is performed between the second state sequence of the terminal device and the first state sequence on different operating routes of the vehicle in the database, and the operating route with the maximum matching value is screened out. At the same time, it is checked whether the maximum matching value is greater than the threshold. Only the maximum matching value is greater than the threshold.
  • the matching route is the road segment where the terminal is finally located. For example, the grid corresponding to the end of the second state sequence in the first state sequence is used as the grid where the terminal is located.
  • positioning the terminal device according to the first status sequence in the database and the second status sequence of the terminal device to obtain a first positioning result includes: the second status sequence When the preset judgment conditions are met, positioning the terminal device according to the first state sequence in the database and the second state sequence of the terminal device to obtain a first positioning result;
  • judgment conditions include at least one of the following:
  • the moving state and the stationary state appear alternately in the second state sequence
  • the difference between the durations of any two static states in the second state sequence is less than the first time threshold
  • the maximum duration of the moving state in the second state sequence is less than the second time threshold
  • the maximum duration of the stationary state in the second state sequence is less than the third time threshold.
  • the terminal's second state sequence is first analyzed. If within a certain period of time (such as half an hour), the second state sequence meets the following conditions, the terminal is considered to be on the subway:
  • the moving state and the stationary state appear alternately in the sequence, and the moving and stationary states appear at least twice;
  • each stationary state does not differ by more than the first time threshold (default 50s, which can be modified based on statistical information in different cities), and terminal devices that fall off the car can be filtered;
  • the maximum value of the mobile status does not exceed the second time threshold (default 300s, which can be determined based on the operating time of different operating lines in different cities);
  • the maximum value of the static state does not exceed the third time threshold (default 300s, which can be determined based on the stopping time of different operating lines in different cities).
  • the second state sequence of the terminal is matched with the first state sequence of different lines of the vehicle, and the matching value is calculated.
  • the matching value calculation method can adopt Euclidean distance, cosine distance, similarity coefficient and other schemes.
  • Figure 13 is a schematic flowchart of the third positioning method provided by the embodiment of the present application. As shown in Figure 13, the method includes:
  • S3 Identify the terminal device status according to the radio frequency fingerprint data and sensor data, and determine the second status sequence of the terminal device;
  • S4 Match and analyze the second state sequence of the terminal and the first state sequence of the vehicle to obtain the first positioning result
  • the vehicle operating lines are gridded according to the characteristics of the operating lines, and the physical space of each grid is converted into the first state sequence in the time dimension.
  • the second state sequence in the time dimension uses the time dimension to estimate the spatial position and realize the positioning function of the terminal device in special mobile scenarios such as subways, high-speed rails, and highways.
  • a data collection strategy can also be designed based on the characteristics of the operating line. The collection frequency can be reduced in places with low positioning requirements, and the collection frequency can be increased in places with high positioning requirements. On the basis of ensuring the positioning requirements and positioning accuracy, the power brought by positioning can be reduced. Consumption.
  • the embodiment of the present application also provides a positioning device.
  • the positioning device 140 includes:
  • the dividing unit 1401 is configured to mesh the vehicle operating line to obtain multiple grids, where each grid corresponds to a sub-route on the operating line;
  • the first acquisition unit 1402 is configured to acquire grid information and radio frequency fingerprint sample data of the plurality of grids, and save the grid information and radio frequency fingerprint sample data of the plurality of grids into a database;
  • the second acquisition unit 1403 is configured to acquire the radio frequency fingerprint data collected by the terminal device based on the preset data collection strategy
  • the positioning unit 1404 is configured to position the terminal device according to the radio frequency fingerprint data and the radio frequency fingerprint sample data in the database to obtain a first positioning result, wherein the first positioning result includes the terminal device The grid information of the current grid.
  • the positioning unit 1404 is configured to match the radio frequency fingerprint data with the radio frequency fingerprint sample data in the database, and determine at least one radio frequency fingerprint sample data whose matching value is greater than the first matching threshold; The grid information and matching value corresponding to the at least one radio frequency fingerprint sample data are used as the first positioning result.
  • the first positioning result also includes a positioning timestamp
  • the positioning unit 1404 is configured to obtain the terminal from the first positioning result when the first positioning result is the first positioning result after the terminal device enters the vehicle.
  • the positioning unit 1404 is configured to obtain the historical positioning result of the terminal device when the first positioning result is not the first positioning result after the terminal device enters the vehicle; from The historical positioning result obtains the switching timestamp, average running time, maximum running time, and minimum running time of the first grid; and obtains the first time the terminal device first positioned to the second grid from the first positioning result.
  • Two positioning timestamps according to the switching timestamp, average running time, maximum running time, and minimum running time of the first grid, and the second positioning timestamp of the second grid, determine where the terminal device starts from The switching timestamp when the first grid enters the second grid is added to the first positioning result to obtain the second positioning result.
  • the positioning unit 1404 is configured to match the radio frequency fingerprint data collected this time by the terminal device with the radio frequency fingerprint data collected last time to obtain a matching value; the matching value is greater than or equal to the second matching gate limit, ignore the radio frequency fingerprint data collected this time; the matching value is less than the second matching threshold value, and position the terminal device according to the radio frequency fingerprint data and the radio frequency fingerprint sample data in the database.
  • the second acquisition unit 1403 is configured to acquire the operation information of the operation line and the historical positioning results of the grid; wherein the operation information includes at least one of the following: operation of the vehicle within the grid time, the residence time of the vehicle in the grid, the service quality of the network in the grid, the environment in which the grid is located, and the current system time; the data collection strategy is determined based on the operation information and the historical positioning results of the grid, where, The data collection strategy includes collection period, collection window and collection frequency.
  • the dividing unit 1401 is configured to divide the operating line into a platform grid and an inter-station grid according to the platform location where the vehicle stops and the inter-station location where the vehicle runs on the operating line, to obtain multiple grid.
  • the embodiment of the present application also provides another positioning device based on the same inventive concept.
  • the positioning device 150 includes:
  • the dividing unit 1501 is configured to mesh the vehicle operating line to obtain multiple grids, where each grid corresponds to a sub-route on the operating line;
  • the first acquisition unit 1502 is configured to acquire the grid information and the first status sequence of the plurality of grids, and save them in the database; wherein the first status sequence includes the running time of the vehicle in different grids;
  • the second acquisition unit 1503 is configured to acquire positioning data collected by the terminal device within a preset time period
  • the positioning unit 1504 is configured to determine a second state sequence of the terminal device according to the positioning data; wherein the second state sequence includes the duration of the terminal device in different states;
  • the positioning unit 1504 is also configured to position the terminal device according to the first status sequence in the database and the second status sequence of the terminal device to obtain a first positioning result; wherein, the first positioning The result includes grid information of the grid where the terminal device is located.
  • the positioning unit 1504 is configured to determine that the terminal device is in a stationary state at the first moment when the positioning data at the first moment satisfies the stationary condition; the positioning data at the first moment does not satisfy the stationary condition. When, it is determined that the terminal device is in a moving state at the first moment; status information of the terminal device at different moments within the preset time period is collected, and the second state sequence is determined.
  • the positioning data includes radio frequency fingerprint data sent by a radio frequency fingerprint device, wherein the radio frequency fingerprint data includes a radio frequency fingerprint device identification and radio frequency signal strength;
  • the static condition includes: the radio frequency fingerprint device identification at the first moment is the same as the radio frequency fingerprint device identification at the previous moment, and the difference between the radio frequency signal intensity at the first moment and the radio frequency signal intensity at the previous moment is less than the intensity threshold. limit.
  • the positioning data includes acceleration; the stationary condition includes: the acceleration at the first moment is less than an acceleration threshold.
  • the positioning data includes radio frequency fingerprint data and acceleration sent by a radio frequency fingerprint device
  • the static condition includes: the radio frequency fingerprint device identification at the first moment is the same as the radio frequency fingerprint device identification at the previous moment, and The difference between the radio frequency signal intensity at the first moment and the radio frequency signal intensity at the previous moment is less than the intensity threshold value; the acceleration at the first moment is less than the acceleration threshold value.
  • the positioning unit 1504 is configured to match the first state sequence and the second state sequence to determine a maximum matching value; when the maximum matching value is greater than a matching threshold, determine the maximum matching value.
  • the operating line of the first state sequence corresponding to the value is the target operating line where the terminal device is located; according to the position of the second state sequence in the first state sequence of the target operating line, determine the location of the target operating line.
  • the grid where the terminal device is located is obtained; and the grid information of the grid where the terminal device is located is obtained as the first positioning result.
  • the positioning unit 1504 is configured to position the terminal device according to the first status sequence in the database and the second status sequence of the terminal device, and obtain the first positioning result, including: When the second state sequence meets the preset judgment condition, the terminal device is positioned according to the first state sequence in the database and the second state sequence of the terminal device, Get the first positioning result;
  • judgment conditions include at least one of the following:
  • the moving state and the stationary state appear alternately in the second state sequence
  • the difference between the durations of any two static states in the second state sequence is less than the first time threshold
  • the maximum duration of the moving state in the second state sequence is less than the second time threshold
  • the maximum duration of the stationary state in the second state sequence is less than the third time threshold.
  • the second acquisition unit 1503 is configured to acquire the operation information of the operation line and the historical positioning results of the grid; wherein the operation information includes at least one of the following: operation of the vehicle within the grid time, the residence time of the vehicle in the grid, the service quality of the network in the grid, the environment in which the grid is located, and the current system time; the data collection strategy is determined based on the operation information and the historical positioning results of the grid, where, The data collection strategy includes collection period, collection window and collection frequency.
  • the dividing unit 1501 is configured to divide the operating line into a platform grid and an inter-station grid according to the platform location where the vehicle stops and the inter-station location where the vehicle runs on the operating line, to obtain multiple grid.
  • the positioning device 160 includes: a processor 1601 and a computer configured to store data that can run on the processor.
  • the processor 1601 is configured to execute the method steps in the aforementioned embodiments when running the computer program.
  • bus system 1603 is used to implement connection communication between these components.
  • bus system 1603 also includes a power bus, a control bus and a status signal bus.
  • various buses are labeled as bus system 1603 in the figure.
  • the positioning device 160 may be a terminal device.
  • Figure 17 is a schematic diagram of the hardware architecture of a terminal device in an embodiment of the present application.
  • the hardware architecture of the terminal device 170 mainly includes a processor, a memory ( Internal and external memory), buses, and peripheral devices.
  • Peripheral devices mainly include I/O devices, sensor group devices, and Modem subsystems.
  • the Modem subsystem provides network communication functions and wireless radio frequency fingerprint data collection functions.
  • the sensor group device provides types of sensors such as gravity, acceleration, and gyroscope.
  • the positioning device 160 can be a cloud device.
  • the cloud device hardware architecture mainly includes a processor, memory (internal and external memory), bus, and communication device.
  • the communication device is used to obtain radio frequency fingerprint data and sensor data collected on the terminal side. .
  • Figure 18 is a schematic structural diagram of the positioning system in the embodiment of the present application.
  • the positioning system includes a terminal device 1801 and a cloud device 1802.
  • the terminal device mainly includes the following functional modules:
  • Positioning service module Obtain radio frequency fingerprint data and sensor data through collection services, interact with the cloud positioning server to obtain positioning results, and statistically output the final positioning results based on the subway operating rules.
  • Collection service module Provides the ability to collect and measure RF fingerprint data and sensor data.
  • Sensor HAL Provides an interface for obtaining sensor data.
  • Modem HAL Provides an interface for obtaining radio frequency fingerprint data.
  • the terminal device also includes a database: saving radio frequency fingerprint data within the grid, or the first state sequence of the vehicle.
  • Cloud devices mainly include the following functional modules:
  • Cloud positioning service Based on radio frequency fingerprint positioning technology, it provides grid positioning capabilities on vehicle operating routes.
  • Cloud collection service Obtain the radio frequency fingerprint data collected on the terminal side and save it in the database after data processing. For example, perform feature extraction, normalization and other processing on the data.
  • the above-mentioned processors can be Application Specific Integrated Circuits (ASICs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), and field-programmable logic devices. At least one of a Field-Programmable Gate Array (FPGA), a controller, a microcontroller, and a microprocessor. It can be understood that for different devices, the electronic device used to implement the above processor function may also be other, which is not specifically limited in the embodiment of the present application.
  • ASICs Application Specific Integrated Circuits
  • DSPDs Digital Signal Processing Devices
  • PLDs Programmable Logic Devices
  • FPGA Field-Programmable Gate Array
  • controller a controller
  • microcontroller microcontroller
  • microprocessor microprocessor
  • the above-mentioned memory can be volatile memory (volatile memory), such as random access memory (RAM, Random-Access Memory); or non-volatile memory (non-volatile memory), such as read-only memory (ROM, Read-Only). Memory), flash memory (flash memory), hard disk (HDD, Hard Disk Drive) or solid state drive (SSD, Solid-State Drive); or a combination of the above types of memory, and provides instructions and data to the processor.
  • volatile memory such as random access memory (RAM, Random-Access Memory
  • non-volatile memory such as read-only memory (ROM, Read-Only).
  • Memory flash memory (flash memory), hard disk (HDD, Hard Disk Drive) or solid state drive (SSD, Solid-State Drive); or a combination of the above types of memory, and provides instructions and data to the processor.
  • the above device may be a positioning device or a chip used in the positioning device.
  • the device can implement the functions of multiple units through software, hardware, or a combination of software and hardware, so that the device can perform the positioning method provided in any of the above embodiments.
  • the technical effects of each technical solution of the device can be referred to the technical effects of the corresponding technical solutions in the positioning method, which will not be described in detail in this application.
  • the above-mentioned positioning device can be a terminal device or a cloud device.
  • the terminal device can be any kind of mobile terminal, such as a mobile phone, a tablet computer, a notebook computer, a handheld computer, a personal digital assistant (Personal Digital Assistant, PDA), or a portable media player. (Portable Media Player, PMP), navigation devices, wearable devices, smart bracelets, cameras, etc.
  • the cloud device can be a server.
  • the embodiment of the present application also provides a computer-readable storage medium, such as a memory including a computer program.
  • the computer program can be executed by a processor of a positioning device to complete the steps of the foregoing method.
  • An embodiment of the present application also provides a computer program product, including computer program instructions.
  • the computer program product can be applied to the positioning device in the embodiment of the present application, and the computer program instructions cause the computer to execute the corresponding processes implemented by the positioning device in the various methods of the embodiment of the present application. For the sake of brevity, they are not included here. Again.
  • An embodiment of the present application also provides a computer program.
  • the computer program can be applied to the positioning device in the embodiment of the present application.
  • the computer program When the computer program is run on the computer, it causes the computer to execute the corresponding processes implemented by the positioning device in the various methods of the embodiment of the present application. For the sake of simplicity , which will not be described in detail here.
  • first, second, third, etc. may be used in this application to describe various information, the information should not be limited to these terms. These terms are used only to distinguish information of the same type from each other and are not necessarily used to describe a specific order or sequence.
  • first information may also be called second information, and similarly, the second information may also be called first information.
  • the units described above as separate components may or may not be physically separated.
  • the components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units; Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.
  • all functional units in the embodiments of the present application can be integrated into one processing unit, or each unit can be separately used as a unit, or two or more units can be integrated into one unit; the above-mentioned integration
  • the unit can be implemented in the form of hardware or in the form of hardware plus software functional units.
  • This application provides a positioning method, device, equipment and storage medium.
  • This method grids the vehicle running route to obtain multiple grids, and saves the grid information and radio frequency fingerprint sample data of each grid to a database. Medium; locate the terminal device based on radio frequency fingerprint data and radio frequency fingerprint sample data.
  • the vehicle operating route is gridded according to the operating route characteristics, the radio frequency fingerprint sample data of each grid is saved, and the radio frequency fingerprint data actually collected by the terminal device is used for positioning, and the grid information of the grid where the terminal device is located is determined to achieve
  • the positioning function of terminal equipment in special mobile scenarios such as subways, high-speed rails, and highways.
  • data collection strategies can also be designed based on the characteristics of the operating lines. The collection frequency can be reduced for places with low positioning requirements, and the collection frequency can be increased for places with high positioning requirements. This can reduce the power consumption caused by positioning while ensuring the positioning requirements and positioning accuracy. .

Landscapes

  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

Disclosed are a positioning method and apparatus, a device, and a storage medium. The method comprises: gridding a vehicle running route to obtain a plurality of grids; storing grid information and radio frequency fingerprint sample data of each grid into a database; and positioning a terminal device according to radio frequency fingerprint data and the radio frequency fingerprint sample data. In this way, the vehicle running route is gridded according to running route features, the radio frequency fingerprint sample data of each grid is stored, the radio frequency fingerprint data actually acquired by the terminal device is combined for positioning, and grid information of a grid where the terminal device is located is determined, thereby achieving the positioning function of the terminal device in special mobile scenes such as subways, high-speed railways, and highways. In addition, a data acquisition strategy can also be designed according to the running route features, an acquisition frequency is decreased in a place having a low positioning requirement, and the acquisition frequency is increased in a place having a high positioning requirement, thereby reducing power consumption caused by positioning while positioning requirements and positioning precision are ensured.

Description

一种定位方法、装置、设备及存储介质A positioning method, device, equipment and storage medium
相关申请的交叉引用Cross-references to related applications
本申请基于申请号为202211029569.1、申请日为2022年08月25日、发明创造名称为“一种定位方法、装置、设备及存储介质”的在先中国专利申请提出，并要求该在先中国专利申请的优先权，该在先中国专利申请的全部内容在此以全文引入的方式引入本申请作为参考。This application is filed based on the prior Chinese patent application with application number 202211029569.1, the filing date is August 25, 2022, and the invention title is "a positioning method, device, equipment and storage medium", and claims the prior Chinese patent Priority of the application, the entire content of the earlier Chinese patent application is hereby incorporated into this application by reference in its entirety.
技术领域Technical field
本申请涉及定位技术，尤其涉及一种定位方法、装置、设备及存储介质。The present application relates to positioning technology, and in particular, to a positioning method, device, equipment and storage medium.
背景技术Background technique
当终端位于地铁、高铁等移动车辆上时，受到周围通信环境的影响，终端接收到卫星信号较差甚至无法接收到卫星信号，通过全球定位卫星***(例如GPS，北斗等)进行定位时面临定位精度低或者无法定位的问题。When the terminal is located on a moving vehicle such as a subway or high-speed rail, affected by the surrounding communication environment, the terminal receives poor satellite signals or even cannot receive satellite signals. It faces positioning problems when positioning through global positioning satellite systems (such as GPS, Beidou, etc.) Problems with low accuracy or inability to locate.
发明内容Contents of the invention
本申请实施例期望提供一种定位方法、装置、设备及存储介质。The embodiments of the present application are expected to provide a positioning method, device, equipment and storage medium.
本申请的技术方案是这样实现的：The technical solution of this application is implemented as follows:
第一方面，提供了一种定位方法，所述方法包括：In a first aspect, a positioning method is provided, which method includes:
对车辆运行线路进行网格化划分得到多个网格，其中，每个网格对应所述运行线路上一段子路线；Grid the vehicle operating route to obtain multiple grids, where each grid corresponds to a sub-route on the operating route;
获取所述多个网格的网格信息和射频指纹样本数据，并保存到数据库中；Obtain the grid information and radio frequency fingerprint sample data of the multiple grids and save them in the database;
获取所述终端设备基于预设的数据采集策略采集的射频指纹数据；Obtain radio frequency fingerprint data collected by the terminal device based on a preset data collection strategy;
根据所述射频指纹数据和所述数据库中的射频指纹样本数据对所述终端设备进行定位，得到第一定位结果，其中，所述第一定位结果中包括所述终端设备所在网格的网格信息。The terminal device is positioned according to the radio frequency fingerprint data and the radio frequency fingerprint sample data in the database to obtain a first positioning result, wherein the first positioning result includes the grid of the grid where the terminal device is located. information.
这样，根据运行线路特征将车辆运行线路进行网格化，保存每个网格的射频指纹样本数据，结合终端设备实际采集的射频指纹数据进行定位，确定终端设备所在网格的网格信息，实现终端设备在地铁、高铁、高速等特殊移动场景下的定位功能。另外，还可以根据运行线路特征设计数据采集策略，对于定位需求低的地方降低采集频率，对于定位需求高的地方提高采集频率，在保证定位需求和定位精度的基础上，减少定位带来的功耗。In this way, the vehicle operating route is gridded according to the operating route characteristics, the radio frequency fingerprint sample data of each grid is saved, and the radio frequency fingerprint data actually collected by the terminal device is used for positioning, and the grid information of the grid where the terminal device is located is determined to achieve The positioning function of terminal equipment in special mobile scenarios such as subways, high-speed rails, and highways. In addition, a data collection strategy can also be designed based on the characteristics of the operating line. The collection frequency can be reduced in places with low positioning requirements, and the collection frequency can be increased in places with high positioning requirements. On the basis of ensuring the positioning requirements and positioning accuracy, the power brought by positioning can be reduced. Consumption.
第二方面，提供了一种定位方法，所述方法包括：In a second aspect, a positioning method is provided, which method includes:
对车辆运行线路进行网格化划分得到多个网格，其中，每个网格对应所述运行线路上一段子路线；Grid the vehicle operating route to obtain multiple grids, where each grid corresponds to a sub-route on the operating route;
获取所述多个网格的网格信息和第一状态序列，并保存到数据库中；其中，所述第一状态序列包括车辆在不同网格内的运行时间；Obtain the grid information and first state sequence of the plurality of grids and save them in a database; wherein the first state sequence includes the running time of the vehicle in different grids;
获取所述终端设备基于预设的数据采集策略采集的射频指纹数据；Obtain radio frequency fingerprint data collected by the terminal device based on a preset data collection strategy;
根据所述定位数据确定所述终端设备的第二状态序列；其中，所述第二状态序列包括所述终端设备在不同状态下的持续时间；Determine a second state sequence of the terminal device according to the positioning data; wherein the second state sequence includes the duration of the terminal device in different states;
根据所述数据库中的第一状态序列和所述终端设备的第二状态序列对所述终端设备进行定位，得到第一定位结果；其中，所述第一定位结果中包括所述终端设备所在网格的网格信息。The terminal device is positioned according to the first status sequence in the database and the second status sequence of the terminal device to obtain a first positioning result; wherein the first positioning result includes the network where the terminal device is located. grid information.
这样，根据运行线路特征将车辆运行线路进行网格化，将每个网格的物理空间转化为时间维度的第一状态序列，进行终端定位时，将终端的状态的变化规律转化为时间维度的第二状态序列，利用时间维度实现空间位置的估计，实现终端设备在地铁、高铁、高速等特殊移动场景下的定位功能。另外，还可以根据运行线路特征设计数据采集策略，对于定位需求低的地方降低采集频率，对于定位需求高的地方提高采集频率，在保证定位需求和定位精度的基础上，减少定位带来的功耗。In this way, the vehicle operating route is gridded according to the operating route characteristics, and the physical space of each grid is converted into the first state sequence in the time dimension. When terminal positioning is performed, the changing rules of the terminal state are converted into the time dimension. The second state sequence uses the time dimension to estimate the spatial position and realize the positioning function of the terminal device in special mobile scenarios such as subways, high-speed rails, and highways. In addition, a data collection strategy can also be designed based on the characteristics of the operating line. The collection frequency can be reduced in places with low positioning requirements, and the collection frequency can be increased in places with high positioning requirements. On the basis of ensuring the positioning requirements and positioning accuracy, the power brought by positioning can be reduced. Consumption.
第三方面，提供了一种定位装置，所述装置包括：In a third aspect, a positioning device is provided, which device includes:
划分单元，配置为对车辆运行线路进行网格化划分得到多个网格，其中，每个网格对应所述运行线路上一段子路线； A dividing unit configured to mesh the vehicle operating line to obtain multiple grids, wherein each grid corresponds to a sub-route on the operating line;
第一获取单元，配置为获取所述多个网格的网格信息和射频指纹样本数据，并将所述多个网格的网格信息和射频指纹样本数据保存到数据库中；A first acquisition unit configured to acquire grid information and radio frequency fingerprint sample data of the plurality of grids, and save the grid information and radio frequency fingerprint sample data of the plurality of grids into a database;
第二获取单元，配置为获取所述终端设备基于预设的数据采集策略采集的射频指纹数据；The second acquisition unit is configured to acquire the radio frequency fingerprint data collected by the terminal device based on a preset data collection strategy;
定位单元，配置为根据所述射频指纹数据和所述数据库中的射频指纹样本数据对所述终端设备进行定位，得到第一定位结果，其中，所述第一定位结果中包括所述终端设备所在网格的网格信息。A positioning unit configured to position the terminal device according to the radio frequency fingerprint data and the radio frequency fingerprint sample data in the database to obtain a first positioning result, wherein the first positioning result includes the location of the terminal device. Mesh information for the mesh.
第四方面，提供了一种定位装置，所述装置包括：In a fourth aspect, a positioning device is provided, which device includes:
划分单元，配置为对车辆运行线路进行网格化划分得到多个网格，其中，每个网格对应所述运行线路上一段子路线；A dividing unit configured to mesh the vehicle operating line to obtain multiple grids, wherein each grid corresponds to a sub-route on the operating line;
第一获取单元，配置为获取所述多个网格的网格信息和第一状态序列，并保存到数据库中；其中，所述第一状态序列包括车辆在不同网格内的运行时间；The first acquisition unit is configured to acquire the grid information and the first state sequence of the plurality of grids, and save them in the database; wherein the first state sequence includes the running time of the vehicle in different grids;
第二获取单元，配置为获取所述终端设备在预设时间段内采集的定位数据；The second acquisition unit is configured to acquire positioning data collected by the terminal device within a preset time period;
定位单元，配置为根据所述定位数据确定所述终端设备的第二状态序列；其中，所述第二状态序列包括所述终端设备在不同状态下的持续时间；a positioning unit configured to determine a second state sequence of the terminal device according to the positioning data; wherein the second state sequence includes the duration of the terminal device in different states;
所述定位单元，还配置为根据所述数据库中的第一状态序列和所述终端设备的第二状态序列对所述终端设备进行定位，得到第一定位结果；其中，所述第一定位结果中包括所述终端设备所在网格的网格信息。The positioning unit is further configured to position the terminal device according to the first status sequence in the database and the second status sequence of the terminal device to obtain a first positioning result; wherein, the first positioning result includes the grid information of the grid where the terminal device is located.
第五方面，提供了一种定位设备，包括：处理器和配置为存储能够在处理器上运行的计算机程序的存储器，In a fifth aspect, a positioning device is provided, including: a processor and a memory configured to store a computer program capable of running on the processor,
其中，所述处理器配置为运行所述计算机程序时，执行前述方法的步骤。Wherein, the processor is configured to execute the steps of the foregoing method when running the computer program.
第六方面，提供了一种计算机可读存储介质，其上存储有计算机程序，其中，该计算机程序被处理器执行时实现前述方法的步骤。A sixth aspect provides a computer-readable storage medium on which a computer program is stored, wherein the steps of the foregoing method are implemented when the computer program is executed by a processor.
附图说明Description of drawings
图1为本申请实施例中定位方法的第一流程示意图；Figure 1 is a first flow diagram of the positioning method in the embodiment of the present application;
图2为本申请实施例中运行线路网格划分示意图；Figure 2 is a schematic diagram of the grid division of the operating lines in the embodiment of the present application;
图3为本申请实施例中采样参数的示意图；Figure 3 is a schematic diagram of sampling parameters in the embodiment of the present application;
图4为本申请实施例中一种采样策略的示意图；Figure 4 is a schematic diagram of a sampling strategy in an embodiment of the present application;
图5为本申请实施例中确定切换时间戳的第一示意图；Figure 5 is a first schematic diagram of determining the switching timestamp in the embodiment of the present application;
图6为本申请实施例中确定切换时间戳的第二示意图；Figure 6 is a second schematic diagram of determining the switching timestamp in the embodiment of the present application;
图7为本申请实施例提供了端云协同定位方法的第一流程示意图；Figure 7 is a schematic flowchart of the first process of the device-cloud collaborative positioning method provided by this embodiment of the present application;
图8为本申请实施例提供了端定位方法的第一流程示意图；Figure 8 is a schematic flow chart of the first end positioning method provided by an embodiment of the present application;
图9为本申请实施例提供了端云协同定位方法的第二流程示意图；Figure 9 is a second flow diagram of the device-cloud collaborative positioning method provided by this embodiment of the present application;
图10为本申请实施例提供了端定位方法的第二流程示意图；Figure 10 provides a second flow diagram of the terminal positioning method according to the embodiment of the present application;
图11为本申请实施例中定位方法的第二流程示意图；Figure 11 is a second flow diagram of the positioning method in the embodiment of the present application;
图12为本申请实施例中状态序列示意图；Figure 12 is a schematic diagram of the state sequence in the embodiment of the present application;
图13为本申请实施例中定位方法的第三流程示意图；Figure 13 is a third flow diagram of the positioning method in the embodiment of the present application;
图14为本申请实施例中定位装置的第一组成结构示意图；Figure 14 is a schematic structural diagram of the first component of the positioning device in the embodiment of the present application;
图15为本申请实施例中定位装置的第二组成结构示意图；Figure 15 is a schematic structural diagram of the second component of the positioning device in the embodiment of the present application;
图16为本申请实施例中定位设备的组成结构示意图；Figure 16 is a schematic structural diagram of the positioning device in the embodiment of the present application;
图17为本申请实施例中一种终端设备的硬件构架示意图；Figure 17 is a schematic diagram of the hardware architecture of a terminal device in an embodiment of the present application;
图18为本申请实施例中定位***的组成结构示意图。Figure 18 is a schematic structural diagram of the positioning system in the embodiment of the present application.
具体实施方式Detailed ways
本申请的技术方案是这样实现的：The technical solution of this application is implemented as follows:
第一方面，提供了一种定位方法，包括：The first aspect provides a positioning method, including:
对车辆运行线路进行网格化划分得到多个网格，其中，每个网格对应所述运行线路上一段子路线；Grid the vehicle operating route to obtain multiple grids, where each grid corresponds to a sub-route on the operating route;
获取所述多个网格的网格信息和射频指纹样本数据，并保存到数据库中；Obtain the grid information and radio frequency fingerprint sample data of the multiple grids and save them in the database;
获取所述终端设备基于预设的数据采集策略采集的射频指纹数据；Obtain radio frequency fingerprint data collected by the terminal device based on a preset data collection strategy;
根据所述射频指纹数据和所述数据库中的射频指纹样本数据对所述终端设备进行定位，得到第一定位结果，其中，所述第一定位结果中包括所述终端设备所在网格的网格信息。 The terminal device is positioned according to the radio frequency fingerprint data and the radio frequency fingerprint sample data in the database to obtain a first positioning result, wherein the first positioning result includes the grid of the grid where the terminal device is located. information.
在一些实施例中，所述根据所述射频指纹数据和所述数据库中的射频指纹样本数据对所述终端设备进行定位，包括：将所述射频指纹数据与所述数据库中的射频指纹样本数据进行匹配，确定匹配值大于第一匹配门限值的至少一个射频指纹样本数据；将所述至少一个射频指纹样本数据对应的网格信息和匹配值作为所述第一定位结果。In some embodiments, positioning the terminal device based on the radio frequency fingerprint data and the radio frequency fingerprint sample data in the database includes: comparing the radio frequency fingerprint data with the radio frequency fingerprint sample data in the database. Matching is performed to determine at least one radio frequency fingerprint sample data whose matching value is greater than the first matching threshold value; and the grid information and matching value corresponding to the at least one radio frequency fingerprint sample data are used as the first positioning result.
在一些实施例中，所述第一定位结果还包括定位时间戳；In some embodiments, the first positioning result also includes a positioning timestamp;
所述得到第一定位结果之后，所述方法还包括：所述第一定位结果为所述终端设备进入到车辆后的第一个定位结果时，从所述第一定位结果中获取所述终端设备最后一次定位到第一网格的第一定位时间戳，以及所述终端设备初次定位到第二网格的第二定位时间戳；其中，所述第一网格和第二网格为相邻网格；根据所述第一定位时间戳和所述第二定位时间戳，确定所述终端设备从所述第一网格进入到所述第二网格时的切换时间戳；将所述第二网格的切换时间戳添加到所述第一定位结果中，得到第二定位结果；或者，After obtaining the first positioning result, the method further includes: when the first positioning result is the first positioning result after the terminal device enters the vehicle, obtaining the terminal from the first positioning result. The first positioning timestamp of the last time the device positioned to the first grid, and the second positioning timestamp of the first time the terminal device positioned to the second grid; wherein the first grid and the second grid are the same. adjacent grid; determine the switching timestamp when the terminal device enters the second grid from the first grid according to the first positioning timestamp and the second positioning timestamp; convert the The switching timestamp of the second grid is added to the first positioning result to obtain a second positioning result; or,
所述第一定位结果不为所述终端设备进入到车辆后的第一个定位结果时，获取所述终端设备的历史定位结果；从所述历史定位结果，获取第一网格的切换时间戳、平均运行时间、最大运行时间和最小运行时间；从所述第一定位结果中获取所述终端设备初次定位到第二网格的第二定位时间戳；根据所述第一网格的切换时间戳、平均运行时间、最大运行时间和最小运行时间，以及所述第二网格的第二定位时间戳，确定所述终端设备从所述第一网格进入到所述第二网格时的切换时间戳；将所述第二网格时的切换时间戳添加到所述第一定位结果中，得到第二定位结果。When the first positioning result is not the first positioning result after the terminal device enters the vehicle, obtain the historical positioning result of the terminal device; obtain the switching timestamp of the first grid from the historical positioning result , average running time, maximum running time and minimum running time; obtain the second positioning timestamp of the first positioning of the terminal device to the second grid from the first positioning result; according to the switching time of the first grid Stamp, average running time, maximum running time and minimum running time, as well as the second positioning timestamp of the second grid, determine the time when the terminal device enters the second grid from the first grid Switching timestamp; add the switching timestamp of the second grid to the first positioning result to obtain a second positioning result.
在一些实施例中，该方法还包括：根据车辆运行时间规律和所述第二定位结果中网格的切换时间戳，确定终端设备所在网格的网格信息。In some embodiments, the method further includes: determining the grid information of the grid where the terminal device is located based on the vehicle running time pattern and the switching timestamp of the grid in the second positioning result.
在一些实施例中，所述方法应用于终端设备时，所述根据所述射频指纹数据和所述数据库中的射频指纹样本数据对所述终端设备进行定位，得到第一定位结果，包括：发送所述射频指纹数据给云端设备，以使所述云端设备根据所述射频指纹数据和所述数据库中的射频指纹样本数据对所述终端设备进行定位，得到所述第一定位结果；接收所述云端设备发送的所述第一定位结果。In some embodiments, when the method is applied to a terminal device, positioning the terminal device according to the radio frequency fingerprint data and the radio frequency fingerprint sample data in the database to obtain a first positioning result includes: sending The radio frequency fingerprint data is given to the cloud device, so that the cloud device locates the terminal device according to the radio frequency fingerprint data and the radio frequency fingerprint sample data in the database to obtain the first positioning result; receiving the The first positioning result sent by the cloud device.
在一些实施例中，所述根据所述射频指纹数据和所述数据库中的射频指纹样本数据对所述终端设备进行定位，包括：将所述终端设备本次采集的射频指纹数据和上一次采集的射频指纹数据进行匹配，得到匹配值；所述匹配值大于或者等于第二匹配门限值，忽略本次采集的射频指纹数据；所述匹配值小于所述第二匹配门限值，根据所述射频指纹数据和所述数据库中的射频指纹样本数据对所述终端设备进行定位。In some embodiments, positioning the terminal device based on the radio frequency fingerprint data and the radio frequency fingerprint sample data in the database includes: combining the radio frequency fingerprint data collected this time by the terminal device and the last time it was collected. Match the radio frequency fingerprint data to obtain a matching value; the matching value is greater than or equal to the second matching threshold value, ignore the radio frequency fingerprint data collected this time; the matching value is less than the second matching threshold value, according to the The radio frequency fingerprint data and the radio frequency fingerprint sample data in the database are used to locate the terminal device.
在一些实施例中，该方法还包括：获取所述运行线路的运行信息，以及网格的历史定位结果；其中，所述运行信息包括以下至少之一：车辆在网格内的运行时间，车辆在网格内的停留时间，网格内网络的服务质量，网格所处环境，当前***时间；根据所述运行信息和所述网格的历史定位结果确定所述数据采集策略，其中，所述数据采集策略包括采集周期、采集窗口和采集频率。In some embodiments, the method further includes: obtaining operating information of the operating line and historical positioning results of the grid; wherein the operating information includes at least one of the following: vehicle operating time within the grid, vehicle The residence time in the grid, the service quality of the network in the grid, the environment in which the grid is located, and the current system time; the data collection strategy is determined based on the operating information and the historical positioning results of the grid, where The above data collection strategy includes collection period, collection window and collection frequency.
在一些实施例中，所述对车辆运行线路进行网格化划分得到多个网格，包括：根据所述运行线路上车辆停靠的站台位置和车辆运行的站间位置，将所述运行线路划分为站台网格和站间网格，得到多个网格。In some embodiments, the grid division of the vehicle operation line to obtain multiple grids includes: dividing the operation line according to the platform positions where the vehicles stop on the operation line and the inter-station positions of the vehicle operation. For the station grid and the inter-station grid, multiple grids are obtained.
第二方面，还提供了一种定位方法，包括：The second aspect also provides a positioning method, including:
对车辆运行线路进行网格化划分得到多个网格，其中，每个网格对应所述运行线路上一段子路线；Grid the vehicle operating route to obtain multiple grids, where each grid corresponds to a sub-route on the operating route;
获取所述多个网格的网格信息和第一状态序列，并保存到数据库中；其中，所述第一状态序列包括车辆在不同网格内的运行时间；Obtain the grid information and first state sequence of the plurality of grids and save them in a database; wherein the first state sequence includes the running time of the vehicle in different grids;
获取所述终端设备基于预设的数据采集策略采集的定位数据；Obtain positioning data collected by the terminal device based on a preset data collection strategy;
根据所述定位数据确定所述终端设备的第二状态序列；其中，所述第二状态序列包括所述终端设备在不同状态下的持续时间；Determine a second state sequence of the terminal device according to the positioning data; wherein the second state sequence includes the duration of the terminal device in different states;
根据所述数据库中的第一状态序列和所述终端设备的第二状态序列对所述终端设备进行定位，得到第一定位结果；其中，所述第一定位结果中包括所述终端设备所在网格的网格信息。The terminal device is positioned according to the first status sequence in the database and the second status sequence of the terminal device to obtain a first positioning result; wherein the first positioning result includes the network where the terminal device is located. grid information.
在一些实施例中，所述根据所述定位数据确定所述终端设备的第二状态序列，包括：In some embodiments, determining the second state sequence of the terminal device according to the positioning data includes:
第一时刻的定位数据满足静止条件时，确定所述终端设备在所述第一时刻处于静止状态；When the positioning data at the first moment satisfies the stationary condition, it is determined that the terminal device is in a stationary state at the first moment;
所述第一时刻的定位数据不满足静止条件时，确定所述终端设备在所述第一时刻处于移动状态；When the positioning data at the first moment does not satisfy the stationary condition, it is determined that the terminal device is in a moving state at the first moment;
统计所述预设时间段内不同时刻所述终端设备的状态信息，确定所述第二状态序列。The status information of the terminal device at different times within the preset time period is counted to determine the second status sequence.
在一些实施例中，所述定位数据包括射频指纹设备发送的射频指纹数据，其中，所述射频指纹数据包括射频指纹设备标识和射频信号强度；In some embodiments, the positioning data includes radio frequency fingerprint data sent by a radio frequency fingerprint device, wherein the radio frequency fingerprint data includes a radio frequency fingerprint device identification and radio frequency signal strength;
所述静止条件包括：所述第一时刻的射频指纹设备标识和前一时刻的射频指纹设备标识相同，且所述第一时刻的射频信号强度和前一时刻射频信号强度的差值小于强度门限值。 The static condition includes: the radio frequency fingerprint device identification at the first moment is the same as the radio frequency fingerprint device identification at the previous moment, and the difference between the radio frequency signal intensity at the first moment and the radio frequency signal intensity at the previous moment is less than the intensity threshold. limit.
在一些实施例中，所述定位数据包括加速度；In some embodiments, the positioning data includes acceleration;
所述静止条件包括：所述第一时刻的加速度小于加速度门限值。The stationary condition includes: the acceleration at the first moment is less than an acceleration threshold.
在一些实施例中，所述根据所述数据库中的第一状态序列和所述终端设备的第二状态序列对所述终端设备进行定位，得到第一定位结果，包括：In some embodiments, positioning the terminal device according to the first status sequence in the database and the second status sequence of the terminal device to obtain the first positioning result includes:
将所述第一状态序列和所述第二状态序列进行匹配，确定最大匹配值；Match the first state sequence and the second state sequence to determine the maximum matching value;
所述最大匹配值大于匹配门限值，确定所述最大匹配值对应的第一状态序列的运行线路为所述终端设备所在目标运行线路；The maximum matching value is greater than the matching threshold value, and the operating line of the first state sequence corresponding to the maximum matching value is determined to be the target operating line where the terminal device is located;
根据所述第二状态序列在所述目标运行线路的第一状态序列中的位置，确定所述目标运行线路上所述终端设备所在网格；Determine the grid where the terminal device on the target operating line is located based on the position of the second state sequence in the first state sequence of the target operating line;
获取所述终端设备所在网格的网格信息作为所述第一定位结果。The grid information of the grid where the terminal device is located is obtained as the first positioning result.
在一些实施例中，所述根据所述数据库中的第一状态序列和所述终端设备的第二状态序列对所述终端设备进行定位，得到第一定位结果，包括：In some embodiments, positioning the terminal device according to the first status sequence in the database and the second status sequence of the terminal device to obtain the first positioning result includes:
所述第二状态序列满足预设的判断条件时，根据所述数据库中的第一状态序列和所述终端设备的第二状态序列对所述终端设备进行定位，得到第一定位结果；When the second state sequence satisfies the preset judgment condition, position the terminal device according to the first state sequence in the database and the second state sequence of the terminal device to obtain a first positioning result;
其中，所述判断条件包括以下至少之一：Wherein, the judgment conditions include at least one of the following:
所述第二状态序列中移动状态和静止状态交替出现；The moving state and the stationary state appear alternately in the second state sequence;
所述第二状态序列中任意两个静止状态的持续时间之差小于第一时间门限值；The difference between the durations of any two static states in the second state sequence is less than the first time threshold;
所述第二状态序列中移动状态的最大持续时间小于第二时间门限值；The maximum duration of the moving state in the second state sequence is less than the second time threshold;
所述第二状态序列中静止状态的最大持续时间小于第三时间门限值。The maximum duration of the stationary state in the second state sequence is less than the third time threshold.
在一些实施例中，该方法还包括：In some embodiments, the method further includes:
获取所述运行线路的运行信息，以及网格的历史定位结果；其中，所述运行信息包括以下至少之一：车辆在网格内的运行时间，车辆在网格内的停留时间，网格内网络的服务质量，网格所处环境，当前***时间；Obtain the operating information of the operating line and the historical positioning results of the grid; wherein the operating information includes at least one of the following: the operating time of the vehicle in the grid, the residence time of the vehicle in the grid, the The service quality of the network, the environment of the grid, and the current system time;
根据所述运行信息和所述网格的历史定位结果确定数据采集策略，其中，所述数据采集策略包括采集周期、采集窗口和采集频率。A data collection strategy is determined based on the operation information and the historical positioning results of the grid, where the data collection strategy includes a collection period, a collection window, and a collection frequency.
在一些实施例中，所述对车辆运行线路进行网格化划分得到多个网格，包括：根据所述运行线路上车辆停靠的站台位置和车辆运行的站间位置，将所述运行线路划分为站台网格和站间网格，得到多个网格。In some embodiments, the grid division of the vehicle operation line to obtain multiple grids includes: dividing the operation line according to the platform positions where the vehicles stop on the operation line and the inter-station positions of the vehicle operation. For the station grid and the inter-station grid, multiple grids are obtained.
第三方面，提供了一种定位装置，所述装置包括：In a third aspect, a positioning device is provided, which device includes:
划分单元，配置为对车辆运行线路进行网格化划分得到多个网格，其中，每个网格对应所述运行线路上一段子路线；A dividing unit configured to mesh the vehicle operating line to obtain multiple grids, wherein each grid corresponds to a sub-route on the operating line;
第一获取单元，配置为获取所述多个网格的网格信息和射频指纹样本数据，并将所述多个网格的网格信息和射频指纹样本数据保存到数据库中；A first acquisition unit configured to acquire grid information and radio frequency fingerprint sample data of the plurality of grids, and save the grid information and radio frequency fingerprint sample data of the plurality of grids into a database;
第二获取单元，配置为获取所述终端设备基于预设的数据采集策略采集的射频指纹数据；The second acquisition unit is configured to acquire the radio frequency fingerprint data collected by the terminal device based on a preset data collection strategy;
定位单元，配置为根据所述射频指纹数据和所述数据库中的射频指纹样本数据对所述终端设备进行定位，得到第一定位结果，其中，所述第一定位结果中包括所述终端设备所在网格的网格信息。A positioning unit configured to position the terminal device according to the radio frequency fingerprint data and the radio frequency fingerprint sample data in the database to obtain a first positioning result, wherein the first positioning result includes the location of the terminal device. Mesh information for the mesh.
第四方面，提供了一种定位装置，所述装置包括：In a fourth aspect, a positioning device is provided, which device includes:
划分单元，配置为对车辆运行线路进行网格化划分得到多个网格，其中，每个网格对应所述运行线路上一段子路线；A dividing unit configured to mesh the vehicle operating line to obtain multiple grids, wherein each grid corresponds to a sub-route on the operating line;
第一获取单元，配置为获取所述多个网格的网格信息和第一状态序列，并保存到数据库中；其中，所述第一状态序列包括车辆在不同网格内的运行时间；The first acquisition unit is configured to acquire the grid information and the first state sequence of the plurality of grids, and save them in the database; wherein the first state sequence includes the running time of the vehicle in different grids;
第二获取单元，配置为获取所述终端设备在预设时间段内采集的定位数据；The second acquisition unit is configured to acquire positioning data collected by the terminal device within a preset time period;
定位单元，配置为根据所述定位数据确定所述终端设备的第二状态序列；其中，所述第二状态序列包括所述终端设备在不同状态下的持续时间；a positioning unit configured to determine a second state sequence of the terminal device according to the positioning data; wherein the second state sequence includes the duration of the terminal device in different states;
所述定位单元，还配置为根据所述数据库中的第一状态序列和所述终端设备的第二状态序列对所述终端设备进行定位，得到第一定位结果；其中，所述第一定位结果中包括所述终端设备所在网格的网格信息。The positioning unit is further configured to position the terminal device according to the first status sequence in the database and the second status sequence of the terminal device to obtain a first positioning result; wherein, the first positioning result includes the grid information of the grid where the terminal device is located.
第五方面，提供了一种定位设备，包括：处理器和配置为存储能够在处理器上运行的计算机程序的存储器，In a fifth aspect, a positioning device is provided, including: a processor and a memory configured to store a computer program capable of running on the processor,
其中，所述处理器配置为运行所述计算机程序时，执行前述方法的步骤。Wherein, the processor is configured to execute the steps of the foregoing method when running the computer program.
第六方面，提供了一种计算机可读存储介质，其上存储有计算机程序，其中，该计算机程序被处理器执行时实现前述方法的步骤。 A sixth aspect provides a computer-readable storage medium on which a computer program is stored, wherein the steps of the foregoing method are implemented when the computer program is executed by a processor.
采用上述技术方案，根据运行线路特征将车辆运行线路进行网格化，保存每个网格的射频指纹样本数据，结合终端设备实际采集的射频指纹数据进行定位，确定终端设备所在网格的网格信息，实现终端设备在地铁、高铁、高速等特殊移动场景下的定位功能。另外，还可以根据运行线路特征设计数据采集策略，对于定位需求低的地方降低采集频率，对于定位需求高的地方提高采集频率，保证定位需求和定位精度的基础上，减少定位带来的功耗。Using the above technical solution, the vehicle operating route is gridded according to the operating route characteristics, the radio frequency fingerprint sample data of each grid is saved, and the radio frequency fingerprint data actually collected by the terminal device is used for positioning to determine the grid where the terminal device is located. information to realize the positioning function of terminal equipment in special mobile scenarios such as subways, high-speed rails, and highways. In addition, a data collection strategy can also be designed based on the characteristics of the operating line. The collection frequency is reduced in places with low positioning needs, and the collection frequency is increased in places with high positioning needs. On the basis of ensuring positioning needs and positioning accuracy, the power consumption caused by positioning is reduced. .
为了能够更加详尽地了解本申请实施例的特点与技术内容，下面结合附图对本申请实施例的实现进行详细阐述，所附附图仅供参考说明之用，并非用来限定本申请实施例。In order to understand the characteristics and technical content of the embodiments of the present application in more detail, the implementation of the embodiments of the present application will be described in detail below with reference to the accompanying drawings. The attached drawings are for reference only and are not intended to limit the embodiments of the present application.
本申请实施例提供了一种定位方法，图1为本申请实施例中定位方法的第一流程示意图，如图1所示，该方法具体可以包括：The embodiment of the present application provides a positioning method. Figure 1 is a first flow diagram of the positioning method in the embodiment of the present application. As shown in Figure 1, the method may specifically include:
步骤101：对车辆运行线路进行网格化划分得到多个网格，其中，每个网格对应所述运行线路上一段子路线；Step 101: Grid the vehicle operating route to obtain multiple grids, where each grid corresponds to a sub-route on the operating route;
公共运营车辆一般设计有固定的运行线路，停靠站台、运行时刻表等运行特征对运行线路进行网格化，得到不同类型的网格。进一步的，还可以根据不同类型的网格定位需求设计不同的定位策略。Public operating vehicles are generally designed with fixed operating routes. Operating characteristics such as docking stations and operating schedules grid the operating routes to obtain different types of grids. Furthermore, different positioning strategies can be designed according to different types of grid positioning requirements.
在一些实施例中，所述对车辆运行线路进行网格化划分得到多个网格，包括：根据所述运行线路上车辆停靠的站台位置和车辆运行的站间位置，将所述运行线路划分为站台网格和站间网格，得到多个网格。如图2所示，运行线路包括：网格1，网格2，…，网格7，阴影块为站台网格，实线为站间网格。In some embodiments, the grid division of the vehicle operation line to obtain multiple grids includes: dividing the operation line according to the platform positions where the vehicles stop on the operation line and the inter-station positions of the vehicle operation. For the station grid and the inter-station grid, multiple grids are obtained. As shown in Figure 2, the operating lines include: Grid 1, Grid 2,..., Grid 7. The shaded blocks are the station grids and the solid lines are the inter-station grids.
对于地铁和高铁这类型车辆，停靠站台位置区域较大，可以按照停靠站台和站间物理空间划分为不同网格。在一些是实施例中，结合无线环境特征，需要将站台-站间连接处部分物理空间置划分到站台网格中，以利于区分无线环境。For vehicles such as subways and high-speed rails, the parking platform area is larger and can be divided into different grids according to the parking platform and the physical space between stations. In some embodiments, combined with the characteristics of the wireless environment, it is necessary to divide part of the physical space of the station-inter-station connection into a station grid to facilitate differentiation of the wireless environment.
在一些实施例中，所述对车辆运行线路进行网格化划分得到多个网格，包括：根据标准的网格划分方式将运行线路均分为多个网格。即可以采用一种最简单的划分方式将运行线路划分为长度相等的多个网格。In some embodiments, the gridding of the vehicle operating line to obtain multiple grids includes: dividing the operating line into multiple grids according to a standard grid dividing method. That is, the simplest division method can be used to divide the running line into multiple grids of equal length.
步骤102：获取所述多个网格的网格信息和射频指纹样本数据，并保存到数据库中；Step 102: Obtain the grid information and radio frequency fingerprint sample data of the multiple grids, and save them in the database;
这里，每个网格对应运行子路线架设有射频指纹设备，终端设备位于不同网格时采集射频指纹设备发送的射频指纹数据作为样本数据，将样本数据和网格信息建立关联关系，保存到数据库中。Here, each grid is equipped with a radio frequency fingerprint device corresponding to the operating sub-route. When the terminal device is located in a different grid, the radio frequency fingerprint data sent by the radio frequency fingerprint device is collected as sample data. The sample data is associated with the grid information and saved to the database. middle.
步骤103：获取所述终端设备基于预设的数据采集策略采集的射频指纹数据；Step 103: Obtain the radio frequency fingerprint data collected by the terminal device based on the preset data collection strategy;
其中，所述射频指纹数据和所述射频指纹样本数据为射频指纹设备发送的数据。示例性的，所述射频指纹设备包括以下至少之一：基站、Wi-Fi设备、蓝牙设备、UWB设备、超声波设备。也就是说，终端设备通过接收周围射频指纹设备发送的射频信号，根据射频信号中携带的射频指纹数据进行定位。Wherein, the radio frequency fingerprint data and the radio frequency fingerprint sample data are data sent by a radio frequency fingerprint device. Exemplarily, the radio frequency fingerprint device includes at least one of the following: a base station, a Wi-Fi device, a Bluetooth device, a UWB device, and an ultrasonic device. That is to say, the terminal device receives radio frequency signals sent by surrounding radio frequency fingerprint devices and locates the location based on the radio frequency fingerprint data carried in the radio frequency signals.
示例性的，数据采集策略包括采样周期、采样窗口和采样频率。根据运行线路特征设计数据采集策略，对于定位需求低的地方缩短采样窗口或者降低采集频率，对于定位需求高的地方延长采样窗口或者提高采集频率，在保证定位需求和定位精度的基础上，减少定位带来的功耗。For example, the data collection strategy includes sampling period, sampling window and sampling frequency. Design a data collection strategy based on the characteristics of the operating line. For places with low positioning needs, shorten the sampling window or reduce the collection frequency. For places with high positioning needs, extend the sampling window or increase the collection frequency. On the basis of ensuring positioning needs and positioning accuracy, reduce positioning brought power consumption.
在一些实施例中，该方法还包括：获取所述运行线路的运行信息，以及网格的历史定位结果；其中，所述运行信息包括以下至少之一：车辆在网格内的运行时间，车辆在网格内的停留时间，网格内网络的服务质量，网格所处环境，当前***时间；根据所述运行信息和所述网格的历史定位结果确定数据采集策略，其中，所述数据采集策略包括采集周期、采集窗口和采集频率。In some embodiments, the method further includes: obtaining operating information of the operating line and historical positioning results of the grid; wherein the operating information includes at least one of the following: vehicle operating time within the grid, vehicle The residence time in the grid, the service quality of the network in the grid, the environment in which the grid is located, and the current system time; the data collection strategy is determined based on the operation information and the historical positioning results of the grid, wherein the data The collection strategy includes collection period, collection window and collection frequency.
具体地，使用Ta(采样周期)、Tb(采样窗口)、Fk(采样频率)三个参数动态采集射频指纹数据，通过调整Ta/Tb/Fk三个参数，提升射频指纹定位性能，节省采集数据带来的功耗。Specifically, three parameters Ta ( sampling period), T b (sampling window), and F k (sampling frequency) are used to dynamically collect radio frequency fingerprint data. By adjusting the three parameters Ta / T b / F k , the radio frequency fingerprint is improved . Positioning performance, saving power consumption caused by collecting data.
如图3所示，网格k对应的Ta和Tb受多个因素影响，主要为地铁线路信息、网路的服务质量(Quality of Service，QoS)信息、历史位置信息等。本方案可以通过这些影响因子进一步动态调整采样周期、采样窗口和采样频率，在保证定位精度的基础上，减少定位功耗。As shown in Figure 3, T a and T b corresponding to grid k are affected by multiple factors, mainly subway line information, network quality of service (QoS) information, historical location information, etc. This solution can further dynamically adjust the sampling period, sampling window and sampling frequency through these influencing factors to reduce positioning power consumption while ensuring positioning accuracy.
示例性的，Ta(k)＝f(Mk,Qk,Lk,Gk,Fk,t)，For example, T a (k) = f (M k , Q k , L k , G k , F k , t),
Tb(k)＝f(Mk,Qk,Lk,Gk,Fk,t)，T b (k) = f (M k , Q k , L k , G k , F k , t),
Mk：网格k的运行或停留时间，M k : running or dwell time of grid k,
Qk：网格k包含的QoS信息，Q k : QoS information contained in grid k,
Lk：网格k是否有历史位置信息，L k : Whether grid k has historical location information,
Gk：网格k为地上或地下路段，G k : Grid k is an above-ground or underground section,
Fk：可选择{1,2,3,4,5}5个等级，单位为秒，采样频率，F k : 5 levels can be selected: {1, 2, 3, 4, 5}, unit is second, sampling frequency,
t：当前***时间，区分高峰和非高峰时段。t: Current system time, distinguishing between peak and off-peak hours.
示例性的，上述公式可以先对上述影响因子先进行归一化处理，再根据配置的权重系数影响因子进行加权运算，得到Ta和Tb。For example, the above formula can first normalize the above influence factors, and then perform a weighting operation according to the configured weight coefficient influence factors to obtain T a and T b .
网格k是否有历史位置信息可以为其他终端设备在网格k的历史位置信息，或者当前终端在网格k 的历史位置信息。Whether grid k has historical location information can be the historical location information of other terminal devices in grid k, or the current terminal is in grid k historical location information.
考虑到不同网格内信号射频指纹设备分布位置，射频信号的覆盖范围的不同，为网格选择采样频率等级。例如，地铁线路地上线路的射频信号覆盖范围更大，应该设置较高的采样频率；地下线路的射频信号覆盖范围较小，应该设置较小的采样频率。Taking into account the distribution location of signal RF fingerprint devices in different grids and the differences in coverage of RF signals, the sampling frequency level is selected for the grid. For example, if the radio frequency signal coverage of the above-ground subway line is larger, a higher sampling frequency should be set; if the radio frequency signal coverage of the underground line is smaller, a smaller sampling frequency should be set.
也就是说，根据历史定位结果和地铁运行规律，设计数据采集策略，可大幅缩短量测次数及频率，节省终端功耗。如图4所示，“网络1”起始位置到“开始定位”时间段内，终端设备在网格1内处于运行阶段，终端可停止数据采集和定位，减少功耗的同时且不影响定位精度。当终端移动到网格1和网格2的连接处时，即快要执行网格切换时，可以开始数据采集和定位，提供定位服务。例如，对于地铁运行线路执行网格切换表示地铁快要进站，终端向用户提供到站提醒服务。In other words, designing a data collection strategy based on historical positioning results and subway operation rules can significantly shorten the number and frequency of measurements and save terminal power consumption. As shown in Figure 4, during the period from the starting position of "Network 1" to "Start positioning", the terminal device is in the operating stage in Grid 1. The terminal can stop data collection and positioning, reducing power consumption without affecting positioning. Accuracy. When the terminal moves to the connection between grid 1 and grid 2, that is, when the grid switch is about to be performed, data collection and positioning can be started to provide positioning services. For example, performing grid switching on a subway line indicates that the subway is about to arrive at the station, and the terminal provides an arrival reminder service to the user.
步骤104：根据所述射频指纹数据和所述数据库中的射频指纹样本数据对所述终端设备进行定位，得到第一定位结果，其中，所述第一定位结果中包括所述终端设备所在网格的网格信息。Step 104: Position the terminal device according to the radio frequency fingerprint data and the radio frequency fingerprint sample data in the database to obtain a first positioning result, where the first positioning result includes the grid where the terminal device is located. grid information.
在一些实施例中，所述根据所述射频指纹数据和所述数据库中的射频指纹样本数据对所述终端设备进行定位，包括：将所述射频指纹数据与所述数据库中的射频指纹样本数据进行匹配，确定匹配值大于第一匹配门限值的至少一个射频指纹样本数据；将所述至少一个射频指纹样本数据对应的网格信息和匹配值作为所述第一定位结果。示例性的，网格信息包括：网格标识和运行线路标识。匹配值的计算方法可以采用欧式距离，余弦距离，相似度系数等方案。In some embodiments, positioning the terminal device based on the radio frequency fingerprint data and the radio frequency fingerprint sample data in the database includes: comparing the radio frequency fingerprint data with the radio frequency fingerprint sample data in the database. Matching is performed to determine at least one radio frequency fingerprint sample data whose matching value is greater than the first matching threshold value; and the grid information and matching value corresponding to the at least one radio frequency fingerprint sample data are used as the first positioning result. For example, the grid information includes: grid identification and running line identification. The matching value calculation method can use Euclidean distance, cosine distance, similarity coefficient and other schemes.
在一些实施例中，所述第一定位结果还包括定位时间戳，定位时间戳可以是射频指纹数据的采集时间戳。在一些实施例中，获取终端采集的多个时刻的射频指纹数据，将每个时刻的射频指纹数据和数据库中的射频指纹样本数据进行匹配，多个时刻的定位结果，即第一定位结果可能包括多个时刻终端所在网格的网格信息。在一些实施例中，获取终端采集的多个时刻的射频指纹数据，得到多个时刻的定位结果，根据多个时刻的定位结果进一步确定终端最近时刻的定位结果作为第一定位结果。In some embodiments, the first positioning result also includes a positioning time stamp, which may be a collection time stamp of radio frequency fingerprint data. In some embodiments, the radio frequency fingerprint data collected by the terminal at multiple times is obtained, and the radio frequency fingerprint data at each time is matched with the radio frequency fingerprint sample data in the database. The positioning results at multiple times, that is, the first positioning result may be Includes grid information of the grid where the terminal is located at multiple times. In some embodiments, radio frequency fingerprint data collected by the terminal at multiple times are obtained to obtain positioning results at multiple times, and the positioning result at the latest time of the terminal is further determined as the first positioning result based on the positioning results at multiple times.
所述得到第一定位结果之后，所述方法还包括：所述第一定位结果为所述终端设备进入到车辆后的第一个定位结果时，从所述第一定位结果中获取所述终端设备最后一次定位到第一网格的第一定位时间戳，以及所述终端设备初次定位到第二网格的第二定位时间戳；其中，所述第一网格和第二网格为相邻网格；根据所述第一定位时间戳和所述第二定位时间戳，确定所述终端设备从所述第一网格进入到所述第二网格时的切换时间戳；将所述第二网格的切换时间戳添加到所述第一定位结果中，得到第二定位结果。After obtaining the first positioning result, the method further includes: when the first positioning result is the first positioning result after the terminal device enters the vehicle, obtaining the terminal from the first positioning result. The first positioning timestamp of the last time the device positioned to the first grid, and the second positioning timestamp of the first time the terminal device positioned to the second grid; wherein the first grid and the second grid are the same. adjacent grid; determine the switching timestamp when the terminal device enters the second grid from the first grid according to the first positioning timestamp and the second positioning timestamp; convert the The switching timestamp of the second grid is added to the first positioning result to obtain a second positioning result.
示例性的，将第一定位时间戳和第二定位时间戳的中间时间作为从第一网格进入到第二网格时的切换时间戳。如图5所示，t1时刻为最后一次定位到网格1的时间戳，t2时刻为初定位到网格2的时间戳，若无历史网格切换定位结果，则可以将t1时刻和t2时刻的中间时刻ts2＝(t1+t2)/2，作为首次网格切换定位结果中网格2的切换时间戳，也可以理解称为进入网格2的时间戳。For example, the intermediate time between the first positioning timestamp and the second positioning timestamp is used as the switching timestamp when entering from the first grid to the second grid. As shown in Figure 5, time t1 is the timestamp of the last positioning to grid 1, and time t2 is the timestamp of the initial positioning to grid 2. If there is no historical grid switching positioning result, time t1 and time t2 can be The intermediate time ts2=(t1+t2)/2, as the switching timestamp of grid 2 in the first grid switching positioning result, can also be understood as the time stamp of entering grid 2.
或者，所述得到第一定位结果之后，所述方法还包括：所述第一定位结果不为所述终端设备进入到车辆后的第一个定位结果时，获取所述终端设备的历史定位结果；从所述历史定位结果，获取第一网格的切换时间戳、平均运行时间、最大运行时间和最小运行时间；从所述第一定位结果中获取所述终端设备初次定位到第二网格的第二定位时间戳；根据所述第一网格的切换时间戳、平均运行时间、最大运行时间和最小运行时间，以及所述第二网格的第二定位时间戳，确定所述终端设备从所述第一网格进入到所述第二网格时的切换时间戳；将所述第二网格时的切换时间戳添加到所述第一定位结果中，得到第二定位结果。Alternatively, after obtaining the first positioning result, the method further includes: when the first positioning result is not the first positioning result after the terminal device enters the vehicle, obtaining the historical positioning result of the terminal device. ; Obtain the switching timestamp, average running time, maximum running time and minimum running time of the first grid from the historical positioning result; Obtain the first positioning of the terminal device to the second grid from the first positioning result the second positioning timestamp; determine the terminal device according to the switching timestamp, average running time, maximum running time and minimum running time of the first grid, and the second positioning timestamp of the second grid The switching timestamp when entering from the first grid to the second grid; the switching timestamp when the second grid is added to the first positioning result to obtain a second positioning result.
示例性的，如图6所示，若有历史定位结果，记进入网格1的切换时间戳为ts1，记网格1的平均运行时间为Tavg1，网格1的最大运行时间为Tmax1，网格1的最小运行时间为Tmin1，则进入网格2的切换时间戳为：ts2＝f(Tavg1,Tmax1,Tmin1,t1,t2)，通过该优化算法，可使ts2更逼近真实网格切换时间戳。示例性的，根据ts1和Tavg1出离开网格1的时间戳t1，得到t1时刻和t2时刻的中间时刻ts2＝(t1+t2)/2，利用Tmax1和Tmin1对中间时刻进行约束，得到更准确的网格2的切换时间戳。For example, as shown in Figure 6, if there are historical positioning results, the switching timestamp of entering grid 1 is recorded as ts1, the average running time of grid 1 is Tavg1, the maximum running time of grid 1 is Tmax1, and the network The minimum running time of grid 1 is Tmin1, then the switching timestamp of entering grid 2 is: ts2 = f (Tavg1, Tmax1, Tmin1, t1, t2). Through this optimization algorithm, ts2 can be closer to the real grid switching time. stamp. For example, according to ts1 and Tavg1, the timestamp t1 of leaving grid 1 is obtained, and the intermediate time ts2=(t1+t2)/2 between t1 and t2 is obtained. Tmax1 and Tmin1 are used to constrain the intermediate time to obtain a more accurate The switching timestamp of grid 2.
本申请实施例中，为了提高定位精度，在得到第一定位结果之后，还可以进行二次定位，得到第二定位结果。In the embodiment of the present application, in order to improve the positioning accuracy, after obtaining the first positioning result, a second positioning can be performed to obtain the second positioning result.
进一步地，该方法还包括：根据车辆运行时间规律和第二定位结果中网格的切换时间戳，确定终端设备所在网格的网格信息。可以理解的是，当终端设备的网格切换时间符合车辆运行时间规律时，表明定位结果准确，车辆运行时间规律对定位结果进行约束，能够筛选掉干扰定位结果，确定终端实际所在网格。Further, the method also includes: determining the grid information of the grid where the terminal device is located based on the vehicle running time pattern and the switching timestamp of the grid in the second positioning result. It can be understood that when the grid switching time of the terminal device conforms to the vehicle running time pattern, it indicates that the positioning result is accurate. The vehicle running time pattern constrains the positioning result, can filter out interfering positioning results, and determine the actual grid of the terminal.
在一些实施例中，所述根据所述射频指纹数据和所述数据库中的射频指纹样本数据对所述终端设备进行定位，包括：将所述终端设备本次采集的射频指纹数据和上一次采集的射频指纹数据进行匹配，得到匹配值；所述匹配值大于或者等于第二匹配门限值，忽略本次采集的射频指纹数据；所述匹配值小于 所述第二匹配门限值，根据所述射频指纹数据和所述数据库中的射频指纹样本数据对所述终端设备进行定位。In some embodiments, positioning the terminal device based on the radio frequency fingerprint data and the radio frequency fingerprint sample data in the database includes: combining the radio frequency fingerprint data collected this time by the terminal device and the last time it was collected. The radio frequency fingerprint data is matched to obtain a matching value; the matching value is greater than or equal to the second matching threshold value, and the radio frequency fingerprint data collected this time is ignored; the matching value is less than The second matching threshold is used to locate the terminal device according to the radio frequency fingerprint data and the radio frequency fingerprint sample data in the database.
可以理解的是，在利用射频指纹数据进行定位之前，可以先判断射频指纹数据的有效性，即将本次采集的射频指纹数据和上一次采集的射频指纹数据的进行匹配，得到表征二者相似性的匹配值。当匹配值大于或者等于第二匹配门限值时，表明终端位置不变，可以忽略本次采集的射频指纹数据；当匹配值小于第二匹配门限值时，表明终端位置变化，可以利对本次采集的射频指纹数据进行定位处理。从而删除容易数据，提高数据处理效率。It is understandable that before using radio frequency fingerprint data for positioning, you can first determine the validity of the radio frequency fingerprint data, that is, match the radio frequency fingerprint data collected this time with the radio frequency fingerprint data collected last time to obtain a representation of the similarity between the two. matching value. When the matching value is greater than or equal to the second matching threshold value, it indicates that the terminal position has not changed, and the RF fingerprint data collected this time can be ignored; when the matching value is less than the second matching threshold value, it indicates that the terminal position has changed, and the RF fingerprint data collected this time can be ignored. The radio frequency fingerprint data collected this time is processed for positioning. Thereby deleting easy data and improving data processing efficiency.
在一些实施例中，本申请实施例提供的定位方法应用于终端设备或云端设备。当应用于终端设备时，所述根据所述射频指纹数据和所述数据库中的射频指纹样本数据对所述终端设备进行定位，得到第一定位结果，包括：发送所述射频指纹数据给云端设备，以使所述云端设备根据所述射频指纹数据和所述数据库中的射频指纹样本数据对所述终端设备进行定位，得到第一定位结果；接收所述云端设备发送的所述第一定位结果。In some embodiments, the positioning method provided by the embodiments of this application is applied to terminal devices or cloud devices. When applied to a terminal device, positioning the terminal device according to the radio frequency fingerprint data and the radio frequency fingerprint sample data in the database to obtain a first positioning result includes: sending the radio frequency fingerprint data to a cloud device , so that the cloud device locates the terminal device according to the radio frequency fingerprint data and the radio frequency fingerprint sample data in the database to obtain a first positioning result; and receives the first positioning result sent by the cloud device .
在上述实施例中，对本申请实施例进一步地的举例说明。In the above embodiments, the embodiments of the present application are further illustrated with examples.
图7为本申请实施例中端云协同定位方法的第一流程示意图，如图7所示，该方法包括：Figure 7 is a first flow diagram of the device-cloud collaborative positioning method in the embodiment of the present application. As shown in Figure 7, the method includes:
S1：获取地铁关联信息；S1: Obtain subway related information;
这里，以地铁定位为例进行举例说明，地铁关联信息用于调整采集策略。示例性的，地铁关联信息包括地铁运行时刻表，地铁车站位置，车站停靠时间，站间运行时间，运行线路位置等。Here, subway positioning is taken as an example. Subway related information is used to adjust the collection strategy. For example, the subway related information includes subway operation timetable, subway station location, station stop time, inter-station operation time, operation line location, etc.
S2：调整采集策略，基于采集策略采集射频指纹数据；S2: Adjust the collection strategy and collect radio frequency fingerprint data based on the collection strategy;
S3：射频指纹数据相似度判断，匹配值大于第二匹配门限值；如果是，执行S4；如果否，返回S2；S3: RF fingerprint data similarity judgment, the matching value is greater than the second matching threshold; if yes, execute S4; if not, return to S2;
这里，将本次采集的射频指纹数据和上一次采集的射频指纹数据进行匹配，得到表征二者相似性的匹配值。当匹配值大于或者等于第二匹配门限值时，表明终端位置不变，可以忽略本次采集的射频指纹数据；当匹配值小于第二匹配门限值时，表明终端位置变化，可以利对本次采集的射频指纹数据进行定位处理。从而删除容易数据，提高数据处理效率。Here, the radio frequency fingerprint data collected this time is matched with the radio frequency fingerprint data collected last time to obtain a matching value that represents the similarity between the two. When the matching value is greater than or equal to the second matching threshold value, it indicates that the terminal position has not changed, and the RF fingerprint data collected this time can be ignored; when the matching value is less than the second matching threshold value, it indicates that the terminal position has changed, and the RF fingerprint data collected this time can be ignored. The radio frequency fingerprint data collected this time is processed for positioning. Thereby deleting easy data and improving data processing efficiency.
S4：发送射频指纹数据给云端设备，请求云端设备使用分类算法进行定位并返回第一定位结果；S4: Send radio frequency fingerprint data to the cloud device, request the cloud device to use the classification algorithm for positioning and return the first positioning result;
具体地，基于分类算法将射频指纹数据和数据库中的射频指纹样本数据进行匹配，确定匹配值大于第一匹配门限值的至少一个射频指纹样本数据；将所述至少一个射频指纹样本数据对应的网格信息和匹配值作为所述第一定位结果。Specifically, the radio frequency fingerprint data is matched with the radio frequency fingerprint sample data in the database based on the classification algorithm, and at least one radio frequency fingerprint sample data whose matching value is greater than the first matching threshold value is determined; and the at least one radio frequency fingerprint sample data corresponding to the Grid information and matching values are used as the first positioning result.
示例性的，第一定位结果包括：网格标识(网格ID)，运行线路标识(运行线路)和匹配值等。For example, the first positioning result includes: grid identification (grid ID), operating line identification (operating line), matching value, etc.
在另一些实施例中，图8为本申请实施例中端定位方法的第一流程示意图，如图8所示，终端设备使用分类算法将基于分类算法将射频指纹数据和数据库中的射频指纹样本数据进行匹配，确定匹配值大于第一匹配门限值的至少一个射频指纹样本数据；将所述至少一个射频指纹样本数据对应的网格信息和匹配值作为所述第一定位结果。也就是说，可以采用端云协同定位方案实现定位，也可以采用端定位方案实现定位。In other embodiments, Figure 8 is a schematic flow chart of the first positioning method in the embodiment of the present application. As shown in Figure 8, the terminal device uses a classification algorithm to combine the radio frequency fingerprint data and the radio frequency fingerprint samples in the database based on the classification algorithm. Match the data to determine at least one radio frequency fingerprint sample data whose matching value is greater than the first matching threshold value; use the grid information and matching value corresponding to the at least one radio frequency fingerprint sample data as the first positioning result. In other words, positioning can be achieved using a device-cloud collaborative positioning solution, or a device positioning solution can be used to achieve positioning.
S5：终端设备进行二次定位并得到第二定位结果；S5: The terminal device performs secondary positioning and obtains the second positioning result;
示例性的，第二定位结果包括：网格标识(网格ID)，网格切换时间戳Ts，运行线路标识(运行线路)和匹配值等。For example, the second positioning result includes: grid identification (grid ID), grid switching timestamp Ts, operating line identification (operating line), matching value, etc.
S6：是否结束定位流程；如果是，结束；如果否，返回S2。S6: Whether to end the positioning process; if yes, end; if no, return to S2.
示例性的，当检测到终端设备下车后确定结束定位流程，或者，当终端设备接收到地铁定位功能关闭指令时确定结束定位流程。For example, the positioning process is determined to end when it is detected that the terminal device gets off the vehicle, or the positioning process is determined to end when the terminal device receives a subway positioning function closing instruction.
实际应用中，终端设备进入车辆之后该方法还包括根据定位结果确定终端行进方向。In practical applications, after the terminal device enters the vehicle, the method also includes determining the terminal's traveling direction based on the positioning result.
图9为本申请实施例中端云协同定位方法的第二流程示意图，如图9所示，该方法包括：Figure 9 is a second flow diagram of the device-cloud collaborative positioning method in the embodiment of the present application. As shown in Figure 9, the method includes:
S1：获取地铁关联信息；S1: Obtain subway related information;
S2：调整采集策略，基于采集策略采集射频指纹数据；S2: Adjust the collection strategy and collect radio frequency fingerprint data based on the collection strategy;
S3：射频指纹数据相似度判断，匹配值大于第二匹配门限值；如果是，执行S4；如果否，返回S2；S3: RF fingerprint data similarity judgment, the matching value is greater than the second matching threshold; if yes, execute S4; if not, return to S2;
S4：发送射频指纹数据给云端设备，请求云端设备使用分类算法进行定位并返回第一定位结果；S4: Send radio frequency fingerprint data to the cloud device, request the cloud device to use the classification algorithm for positioning and return the first positioning result;
S5：终端设备进行二次定位并得到第二定位结果；S5: The terminal device performs secondary positioning and obtains the second positioning result;
S6：利用定位结果判断行进方向是否成功；如果是，得到行进方向；如果否，返回S2。S6: Use the positioning result to determine whether the traveling direction is successful; if yes, obtain the traveling direction; if not, return to S2.
示例性的，终端设备判断行进方向需要统计历史定位结果，如果历史定位结果中包含连续3个网格，则视为行进方向判定成功，且根据连续3个网格的时间戳信息确定终端设备的行进方向是从A到B，还是从B到A。通过该方案可以有效判断终端是否在行进的列车上，筛选掉其它异常终端设备，比如：1)长时间停留在地铁的终端设备；2)在站台等待列车的终端设备；3)地铁沿线的终端设备。For example, the terminal device needs to count the historical positioning results to determine the direction of travel. If the historical positioning results include three consecutive grids, it is deemed that the determination of the direction of travel is successful, and the terminal device is determined based on the timestamp information of the three consecutive grids. The direction of travel is from A to B or from B to A. This solution can effectively determine whether the terminal is on a moving train and filter out other abnormal terminal equipment, such as: 1) terminal equipment staying in the subway for a long time; 2) terminal equipment waiting for the train on the platform; 3) terminal equipment along the subway line equipment.
相应的，图10为本申请实施例中端定位方法的第二流程示意图。如图10所示，完全由终端设备自 身实现定位和行进方向判断。Correspondingly, FIG. 10 is a second schematic flowchart of the end positioning method according to the embodiment of the present application. As shown in Figure 10, it is entirely up to the terminal device to Realize positioning and direction of travel.
这样，根据运行线路特征将车辆运行线路进行网格化，保存每个网格的射频指纹样本数据，结合终端设备实际采集的射频指纹数据进行定位，确定终端设备所在网格的网格信息，实现终端设备在地铁、高铁、高速等特殊移动场景下的定位功能。另外，还可以根据运行线路特征设计数据采集策略，对于定位需求低的地方降低采集频率，对于定位需求高的地方提高采集频率，在保证定位需求和定位精度的基础上，减少定位带来的功耗。In this way, the vehicle operating route is gridded according to the operating route characteristics, the radio frequency fingerprint sample data of each grid is saved, and the radio frequency fingerprint data actually collected by the terminal device is used for positioning, and the grid information of the grid where the terminal device is located is determined to achieve The positioning function of terminal equipment in special mobile scenarios such as subways, high-speed rails, and highways. In addition, a data collection strategy can also be designed based on the characteristics of the operating line. The collection frequency can be reduced in places with low positioning requirements, and the collection frequency can be increased in places with high positioning requirements. On the basis of ensuring the positioning requirements and positioning accuracy, the power brought by positioning can be reduced. Consumption.
本申请实施例还提供了另一种定位方法，图11为本申请实施例中定位方法的第二流程示意图，如图11所示，该方法具体可以包括：The embodiment of the present application also provides another positioning method. Figure 11 is a second flow diagram of the positioning method in the embodiment of the present application. As shown in Figure 11, the method may specifically include:
步骤1101：对车辆运行线路进行网格化划分得到多个网格，其中，每个网格对应所述运行线路上一段子路线；Step 1101: Grid the vehicle operating route to obtain multiple grids, where each grid corresponds to a sub-route on the operating route;
公共运营车辆一般设计有固定的运行线路，停靠站台、运行时刻表等运行特征对运行线路进行网格化，得到不同类型的网格。进一步的，还可以根据不同类型的网格定位需求设计不同的定位策略。Public operating vehicles are generally designed with fixed operating routes. Operating characteristics such as docking stations and operating schedules grid the operating routes to obtain different types of grids. Furthermore, different positioning strategies can be designed according to different types of grid positioning requirements.
在一些实施例中，所述对车辆运行线路进行网格化划分得到多个网格，包括：根据所述运行线路上车辆停靠的站台位置和车辆运行的站间位置，将所述运行线路划分为站台网格和站间网格，得到多个网格。如图2所示，运行线路包括：网格1，网格2，…，网格7，阴影块为站台网格，实线为站间网格。In some embodiments, the grid division of the vehicle operation line to obtain multiple grids includes: dividing the operation line according to the platform positions where the vehicles stop on the operation line and the inter-station positions of the vehicle operation. For the station grid and the inter-station grid, multiple grids are obtained. As shown in Figure 2, the operating lines include: Grid 1, Grid 2,..., Grid 7. The shaded blocks are the station grids and the solid lines are the inter-station grids.
对于地铁和高铁这类型车辆，停靠站台位置区域较大，可以按照停靠站台和站间物理空间划分为不同网格。在一些是实施例中，结合无线环境特征，需要将站台-站间连接处部分物理空间置划分到站台网格中，以利于区分无线环境。For vehicles such as subways and high-speed rails, the parking platform area is larger and can be divided into different grids according to the parking platform and the physical space between stations. In some embodiments, combined with the characteristics of the wireless environment, it is necessary to divide part of the physical space of the station-inter-station connection into a station grid to facilitate differentiation of the wireless environment.
在一些实施例中，所述对车辆运行线路进行网格化划分得到多个网格，包括：根据标准的网格划分方式将运行线路均分为多个网格。即可以采用一种最简单的划分方式将运行线路划分为长度相等的多个网格。In some embodiments, the gridding of the vehicle operating line to obtain multiple grids includes: dividing the operating line into multiple grids according to a standard grid dividing method. That is, the simplest division method can be used to divide the running line into multiple grids of equal length.
步骤1102：获取所述多个网格的网格信息和第一状态序列，并保存到数据库中；其中，所述第一状态序列包括车辆在不同网格内的运行时间；Step 1102: Obtain the grid information and the first state sequence of the multiple grids, and save them in the database; wherein the first state sequence includes the running time of the vehicle in different grids;
实际应用中，网格划分后根据车辆的运行时刻表和历史运行规律等信息，可以确定车辆在不同网格内的运行时间。这里，运行时间具体为车辆处于静止状态时的停靠时间或者车辆处于运行状态时的运行时间。示例性的，网格1停靠时间为T1，网格2运行时间为T2，网格3停靠时间为T3，网格4运行时间为T4，…，第一状态序列记为【s：T1，m：T2，s：T3，m：T4，…】。In practical applications, after grid division, the running time of vehicles in different grids can be determined based on the vehicle's operating schedule and historical operating rules and other information. Here, the running time is specifically the parking time when the vehicle is in a stationary state or the running time when the vehicle is in a running state. For example, the docking time of grid 1 is T1, the running time of grid 2 is T2, the docking time of grid 3 is T3, the running time of grid 4 is T4,..., the first state sequence is recorded as [s: T1, m :T2, s: T3, m: T4,…].
步骤1103：获取所述终端设备基于预设的数据采集策略采集的定位数据；Step 1103: Obtain the positioning data collected by the terminal device based on the preset data collection strategy;
其中，所述射频指纹数据和所述射频指纹样本数据为射频指纹设备发送的数据。示例性的，所述射频指纹设备包括以下至少之一：基站、Wi-Fi设备、蓝牙设备、UWB设备、超声波设备。也就是说，终端设备通过接收周围射频指纹设备发送的射频信号，根据射频信号中携带的射频指纹数据进行定位。Wherein, the radio frequency fingerprint data and the radio frequency fingerprint sample data are data sent by a radio frequency fingerprint device. Exemplarily, the radio frequency fingerprint device includes at least one of the following: a base station, a Wi-Fi device, a Bluetooth device, a UWB device, and an ultrasonic device. That is to say, the terminal device receives radio frequency signals sent by surrounding radio frequency fingerprint devices and locates the location based on the radio frequency fingerprint data carried in the radio frequency signals.
示例性的，数据采集策略包括采样周期、采样窗口和采样频率。根据运行线路特征设计数据采集策略，对于定位需求低的地方缩短采样窗口或者降低采集频率，对于定位需求高的地方延长采样窗口或者提高采集频率，在保证定位需求和定位精度的基础上，减少定位带来的功耗。For example, the data collection strategy includes sampling period, sampling window and sampling frequency. Design a data collection strategy based on the characteristics of the operating line. For places with low positioning needs, shorten the sampling window or reduce the collection frequency. For places with high positioning needs, extend the sampling window or increase the collection frequency. On the basis of ensuring positioning needs and positioning accuracy, reduce positioning brought power consumption.
在一些实施例中，该方法还包括：获取所述运行线路的运行信息，以及网格的历史定位结果；其中，所述运行信息包括以下至少之一：车辆在网格内的运行时间，车辆在网格内的停留时间，网格内网络的服务质量，网格所处环境，当前***时间；根据所述运行信息和所述网格的历史定位结果确定数据采集策略，其中，所述数据采集策略包括采集周期、采集窗口和采集频率。In some embodiments, the method further includes: obtaining operating information of the operating line and historical positioning results of the grid; wherein the operating information includes at least one of the following: vehicle operating time within the grid, vehicle The residence time in the grid, the service quality of the network in the grid, the environment in which the grid is located, and the current system time; the data collection strategy is determined based on the operation information and the historical positioning results of the grid, wherein the data The collection strategy includes collection period, collection window and collection frequency.
具体地，使用Ta(采样周期)、Tb(采样窗口)、Fk(采样频率)三个参数动态采集射频指纹数据，通过调整Ta/Tb/Fk三个参数，提升射频指纹定位性能，节省采集数据带来的功耗。Specifically, three parameters Ta ( sampling period), T b (sampling window), and F k (sampling frequency) are used to dynamically collect radio frequency fingerprint data. By adjusting the three parameters Ta / T b / F k , the radio frequency fingerprint is improved . Positioning performance, saving power consumption caused by collecting data.
如图3所示，网格k对应的Ta和Tb受多个因素影响，主要为地铁线路信息、网路的服务质量(Quality of Service，QoS)信息、历史位置信息等。本方案可以通过这些影响因子进一步动态调整采样周期、采样窗口和采样频率，在保证定位精度的基础上，减少定位功耗。As shown in Figure 3, T a and T b corresponding to grid k are affected by multiple factors, mainly subway line information, network quality of service (QoS) information, historical location information, etc. This solution can further dynamically adjust the sampling period, sampling window and sampling frequency through these influencing factors to reduce positioning power consumption while ensuring positioning accuracy.
示例性的，Ta(k)＝f(Mk,Qk,Lk,Gk,Fk,t)，For example, T a (k) = f (M k , Q k , L k , G k , F k , t),
Tb(k)＝f(Mk,Qk,Lk,Gk,Fk,t)，T b (k) = f (M k , Q k , L k , G k , F k , t),
Mk：网格k的运行或停留时间，M k : running or dwell time of grid k,
Qk：网格k包含的QoS信息，Q k : QoS information contained in grid k,
Lk：网格k是否有历史位置信息，L k : Whether grid k has historical location information,
Gk：网格k为地上或地下路段，G k : Grid k is an above-ground or underground section,
Fk：可选择{1,2,3,4,5}5个等级，单位为秒，采样频率，F k : 5 levels can be selected: {1, 2, 3, 4, 5}, unit is second, sampling frequency,
t：当前***时间，区分高峰和非高峰时段。t: Current system time, distinguishing between peak and off-peak hours.
示例性的，上述公式可以先对上述影响因子先进行归一化处理，再根据配置的权重系数影响因子进 行加权运算，得到Ta和Tb。For example, the above formula can first normalize the above influence factors, and then perform calculation according to the configured weight coefficient influence factors. Perform weighting operation to obtain T a and T b .
网格k是否有历史位置信息可以为其他终端设备在网格k的历史位置信息，或者当前终端在网格k的历史位置信息。Whether grid k has historical location information can be the historical location information of other terminal devices in grid k, or the historical location information of the current terminal in grid k.
考虑到不同网格内信号射频指纹设备分布位置，射频信号的覆盖范围的不同，为网格选择采样频率等级。例如，地铁线路地上线路的射频信号覆盖范围更大，应该设置较高的采样频率；地下线路的射频信号覆盖范围较小，应该设置较小的采样频率。Taking into account the distribution location of signal RF fingerprint devices in different grids and the differences in coverage of RF signals, the sampling frequency level is selected for the grid. For example, if the radio frequency signal coverage of the above-ground subway line is larger, a higher sampling frequency should be set; if the radio frequency signal coverage of the underground line is smaller, a smaller sampling frequency should be set.
也就是说，根据历史定位结果和地铁运行规律，设计数据采集策略，可大幅缩短量测次数及频率，节省终端功耗。如图4所示，“网络1”起始位置到“开始定位”时间段内，终端设备在网格1内处于运行阶段，终端可停止数据采集和定位，减少功耗的同时且不影响定位精度。当终端移动到网格1和网格2的连接处时，即快要执行网格切换时，可以开始数据采集和定位，提供定位服务。例如，对于地铁运行线路执行网格切换表示地铁快要进站，终端向用户提供到站提醒服务。In other words, designing a data collection strategy based on historical positioning results and subway operation rules can significantly shorten the number and frequency of measurements and save terminal power consumption. As shown in Figure 4, during the time period from the starting position of "Network 1" to "Start positioning", the terminal device is in the operating stage in Grid 1. The terminal can stop data collection and positioning, reducing power consumption without affecting positioning. Accuracy. When the terminal moves to the connection between grid 1 and grid 2, that is, when the grid switch is about to be performed, data collection and positioning can be started to provide positioning services. For example, performing grid switching on a subway line indicates that the subway is about to arrive at the station, and the terminal provides an arrival reminder service to the user.
步骤1104：根据所述定位数据确定所述终端设备的第二状态序列；其中，所述第二状态序列包括所述终端设备在不同状态下的持续时间；Step 1104: Determine a second state sequence of the terminal device according to the positioning data; wherein the second state sequence includes the duration of the terminal device in different states;
这里，终端设备的状态包括静止状态和运行状态。所述定位数据用于判断终端设备处于静止状态以及处于静止状态的持续时间，或用于判断终端设备处于移动状态以及处于移动状态的持续时间。Here, the state of the terminal device includes a static state and a running state. The positioning data is used to determine that the terminal device is in a stationary state and the duration of the stationary state, or is used to determine that the terminal device is in a moving state and the duration of the mobile state.
在一些实施例中，所述根据所述定位数据确定所述终端设备的第二状态序列，包括：第一时刻的定位数据满足静止条件时，确定所述终端设备在所述第一时刻处于静止状态；所述第一时刻的定位数据不满足静止条件时，确定所述终端设备在所述第一时刻处于移动状态；统计所述预设时间段内不同时刻所述终端设备的状态信息，确定所述第二状态序列。In some embodiments, determining the second state sequence of the terminal device based on the positioning data includes: determining that the terminal device is stationary at the first moment when the positioning data at the first moment satisfies the stationary condition. status; when the positioning data at the first moment does not meet the stationary condition, determine that the terminal device is in a moving state at the first moment; count the status information of the terminal device at different moments within the preset time period, and determine The second state sequence.
示例性的，终端设备在预设时间段内采集多个时刻的定位数据，根据多个时刻的定位数据，确定每个时刻对应的终端状态，进一步统计预设时间段内终端设备的在静止状态和/或移动状态的持续时间。Exemplarily, the terminal device collects positioning data at multiple moments within a preset time period, determines the terminal status corresponding to each moment based on the positioning data at multiple moments, and further collects statistics on the stationary state of the terminal device within the preset time period. and/or the duration of the movement state.
在一些实施例中，所述定位数据包括射频指纹设备发送的射频指纹数据，其中，所述射频指纹数据包括射频指纹设备标识和射频信号强度；In some embodiments, the positioning data includes radio frequency fingerprint data sent by a radio frequency fingerprint device, wherein the radio frequency fingerprint data includes a radio frequency fingerprint device identification and radio frequency signal strength;
所述静止条件包括：所述第一时刻的射频指纹设备标识和前一时刻的射频指纹设备标识相同，且所述第一时刻的射频信号强度和前一时刻射频信号强度的差值小于强度门限值。The static condition includes: the radio frequency fingerprint device identification at the first moment is the same as the radio frequency fingerprint device identification at the previous moment, and the difference between the radio frequency signal intensity at the first moment and the radio frequency signal intensity at the previous moment is less than the intensity threshold. limit.
示例性的，射频指纹数据包括：服务小区的小区标识(Cell ID，cid)、物理小区标识(physical cell id，pci)、频点和参考信号接收功率(Reference Signal Receiving Power，RSRP)。第一时刻和前一时刻的服务小区的cid、pci和频点不变，且RSRP差值小于30dB。Exemplarily, the radio frequency fingerprint data includes: cell ID (Cell ID, cid), physical cell ID (physical cell ID, pci), frequency point and reference signal receiving power (Reference Signal Receiving Power, RSRP) of the serving cell. The cid, pci and frequency of the serving cell at the first moment and the previous moment remain unchanged, and the RSRP difference is less than 30dB.
在一些实施例中，所述定位数据包括加速度；所述静止条件包括：所述第一时刻的加速度小于加速度门限值。In some embodiments, the positioning data includes acceleration; the stationary condition includes: the acceleration at the first moment is less than an acceleration threshold.
在一些实施例中，所述定位数据包括射频指纹数据和加速度；所述静止条件包括：第一条件和第二条件；In some embodiments, the positioning data includes radio frequency fingerprint data and acceleration; the stationary conditions include: a first condition and a second condition;
第一条件为：所述第一时刻的射频指纹设备标识和前一时刻的射频指纹设备标识相同，且所述第一时刻的射频信号强度和前一时刻射频信号强度的差值小于强度门限值；The first condition is: the radio frequency fingerprint device identification at the first moment is the same as the radio frequency fingerprint device identification at the previous moment, and the difference between the radio frequency signal intensity at the first moment and the radio frequency signal intensity at the previous moment is less than the intensity threshold. value;
第二条件为：所述第一时刻的加速度小于加速度门限值。The second condition is: the acceleration at the first moment is less than the acceleration threshold.
也就是说，还可以通过射频指纹数据和/或加速度来同时判断终端设备的状态(静止状态或者移动状态)，记录一段时间内终端不同状态的持续时间；比如移动50s，静止60s，移动100s，静止70s,移动125s,静止55s，移动90s,静止62s，则终端的第二状态序列可以标记为:【m:50，s：60，m:100，s:70，m:125，s:55，m:90，s:62】，其中m表示运动，s表示静止。That is to say, the state of the terminal device (stationary state or moving state) can also be determined simultaneously through radio frequency fingerprint data and/or acceleration, and the duration of different states of the terminal within a period of time is recorded; for example, moving for 50s, stationary for 60s, and moving for 100s. Stationary for 70s, moving for 125s, stationary for 55s, moving for 90s, and stationary for 62s, then the terminal’s second state sequence can be marked as: [m:50, s:60, m:100, s:70, m:125, s:55 , m:90, s:62], where m represents motion and s represents rest.
图12为本申请实施例中状态序列示意图，如图12所示，车辆在不同网格的运动规律为，网格1停靠时间为T1，网格2运行时间为T2，网格3停靠时间为T3，…，第一状态序列记为【s：T1，m：T2，s：T3，…】。Figure 12 is a schematic diagram of the state sequence in the embodiment of the present application. As shown in Figure 12, the movement rules of vehicles in different grids are: the parking time of grid 1 is T1, the running time of grid 2 is T2, and the parking time of grid 3 is T3,..., the first state sequence is recorded as [s: T1, m: T2, s: T3,...].
终端设备在不同状态的持续时间为，静止时间为t1，运动时间为t2，静止时间为t3，第二状态序列记为【s：t1，m：t2，s：t3，…】。The duration of the terminal equipment in different states is: stationary time is t1, movement time is t2, stationary time is t3, and the second state sequence is recorded as [s: t1, m: t2, s: t3,...].
步骤1105：根据所述数据库中的第一状态序列和所述终端设备的第二状态序列对所述终端设备进行定位，得到第一定位结果；其中，所述第一定位结果中包括所述终端设备所在网格的网格信息。Step 1105: Position the terminal device according to the first status sequence in the database and the second status sequence of the terminal device to obtain a first positioning result; wherein the first positioning result includes the terminal Grid information of the grid where the device is located.
在一些实施例中，所述根据所述数据库中的第一状态序列和所述终端设备的第二状态序列对所述终端设备进行定位，得到第一定位结果，包括：将所述第一状态序列和所述第二状态序列进行匹配，确定最大匹配值；所述最大匹配值大于匹配门限值，确定所述最大匹配值对应的第一状态序列的运行线路为所述终端设备所在目标运行线路；根据所述第二状态序列在所述目标运行线路的第一状态序列中的位置，确定所述目标运行线路上所述终端设备所在网格；获取所述终端设备所在网格的网格信息作为所述第一定位结果。 In some embodiments, positioning the terminal device according to the first status sequence in the database and the second status sequence of the terminal device to obtain the first positioning result includes: converting the first status The sequence is matched with the second state sequence to determine the maximum matching value; the maximum matching value is greater than the matching threshold value, and it is determined that the operating line of the first state sequence corresponding to the maximum matching value is the target operation where the terminal device is located. line; determine the grid where the terminal device is located on the target operating line based on the position of the second state sequence in the first state sequence of the target operating line; obtain the grid of the grid where the terminal device is located information as the first positioning result.
也就是说，将终端设备的第二状态序列和数据库中车辆的不同运行线路上第一状态序列进行序列匹配，筛选出最大匹配值的运行线路，同时检查最大匹配值是否大于门限，只有大于门限的匹配路线才是终端最终定位的路段。示例性的，将第二状态序列末端在第一状态序列中对应的网格作为终端所在网格。That is to say, sequence matching is performed between the second state sequence of the terminal device and the first state sequence on different operating routes of the vehicle in the database, and the operating route with the maximum matching value is screened out. At the same time, it is checked whether the maximum matching value is greater than the threshold. Only the maximum matching value is greater than the threshold. The matching route is the road segment where the terminal is finally located. For example, the grid corresponding to the end of the second state sequence in the first state sequence is used as the grid where the terminal is located.
在一些实施例中，所述根据所述数据库中的第一状态序列和所述终端设备的第二状态序列对所述终端设备进行定位，得到第一定位结果，包括：所述第二状态序列满足预设的判断条件时，根据所述数据库中的第一状态序列和所述终端设备的第二状态序列对所述终端设备进行定位，得到第一定位结果；In some embodiments, positioning the terminal device according to the first status sequence in the database and the second status sequence of the terminal device to obtain a first positioning result includes: the second status sequence When the preset judgment conditions are met, positioning the terminal device according to the first state sequence in the database and the second state sequence of the terminal device to obtain a first positioning result;
其中，所述判断条件包括以下至少之一：Wherein, the judgment conditions include at least one of the following:
所述第二状态序列中移动状态和静止状态交替出现；The moving state and the stationary state appear alternately in the second state sequence;
所述第二状态序列中任意两个静止状态的持续时间之差小于第一时间门限值；The difference between the durations of any two static states in the second state sequence is less than the first time threshold;
所述第二状态序列中移动状态的最大持续时间小于第二时间门限值；The maximum duration of the moving state in the second state sequence is less than the second time threshold;
所述第二状态序列中静止状态的最大持续时间小于第三时间门限值。The maximum duration of the stationary state in the second state sequence is less than the third time threshold.
也就是说，在进行序列匹配之前，先分析终端第二状态序列，如果在某个时间段内(比如半个小时)，第二状态序列满足以下条件，则认为终端处于地铁上：That is to say, before performing sequence matching, the terminal's second state sequence is first analyzed. If within a certain period of time (such as half an hour), the second state sequence meets the following conditions, the terminal is considered to be on the subway:
a.序列中移动状态和静止状态交叉出现，至少出现2次移动和静止状态；a. The moving state and the stationary state appear alternately in the sequence, and the moving and stationary states appear at least twice;
b.每个静止状态的持续时间相差不超过第一时间门限值(默认50s，可以基于不同城市统计信息进行修改)，可以筛选掉下车的终端设备；b. The duration of each stationary state does not differ by more than the first time threshold (default 50s, which can be modified based on statistical information in different cities), and terminal devices that fall off the car can be filtered;
c.移动状态最大值不超过第二时间门限值(默认300s，可以基于不同城市不同运行线路的运行时间而定)；c. The maximum value of the mobile status does not exceed the second time threshold (default 300s, which can be determined based on the operating time of different operating lines in different cities);
d.静止状态最大值不超过第三时间门限值(默认300s，可以基于不同城市不同运行线路的停靠时间而定)。d. The maximum value of the static state does not exceed the third time threshold (default 300s, which can be determined based on the stopping time of different operating lines in different cities).
进一步地，识别出终端处于列车上后，将终端的第二状态序列和车辆不同线路的第一状态序列进行匹配，计算匹配值。示例性的，匹配值的计算方法可以采用欧式距离，余弦距离，相似度系数等方案。Further, after it is recognized that the terminal is on the train, the second state sequence of the terminal is matched with the first state sequence of different lines of the vehicle, and the matching value is calculated. For example, the matching value calculation method can adopt Euclidean distance, cosine distance, similarity coefficient and other schemes.
在上述实施例中，对本申请实施例进一步地的举例说明。In the above embodiments, the embodiments of the present application are further illustrated with examples.
图13为本申请实施例提供中定位方法的第三流程示意图，如图13所示，该方法包括：Figure 13 is a schematic flowchart of the third positioning method provided by the embodiment of the present application. As shown in Figure 13, the method includes:
S1：获取地铁关联信息；S1: Obtain subway related information;
S2：调整采集策略，基于采集策略采集射频指纹数据和传感器数据；S2: Adjust the collection strategy and collect radio frequency fingerprint data and sensor data based on the collection strategy;
S3：根据射频指纹数据和传感器数据识别终端设备状态，确定终端设备的第二状态序列；S3: Identify the terminal device status according to the radio frequency fingerprint data and sensor data, and determine the second status sequence of the terminal device;
S4：匹配分析终端第二状态序列与车辆第一状态序列，得到第一定位结果；S4: Match and analyze the second state sequence of the terminal and the first state sequence of the vehicle to obtain the first positioning result;
S5：是否结束定位流程；如果是，结束；如果否，返回S2继续执行定位操作。S5: Whether to end the positioning process; if yes, end; if no, return to S2 to continue the positioning operation.
采用上述技术方案，根据运行线路特征将车辆运行线路进行网格化，将每个网格的物理空间转化为时间维度的第一状态序列，进行终端定位时，将终端的状态的变化规律转化为时间维度的第二状态序列，利用时间维度实现空间位置的估计，实现终端设备在地铁、高铁、高速等特殊移动场景下的定位功能。另外，还可以根据运行线路特征设计数据采集策略，对于定位需求低的地方降低采集频率，对于定位需求高的地方提高采集频率，在保证定位需求和定位精度的基础上，减少定位带来的功耗。Using the above technical solution, the vehicle operating lines are gridded according to the characteristics of the operating lines, and the physical space of each grid is converted into the first state sequence in the time dimension. When positioning the terminal, the changing rules of the terminal state are converted into The second state sequence in the time dimension uses the time dimension to estimate the spatial position and realize the positioning function of the terminal device in special mobile scenarios such as subways, high-speed rails, and highways. In addition, a data collection strategy can also be designed based on the characteristics of the operating line. The collection frequency can be reduced in places with low positioning requirements, and the collection frequency can be increased in places with high positioning requirements. On the basis of ensuring the positioning requirements and positioning accuracy, the power brought by positioning can be reduced. Consumption.
为实现本申请实施例的方法，基于同一发明构思本申请实施例还提供了一种定位装置，如图14所示，该定位装置140包括：In order to implement the method of the embodiment of the present application, based on the same inventive concept, the embodiment of the present application also provides a positioning device. As shown in Figure 14, the positioning device 140 includes:
划分单元1401，配置为对车辆运行线路进行网格化划分得到多个网格，其中，每个网格对应所述运行线路上一段子路线；The dividing unit 1401 is configured to mesh the vehicle operating line to obtain multiple grids, where each grid corresponds to a sub-route on the operating line;
第一获取单元1402，配置为获取所述多个网格的网格信息和射频指纹样本数据，并将所述多个网格的网格信息和射频指纹样本数据保存到数据库中；The first acquisition unit 1402 is configured to acquire grid information and radio frequency fingerprint sample data of the plurality of grids, and save the grid information and radio frequency fingerprint sample data of the plurality of grids into a database;
第二获取单元1403，配置为获取所述终端设备基于预设的数据采集策略采集的射频指纹数据；The second acquisition unit 1403 is configured to acquire the radio frequency fingerprint data collected by the terminal device based on the preset data collection strategy;
定位单元1404，配置为根据所述射频指纹数据和所述数据库中的射频指纹样本数据对所述终端设备进行定位，得到第一定位结果，其中，所述第一定位结果中包括所述终端设备所在网格的网格信息。The positioning unit 1404 is configured to position the terminal device according to the radio frequency fingerprint data and the radio frequency fingerprint sample data in the database to obtain a first positioning result, wherein the first positioning result includes the terminal device The grid information of the current grid.
在一些实施例中，定位单元1404，配置为将所述射频指纹数据与所述数据库中的射频指纹样本数据进行匹配，确定匹配值大于第一匹配门限值的至少一个射频指纹样本数据；将所述至少一个射频指纹样本数据对应的网格信息和匹配值作为所述第一定位结果。In some embodiments, the positioning unit 1404 is configured to match the radio frequency fingerprint data with the radio frequency fingerprint sample data in the database, and determine at least one radio frequency fingerprint sample data whose matching value is greater than the first matching threshold; The grid information and matching value corresponding to the at least one radio frequency fingerprint sample data are used as the first positioning result.
在一些实施例中，所述第一定位结果还包括定位时间戳；In some embodiments, the first positioning result also includes a positioning timestamp;
所述得到第一定位结果之后，定位单元1404，配置为所述第一定位结果为所述终端设备进入到车辆后的第一个定位结果时，从所述第一定位结果中获取所述终端设备最后一次定位到第一网格的第一定位时间戳，以及所述终端设备初次定位到第二网格的第二定位时间戳；其中，所述第一网格和第二网格为相邻网格；根据所述第一定位时间戳和所述第二定位时间戳，确定所述终端设备从所述第一网格进入到所述第二网格时的切换时间戳；将所述第二网格的切换时间戳添加到所述第一定位结果中，得到第二 定位结果；After the first positioning result is obtained, the positioning unit 1404 is configured to obtain the terminal from the first positioning result when the first positioning result is the first positioning result after the terminal device enters the vehicle. The first positioning timestamp of the last time the device positioned to the first grid, and the second positioning timestamp of the first time the terminal device positioned to the second grid; wherein the first grid and the second grid are the same. adjacent grid; determine the switching timestamp when the terminal device enters the second grid from the first grid according to the first positioning timestamp and the second positioning timestamp; convert the The switching timestamp of the second grid is added to the first positioning result to obtain the second Positioning results;
或者，or,
所述得到第一定位结果之后，定位单元1404，配置为所述第一定位结果不为所述终端设备进入到车辆后的第一个定位结果时，获取所述终端设备的历史定位结果；从所述历史定位结果，获取第一网格的切换时间戳、平均运行时间、最大运行时间和最小运行时间；从所述第一定位结果中获取所述终端设备初次定位到第二网格的第二定位时间戳；根据所述第一网格的切换时间戳、平均运行时间、最大运行时间和最小运行时间，以及所述第二网格的第二定位时间戳，确定所述终端设备从所述第一网格进入到所述第二网格时的切换时间戳；将所述第二网格时的切换时间戳添加到所述第一定位结果中，得到第二定位结果。After the first positioning result is obtained, the positioning unit 1404 is configured to obtain the historical positioning result of the terminal device when the first positioning result is not the first positioning result after the terminal device enters the vehicle; from The historical positioning result obtains the switching timestamp, average running time, maximum running time, and minimum running time of the first grid; and obtains the first time the terminal device first positioned to the second grid from the first positioning result. Two positioning timestamps; according to the switching timestamp, average running time, maximum running time, and minimum running time of the first grid, and the second positioning timestamp of the second grid, determine where the terminal device starts from The switching timestamp when the first grid enters the second grid is added to the first positioning result to obtain the second positioning result.
在一些实施例中，定位单元1404，配置为将所述终端设备本次采集的射频指纹数据和上一次采集的射频指纹数据进行匹配，得到匹配值；所述匹配值大于或者等于第二匹配门限值，忽略本次采集的射频指纹数据；所述匹配值小于所述第二匹配门限值，根据所述射频指纹数据和所述数据库中的射频指纹样本数据对所述终端设备进行定位。In some embodiments, the positioning unit 1404 is configured to match the radio frequency fingerprint data collected this time by the terminal device with the radio frequency fingerprint data collected last time to obtain a matching value; the matching value is greater than or equal to the second matching gate limit, ignore the radio frequency fingerprint data collected this time; the matching value is less than the second matching threshold value, and position the terminal device according to the radio frequency fingerprint data and the radio frequency fingerprint sample data in the database.
在一些实施例中，第二获取单元1403，配置为获取所述运行线路的运行信息，以及网格的历史定位结果；其中，所述运行信息包括以下至少之一：车辆在网格内的运行时间，车辆在网格内的停留时间，网格内网络的服务质量，网格所处环境，当前***时间；根据所述运行信息和所述网格的历史定位结果确定数据采集策略，其中，所述数据采集策略包括采集周期、采集窗口和采集频率。In some embodiments, the second acquisition unit 1403 is configured to acquire the operation information of the operation line and the historical positioning results of the grid; wherein the operation information includes at least one of the following: operation of the vehicle within the grid time, the residence time of the vehicle in the grid, the service quality of the network in the grid, the environment in which the grid is located, and the current system time; the data collection strategy is determined based on the operation information and the historical positioning results of the grid, where, The data collection strategy includes collection period, collection window and collection frequency.
在一些实施例中，划分单元1401，配置为根据所述运行线路上车辆停靠的站台位置和车辆运行的站间位置，将所述运行线路划分为站台网格和站间网格，得到多个网格。In some embodiments, the dividing unit 1401 is configured to divide the operating line into a platform grid and an inter-station grid according to the platform location where the vehicle stops and the inter-station location where the vehicle runs on the operating line, to obtain multiple grid.
为实现本申请实施例的方法，基于同一发明构思本申请实施例还提供了另一种定位装置，如图15所示，该定位装置150包括：In order to implement the method of the embodiment of the present application, the embodiment of the present application also provides another positioning device based on the same inventive concept. As shown in Figure 15, the positioning device 150 includes:
划分单元1501，配置为对车辆运行线路进行网格化划分得到多个网格，其中，每个网格对应所述运行线路上一段子路线；The dividing unit 1501 is configured to mesh the vehicle operating line to obtain multiple grids, where each grid corresponds to a sub-route on the operating line;
第一获取单元1502，配置为获取所述多个网格的网格信息和第一状态序列，并保存到数据库中；其中，所述第一状态序列包括车辆在不同网格内的运行时间；The first acquisition unit 1502 is configured to acquire the grid information and the first status sequence of the plurality of grids, and save them in the database; wherein the first status sequence includes the running time of the vehicle in different grids;
第二获取单元1503，配置为获取所述终端设备在预设时间段内采集的定位数据；The second acquisition unit 1503 is configured to acquire positioning data collected by the terminal device within a preset time period;
定位单元1504，配置为根据所述定位数据确定所述终端设备的第二状态序列；其中，所述第二状态序列包括所述终端设备在不同状态下的持续时间；The positioning unit 1504 is configured to determine a second state sequence of the terminal device according to the positioning data; wherein the second state sequence includes the duration of the terminal device in different states;
所述定位单元1504，还用于根据所述数据库中的第一状态序列和所述终端设备的第二状态序列对所述终端设备进行定位，得到第一定位结果；其中，所述第一定位结果中包括所述终端设备所在网格的网格信息。The positioning unit 1504 is also configured to position the terminal device according to the first status sequence in the database and the second status sequence of the terminal device to obtain a first positioning result; wherein, the first positioning The result includes grid information of the grid where the terminal device is located.
在一些实施例中，定位单元1504，配置为第一时刻的定位数据满足静止条件时，确定所述终端设备在所述第一时刻处于静止状态；所述第一时刻的定位数据不满足静止条件时，确定所述终端设备在所述第一时刻处于移动状态；统计所述预设时间段内不同时刻所述终端设备的状态信息，确定所述第二状态序列。In some embodiments, the positioning unit 1504 is configured to determine that the terminal device is in a stationary state at the first moment when the positioning data at the first moment satisfies the stationary condition; the positioning data at the first moment does not satisfy the stationary condition. When, it is determined that the terminal device is in a moving state at the first moment; status information of the terminal device at different moments within the preset time period is collected, and the second state sequence is determined.
在一些实施例中，所述定位数据包括射频指纹设备发送的射频指纹数据，其中，所述射频指纹数据包括射频指纹设备标识和射频信号强度；In some embodiments, the positioning data includes radio frequency fingerprint data sent by a radio frequency fingerprint device, wherein the radio frequency fingerprint data includes a radio frequency fingerprint device identification and radio frequency signal strength;
所述静止条件包括：所述第一时刻的射频指纹设备标识和前一时刻的射频指纹设备标识相同，且所述第一时刻的射频信号强度和前一时刻射频信号强度的差值小于强度门限值。The static condition includes: the radio frequency fingerprint device identification at the first moment is the same as the radio frequency fingerprint device identification at the previous moment, and the difference between the radio frequency signal intensity at the first moment and the radio frequency signal intensity at the previous moment is less than the intensity threshold. limit.
在一些实施例中，所述定位数据包括加速度；所述静止条件包括：所述第一时刻的加速度小于加速度门限值。In some embodiments, the positioning data includes acceleration; the stationary condition includes: the acceleration at the first moment is less than an acceleration threshold.
在一些实施例中，所述定位数据包括射频指纹设备发送的射频指纹数据和加速度，所述静止条件包括：所述第一时刻的射频指纹设备标识和前一时刻的射频指纹设备标识相同，且所述第一时刻的射频信号强度和前一时刻射频信号强度的差值小于强度门限值；所述第一时刻的加速度小于加速度门限值。In some embodiments, the positioning data includes radio frequency fingerprint data and acceleration sent by a radio frequency fingerprint device, and the static condition includes: the radio frequency fingerprint device identification at the first moment is the same as the radio frequency fingerprint device identification at the previous moment, and The difference between the radio frequency signal intensity at the first moment and the radio frequency signal intensity at the previous moment is less than the intensity threshold value; the acceleration at the first moment is less than the acceleration threshold value.
在一些实施例中，定位单元1504，配置为将所述第一状态序列和所述第二状态序列进行匹配，确定最大匹配值；所述最大匹配值大于匹配门限值，确定所述最大匹配值对应的第一状态序列的运行线路为所述终端设备所在目标运行线路；根据所述第二状态序列在所述目标运行线路的第一状态序列中的位置，确定所述目标运行线路上所述终端设备所在网格；获取所述终端设备所在网格的网格信息作为所述第一定位结果。In some embodiments, the positioning unit 1504 is configured to match the first state sequence and the second state sequence to determine a maximum matching value; when the maximum matching value is greater than a matching threshold, determine the maximum matching value. The operating line of the first state sequence corresponding to the value is the target operating line where the terminal device is located; according to the position of the second state sequence in the first state sequence of the target operating line, determine the location of the target operating line. The grid where the terminal device is located is obtained; and the grid information of the grid where the terminal device is located is obtained as the first positioning result.
在一些实施例中，定位单元1504，配置为所述根据所述数据库中的第一状态序列和所述终端设备的第二状态序列对所述终端设备进行定位，得到第一定位结果，包括：所述第二状态序列满足预设的判断条件时，根据所述数据库中的第一状态序列和所述终端设备的第二状态序列对所述终端设备进行定位， 得到第一定位结果；In some embodiments, the positioning unit 1504 is configured to position the terminal device according to the first status sequence in the database and the second status sequence of the terminal device, and obtain the first positioning result, including: When the second state sequence meets the preset judgment condition, the terminal device is positioned according to the first state sequence in the database and the second state sequence of the terminal device, Get the first positioning result;
其中，所述判断条件包括以下至少之一：Wherein, the judgment conditions include at least one of the following:
所述第二状态序列中移动状态和静止状态交替出现；The moving state and the stationary state appear alternately in the second state sequence;
所述第二状态序列中任意两个静止状态的持续时间之差小于第一时间门限值；The difference between the durations of any two static states in the second state sequence is less than the first time threshold;
所述第二状态序列中移动状态的最大持续时间小于第二时间门限值；The maximum duration of the moving state in the second state sequence is less than the second time threshold;
所述第二状态序列中静止状态的最大持续时间小于第三时间门限值。The maximum duration of the stationary state in the second state sequence is less than the third time threshold.
在一些实施例中，第二获取单元1503，配置为获取所述运行线路的运行信息，以及网格的历史定位结果；其中，所述运行信息包括以下至少之一：车辆在网格内的运行时间，车辆在网格内的停留时间，网格内网络的服务质量，网格所处环境，当前***时间；根据所述运行信息和所述网格的历史定位结果确定数据采集策略，其中，所述数据采集策略包括采集周期、采集窗口和采集频率。In some embodiments, the second acquisition unit 1503 is configured to acquire the operation information of the operation line and the historical positioning results of the grid; wherein the operation information includes at least one of the following: operation of the vehicle within the grid time, the residence time of the vehicle in the grid, the service quality of the network in the grid, the environment in which the grid is located, and the current system time; the data collection strategy is determined based on the operation information and the historical positioning results of the grid, where, The data collection strategy includes collection period, collection window and collection frequency.
在一些实施例中，划分单元1501，配置为根据所述运行线路上车辆停靠的站台位置和车辆运行的站间位置，将所述运行线路划分为站台网格和站间网格，得到多个网格。In some embodiments, the dividing unit 1501 is configured to divide the operating line into a platform grid and an inter-station grid according to the platform location where the vehicle stops and the inter-station location where the vehicle runs on the operating line, to obtain multiple grid.
基于上述定位装置中各单元的硬件实现，本申请实施例还提供了一种定位设备，如图16所示，该定位设备160包括：处理器1601和配置为存储能够在处理器上运行的计算机程序的存储器1602；Based on the hardware implementation of each unit in the above positioning device, an embodiment of the present application also provides a positioning device. As shown in Figure 16, the positioning device 160 includes: a processor 1601 and a computer configured to store data that can run on the processor. Program memory 1602;
其中，处理器1601配置为运行计算机程序时，执行前述实施例中的方法步骤。Wherein, the processor 1601 is configured to execute the method steps in the aforementioned embodiments when running the computer program.
当然，实际应用时，如图16所示，该定位设备中的各个组件通过总线***1603耦合在一起。可理解，总线***1603用于实现这些组件之间的连接通信。总线***1603除包括数据总线之外，还包括电源总线、控制总线和状态信号总线。但是为了清楚说明起见，在图中将各种总线都标为总线***1603。Of course, in actual application, as shown in Figure 16, various components in the positioning device are coupled together through the bus system 1603. It can be understood that the bus system 1603 is used to implement connection communication between these components. In addition to the data bus, the bus system 1603 also includes a power bus, a control bus and a status signal bus. However, for the sake of clarity, various buses are labeled as bus system 1603 in the figure.
在一些实施例中，该定位设备160可以为终端设备，图17为本申请实施例中一种终端设备的硬件构架示意图，如图17所示，终端设备170硬件架构主要包含处理器、存储器(内外存储器)、总线、***设备，其中***设备主要包含I/0设备、传感器组设备、Modem子***。Modem子***提供网络通信功能和无线射频指纹数据采集功能。传感器组设备提供如重力、加速度和陀螺仪等类型传感器。In some embodiments, the positioning device 160 may be a terminal device. Figure 17 is a schematic diagram of the hardware architecture of a terminal device in an embodiment of the present application. As shown in Figure 17, the hardware architecture of the terminal device 170 mainly includes a processor, a memory ( Internal and external memory), buses, and peripheral devices. Peripheral devices mainly include I/O devices, sensor group devices, and Modem subsystems. The Modem subsystem provides network communication functions and wireless radio frequency fingerprint data collection functions. The sensor group device provides types of sensors such as gravity, acceleration, and gyroscope.
在一些实施例中，该定位设备160可以为云端设备，云端设备硬件架构主要包含处理器、存储器(内外存储器)、总线、通信设备，通信设备用于获取端侧采集的射频指纹数据和传感器数据。In some embodiments, the positioning device 160 can be a cloud device. The cloud device hardware architecture mainly includes a processor, memory (internal and external memory), bus, and communication device. The communication device is used to obtain radio frequency fingerprint data and sensor data collected on the terminal side. .
示例性的，图18为本申请实施例中定位***的组成结构示意图，定位***包括终端设备1801和云端设备1802，终端设备主要包含以下几个功能模块：Exemplarily, Figure 18 is a schematic structural diagram of the positioning system in the embodiment of the present application. The positioning system includes a terminal device 1801 and a cloud device 1802. The terminal device mainly includes the following functional modules:
1)定位服务模块：通过采集服务获取射频指纹数据和传感器数据，与云定位服务器交互获取定位结果，结合地铁运行规律统计输出最终定位结果。1) Positioning service module: Obtain radio frequency fingerprint data and sensor data through collection services, interact with the cloud positioning server to obtain positioning results, and statistically output the final positioning results based on the subway operating rules.
2)采集服务模块：提供采集量测射频指纹数据和传感器数据的能力。2) Collection service module: Provides the ability to collect and measure RF fingerprint data and sensor data.
3)Sensor HAL：提供获取传感器数据的接口。3) Sensor HAL: Provides an interface for obtaining sensor data.
4)Modem HAL：提供获取射频指纹数据的接口。4) Modem HAL: Provides an interface for obtaining radio frequency fingerprint data.
在一些实施例中，终端设备也包括数据库：保存网格内的射频指纹数据，或者车辆的第一状态序列。In some embodiments, the terminal device also includes a database: saving radio frequency fingerprint data within the grid, or the first state sequence of the vehicle.
云端设备主要包含以下几个功能模块：Cloud devices mainly include the following functional modules:
1)云定位服务：基于射频指纹定位技术，提供车辆运行线路上的网格定位能力。1) Cloud positioning service: Based on radio frequency fingerprint positioning technology, it provides grid positioning capabilities on vehicle operating routes.
2)云采集服务：获取端侧采集的射频指纹数据，经数据处理后保存在数据库中，例如，对数据进行特征提取，归一化等处理。2) Cloud collection service: Obtain the radio frequency fingerprint data collected on the terminal side and save it in the database after data processing. For example, perform feature extraction, normalization and other processing on the data.
3)数据库：保存网格内的射频指纹数据，或者车辆的第一状态序列。3) Database: Save the radio frequency fingerprint data within the grid, or the first state sequence of the vehicle.
在实际应用中，上述处理器可以为特定用途集成电路(ASIC，Application Specific Integrated Circuit)、数字信号处理装置(DSPD，Digital Signal Processing Device)、可编程逻辑装置(PLD，Programmable Logic Device)、现场可编程门阵列(Field－Programmable Gate Array，FPGA)、控制器、微控制器、微处理器中的至少一种。可以理解地，对于不同的设备，用于实现上述处理器功能的电子器件还可以为其它，本申请实施例不作具体限定。In practical applications, the above-mentioned processors can be Application Specific Integrated Circuits (ASICs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), and field-programmable logic devices. At least one of a Field-Programmable Gate Array (FPGA), a controller, a microcontroller, and a microprocessor. It can be understood that for different devices, the electronic device used to implement the above processor function may also be other, which is not specifically limited in the embodiment of the present application.
上述存储器可以是易失性存储器(volatile memory)，例如随机存取存储器(RAM，Random-Access Memory)；或者非易失性存储器(non-volatile memory)，例如只读存储器(ROM，Read-Only Memory)，快闪存储器(flash memory)，硬盘(HDD，Hard Disk Drive)或固态硬盘(SSD，Solid-State Drive)；或者上述种类的存储器的组合，并向处理器提供指令和数据。The above-mentioned memory can be volatile memory (volatile memory), such as random access memory (RAM, Random-Access Memory); or non-volatile memory (non-volatile memory), such as read-only memory (ROM, Read-Only). Memory), flash memory (flash memory), hard disk (HDD, Hard Disk Drive) or solid state drive (SSD, Solid-State Drive); or a combination of the above types of memory, and provides instructions and data to the processor.
实际应用中，上述装置可以是定位设备，也可以是应用于定位设备的芯片。在本申请中，该装置可以通过或软件、或硬件、或软件与硬件相结合的方式，实现多个单元的功能，使该装置可以执行如上述任一实施例所提供的定位方法。且该装置的各技术方案的技术效果可以参考定位方法中相应的技术方案的技术效果，本申请对此不再一一赘述。In practical applications, the above device may be a positioning device or a chip used in the positioning device. In this application, the device can implement the functions of multiple units through software, hardware, or a combination of software and hardware, so that the device can perform the positioning method provided in any of the above embodiments. And the technical effects of each technical solution of the device can be referred to the technical effects of the corresponding technical solutions in the positioning method, which will not be described in detail in this application.
上述定位设备可以为终端设备或者云端设备，终端设备可以为任一种移动终端，例如，手机、平板电脑、笔记本电脑、掌上电脑、个人数字助理(Personal Digital Assistant，PDA)、便捷式媒体播放器 (Portable Media Player，PMP)、导航装置、可穿戴设备、智能手环、相机等。云端设备可以为服务器。The above-mentioned positioning device can be a terminal device or a cloud device. The terminal device can be any kind of mobile terminal, such as a mobile phone, a tablet computer, a notebook computer, a handheld computer, a personal digital assistant (Personal Digital Assistant, PDA), or a portable media player. (Portable Media Player, PMP), navigation devices, wearable devices, smart bracelets, cameras, etc. The cloud device can be a server.
在示例性实施例中，本申请实施例还提供了一种计算机可读存储介质，例如包括计算机程序的存储器，计算机程序可由定位设备的处理器执行，以完成前述方法的步骤。In an exemplary embodiment, the embodiment of the present application also provides a computer-readable storage medium, such as a memory including a computer program. The computer program can be executed by a processor of a positioning device to complete the steps of the foregoing method.
本申请实施例还提供了一种计算机程序产品，包括计算机程序指令。An embodiment of the present application also provides a computer program product, including computer program instructions.
可选的，该计算机程序产品可应用于本申请实施例中的定位设备，并且该计算机程序指令使得计算机执行本申请实施例的各个方法中由定位设备实现的相应流程，为了简洁，在此不再赘述。Optionally, the computer program product can be applied to the positioning device in the embodiment of the present application, and the computer program instructions cause the computer to execute the corresponding processes implemented by the positioning device in the various methods of the embodiment of the present application. For the sake of brevity, they are not included here. Again.
本申请实施例还提供了一种计算机程序。An embodiment of the present application also provides a computer program.
可选的，该计算机程序可应用于本申请实施例中的定位设备，当该计算机程序在计算机上运行时，使得计算机执行本申请实施例的各个方法中由定位设备实现的相应流程，为了简洁，在此不再赘述。Optionally, the computer program can be applied to the positioning device in the embodiment of the present application. When the computer program is run on the computer, it causes the computer to execute the corresponding processes implemented by the positioning device in the various methods of the embodiment of the present application. For the sake of simplicity , which will not be described in detail here.
应当理解，在本申请实施例中，涉及到终端设备的定位数据，当本申请实施例运用到具体产品或技术中时，需要获得用户许可或者同意，且相关数据的收集、使用和处理需要遵守相关国家和地区的相关法律法规和标准。It should be understood that in the embodiments of this application, positioning data of terminal devices are involved. When the embodiments of this application are applied to specific products or technologies, user permission or consent needs to be obtained, and the collection, use and processing of relevant data need to comply with Relevant laws, regulations and standards of relevant countries and regions.
应当理解，在本申请使用的术语是仅仅出于描述特定实施例的目的，而非旨在限制本申请。在本申请和所附权利要求书中所使用的单数形式的“一种”、“所述”和“该”也旨在包括多数形式，除非上下文清楚地表示其他含义。还应当理解，本文中使用的术语“和/或”是指并包含一个或多个相关联的列出项目的任何或所有可能组合。本申请中表述“具有”、“可以具有”、“包括”和“包含”、或者“可以包括”和“可以包含”在本文中可以用于指示存在对应的特征(例如，诸如数值、功能、操作或组件等元素)，但不排除附加特征的存在。It should be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting. As used in this application and the appended claims, the singular forms "a," "the" and "the" are intended to include the plural forms as well, unless the context clearly dictates otherwise. It will also be understood that the term "and/or" as used herein refers to and includes any and all possible combinations of one or more of the associated listed items. In this application, the expressions "have", "may have", "include" and "include", or "may include" and "may include" may be used herein to indicate the presence of corresponding features (for example, such as numerical values, functions, elements such as operations or components), but does not exclude the presence of additional features.
应当理解，尽管在本申请可能采用术语第一、第二、第三等来描述各种信息，但这些信息不应限于这些术语。这些术语仅用来将同一类型的信息彼此区分开，不必用于描述特定的顺序或先后次序。例如，在不脱离本发明范围的情况下，第一信息也可以被称为第二信息，类似地，第二信息也可以被称为第一信息。It should be understood that although the terms first, second, third, etc. may be used in this application to describe various information, the information should not be limited to these terms. These terms are used only to distinguish information of the same type from each other and are not necessarily used to describe a specific order or sequence. For example, without departing from the scope of the present invention, the first information may also be called second information, and similarly, the second information may also be called first information.
本申请实施例所记载的技术方案之间，在不冲突的情况下，可以任意组合。The technical solutions described in the embodiments of this application can be combined arbitrarily as long as there is no conflict.
在本申请所提供的几个实施例中，应该理解到，所揭露的方法、装置和设备，可以通过其它的方式实现。以上所描述的实施例仅仅是示意性的，例如，单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，如：多个单元或组件可以结合，或可以集成到另一个***，或一些特征可以忽略，或不执行。另外，所显示或讨论的各组成部分相互之间的耦合、或直接耦合、或通信连接可以是通过一些接口，设备或单元的间接耦合或通信连接，可以是电性的、机械的或其它形式的。In the several embodiments provided in this application, it should be understood that the disclosed methods, devices and equipment can be implemented in other ways. The embodiments described above are only illustrative. For example, the division of units is only a logical function division. In actual implementation, there may be other division methods, such as: multiple units or components may be combined or integrated into Another system, or some features can be ignored, or not implemented. In addition, the coupling, direct coupling, or communication connection between the components shown or discussed may be through some interfaces, and the indirect coupling or communication connection of the devices or units may be electrical, mechanical, or other forms. of.
上述作为分离部件说明的单元可以是、或也可以不是物理上分开的，作为单元显示的部件可以是、或也可以不是物理单元，即可以位于一个地方，也可以分布到多个网络单元上；可以根据实际的需要选择其中的部分或全部单元来实现本实施例方案的目的。The units described above as separate components may or may not be physically separated. The components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units; Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.
另外，在本申请各实施例中的各功能单元可以全部集成在一个处理单元中，也可以是各单元分别单独作为一个单元，也可以两个或两个以上单元集成在一个单元中；上述集成的单元既可以采用硬件的形式实现，也可以采用硬件加软件功能单元的形式实现。In addition, all functional units in the embodiments of the present application can be integrated into one processing unit, or each unit can be separately used as a unit, or two or more units can be integrated into one unit; the above-mentioned integration The unit can be implemented in the form of hardware or in the form of hardware plus software functional units.
以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本申请的保护范围之内。The above are only specific embodiments of the present application, but the protection scope of the present application is not limited thereto. Any person familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application. should be covered by the protection scope of this application.
工业实用性Industrial applicability
本申请提供了一种定位方法、装置、设备及存储介质，该方法对车辆运行线路进行网格化划分得到多个网格，将每个网格的网格信息和射频指纹样本数据保存到数据库中；根据射频指纹数据和射频指纹样本数据对终端设备进行定位。这样，根据运行线路特征将车辆运行线路进行网格化，保存每个网格的射频指纹样本数据，结合终端设备实际采集的射频指纹数据进行定位，确定终端设备所在网格的网格信息，实现终端设备在地铁、高铁、高速等特殊移动场景下的定位功能。另外，还可以根据运行线路特征设计数据采集策略，对于定位需求低的地方降低采集频率，对于定位需求高的地方提高采集频率，保证定位需求和定位精度的基础上，减少定位带来的功耗。 This application provides a positioning method, device, equipment and storage medium. This method grids the vehicle running route to obtain multiple grids, and saves the grid information and radio frequency fingerprint sample data of each grid to a database. Medium; locate the terminal device based on radio frequency fingerprint data and radio frequency fingerprint sample data. In this way, the vehicle operating route is gridded according to the operating route characteristics, the radio frequency fingerprint sample data of each grid is saved, and the radio frequency fingerprint data actually collected by the terminal device is used for positioning, and the grid information of the grid where the terminal device is located is determined to achieve The positioning function of terminal equipment in special mobile scenarios such as subways, high-speed rails, and highways. In addition, data collection strategies can also be designed based on the characteristics of the operating lines. The collection frequency can be reduced for places with low positioning requirements, and the collection frequency can be increased for places with high positioning requirements. This can reduce the power consumption caused by positioning while ensuring the positioning requirements and positioning accuracy. .

Claims (20)

  1. 一种定位方法，其中，所述方法包括：A positioning method, wherein the method includes:
    对车辆运行线路进行网格化划分得到多个网格，其中，每个网格对应所述运行线路上一段子路线；Grid the vehicle operating route to obtain multiple grids, where each grid corresponds to a sub-route on the operating route;
    获取所述多个网格的网格信息和射频指纹样本数据，并保存到数据库中；Obtain the grid information and radio frequency fingerprint sample data of the multiple grids and save them in the database;
    获取所述终端设备基于预设的数据采集策略采集的射频指纹数据；Obtain radio frequency fingerprint data collected by the terminal device based on a preset data collection strategy;
    根据所述射频指纹数据和所述数据库中的射频指纹样本数据对所述终端设备进行定位，得到第一定位结果，其中，所述第一定位结果中包括所述终端设备所在网格的网格信息。The terminal device is positioned according to the radio frequency fingerprint data and the radio frequency fingerprint sample data in the database to obtain a first positioning result, wherein the first positioning result includes the grid of the grid where the terminal device is located. information.
  2. 根据权利要求1所述的方法，其中，The method of claim 1, wherein,
    所述根据所述射频指纹数据和所述数据库中的射频指纹样本数据对所述终端设备进行定位，包括：The positioning of the terminal device according to the radio frequency fingerprint data and the radio frequency fingerprint sample data in the database includes:
    将所述射频指纹数据与所述数据库中的射频指纹样本数据进行匹配，确定匹配值大于第一匹配门限值的至少一个射频指纹样本数据；Match the radio frequency fingerprint data with the radio frequency fingerprint sample data in the database, and determine at least one radio frequency fingerprint sample data whose matching value is greater than the first matching threshold;
    将所述至少一个射频指纹样本数据对应的网格信息和匹配值作为所述第一定位结果。The grid information and matching value corresponding to the at least one radio frequency fingerprint sample data are used as the first positioning result.
  3. 根据权利要求2所述的方法，其中，所述第一定位结果还包括定位时间戳；The method according to claim 2, wherein the first positioning result further includes a positioning timestamp;
    所述得到第一定位结果之后，所述方法还包括：After obtaining the first positioning result, the method further includes:
    所述第一定位结果为所述终端设备进入到车辆后的第一个定位结果时，从所述第一定位结果中获取所述终端设备最后一次定位到第一网格的第一定位时间戳，以及所述终端设备初次定位到第二网格的第二定位时间戳；其中，所述第一网格和第二网格为相邻网格；When the first positioning result is the first positioning result after the terminal device enters the vehicle, a first positioning timestamp of the last time the terminal device was positioned on the first grid is obtained from the first positioning result. , and the second positioning timestamp when the terminal device first positioned to the second grid; wherein the first grid and the second grid are adjacent grids;
    根据所述第一定位时间戳和所述第二定位时间戳，确定所述终端设备从所述第一网格进入到所述第二网格时的切换时间戳；Determine the switching timestamp when the terminal device enters the second grid from the first grid according to the first positioning timestamp and the second positioning timestamp;
    将所述第二网格的切换时间戳添加到所述第一定位结果中，得到第二定位结果；或者，Add the switching timestamp of the second grid to the first positioning result to obtain a second positioning result; or,
    所述第一定位结果不为所述终端设备进入到车辆后的第一个定位结果时，获取所述终端设备的历史定位结果；When the first positioning result is not the first positioning result after the terminal device enters the vehicle, obtain the historical positioning result of the terminal device;
    从所述历史定位结果，获取第一网格的切换时间戳、平均运行时间、最大运行时间和最小运行时间；Obtain the switching timestamp, average running time, maximum running time and minimum running time of the first grid from the historical positioning results;
    从所述第一定位结果中获取所述终端设备初次定位到第二网格的第二定位时间戳；Obtain the second positioning timestamp of the first positioning of the terminal device to the second grid from the first positioning result;
    根据所述第一网格的切换时间戳、平均运行时间、最大运行时间和最小运行时间，以及所述第二网格的第二定位时间戳，确定所述终端设备从所述第一网格进入到所述第二网格时的切换时间戳；According to the switching timestamp, average running time, maximum running time and minimum running time of the first grid, and the second positioning timestamp of the second grid, it is determined that the terminal device moves from the first grid to The switching timestamp when entering the second grid;
    将所述第二网格时的切换时间戳添加到所述第一定位结果中，得到第二定位结果。Add the switching timestamp of the second grid to the first positioning result to obtain a second positioning result.
  4. 根据权利要求3所述的方法，其中，所述方法还包括：The method of claim 3, further comprising:
    根据车辆运行时间规律和所述第二定位结果中网格的切换时间戳，确定终端设备所在网格的网格信息。According to the vehicle running time pattern and the switching timestamp of the grid in the second positioning result, the grid information of the grid where the terminal device is located is determined.
  5. 根据权利要求1-4任一项所述的方法，其中，所述方法应用于终端设备时，所述根据所述射频指纹数据和所述数据库中的射频指纹样本数据对所述终端设备进行定位，得到第一定位结果，包括：The method according to any one of claims 1 to 4, wherein when the method is applied to a terminal device, the terminal device is positioned according to the radio frequency fingerprint data and the radio frequency fingerprint sample data in the database. , get the first positioning result, including:
    发送所述射频指纹数据给云端设备，以使所述云端设备根据所述射频指纹数据和所述数据库中的射频指纹样本数据对所述终端设备进行定位，得到所述第一定位结果；Send the radio frequency fingerprint data to the cloud device, so that the cloud device locates the terminal device according to the radio frequency fingerprint data and the radio frequency fingerprint sample data in the database to obtain the first positioning result;
    接收所述云端设备发送的所述第一定位结果。Receive the first positioning result sent by the cloud device.
  6. 根据权利要求1-4任一项所述的方法，其中，The method according to any one of claims 1-4, wherein,
    所述根据所述射频指纹数据和所述数据库中的射频指纹样本数据对所述终端设备进行定位，包括：The positioning of the terminal device according to the radio frequency fingerprint data and the radio frequency fingerprint sample data in the database includes:
    将所述终端设备本次采集的射频指纹数据和上一次采集的射频指纹数据进行匹配，得到匹配值；Match the radio frequency fingerprint data collected this time by the terminal device with the radio frequency fingerprint data collected last time to obtain a matching value;
    所述匹配值大于或者等于第二匹配门限值，忽略本次采集的射频指纹数据；If the matching value is greater than or equal to the second matching threshold value, the radio frequency fingerprint data collected this time is ignored;
    所述匹配值小于所述第二匹配门限值，根据所述射频指纹数据和所述数据库中的射频指纹样本数据对所述终端设备进行定位。If the matching value is less than the second matching threshold, the terminal device is positioned according to the radio frequency fingerprint data and the radio frequency fingerprint sample data in the database.
  7. 根据权利要求1所述的方法，其中，所述方法还包括：The method of claim 1, further comprising:
    获取所述运行线路的运行信息，以及网格的历史定位结果；其中，所述运行信息包括以下至少之一：车辆在网格内的运行时间，车辆在网格内的停留时间，网格内网络的服务质量，网格所处环境，当前***时间；Obtain the operating information of the operating line and the historical positioning results of the grid; wherein the operating information includes at least one of the following: the operating time of the vehicle in the grid, the residence time of the vehicle in the grid, the The service quality of the network, the environment of the grid, and the current system time;
    根据所述运行信息和所述网格的历史定位结果确定所述数据采集策略，其中，所述数据采集策略包括采集周期、采集窗口和采集频率。The data collection strategy is determined according to the operation information and the historical positioning results of the grid, where the data collection strategy includes a collection period, a collection window and a collection frequency.
  8. 根据权利要求1所述的方法，其中，所述对车辆运行线路进行网格化划分得到多个网格，包括：The method according to claim 1, wherein the gridding of the vehicle operation line obtains a plurality of grids, including:
    根据所述运行线路上车辆停靠的站台位置和车辆运行的站间位置，将所述运行线路划分为站台网格和站间网格，得到多个网格。 According to the platform position where the vehicle stops and the inter-station position where the vehicle runs on the operating line, the operating line is divided into a platform grid and an inter-station grid to obtain multiple grids.
  9. 一种定位方法，其中，所述方法包括：A positioning method, wherein the method includes:
    对车辆运行线路进行网格化划分得到多个网格，其中，每个网格对应所述运行线路上一段子路线；Grid the vehicle operating route to obtain multiple grids, where each grid corresponds to a sub-route on the operating route;
    获取所述多个网格的网格信息和第一状态序列，并保存到数据库中；其中，所述第一状态序列包括车辆在不同网格内的运行时间；Obtain the grid information and first state sequence of the plurality of grids and save them in a database; wherein the first state sequence includes the running time of the vehicle in different grids;
    获取所述终端设备基于预设的数据采集策略采集的定位数据；Obtain positioning data collected by the terminal device based on a preset data collection strategy;
    根据所述定位数据确定所述终端设备的第二状态序列；其中，所述第二状态序列包括所述终端设备在不同状态下的持续时间；Determine a second state sequence of the terminal device according to the positioning data; wherein the second state sequence includes the duration of the terminal device in different states;
    根据所述数据库中的第一状态序列和所述终端设备的第二状态序列对所述终端设备进行定位，得到第一定位结果；其中，所述第一定位结果中包括所述终端设备所在网格的网格信息。The terminal device is positioned according to the first status sequence in the database and the second status sequence of the terminal device to obtain a first positioning result; wherein the first positioning result includes the network where the terminal device is located. grid information.
  10. 根据权利要求9所述的方法，其中，所述根据所述定位数据确定所述终端设备的第二状态序列，包括：The method of claim 9, wherein determining the second state sequence of the terminal device according to the positioning data includes:
    第一时刻的定位数据满足静止条件时，确定所述终端设备在所述第一时刻处于静止状态；When the positioning data at the first moment satisfies the stationary condition, it is determined that the terminal device is in a stationary state at the first moment;
    所述第一时刻的定位数据不满足静止条件时，确定所述终端设备在所述第一时刻处于移动状态；When the positioning data at the first moment does not satisfy the stationary condition, it is determined that the terminal device is in a moving state at the first moment;
    统计所述预设时间段内不同时刻所述终端设备的状态信息，确定所述第二状态序列。The status information of the terminal device at different times within the preset time period is counted to determine the second status sequence.
  11. 根据权利要求10所述的方法，其中，所述定位数据包括射频指纹设备发送的射频指纹数据，其中，所述射频指纹数据包括射频指纹设备标识和射频信号强度；The method according to claim 10, wherein the positioning data includes radio frequency fingerprint data sent by a radio frequency fingerprint device, wherein the radio frequency fingerprint data includes a radio frequency fingerprint device identification and radio frequency signal strength;
    所述静止条件包括：所述第一时刻的射频指纹设备标识和前一时刻的射频指纹设备标识相同，且所述第一时刻的射频信号强度和前一时刻射频信号强度的差值小于强度门限值。The static condition includes: the radio frequency fingerprint device identification at the first moment is the same as the radio frequency fingerprint device identification at the previous moment, and the difference between the radio frequency signal intensity at the first moment and the radio frequency signal intensity at the previous moment is less than the intensity threshold. limit.
  12. 根据权利要求10或11所述的方法，其中，所述定位数据包括加速度；The method of claim 10 or 11, wherein the positioning data includes acceleration;
    所述静止条件包括：所述第一时刻的加速度小于加速度门限值。The stationary condition includes: the acceleration at the first moment is less than an acceleration threshold.
  13. 根据权利要求9所述的方法，其中，所述根据所述数据库中的第一状态序列和所述终端设备的第二状态序列对所述终端设备进行定位，得到第一定位结果，包括：The method according to claim 9, wherein positioning the terminal device according to the first status sequence in the database and the second status sequence of the terminal device to obtain the first positioning result includes:
    将所述第一状态序列和所述第二状态序列进行匹配，确定最大匹配值；Match the first state sequence and the second state sequence to determine the maximum matching value;
    所述最大匹配值大于匹配门限值，确定所述最大匹配值对应的第一状态序列的运行线路为所述终端设备所在目标运行线路；The maximum matching value is greater than the matching threshold value, and the operating line of the first state sequence corresponding to the maximum matching value is determined to be the target operating line where the terminal device is located;
    根据所述第二状态序列在所述目标运行线路的第一状态序列中的位置，确定所述目标运行线路上所述终端设备所在网格；Determine the grid where the terminal device on the target operating line is located based on the position of the second state sequence in the first state sequence of the target operating line;
    获取所述终端设备所在网格的网格信息作为所述第一定位结果。The grid information of the grid where the terminal device is located is obtained as the first positioning result.
  14. 根据权利要求9或13所述的方法，其中，所述根据所述数据库中的第一状态序列和所述终端设备的第二状态序列对所述终端设备进行定位，得到第一定位结果，包括：The method according to claim 9 or 13, wherein the positioning of the terminal device according to the first status sequence in the database and the second status sequence of the terminal device to obtain a first positioning result includes: :
    所述第二状态序列满足预设的判断条件时，根据所述数据库中的第一状态序列和所述终端设备的第二状态序列对所述终端设备进行定位，得到第一定位结果；When the second state sequence satisfies the preset judgment condition, position the terminal device according to the first state sequence in the database and the second state sequence of the terminal device to obtain a first positioning result;
    其中，所述判断条件包括以下至少之一：Wherein, the judgment conditions include at least one of the following:
    所述第二状态序列中移动状态和静止状态交替出现；The moving state and the stationary state appear alternately in the second state sequence;
    所述第二状态序列中任意两个静止状态的持续时间之差小于第一时间门限值；The difference between the durations of any two static states in the second state sequence is less than the first time threshold;
    所述第二状态序列中移动状态的最大持续时间小于第二时间门限值；The maximum duration of the moving state in the second state sequence is less than the second time threshold;
    所述第二状态序列中静止状态的最大持续时间小于第三时间门限值。The maximum duration of the stationary state in the second state sequence is less than the third time threshold.
  15. 根据权利要求9所述的方法，其中，所述方法还包括：The method of claim 9, further comprising:
    获取所述运行线路的运行信息，以及网格的历史定位结果；其中，所述运行信息包括以下至少之一：车辆在网格内的运行时间，车辆在网格内的停留时间，网格内网络的服务质量，网格所处环境，当前***时间；Obtain the operating information of the operating line and the historical positioning results of the grid; wherein the operating information includes at least one of the following: the operating time of the vehicle in the grid, the residence time of the vehicle in the grid, the The service quality of the network, the environment of the grid, and the current system time;
    根据所述运行信息和所述网格的历史定位结果确定数据采集策略，其中，所述数据采集策略包括采集周期、采集窗口和采集频率。A data collection strategy is determined based on the operation information and the historical positioning results of the grid, where the data collection strategy includes a collection period, a collection window, and a collection frequency.
  16. 根据权利要求9所述的方法，其中，所述对车辆运行线路进行网格化划分得到多个网格，包括：The method according to claim 9, wherein the grid-dividing of the vehicle operation line obtains a plurality of grids, including:
    根据所述运行线路上车辆停靠的站台位置和车辆运行的站间位置，将所述运行线路划分为站台网格和站间网格，得到多个网格。According to the platform position where the vehicle stops and the inter-station position where the vehicle runs on the operating line, the operating line is divided into a platform grid and an inter-station grid to obtain multiple grids.
  17. 一种定位装置，其中，所述装置包括：A positioning device, wherein the device includes:
    划分单元，配置为对车辆运行线路进行网格化划分得到多个网格，其中，每个网格对应所述运行线路上一段子路线；A dividing unit configured to mesh the vehicle operating line to obtain multiple grids, wherein each grid corresponds to a sub-route on the operating line;
    第一获取单元，配置为获取所述多个网格的网格信息和射频指纹样本数据，并将所述多个网格的网格信息和射频指纹样本数据保存到数据库中；A first acquisition unit configured to acquire grid information and radio frequency fingerprint sample data of the plurality of grids, and save the grid information and radio frequency fingerprint sample data of the plurality of grids into a database;
    第二获取单元，配置为获取所述终端设备基于预设的数据采集策略采集的射频指纹数据； The second acquisition unit is configured to acquire the radio frequency fingerprint data collected by the terminal device based on a preset data collection strategy;
    定位单元，配置为根据所述射频指纹数据和所述数据库中的射频指纹样本数据对所述终端设备进行定位，得到第一定位结果，其中，所述第一定位结果中包括所述终端设备所在网格的网格信息。A positioning unit configured to position the terminal device according to the radio frequency fingerprint data and the radio frequency fingerprint sample data in the database to obtain a first positioning result, wherein the first positioning result includes the location of the terminal device. Mesh information for the mesh.
  18. 一种定位装置，其中，所述装置包括：A positioning device, wherein the device includes:
    划分单元，配置为对车辆运行线路进行网格化划分得到多个网格，其中，每个网格对应所述运行线路上一段子路线；A dividing unit configured to mesh the vehicle operating line to obtain multiple grids, wherein each grid corresponds to a sub-route on the operating line;
    第一获取单元，配置为获取所述多个网格的网格信息和第一状态序列，并保存到数据库中；其中，所述第一状态序列包括车辆在不同网格内的运行时间；The first acquisition unit is configured to acquire the grid information and the first state sequence of the plurality of grids, and save them in the database; wherein the first state sequence includes the running time of the vehicle in different grids;
    第二获取单元，配置为获取所述终端设备在预设时间段内采集的定位数据；The second acquisition unit is configured to acquire positioning data collected by the terminal device within a preset time period;
    定位单元，配置为根据所述定位数据确定所述终端设备的第二状态序列；其中，所述第二状态序列包括所述终端设备在不同状态下的持续时间；a positioning unit configured to determine a second state sequence of the terminal device according to the positioning data; wherein the second state sequence includes the duration of the terminal device in different states;
    所述定位单元，还配置为根据所述数据库中的第一状态序列和所述终端设备的第二状态序列对所述终端设备进行定位，得到第一定位结果；其中，所述第一定位结果中包括所述终端设备所在网格的网格信息。The positioning unit is further configured to position the terminal device according to the first status sequence in the database and the second status sequence of the terminal device to obtain a first positioning result; wherein the first positioning result includes the grid information of the grid where the terminal device is located.
  19. 一种定位设备，其中，所述定位设备包括：处理器和配置为存储能够在处理器上运行的计算机程序的存储器，A positioning device, wherein the positioning device includes: a processor and a memory configured to store a computer program capable of running on the processor,
    其中，所述处理器配置为运行所述计算机程序时，执行权利要求1至16任一项所述方法的步骤。Wherein, the processor is configured to perform the steps of the method according to any one of claims 1 to 16 when running the computer program.
  20. 一种计算机可读存储介质，其上存储有计算机程序，其中，所述计算机程序被处理器执行时实现权利要求1至16任一项所述方法的步骤。 A computer-readable storage medium having a computer program stored thereon, wherein the steps of the method of any one of claims 1 to 16 are implemented when the computer program is executed by a processor.
PCT/CN2023/099724 2022-08-25 2023-06-12 Positioning method and apparatus, device, and storage medium WO2024041112A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202211029569.1 2022-08-25
CN202211029569.1A CN117676799A (en) 2022-08-25 2022-08-25 Positioning method, device, equipment and storage medium

Publications (1)

Publication Number Publication Date
WO2024041112A1 true WO2024041112A1 (en) 2024-02-29

Family

ID=90012354

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2023/099724 WO2024041112A1 (en) 2022-08-25 2023-06-12 Positioning method and apparatus, device, and storage medium

Country Status (2)

Country Link
CN (1) CN117676799A (en)
WO (1) WO2024041112A1 (en)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2016033800A1 (en) * 2014-09-05 2016-03-10 Nokia Technologies Oy Positioning based on radio frequency fingerprints
CN108181607A (en) * 2017-12-21 2018-06-19 重庆玖舆博泓科技有限公司 Localization method, device and computer readable storage medium based on fingerprint base
CN108462966A (en) * 2017-02-21 2018-08-28 ***通信集团浙江有限公司 One kind being based on 2G networks high-speed rail cell RRU positioning identifying methods and system
CN113873471A (en) * 2021-09-09 2021-12-31 上海伽易信息技术有限公司 Construction method of subway track line wireless environment fingerprint database based on SVM
CN113866810A (en) * 2021-09-27 2021-12-31 卡斯柯信号有限公司 Method, system, electronic equipment and storage medium for train positioning and navigation

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2016033800A1 (en) * 2014-09-05 2016-03-10 Nokia Technologies Oy Positioning based on radio frequency fingerprints
CN108462966A (en) * 2017-02-21 2018-08-28 ***通信集团浙江有限公司 One kind being based on 2G networks high-speed rail cell RRU positioning identifying methods and system
CN108181607A (en) * 2017-12-21 2018-06-19 重庆玖舆博泓科技有限公司 Localization method, device and computer readable storage medium based on fingerprint base
CN113873471A (en) * 2021-09-09 2021-12-31 上海伽易信息技术有限公司 Construction method of subway track line wireless environment fingerprint database based on SVM
CN113866810A (en) * 2021-09-27 2021-12-31 卡斯柯信号有限公司 Method, system, electronic equipment and storage medium for train positioning and navigation

Also Published As

Publication number Publication date
CN117676799A (en) 2024-03-08

Similar Documents

Publication Publication Date Title
CN111310994B (en) Bus route prediction method and system based on data calibration
WO2021159866A1 (en) Bus route prediction method and system based on facial recognition
CN102262819B (en) Method and device for determining real-time passing time of road based on mobile communication network
Koukoumidis et al. Leveraging smartphone cameras for collaborative road advisories
CN109492788B (en) Method for predicting pedestrian flow and establishing pedestrian flow prediction model and related equipment
CN111091720B (en) Congestion road section identification method and device based on signaling data and floating car data
WO2017084221A1 (en) Method and apparatus for acquiring traffic state
CN110348614B (en) Method for obtaining passenger OD and method for predicting bus passenger flow
CN107844856B (en) Bus passenger flow prediction method based on vehicle-mounted GPS and station WiFi
CN111179582B (en) Image management device, road surface information management system, vehicle, computer-readable storage medium, and image management method
CN110472999B (en) Passenger flow mode analysis method and device based on subway and shared bicycle data
CN103686597A (en) Adaptive position reporting
CN112770278B (en) Mobile phone signaling analysis method and device, computer equipment and storage medium
CN105096584A (en) Traffic decision support method, device, and system
CN113766428A (en) Urban public transport passenger travel track estimation method, system, terminal and storage medium
WO2024041112A1 (en) Positioning method and apparatus, device, and storage medium
JP5545780B2 (en) In-vehicle device, vehicle and roadside machine
CN111696376A (en) Method for determining arrival sequence of buses
CN115002697B (en) Contact user identification method, device and equipment of user to be checked and storage medium
Büchel et al. Modelling probability distributions of public transport travel time components
JP5156040B2 (en) Communication device, DSRC unit, roadside device, and in-vehicle device
CN109074706B (en) Method and equipment for determining riding geographic position of user
CN113160542A (en) Riding method and device based on information feedback
CN110046535B (en) Intelligent travel time prediction system, method and storage medium based on machine learning
JP2021064251A (en) Driving support system, driving support method, and program

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 23856204

Country of ref document: EP

Kind code of ref document: A1