CN107809738A - One kind positioning switching method and device - Google Patents
One kind positioning switching method and device Download PDFInfo
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- CN107809738A CN107809738A CN201610806557.3A CN201610806557A CN107809738A CN 107809738 A CN107809738 A CN 107809738A CN 201610806557 A CN201610806557 A CN 201610806557A CN 107809738 A CN107809738 A CN 107809738A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/01—Determining conditions which influence positioning, e.g. radio environment, state of motion or energy consumption
- G01S5/012—Identifying whether indoors or outdoors
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Signal Processing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses one kind positioning switching method and device, during solving to be positioned using only single positioning method in the prior art, the problem of various varying environments can not be well adapted to.The positioning switching method, including：Obtain location information；Target locating module is determined according to the location information；It is determined that when current locating module is with the target locating module difference, current locating module is switched into the target locating module.The positioning method provided using technical solution of the present invention is better able to be flexibly adapted to different environment.
Description
Technical field
The present invention relates to field of locating technology, more particularly to a kind of positioning switching method and device.
Background technology
Current positioning service can be realized by multiple positioning modes, such as：Satellite fix, network positions (such as：Base station
Positioning, WIFI (Wireless-Fidelity, Wireless Fidelity) positioning, magnetic orientation, bluetooth positioning etc.), sensor fusion positioning
Deng different positioning methods has different precision, power consumption and area of coverage size, specifically, as shown in table 1 below.
Table 1
There is different precision and use environment in different positioning methods so that positioning method integration difficulty is big, collection cyclization
Border is complicated, can integrate different positioning methods currently without open correlation technique, so that only making in position fixing process
Positioned with single positioning method, a variety of environment can not be well adapted to.
The content of the invention
It is single to solve to be used only in the prior art the embodiments of the invention provide one kind positioning switching method and device
When positioning method is positioned, the problem of various varying environments can not be well adapted to.
A kind of positioning switching method provided in an embodiment of the present invention, this method include：
Obtain location information；
Target locating module is determined according to the location information；
It is determined that when current locating module is with the target locating module difference, current locating module is switched into the target
Locating module.
A kind of positioning switching device provided in an embodiment of the present invention, the device include：
Location information acquiring unit, for obtaining location information；
Target locating module determining unit, for determining target locating module according to the location information；
Locating module switch unit, will be current during for determining current locating module and the target locating module difference
Locating module switches to the target locating module.
Technical solution of the present invention, after location information is got, target locating module is determined according to location information, and
When current locating module is with target locating module difference, current locating module is switched into target locating module.The technology of the present invention
A variety of locating modules are integrated with scheme, when the target locating module determined according to location information and currently employed positioning mould
Locating module switching is carried out when block is inconsistent, because location information largely can truly reflect actual environment, therefore
Locating module is switched according to location information so that the target locating module determined according to location information more meets actual rings
Border, therefore, the positioning method provided using technical solution of the present invention are better able to be flexibly adapted to different environment.
Brief description of the drawings
Fig. 1 is the schematic flow diagram of positioning switching method provided in an embodiment of the present invention；
One of principle schematic that Fig. 2 switches between locating module provided in an embodiment of the present invention；
The two of the principle schematic that Fig. 3 switches between locating module provided in an embodiment of the present invention；
The three of the principle schematic that Fig. 4 switches between locating module provided in an embodiment of the present invention；
Fig. 5 is the structural representation of positioning switching device provided in an embodiment of the present invention.
Embodiment
Positioning switching method and device provided in an embodiment of the present invention, after location information is got, believe according to positioning
Breath determines target locating module, and in current locating module and target locating module difference, current locating module is switched to
Target locating module, realize and switch different locating modules according to different location informations, by the switching of locating module, make
Obtain positioning method and can adapt to different environment.
First, locating module is merged to the GNSS locating modules, the sensor that are previously mentioned in the embodiment of the present invention and network is determined
Position module illustrates.
The GNSS being previously mentioned in the embodiment of the present invention (Global Navigation Satellite System, lead by the whole world
Navigate satellite system) locating module include following positioning method in one or more：GPS(Global Positioning
System, global positioning system) position, GLONASS (GLOBAL NAVIGATION SATELLITE SYSTEM, GLONASS
Satellite navigation system) position, Galileo (Galileo satellite navigation system, Galileo satellite navigation
System) positioning and Beidou satellite navigation system positioning etc..
Sensor fusion locating module refers to come using data sources such as accelerometer, gyroscope, earth magnetism, light sensation and shootings
Judge usage scenario, and (filtering algorithm) integrated location element is derived using inertia in handoff procedure.
NL (Network Location, network positions) module includes the one or more in following positioning method：WIFI
Positioning, bluetooth positioning and architecture etc..NL modules are mainly closed by the identification code (Identity) and positional information of equipment
Connection, when mobile device recognizes a certain Identity, mobile device is represented around the equipment that this Identity is identified, and be
Make the lifting of precision, there is also the scheme of some filtering/fusions for this part.In specific positioning, NL modules need to do data
Inquiry, and due to the limitation of data volume, most schemes is by the associated data presence service of the identification code of equipment and positional information
On device, positioning result is obtained by carrying out network interaction with server in positioning, such a mode belongs to " online " positioning, but
If the space of mobile device is enough, the associated data of the identification code of equipment and positional information can be also stored in mobile device local
End, in positioning, without being interacted with server, positioning result directly can be provided in local search, such a mode belongs to "
Position offline ", the NL modules used in the embodiment of the present invention include " online " positioning and " offline " two kinds of positioning.
With reference to Figure of description, the embodiment of the present invention is described in detail.
Fig. 1 is positioning switching method provided in an embodiment of the present invention, and this method is applied to be integrated with least two positioning moulds
The terminal device of block, this method specifically include following steps：
Step S101, obtain location information.
In embodiments of the present invention, location information may include each locating module be used for position location information, such as positioning
The signal intensity of information, locating module mark etc..
Step S102, target locating module is determined according to location information.
Step S103, it is determined that when current locating module is with target locating module difference, current locating module is switched into mesh
Mark locating module.
In the embodiment of the present invention, when the target locating module determined is with current locating module difference, then show current
Locating module is not suitable for current environment or current locating module can not preferably provide positioning result under the present circumstances, and
The target locating module determined according to location information, can be applicable current environment or can provide preferable positioning result, because
This, when it is determined that current locating module is with target locating module difference, target locating module is switched to by current locating module.When
So, however, it is determined that current locating module is consistent with target locating module, then without switching.
In actual applications, when receiving Location Request for the first time after user starts shooting, according to the Location Request received,
Judge that the Location Request belongs to high accuracy location request or low accuracy location request；If high accuracy location request, then will
Positioning result precision highest locating module is fed back in each locating module integrated in terminal as initial alignment module, will just
Beginning locating module is defined as current locating module；If low accuracy location request, then by feedback positioning knot in each locating module
Initial alignment module is defined as current locating module by the most fast locating module of fruit as initial alignment module.In position fixing process
In, it is necessary to repeat positioning switching method provided in an embodiment of the present invention, namely repeat step S101, S102 and
S103, constantly to adjust current locating module, adapt to different environment.
Preferably due to which the positioning precision of GNSS locating modules is higher, therefore, the embodiment of the present invention includes GNSS positioning
Module, no matter current locating module is any locating module, as long as detecting that the GNSS signal intensity in location information is big
When preset first intensity threshold, then current locating module is switched into GNSS locating modules.
Preferably, in abovementioned steps 102, target locating module is determined according to location information, specifically included：Judge positioning letter
Whether the GNSS signal intensity in breath is more than or equal to the first intensity threshold；If, it is determined that target locating module is determined for GNSS
Position module；If it is not, then continuing to monitor location information, and target locating module is determined according to monitoring result.
It was found from the precision of multiple locating modules, power consumption and area of coverage comparative analysis, the precision of GNSS locating modules is most
Height, therefore, in the embodiment of the present invention, prioritizing selection is positioned using GNSS locating modules, namely in location information is judged
GNSS signal intensity when being more than or equal to the first intensity threshold, target locating module is defined as GNSS locating modules, used
GNSS locating modules are positioned, and to provide higher positioning precision, and the GNSS signal intensity in location information is judged is small
When the first intensity threshold, then target locating module is determined according to monitoring result.Wherein, the first intensity threshold can be according to reality
Location requirement is set, such as：First intensity threshold is 60.
In the embodiment of the present invention, locating module includes GNSS locating modules, sensor fusion locating module and NL modules, its
In middle abovementioned steps 102, determine that target locating module specifically may include but be not limited only to following two implementations according to monitoring result
Mode, specifically：
Embodiment 1, target locating module is determined according to monitoring result, including：
If step A1, current locating module be GNSS locating modules, and monitoring result is GNSS signal intensity lasting
The first intensity threshold is respectively less than in first duration, it is determined that sensor fusion locating module is target locating module；
Locating module is merged if step A2, current locating module is sensor, and monitoring result is that GNSS signal intensity exists
The first intensity threshold is respectively less than in the second lasting duration, it is determined that network location module is target locating module；
If step A3, current locating module is network location module, and monitoring result is the positioning letter for network positions
The signal intensity of breath continues to be less than the second intensity threshold in the 3rd duration, it is determined that sensor fusion locating module is determined for target
Position module.
In the present embodiment, the first duration, the second duration and the 3rd duration can be carried out certainly according to actual location demand
By setting, but it need to ensure that the first duration is less than the second duration, such as：A length of 30 seconds when first, a length of 60 seconds when second, when the 3rd
A length of 50 seconds, and the second intensity threshold can also carry out free setting according to actual location demand, such as：Second intensity threshold
Value is 70.
Preferably, aforementioned network locating module includes high-accuracy network locating module and low accurate network locating module, institute
State and determine that network location module is target locating module in step A2, specifically include：
The local location database for whether being stored with high accuracy positioning module is judged, if it is determined that result is yes, it is determined that mesh
Mark locating module is high-accuracy network locating module；If it is determined that result is no, it is determined that target locating module is low accurate network
Locating module.
As more specific embodiment, as shown in Fig. 2 locating module includes：GNSS locating modules, sensor fusion are fixed
Position module and NL modules, in position fixing process, obtain in real time or periodically obtain location information, and it is true according to location information
Set the goal locating module, and then determines whether switching locating module according to the relation of current locating module and target locating module,
Idiographic flow can be as follows：
If situation 11, current locating module are GNSS locating modules, if GNSS believes in the location information that current period obtains
Number intensity is more than or equal to the first intensity threshold, it is determined that target locating module is GNSS locating modules, without locating module
Switching；If GNSS signal intensity is less than the first intensity threshold in the location information that current period obtains, start timing, lasting prison
GNSS signal intensity is surveyed, if some cycle monitoring in the first duration is more than or equal to the first intensity threshold to GNSS signal intensity
Value, it is determined that target locating module is GNSS locating modules, and GNSS signal intensity is respectively less than the if being monitored in the first duration
One intensity threshold, it is determined that sensor fusion locating module is target locating module, and current locating module is switched into sensing
Device merges locating module.
If situation 12, current locating module are that sensor merges locating module, if in the location information that current period obtains
GNSS signal intensity is more than or equal to the first intensity threshold, it is determined that target locating module is GNSS locating modules, and will be current
Locating module switches to GNSS locating modules；If GNSS signal intensity is less than the first intensity in the location information that current period obtains
Threshold value, then start timing, continue to monitor GNSS signal intensity, if some cycle monitoring in the second duration is strong to GNSS signal
Degree is more than or equal to the first intensity threshold, it is determined that target locating module is GNSS locating modules, if being monitored in the second duration
The first intensity threshold is respectively less than to GNSS signal intensity, it is determined that NL modules are target locating module, and by current locating module
Switch to NL modules.
If situation 13, current locating module are NL modules, if GNSS signal intensity in the location information that current period obtains
More than or equal to the first intensity threshold, it is determined that target locating module is GNSS locating modules, and current locating module is switched
To GNSS locating modules；If GNSS signal intensity is less than the first intensity threshold in the location information that current period obtains, start
Timing, continue to monitor the signal intensity of GNSS signal intensity and the location information for network positions：If in the 3rd duration
GNSS signal intensity is respectively less than the first intensity threshold and the signal intensity for the location information of network positions is respectively less than the last the second
Spend threshold value, it is determined that sensor fusion locating module is target locating module, and current locating module is switched into sensor and melted
Close locating module；If GNSS signal intensity is respectively less than the first intensity threshold in the 3rd duration and the positioning for network positions is believed
The signal intensity of breath is more than the second intensity threshold, it is determined that NL modules are target locating module；If some week in the 3rd duration
The GNSS signal intensity of phase is more than or equal to the first intensity threshold, it is determined that GNSS locating modules are target locating module.
As another more specific embodiment, as shown in figure 3, on the basis of shown in Fig. 2, NL modules include NL-H
Module (Network Location-High accuracy, high-accuracy network positioning) and NL-L modules (Network
Location-Low accuracy, low accurate network positioning).Switching flow shown in Fig. 3 is as follows：
If situation 21, current locating module are GNSS locating modules, if GNSS believes in the location information that current period obtains
Number intensity is more than or equal to the first intensity threshold, it is determined that target locating module is GNSS locating modules, without locating module
Switching；If GNSS signal intensity is less than the first intensity threshold in the location information that current period obtains, start timing, lasting prison
GNSS signal intensity is surveyed, if some cycle monitoring in the first duration is more than or equal to the first intensity threshold to GNSS signal intensity
Value then determines that target locating module is GNSS locating modules, if being monitored in the first duration, GNSS signal intensity is respectively less than first
Intensity threshold, it is determined that sensor fusion locating module is target locating module, and current locating module is switched into sensor
Merge locating module.
If situation 22, current locating module are that sensor merges locating module, if in the location information that current period obtains
GNSS signal intensity is more than or equal to the first intensity threshold, it is determined that target locating module is GNSS locating modules, and will be current
Locating module switches to GNSS locating modules；If GNSS signal intensity is less than the first intensity in the location information that current period obtains
Threshold value, then start timing, continue to monitor GNSS signal intensity, if some cycle monitoring in the second duration is strong to GNSS signal
Degree is more than or equal to the first intensity threshold, it is determined that target locating module is GNSS locating modules, if being monitored in the second duration
The first intensity threshold is respectively less than to GNSS signal intensity, then judges the local location data for whether being stored with high accuracy positioning module
Storehouse, if so, then determining that NL-H modules are target locating module, if nothing, it is determined that NL-L modules are target locating module.
If situation 23, current locating module are NL modules (NL-L modules or NL-H modules), if current period acquisition is determined
GNSS signal intensity is more than or equal to the first intensity threshold in the information of position, it is determined that and target locating module is GNSS locating modules,
And current locating module is switched into GNSS locating modules；If GNSS signal intensity is less than in the location information that current period obtains
First intensity threshold, then start timing, continues to monitor the signal of GNSS signal intensity and the location information for network positions
Intensity：If GNSS signal intensity is respectively less than the first intensity threshold and the letter of the location information for network positions in the 3rd duration
Number intensity is respectively less than the second intensity threshold, it is determined that sensor fusion locating module is target locating module, and will work as prelocalization
Module switches to sensor fusion locating module；If GNSS signal intensity is respectively less than the first intensity threshold and use in the 3rd duration
It is more than the second intensity threshold in the signal intensity of the location information of network positions, it is determined that NL modules are target locating module；If
The GNSS signal intensity in some cycle is more than or equal to the first intensity threshold in the 3rd duration, it is determined that GNSS locating modules are
Target locating module.
Embodiment two, target locating module is determined according to monitoring result, including：
Step B1, using preset indoor and outdoor judge module according to the location information monitored, it is determined that being presently in environment；
Step B2, from the environment and the corresponding relation of locating module to prestore, it is fixed corresponding to environment to determine to be presently in
Position module, and the locating module is defined as target locating module.
In the present embodiment, the environment pre-set includes outdoor environment, indoor and outdoor boundary environment and indoor environment, its
In, outdoor environment refers to the environment outside building, and indoor environment refers to the environment of interior of building, and indoor and outdoor boundary environment includes
The transitional region of outdoor environment and indoor environment, such as the outwardly and inwardly region at building edge.The environment and positioning mould to prestore
The corresponding relation of block includes following any one or its combination：Outdoor environment corresponds to GNSS locating modules and the positioning of low accurate network
Module；Indoor and outdoor boundary environment respective sensor merges locating module；Indoor environment corresponds to high-accuracy network locating module.
Because outdoor environment corresponds to GNSS locating modules and NL-L modules, and GNSS can be being used in the embodiment of the present invention
When locating module is positioned, preferentially positioned using GNSS locating modules, therefore, determined currently according to location information
When local environment is outdoor environment, whether the first intensity threshold is further more than or equal to according to GNSS signal intensity, determines mesh
Mark locating module is GNSS locating modules or low accurate network locating module, specifically：
In the embodiment of the present invention, when determining that it is outdoor environment to be presently in environment in abovementioned steps B2, from the ring to prestore
In the corresponding relation of border and locating module, determine to be presently in locating module corresponding to environment, and the locating module is determined
For target locating module, including：Determine that outdoor environment is corresponding in corresponding relation from the environment to prestore with locating module to position
Module is GNSS locating modules and NL-L modules；Judge whether current GNSS signal intensity is more than or equal to the first intensity threshold,
If so, then using GNSS locating modules as target locating module；If it is not, then using NL-L modules as target locating module.
As more specific embodiment, as shown in figure 4, locating module includes：GNSS locating modules, sensor fusion are fixed
Position module, NL-H modules and NL-L modules, in position fixing process, obtain in real time or periodically obtain location information, it is fixed to judge
Whether the GNSS signal intensity in the information of position is more than or equal to the first intensity threshold, if then determining that GNSS locating modules are target
Locating module, if otherwise continuing to monitor location information, and believed using preset indoor and outdoor judge module according to the positioning monitored
Breath determination is presently in environment, from the environment and the corresponding relation of locating module to prestore, determines that being presently in environment corresponds to
Locating module, and the locating module is defined as target locating module, specific switching flow can be as follows：
Situation 31, current locating module are GNSS locating modules, if GNSS signal in the location information that current period obtains
Intensity is more than or equal to the first intensity threshold, it is determined that target locating module is GNSS locating modules, is cut without locating module
Change；If GNSS signal intensity is less than the first intensity threshold in the location information that current period obtains, location information is continued to monitor,
And environment is presently according to the judgement of the location information of monitoring using preset indoor and outdoor judge module：If local environment is outdoor
Environment and when GNSS signal intensity is less than the first intensity threshold, then be defined as target locating module, if residing ring by NL-L modules
Border is outdoor environment and GNSS signal intensity is more than or equal to the first intensity threshold, then is positioned GNSS locating modules as target
Module；If local environment is indoor environment, NL-H modules are defined as target locating module；If residing environment is indoor and outdoor
Boundary environment, then sensor fusion locating module is defined as target locating module.
Situation 32, current locating module are NL-L modules, if GNSS signal intensity in the location information that current period obtains
More than or equal to the first intensity threshold, it is determined that target locating module is GNSS locating modules；If the positioning that current period obtains
GNSS signal intensity is less than the first intensity threshold in information, then continues to monitor location information, and judge using preset indoor and outdoor
Module judges to be presently in environment：Will if when local environment is outdoor environment and GNSS signal intensity is less than the first intensity threshold
NL-L modules are defined as target locating module, if local environment is outdoor environment and GNSS signal intensity is more than or equal to the last the first
Threshold value is spent then using GNSS locating modules as target locating module；NL-H modules are defined as if local environment is indoor environment
Target locating module；Sensor fusion locating module is defined as target positioning if residing environment is indoor and outdoor boundary environment
Module.
Situation 33, current locating module are that sensor merges locating module, if in the location information that current period obtains
GNSS signal intensity is more than or equal to the first intensity threshold, it is determined that target locating module is GNSS locating modules；If current week
GNSS signal intensity is less than the first intensity threshold in the location information that phase obtains, then continues to monitor location information, and using preset
Indoor and outdoor judge module judge be presently in environment：If local environment is outdoor environment and GNSS signal intensity is less than the last the first
When spending threshold value, then NL-L modules are defined as target locating module, if local environment is outdoor environment and GNSS signal intensity is big
In or equal to the first intensity threshold, then using GNSS locating modules as target locating module；If local environment is indoor environment
NL-H modules are defined as target locating module；If residing environment is indoor and outdoor boundary environment, sensor is merged and positioned
Module is defined as target locating module.
Situation 34, current locating module are NL-H modules, if GNSS signal intensity in the location information that current period obtains
More than or equal to the first intensity threshold, it is determined that target locating module is GNSS locating modules；If the positioning that current period obtains
GNSS signal intensity is less than the first intensity threshold in information, then continues to monitor location information, and judge using preset indoor and outdoor
Module judges to be presently in environment：If local environment is outdoor environment and GNSS signal intensity when being less than the first intensity threshold,
NL-L modules are defined as target locating module, if local environment is outdoor environment and GNSS signal intensity is more than or equal to first
Intensity threshold, then using GNSS locating modules as target locating module；If local environment is indoor environment, and NL-H modules is true
It is set to target locating module；If residing environment is indoor and outdoor boundary environment, sensor fusion locating module is defined as mesh
Mark locating module.
As more specific embodiment, pedestrian in walking, if Walking Route include indoor environment (such as：Market) and
Outdoor environment, if carrying out positioning service using GNSS locating modules, indoors during environment, the signal intensity of GNSS locating modules can
It can be affected, cause the unconverted situation of position inaccurate or position location, be switched using the positioning of the embodiment of the present invention
Method, when the signal intensity of GNSS locating modules dies down, by current locating module switch to sensor fusion locating module or
Person's NL-H modules, the track route of pedestrian's environment indoors is positioned, to provide accurate positioning result；And in outdoor ring
Under border, if the signal intensity of GNSS locating modules dies down, current locating module is switched into NL-L modules, it is accurate to provide
Positioning result.
Technical solution of the present invention, after location information is got, target locating module is determined according to location information, and
Current locating module by current locating module during target locating module difference with switching to target locating module.The technology of the present invention side
A variety of locating modules are integrated with case, when the target locating module determined according to location information and currently employed locating module
Locating module switching is carried out when inconsistent, because location information largely can truly reflect actual environment, therefore root
Switching locating module according to location information so that the target locating module determined according to location information more meets actual environment,
Therefore, the positioning method provided using technical solution of the present invention is better able to be flexibly adapted to different environment.
It is above positioning switching method provided in an embodiment of the present invention, based on same invention thinking, the embodiment of the present invention
A kind of positioning switching device is also provided, as shown in Figure 5.
A kind of positioning switching device provided in an embodiment of the present invention, as shown in figure 5, the device includes：Location information obtains
Unit 501, for obtaining location information；Target locating module determining unit 502, for determining that target positions according to location information
Module；Locating module switch unit 503, during for determining current locating module and target locating module difference, prelocalization will be worked as
Module switches to target locating module.
In a kind of possible embodiment, in device provided in an embodiment of the present invention, target locating module determining unit
502, including：Judgment sub-unit 5021, for whether judging the global navigation satellite system GNSS signal intensity in location information
More than or equal to the first intensity threshold；First processing subelement 5022, for the result of determination of judgment sub-unit 5021 for be when,
It is GNSS locating modules to determine target locating module；Second processing subelement 5023, for judging to tie in judgment sub-unit 5021
When fruit is no, location information is continued to monitor, and target locating module is determined according to monitoring result.
In a kind of possible embodiment, in device provided in an embodiment of the present invention, second processing subelement 5023, tool
Body is used for：If current locating module be GNSS locating modules, and monitoring result is GNSS signal intensity in the first lasting duration
It is interior to be respectively less than the first intensity threshold, it is determined that sensor fusion locating module is target locating module；If current locating module is
Sensor merges locating module, and monitoring result is that GNSS signal intensity is respectively less than the first intensity threshold in the second lasting duration
Value, it is determined that network location module is target locating module；If current locating module is network location module, and monitoring result is
Signal intensity for the location information of network positions continues to be less than the second intensity threshold in the 3rd duration, it is determined that sensor
Fusion locating module is target locating module.
In a kind of possible embodiment, in device provided in an embodiment of the present invention, network location module includes high-precision
Network location module and low accurate network locating module are spent, second processing subelement 5023 determines that network location module is determined for target
Position module, is specifically used for：Judge the local location database for whether being stored with high accuracy positioning module, if it is determined that result is yes,
Then determine that target locating module is high-accuracy network locating module；If it is determined that result is no, it is determined that target locating module is low
Accurate network locating module.
In a kind of possible embodiment, in device provided in an embodiment of the present invention, second processing subelement 5023, tool
Body is used for：Using preset indoor and outdoor judge module according to the location information monitored, it is determined that being presently in environment；From what is prestored
In the corresponding relation of environment and locating module, determine to be presently in locating module corresponding to environment, and the locating module is true
It is set to target locating module.
In a kind of possible embodiment, in device provided in an embodiment of the present invention, the environment and locating module that prestore
Corresponding relation include following any one or its combination：Outdoor environment corresponds to GNSS locating modules and low accurate network positioning mould
Block；Indoor and outdoor boundary environment respective sensor merges locating module；Indoor environment corresponds to high-accuracy network locating module.
In a kind of possible embodiment, in device provided in an embodiment of the present invention, second processing subelement 5023 is true
When settled preceding local environment is outdoor environment, from the environment and the corresponding relation of locating module to prestore, determine to be presently in
Locating module corresponding to environment, and the locating module is defined as target locating module, it is specifically used for：From the environment to prestore with determining
Determine that locating module corresponding to outdoor environment is GNSS locating modules and low accurate network positioning mould in the corresponding relation of position module
Block；Judge whether current GNSS signal intensity is more than the first intensity threshold, if so, then being positioned GNSS locating modules as target
Module；If it is not, then using low accurate network locating module as target locating module.
It should be understood by those skilled in the art that, embodiments of the invention can be provided as method, system or computer program
Product.Therefore, the present invention can use the reality in terms of complete hardware embodiment, complete software embodiment or combination software and hardware
Apply the form of example.Moreover, the present invention can use the computer for wherein including computer usable program code in one or more
The shape for the computer program product that usable storage medium is implemented on (including but is not limited to magnetic disk storage and optical memory etc.)
Formula.
The present invention is the flow with reference to method according to embodiments of the present invention, equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that can be by every first-class in computer program instructions implementation process figure and/or block diagram
Journey and/or the flow in square frame and flow chart and/or block diagram and/or the combination of square frame.These computer programs can be provided
The processors of all-purpose computer, special-purpose computer, Embedded Processor or other programmable data processing devices is instructed to produce
A raw machine so that produced by the instruction of computer or the computing device of other programmable data processing devices for real
The device for the function of being specified in present one flow of flow chart or one square frame of multiple flows and/or block diagram or multiple square frames.
These computer program instructions, which may be alternatively stored in, can guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works so that the instruction being stored in the computer-readable memory, which produces, to be included referring to
Make the manufacture of device, the command device realize in one flow of flow chart or multiple flows and/or one square frame of block diagram or
The function of being specified in multiple square frames.
These computer program instructions can be also loaded into computer or other programmable data processing devices so that counted
Series of operation steps is performed on calculation machine or other programmable devices to produce computer implemented processing, so as in computer or
The instruction performed on other programmable devices is provided for realizing in one flow of flow chart or multiple flows and/or block diagram one
The step of function of being specified in individual square frame or multiple square frames.
Obviously, those skilled in the art can carry out the essence of various changes and modification without departing from the present invention to the present invention
God and scope.So, if these modifications and variations of the present invention belong to the scope of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to comprising including these changes and modification.
Claims (14)
1. one kind positioning switching method, it is characterised in that this method includes：
Obtain location information；
Target locating module is determined according to the location information；
It is determined that when current locating module is with the target locating module difference, the target is switched to position current locating module
Module.
2. the method as described in claim 1, it is characterised in that it is described that target locating module is determined according to the location information,
Specifically include：
Judge whether the global navigation satellite system GNSS signal intensity in the location information is more than or equal to the first intensity threshold
Value；
If, it is determined that target locating module is GNSS locating modules；
If it is not, then continuing to monitor location information, and target locating module is determined according to monitoring result.
3. method as claimed in claim 2, it is characterised in that target locating module is determined according to monitoring result, including：
If current locating module is GNSS locating modules, and monitoring result is that GNSS signal intensity is equal in the first lasting duration
Less than the first intensity threshold, it is determined that sensor fusion locating module is target locating module；
Locating module is merged if current locating module is sensor, and monitoring result is GNSS signal intensity at lasting second
The first intensity threshold is respectively less than in long, it is determined that network location module is target locating module；
If current locating module is network location module, and monitoring result is the signal intensity of the location information for network positions
Continue to be less than the second intensity threshold in the 3rd duration, it is determined that sensor fusion locating module is target locating module.
4. method as claimed in claim 3, it is characterised in that the network location module includes high-accuracy network locating module
With low accurate network locating module, the determination network location module is target locating module, is specifically included：
The local location database for whether being stored with high accuracy positioning module is judged, if it is determined that result is yes, it is determined that target is fixed
Position module is high-accuracy network locating module；If it is determined that result is no, it is determined that target locating module positions for low accurate network
Module.
5. method as claimed in claim 2, it is characterised in that target locating module is determined according to monitoring result, specific bag
Include：
Using preset indoor and outdoor judge module according to the location information monitored, it is determined that being presently in environment；
From the environment and the corresponding relation of locating module to prestore, determine to be presently in locating module corresponding to environment, and will
The locating module is defined as target locating module.
6. method as claimed in claim 5, it is characterised in that the corresponding relation of the environment to prestore and locating module includes
Any one or its combination below：
Outdoor environment corresponds to GNSS locating modules and low accurate network locating module；
Indoor and outdoor boundary environment respective sensor merges locating module；
Indoor environment corresponds to high-accuracy network locating module.
7. method as claimed in claim 6, it is characterised in that it is determined that when to be presently in environment be outdoor environment, from what is prestored
In the corresponding relation of environment and locating module, determine to be presently in locating module corresponding to environment, and the locating module is true
It is set to target locating module, including：
Determine that the corresponding locating module of outdoor environment is GNSS positioning moulds in corresponding relation from the environment to prestore with locating module
Block and low accurate network locating module；
Judge whether current GNSS signal intensity is more than or equal to the first intensity threshold, if so, then using GNSS locating modules as
Target locating module；If it is not, then using low accurate network locating module as target locating module.
8. one kind positioning switching device, it is characterised in that the device includes：
Location information acquiring unit, for obtaining location information；
Target locating module determining unit, for determining target locating module according to the location information；
Locating module switch unit, during for determining current locating module and the target locating module difference, prelocalization will be worked as
Module switches to the target locating module.
9. device as claimed in claim 8, it is characterised in that the target locating module determining unit, including：
Judgment sub-unit, the global navigation satellite system GNSS signal intensity for judging in the location information whether be more than or
Equal to the first intensity threshold；
First processing subelement, for when judgment sub-unit result of determination is to be, determining that target locating module positions for GNSS
Module；
Second processing subelement, for when judgment sub-unit result of determination is no, continuing to monitor location information, and according to monitoring
As a result target locating module is determined.
10. device as claimed in claim 9, it is characterised in that the second processing subelement, be specifically used for：
If current locating module is GNSS locating modules, and monitoring result is that GNSS signal intensity is equal in the first lasting duration
Less than the first intensity threshold, it is determined that sensor fusion locating module is target locating module；
Locating module is merged if current locating module is sensor, and monitoring result is GNSS signal intensity at lasting second
The first intensity threshold is respectively less than in long, it is determined that network location module is target locating module；
If current locating module is network location module, and monitoring result is the signal intensity of the location information for network positions
Continue to be less than the second intensity threshold in the 3rd duration, it is determined that sensor fusion locating module is target locating module.
11. device as claimed in claim 10, it is characterised in that the network location module includes high-accuracy network positioning mould
Block and low accurate network locating module, the second processing subelement determine that network location module is target locating module, specifically
For：
The local location database for whether being stored with high accuracy positioning module is judged, if it is determined that result is yes, it is determined that target is fixed
Position module is high-accuracy network locating module；If it is determined that result is no, it is determined that target locating module positions for low accurate network
Module.
12. device as claimed in claim 9, it is characterised in that the second processing subelement, be specifically used for：
Using preset indoor and outdoor judge module according to the location information monitored, it is determined that being presently in environment；
From the environment and the corresponding relation of locating module to prestore, determine to be presently in locating module corresponding to environment, and will
The locating module is defined as target locating module.
13. device as claimed in claim 12, it is characterised in that the corresponding relation bag of the environment to prestore and locating module
Include following any one or its combination：
Outdoor environment corresponds to GNSS locating modules and low accurate network locating module；
Indoor and outdoor boundary environment respective sensor merges locating module；
Indoor environment corresponds to high-accuracy network locating module.
14. device as claimed in claim 13, it is characterised in that the second processing subelement determines that being presently in environment is
During outdoor environment, from the environment and the corresponding relation of locating module to prestore, determine to be presently in positioning mould corresponding to environment
Block, and the locating module is defined as target locating module, it is specifically used for：
Determine that the corresponding locating module of outdoor environment is GNSS positioning moulds in corresponding relation from the environment to prestore with locating module
Block and low accurate network locating module；
Judge whether current GNSS signal intensity is more than the first intensity threshold, if so, then determining using GNSS locating modules as target
Position module；If it is not, then using low accurate network locating module as target locating module.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610806557.3A CN107809738A (en) | 2016-09-07 | 2016-09-07 | One kind positioning switching method and device |
| PCT/CN2017/099259 WO2018045888A1 (en) | 2016-09-07 | 2017-08-28 | Positioning switching method and apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610806557.3A CN107809738A (en) | 2016-09-07 | 2016-09-07 | One kind positioning switching method and device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107809738A true CN107809738A (en) | 2018-03-16 |
Family
ID=61561711
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610806557.3A Pending CN107809738A (en) | 2016-09-07 | 2016-09-07 | One kind positioning switching method and device |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN107809738A (en) |
| WO (1) | WO2018045888A1 (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109597110A (en) * | 2018-11-08 | 2019-04-09 | 昂科信息技术（上海）股份有限公司 | Trans-regional equipment localization method, system, device and medium |
| CN110234068A (en) * | 2019-05-29 | 2019-09-13 | 维沃移动通信有限公司 | A kind of localization method and terminal device |
| CN111123337A (en) * | 2019-11-15 | 2020-05-08 | 泰康保险集团股份有限公司 | Position monitoring method and device, electronic equipment and computer readable storage medium |
| CN111615056A (en) * | 2020-04-08 | 2020-09-01 | 广州中海达卫星导航技术股份有限公司 | Indoor and outdoor seamless switching positioning method and device, computer equipment and storage medium |
| CN113079458A (en) * | 2021-03-19 | 2021-07-06 | 甄十信息科技（上海）有限公司 | Method and equipment for positioning wearable mobile terminal |
| CN115342807A (en) * | 2022-08-12 | 2022-11-15 | 全图通位置网络有限公司 | Multi-source signal self-adaptive fusion positioning method and system in complex environment |
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| CN112312320A (en) * | 2019-07-29 | 2021-02-02 | 南京蓝思信息科技有限公司 | Positioning method and positioning device for terminal and positioning terminal |
| CN111721290B (en) * | 2020-07-13 | 2023-11-21 | 南京理工大学 | Multisource sensor information fusion positioning switching method |
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| WO2018045888A1 (en) | 2018-03-15 |
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