CN108235736B - Positioning method, cloud server, terminal, system, electronic device and computer program product - Google Patents

Positioning method, cloud server, terminal, system, electronic device and computer program product Download PDF

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CN108235736B
CN108235736B CN201780002747.2A CN201780002747A CN108235736B CN 108235736 B CN108235736 B CN 108235736B CN 201780002747 A CN201780002747 A CN 201780002747A CN 108235736 B CN108235736 B CN 108235736B
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moving target
cloud server
preset point
position signal
terminal
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CN108235736A (en
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王超鹏
廉士国
林义闽
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Cloudminds Shanghai Robotics Co Ltd
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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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/87—Combinations of systems using electromagnetic waves other than radio waves
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • 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
    • H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/025—Services making use of location information using location based information parameters
    • 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
    • G01S19/485—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 whereby the further system is an optical system or imaging system

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  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
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  • Position Fixing By Use Of Radio Waves (AREA)
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Abstract

A positioning method, a cloud server, a terminal, a system, electronic equipment and a computer program product relate to the field of positioning and navigation. Collecting preset point position information in a first collection mode; acquiring and obtaining the position information of the moving target in real time in a second acquisition mode; and judging whether the moving target enters a key area set by taking the preset point as the center, and acquiring the position information of the moving target in real time in a third acquisition mode when the moving target enters the key area. The key area is set through the preset point, the mobile target is positioned outside the key area by using a positioning mode with lower precision, and the mobile target is switched to a positioning mode with higher precision when entering the key area, so that the data transmission quantity and the operation quantity are saved on the basis of realizing high-precision positioning, and the cost is also saved to the great extent.

Description

Positioning method, cloud server, terminal, system, electronic device and computer program product
Technical Field
The present invention relates to the field of positioning and navigation, and in particular, to a positioning method, a cloud server, a terminal, a system, an electronic device, and a computer program product.
Background
In the process of pedestrian navigation or unmanned driving, detection on a complex road section or a traffic junction road section (such as an intersection, a building doorway and the like) is particularly important, and the safety of navigation is directly concerned. Currently, there are many positioning technologies, mainly including: general GPS (Global Positioning System) Positioning, high-precision GPS Positioning, visual Positioning, laser radar Positioning, and the like.
The common GPS is used for positioning, the cost is low, but the precision is poor, and the accurate position information of key points cannot be acquired. The method has the advantages that the high-precision GPS is used for positioning, the precision is high, and RTK (Real-time kinematic) data can be acquired by erecting a base station or using third-party service; if a base station is erected, the cost is high and long-term maintenance is required; if third party RTK data is used, such as finding a location, the service cost is high. The positioning precision is high by using vision or laser radar, but the environmental information needs to be obtained in advance, a corresponding feature library is established, the workload for collecting map data is large, and the cost is high; meanwhile, vision is used for real-time positioning, if data are locally processed, the client side is required to have strong processing capacity, and if the data are uploaded to the cloud side for processing, data transmission and computation are large.
Disclosure of Invention
The embodiment of the invention provides a positioning method, a cloud server, a terminal, a system, electronic equipment and a computer program product, and aims to improve positioning accuracy, save cost and provide reliable positioning information for pedestrian navigation or unmanned driving.
A first aspect of an embodiment of the present invention provides a positioning method, where the method includes:
receiving a first position signal of a moving target acquired by a terminal in real time in a second acquisition mode, and acquiring first position information of the moving target according to the first position signal of the moving target;
judging whether the moving target enters a key area set by taking a preset point as a center according to the first position information of the moving target, and triggering a terminal to acquire a second position signal of the moving target in real time in a third acquisition mode when the moving target enters the key area, wherein the acquisition precision of the third acquisition mode is higher than that of the second acquisition mode;
and receiving a second position signal of the moving target acquired by the terminal in real time in a third acquisition mode, and acquiring second position information of the moving target according to the second position signal of the moving target.
A second aspect of the embodiments of the present invention provides a positioning method, where the method includes:
acquiring a first position signal of a moving target in real time in a second acquisition mode, and sending the first position signal of the moving target to a cloud server;
and receiving and executing a trigger instruction which is sent by the cloud server and used for acquiring a second position signal of the moving target in real time in a third acquisition mode, and sending the second position signal of the moving target to the cloud server.
A third aspect of the present invention provides a cloud server, where the cloud server includes a processor configured with processor-executable operating instructions to perform the following operations:
receiving a first position signal of a moving target acquired by a terminal in real time in a second acquisition mode, and acquiring first position information of the moving target according to the first position signal of the moving target;
judging whether the moving target enters a key area set by taking a preset point as a center according to the first position information of the moving target, and triggering a terminal to acquire a second position signal of the moving target in real time in a third acquisition mode when the moving target enters the key area, wherein the acquisition precision of the third acquisition mode is higher than that of the second acquisition mode;
and receiving a second position signal of the moving target acquired by the terminal in real time in a third acquisition mode, and acquiring second position information of the moving target according to the second position signal of the moving target.
A fourth aspect of the embodiments of the present invention provides a terminal, where the terminal includes a second acquisition device and a third acquisition device;
the second acquisition device is used for acquiring a first position signal of a moving target in real time and sending the first position signal of the moving target to the cloud server;
and the third acquisition device is used for receiving and executing a trigger instruction which is sent by the cloud server and used for acquiring the second position signal of the moving target in real time, and sending the second position signal of the moving target to the cloud server.
A fifth aspect of an embodiment of the present invention provides an electronic device, including: a display, a memory, one or more processors; and one or more modules stored in the memory and configured to be executed by the one or more processors, the one or more modules including instructions for performing the steps of the positioning method of the first aspect.
A sixth aspect of embodiments of the present invention proposes a computer program product comprising a computer program stored on a non-volatile computer-readable storage medium, the computer program comprising program instructions which, when executed by a computer, cause the computer to perform the steps of the positioning method according to the first aspect.
According to the invention, the key area is set through the preset point, the mobile target is positioned by using a lower-precision positioning mode outside the key area, and the mobile target is switched to a higher-precision positioning mode when entering the key area, so that the data transmission quantity and the operation quantity are saved on the basis of realizing high-precision positioning, and the cost is also saved to a great extent.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a flowchart of a positioning method according to an embodiment of the present invention;
fig. 2 is a schematic diagram of the positioning method according to the embodiment of the present invention applied to an intersection;
fig. 3 is a flowchart illustrating a process of obtaining preset point position information by using a visual positioning manner or a laser radar positioning manner according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a key region according to an embodiment of the present invention;
FIG. 5 is a flowchart illustrating a method for obtaining position information of a moving object by using a visual positioning method or a laser radar positioning method according to an embodiment of the present invention;
FIG. 6 is a flow chart of another positioning method according to an embodiment of the present invention;
fig. 7 is a schematic diagram of a positioning system according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions and advantages of the embodiments of the present invention more apparent, the following further detailed description of the exemplary embodiments of the present invention is provided with reference to the accompanying drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and are not exhaustive of all the embodiments. It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
The positioning method can be applied to relevant scenes such as unmanned driving or intelligent navigation.
Example 1
As shown in fig. 1, this embodiment proposes a positioning method, which specifically includes:
s101, receiving a preset point position signal acquired by a terminal in a first acquisition mode, and acquiring preset point position information according to the preset point position signal.
Specifically, the preset points described in this embodiment are preset key points in a complex road segment or a traffic junction road segment (e.g., an intersection, a building doorway, etc.), taking the intersection shown in fig. 2 as an example, four top corners of the intersection may be selected as the preset points, and the number of the preset points may be specifically determined according to local traffic conditions or road segment conditions.
The position information of the preset points needs to be sufficiently accurate, since it determines the next series of positioning related processes. The embodiment can adopt high-precision GPS positioning mode, visual positioning mode, laser radar positioning mode or other high-precision positioning mode to collect the position information of the preset point. The specific acquisition process is explained below.
Still taking the crossroad shown in fig. 2 as an example, if the high-precision GPS positioning mode is adopted to collect the position information of four vertex angles of the crossroad, a high-precision GPS module capable of realizing high-precision GPS positioning collection needs to be preset on the four vertex angles, so as to acquire RTK signals sent by the high-precision GPS module at the four vertex angles, and the longitude and latitude information corresponding to the four vertex angles can be acquired by analyzing the RTK signals
Figure GDA0001631210510000041
And recording and storing.
If a visual positioning mode or a laser radar positioning mode is adopted, map information of an area near a preset point needs to be scanned, the map information is mapped with actual longitude and latitude information, and longitude and latitude information corresponding to each point in a scanning map is obtained, as shown in fig. 3, specifically:
s1011, receiving the preset point surrounding environment information collected by the terminal;
s1012, generating a first local map according to the preset point peripheral environment information, wherein the first local map comprises pixel coordinates of the preset point on the first local map;
and S1013, converting the pixel coordinates of the preset points on the first local map into actual longitude and latitude information.
Corresponding to the intersection as shown in fig. 2, for the four corner positions in the first local map, the four corner positions respectively correspond to the inflection point positions of the intersection (O)1-C1，O2-C2，O3-C3，O4-C4). Map mapping can be carried out according to the first local map scale and the known point longitude and latitude coordinate information, and longitude and latitude information corresponding to pixel coordinates in the first local map is obtained. The basic principle is as follows:
knowing the longitude and latitude information of two points, the distance and azimuth between the two points can be obtained:
Figure GDA0001631210510000051
Figure GDA0001631210510000052
wherein d represents the actual distance between two points; r represents the radius of the earth, and the size of R is 6378137 m;
Figure GDA0001631210510000053
Figure GDA0001631210510000054
respectively representing longitude and latitude coordinate values of the two points; alpha is alphagRepresents
Figure GDA0001631210510000055
Relative to
Figure GDA0001631210510000056
The direction angle of (c).
Because the local map has direction deviation with the actual map, the direction deviation can be determined according to two adjacent corner points pi、pi+1The position information of (2) is acquired.
Figure GDA0001631210510000057
αd＝(2*π-αg)-αo
Wherein the content of the first and second substances,
Figure GDA0001631210510000058
representing pixel coordinate information corresponding to the i and i +1 inflection points on the local map; alpha is alphagRepresenting the relative direction angles of two inflection points on an actual map; alpha is alphaoRepresenting the relative direction angles of two inflection points on a local map; alpha is alphadRepresenting the deviation of the actual map from the local map bearing angle.
For a local map, if the coordinates of a point pixel point are known
Figure GDA0001631210510000061
Corresponding latitude and longitude information
Figure GDA0001631210510000062
A map scale for obtaining another pixel point
Figure GDA0001631210510000063
Corresponding latitude and longitude information.
Figure GDA0001631210510000064
Figure GDA0001631210510000069
Figure GDA0001631210510000065
Figure GDA0001631210510000066
Wherein s represents a local map scale, namely the actual distance represented by each pixel point; d represents the corresponding actual distance between two pixel points in the local map; alpha is alphacorIs the corrected angle;
Figure GDA0001631210510000067
representative pixel point
Figure GDA0001631210510000068
Corresponding latitude and longitude information.
Through the calculation process, the longitude and latitude information corresponding to the point on the first local map can be preset, and the mapping between the maps can be realized.
It should be noted that the process involved in step S101 does not need to perform the related operations of positioning acquisition before each positioning, and only needs to perform the determination of the preset point position once before the related device and method are deployed.
S102, receiving a first position signal of the moving target acquired by the terminal in real time in a second acquisition mode, and acquiring first position information of the moving target according to the first position signal of the moving target.
Specifically, the positioning method described in this embodiment aims to achieve both accurate positioning and cost saving on this basis. In step S101, the position information of the preset point is determined in a precise positioning manner, and when the moving target is farther from the preset point, a common GPS module with lower precision may be selected to acquire the position of the moving target, that is, the second acquisition manner is used to acquire and obtain the position information of the moving target in real time in this embodiment.
S103, judging whether the moving target enters a key area set by taking a preset point as a center according to the first position information of the moving target, triggering a terminal to acquire and receive a second position signal of the moving target in a third acquisition mode in real time when the moving target enters the key area, and acquiring the second position information of the moving target according to the second position signal of the moving target.
Specifically, in step S102, since the moving target is far from the preset point and the requirement for accuracy is not very high, the position information of the moving target may be acquired by using an acquisition method with low accuracy. When the moving target moves to the vicinity of the preset point, in order to accurately determine the position relationship between the moving target and the preset point, the position information of the moving target needs to be accurately acquired. Meanwhile, the common GPS module has poor precision and certain errors. Therefore, as shown in fig. 4, in order to ensure timely switching between the low-precision acquisition mode and the high-precision acquisition mode, a key area is set around the preset point, and once the moving target enters the key area, the position information of the moving target is acquired by switching to the high-precision acquisition mode. Therefore, the requirement for saving cost can be met, and the positioning precision cannot be influenced.
The key area is set by the angle of the preset point, in addition, the key area can be directly set by the angle of the high-precision acquisition device, the detection radius of the high-precision acquisition device is set, and if the moving target enters the detection area, the high-precision acquisition mode is directly started to acquire the moving target.
Based on the above, it can be known that the third acquisition mode described in this embodiment also needs to adopt a high-precision acquisition mode to acquire the moving object, and therefore, the third acquisition mode can be implemented with reference to the first acquisition mode. The position information of the moving target can be acquired by adopting a high-precision GPS positioning mode, a visual positioning mode, a laser radar positioning mode or other high-precision positioning modes. A specific positioning acquisition process is described below with reference to fig. 2 and 4.
If a high-precision GPS positioning mode is adopted to collect the position information of the moving target, only a high-precision GPS module needs to be arranged on the moving target in advance, and then the longitude and latitude information of the moving target can be obtained by analyzing an RTK signal sent by the high-precision GPS module.
If a visual positioning mode or a laser radar positioning mode is adopted, a local map of a road section where the preset point is located needs to be established by adopting the visual or laser radar, and mapping of coordinate points of the local map and actual longitude and latitude is completed. As shown in fig. 5, specifically:
s1031, receiving the image information of the road section where the preset point is located, which is sent by the terminal;
s1032, generating a second local map according to the image information, wherein the second local map comprises pixel coordinates of the moving target on the second local map;
and S1033, converting the pixel coordinates of the moving target on the second local map into actual longitude and latitude information.
For a specific process of determining the position information of the moving object, reference may be made to the process of determining the position information of the preset point in step S101, which is not described herein again.
As can be seen from the above, the first and third acquisition manners described in this embodiment both have two positioning manners, namely high-precision GPS positioning and visual/laser radar positioning, so that the method described in this embodiment can generate 4 sets of completely different positioning manners in actual use, as shown in table 1:
TABLE 1
First collection mode Second collection mode Third collection mode
High-precision GPS positioning mode Low-precision GPS positioning mode High-precision GPS positioning mode
High-precision GPS positioning mode Low precision GPS positioning mode Vision/laser radar positioning mode
Vision/laser radar positioning mode Low-precision GPS positioning mode High-precision GPS positioning mode
Vision/laser radar positioning mode Low-precision GPS positioning mode Vision/laser radar positioning mode
Therefore, the method of the embodiment can save the cost and improve the flexibility of marshalling through a flexible positioning combination mode on the premise of not losing the positioning precision.
And S104, navigating the moving target according to the second position information of the moving target and the position information of the preset point.
Specifically, after the position information of the moving target and the preset point is respectively determined through a series of positioning modes, the moving target can be accurately navigated through the relative position relationship between the moving target and the preset point.
Example 2
As shown in fig. 6, the present embodiment proposes a positioning method, including:
s201, acquiring a preset point position signal preset by a cloud server in a first acquisition mode, and sending the preset point position signal to the cloud server;
specifically, the preset points described in this embodiment are preset key points in a complex road segment or a traffic junction road segment (e.g., an intersection, a building doorway, etc.), taking the intersection shown in fig. 2 as an example, four top corners of the intersection may be selected as the preset points, and the number of the preset points may be specifically determined according to local traffic conditions or road segment conditions.
The position information of the preset points needs to be sufficiently accurate, since it determines the next series of positioning related processes. The embodiment can adopt high-precision GPS positioning mode, visual positioning mode, laser radar positioning mode or other high-precision positioning mode to collect the position information of the preset point. The specific acquisition process is explained below.
Still taking the crossroad shown in fig. 2 as an example, if the high-precision GPS positioning mode is adopted to collect the position information of four vertex angles of the crossroad, a high-precision GPS module capable of realizing high-precision GPS positioning collection needs to be preset on the four vertex angles, so as to acquire RTK signals sent by the high-precision GPS module at the four vertex angles, and the longitude and latitude information corresponding to the four vertex angles can be acquired by analyzing the RTK signals
Figure GDA0001631210510000091
And recording and storing.
If a visual positioning mode or a laser radar positioning mode is adopted, map information of an area near the preset point, namely the surrounding environment information of the preset point, needs to be scanned, and then the map information is sent to a cloud server to be mapped with the actual longitude and latitude information, so that the longitude and latitude information corresponding to each point in the scanned map is obtained.
Corresponding to the intersection as shown in fig. 2, for the four corner positions in the first local map, the four corner positions respectively correspond to the inflection point positions of the intersection (O)1-C1，O2-C2，O3-C3，O4-C4). Map mapping can be carried out according to the first local map scale and the known point longitude and latitude coordinate information, and longitude and latitude information corresponding to pixel coordinates in the first local map is obtained.
It should be noted that the process in step S201 does not need to perform the related operations of positioning acquisition before each positioning, and only needs to determine the position of the preset point once before the related device and method are deployed.
S202, acquiring a first position signal of the moving target in real time in a second acquisition mode, and sending the first position signal of the moving target to a cloud server.
Specifically, the positioning method described in this embodiment aims to achieve both accurate positioning and cost saving on this basis. In step S201, the position information of the preset point is determined in a precise positioning manner, and when the moving target is farther from the preset point, a common GPS module with lower precision may be selected to acquire the position of the moving target, that is, the moving target position information is acquired in real time in the second acquisition manner in this embodiment.
S203, receiving and executing a trigger instruction which is sent by the cloud server and used for collecting the second position signal of the moving target in a third collection mode in real time, and sending the second position signal of the moving target to the cloud server.
Specifically, in step S202, since the moving target is far from the preset point and the requirement for accuracy is not very high, the position information of the moving target may be acquired by using an acquisition method with low accuracy. When the moving target moves to the vicinity of the preset point, in order to accurately determine the position relationship between the moving target and the preset point, the position information of the moving target needs to be accurately acquired. Meanwhile, the common GPS module has poor precision and certain errors. Therefore, as shown in fig. 4, in order to ensure timely switching between the low-precision acquisition mode and the high-precision acquisition mode, a key area is set around the preset point, and once the moving target enters the key area, the position information of the moving target is acquired by switching to the high-precision acquisition mode. Therefore, the requirement for saving cost can be met, and the positioning precision cannot be influenced.
The key area is set by the angle of the preset point, in addition, the key area can be directly set by the angle of the high-precision acquisition device, the detection radius of the high-precision acquisition device is set, and if the moving target enters the detection area, the high-precision acquisition mode is directly started to acquire the moving target.
Based on the above, it can be known that the third acquisition mode described in this embodiment also needs to adopt a high-precision acquisition mode to acquire the moving object, and therefore, the third acquisition mode can be implemented with reference to the first acquisition mode. The position information of the moving target can be acquired by adopting a high-precision GPS positioning mode, a visual positioning mode, a laser radar positioning mode or other high-precision positioning modes. A specific positioning acquisition process is described below with reference to fig. 2 and 4.
If a high-precision GPS positioning mode is adopted to collect the position information of the moving target, only a high-precision GPS module needs to be arranged on the moving target in advance, and then the longitude and latitude information of the moving target can be obtained by analyzing an RTK signal sent by the high-precision GPS module.
If the visual positioning mode or the laser radar positioning mode is adopted, the visual or laser radar is required to be adopted to collect the image information of the road section where the preset point is located so that the cloud server can establish a local map of the road section where the preset point is located according to the image information and complete the mapping of the coordinate points of the local map and the actual longitude and latitude.
Example 3
The embodiment provides a cloud server, which includes a processor configured with processor-executable operating instructions to perform the following operations:
receiving a preset point position signal acquired by a terminal in a first acquisition mode, and acquiring preset point position information according to the preset point position signal;
receiving a first position signal of a moving target acquired by a terminal in real time in a second acquisition mode, and acquiring first position information of the moving target according to the first position signal of the moving target;
judging whether the moving target enters a key area set by taking a preset point as a center according to the first position information of the moving target, and triggering a terminal to acquire a second position signal of the moving target in real time in a third acquisition mode when the moving target enters the key area, wherein the acquisition precision of the third acquisition mode is higher than that of the second acquisition mode;
and receiving a second position signal of the moving target acquired by the terminal in real time in a third acquisition mode, and acquiring second position information of the moving target according to the second position signal of the moving target.
Specifically, the preset points described in this embodiment are preset key points in a complex road segment or a traffic junction road segment (e.g., an intersection, a building doorway, etc.), taking the intersection shown in fig. 2 as an example, four top corners of the intersection may be selected as the preset points, and the number of the preset points may be specifically determined according to local traffic conditions or road segment conditions.
The position information of the preset points needs to be sufficiently accurate, since it determines the next series of positioning related processes. The embodiment can adopt high-precision GPS positioning mode, visual positioning mode, laser radar positioning mode or other high-precision positioning mode to collect the position information of the preset point. The specific acquisition process is explained below.
Still taking the crossroad shown in fig. 2 as an example, if the high-precision GPS positioning mode is adopted to collect the position information of four vertex angles of the crossroad, a high-precision GPS module capable of realizing high-precision GPS positioning collection needs to be preset on the four vertex angles, so as to acquire RTK signals sent by the high-precision GPS module at the four vertex angles, and the longitude and latitude information corresponding to the four vertex angles can be acquired by analyzing the RTK signals
Figure GDA0001631210510000111
And recording and storing.
If a visual positioning mode or a laser radar positioning mode is adopted, map information of an area near a preset point needs to be scanned and mapped with actual longitude and latitude information, and longitude and latitude information corresponding to each point in a scanning map is acquired, and the specific process comprises the following steps:
receiving preset point peripheral environment information acquired by a terminal;
generating a first local map according to the preset point peripheral environment information, wherein the first local map comprises pixel coordinates of the preset point on the first local map;
and converting the pixel coordinates of the preset points on the first local map into actual longitude and latitude information.
Corresponding to the intersection as shown in fig. 2, for the four corner positions in the first local map, the four corner positions respectively correspond to the inflection point positions of the intersection (O)1-C1，O2-C2，O3-C3，O4-C4). Map mapping can be carried out according to the first local map scale and the known point longitude and latitude coordinate information, and longitude and latitude information corresponding to pixel coordinates in the first local map is obtained. The basic principle is as follows:
knowing the longitude and latitude information of two points, the distance and azimuth between the two points can be obtained:
Figure GDA0001631210510000121
Figure GDA0001631210510000122
wherein d represents the actual distance between two points; r represents the radius of the earth, and the size of R is 6378137 m;
Figure GDA0001631210510000123
Figure GDA0001631210510000124
respectively representing longitude and latitude coordinate values of the two points; alpha is alphagRepresents
Figure GDA0001631210510000125
Relative to
Figure GDA0001631210510000126
The direction angle of (c).
Because the local map has direction deviation with the actual map, the direction deviation can be determined according to two adjacent corner points pi、pi+1The position information of (2) is acquired.
Figure GDA0001631210510000127
αd＝(2*π-αg)-αo
Wherein the content of the first and second substances,
Figure GDA0001631210510000128
representing pixel coordinate information corresponding to the i and i +1 inflection points on the local map; alpha is alphagRepresenting the relative direction angles of two inflection points on an actual map; alpha is alphaoRepresenting the relative direction angles of two inflection points on a local map; alpha is alphadRepresenting the deviation of the actual map from the local map bearing angle.
For a local map, if the coordinates of a point pixel point are known
Figure GDA0001631210510000131
Corresponding latitude and longitude information
Figure GDA0001631210510000132
A map scale for obtaining another pixel point
Figure GDA0001631210510000133
Corresponding latitude and longitude information.
Figure GDA0001631210510000134
Figure GDA0001631210510000135
Figure GDA0001631210510000136
Figure GDA0001631210510000137
Wherein s represents locallyA graph scale, namely the actual distance represented by each pixel point; d represents the corresponding actual distance between two pixel points in the local map; alpha is alphacorIs the corrected angle;
Figure GDA0001631210510000138
representative pixel point
Figure GDA0001631210510000139
Corresponding latitude and longitude information.
Through the calculation process, the longitude and latitude information corresponding to the point on the first local map can be preset, and the mapping between the maps can be realized.
It should be noted that, in the above-mentioned process of positioning the preset point position, the related operations of positioning acquisition do not need to be performed before each positioning, and only the preset point position needs to be determined once before the related device and method are deployed.
The positioning method aims to realize accurate positioning and cost saving on the basis. The position information of the preset point is determined in a first acquisition mode in a precise positioning mode, and when the moving target is far away from the preset point, a common GPS module with lower precision can be selected to acquire the position of the moving target, that is, the second acquisition mode is used to acquire the position information of the moving target in real time in this embodiment.
The moving target is far away from the preset point and the requirement on the precision is not very high, so that the position information of the moving target can be acquired by adopting an acquisition mode with lower precision. When the moving target moves to the vicinity of the preset point, in order to accurately determine the position relationship between the moving target and the preset point, the position information of the moving target needs to be accurately acquired. Meanwhile, the common GPS module has poor precision and certain errors. Therefore, as shown in fig. 4, in order to ensure timely switching between the low-precision acquisition mode and the high-precision acquisition mode, a key area is set around the preset point, and once the moving target enters the key area, the position information of the moving target is acquired by switching to the high-precision acquisition mode. Therefore, the requirement for saving cost can be met, and the positioning precision cannot be influenced.
The key area is set by the angle of the preset point, in addition, the key area can be directly set by the angle of the high-precision acquisition device, the detection radius of the high-precision acquisition device is set, and if the moving target enters the detection area, the high-precision acquisition mode is directly started to acquire the moving target.
Based on the above, it can be known that the third acquisition mode described in this embodiment also needs to adopt a high-precision acquisition mode to acquire the moving object, and therefore, the third acquisition mode can be implemented with reference to the first acquisition mode. The position information of the moving target can be acquired by adopting a high-precision GPS positioning mode, a visual positioning mode, a laser radar positioning mode or other high-precision positioning modes. A specific positioning acquisition process is described below with reference to fig. 2 and 4.
If a high-precision GPS positioning mode is adopted to collect the position information of the moving target, only a high-precision GPS module needs to be arranged on the moving target in advance, and then the longitude and latitude information of the moving target can be obtained by analyzing an RTK signal sent by the high-precision GPS module.
If a visual positioning mode or a laser radar positioning mode is adopted, a local map of a road section where the preset point is located needs to be established by adopting the visual or laser radar, and mapping of coordinate points of the local map and actual longitude and latitude is completed. The specific process comprises the following steps:
receiving image information of a road section where the preset point is located, which is sent by a terminal;
generating a second local map according to the image information, wherein the second local map comprises pixel coordinates of a moving target on the second local map;
and converting the pixel coordinates of the moving target on the second local map into actual longitude and latitude information.
The specific process of determining the position information of the moving target may refer to the process of determining the position information of the preset point, and is not described herein again.
Example 4
The embodiment provides a terminal, which includes a first acquisition device, a second acquisition device and a third acquisition device;
the first acquisition device is used for acquiring a preset point position signal preset by the cloud server and sending the preset point position signal to the cloud server;
the second acquisition device is used for acquiring a first position signal of a moving target in real time and sending the first position signal of the moving target to the cloud server;
and the third acquisition device is used for receiving and executing a trigger instruction which is sent by the cloud server and used for acquiring the second position signal of the moving target in real time, and sending the second position signal of the moving target to the cloud server.
Specifically, the preset points described in this embodiment are preset key points in a complex road segment or a traffic junction road segment (e.g., an intersection, a building doorway, etc.), taking the intersection shown in fig. 2 as an example, four top corners of the intersection may be selected as the preset points, and the number of the preset points may be specifically determined according to local traffic conditions or road segment conditions.
The position information of the preset points needs to be sufficiently accurate, since it determines the next series of positioning related processes. The embodiment can adopt high-precision GPS positioning mode, visual positioning mode, laser radar positioning mode or other high-precision positioning mode to collect the position information of the preset point. The specific acquisition process is explained below.
Still taking the crossroad shown in fig. 2 as an example, if the high-precision GPS positioning mode is adopted to collect the position information of four vertex angles of the crossroad, a high-precision GPS module capable of realizing high-precision GPS positioning collection needs to be preset on the four vertex angles, so as to acquire RTK signals sent by the high-precision GPS module at the four vertex angles, and the longitude and latitude information corresponding to the four vertex angles can be acquired by analyzing the RTK signals
Figure GDA0001631210510000151
And recording and storing.
If a visual positioning mode or a laser radar positioning mode is adopted, map information of an area near the preset point, namely the surrounding environment information of the preset point, needs to be scanned, and then the map information is sent to a cloud server to be mapped with the actual longitude and latitude information, so that the longitude and latitude information corresponding to each point in the scanned map is obtained.
Corresponding to the intersection as shown in fig. 2, for the four corner positions in the first local map, the four corner positions respectively correspond to the inflection point positions of the intersection (O)1-C1，O2-C2，O3-C3，O4-C4). Map mapping can be carried out according to the first local map scale and the known point longitude and latitude coordinate information, and longitude and latitude information corresponding to pixel coordinates in the first local map is obtained. It should be noted that the above process related to the location of the preset point does not require the related operations of location acquisition before each location, and only needs to determine the preset point location once before the related device and method are deployed.
The terminal described in this embodiment aims to achieve both accurate positioning and cost saving on this basis. The first acquisition device has already determined the location information of the preset point in an accurate positioning manner, and when the moving target is farther from the preset point, a common GPS module with lower accuracy may be selected to acquire the location of the moving target, that is, the second acquisition manner is used to acquire the location information of the moving target in real time in this embodiment.
When the distance between the moving target and the preset point is far, the requirement on the precision is not very high, so that the position information of the moving target can be acquired by adopting an acquisition mode with lower precision. When the moving target moves to the vicinity of the preset point, in order to accurately determine the position relationship between the moving target and the preset point, the position information of the moving target needs to be accurately acquired. Meanwhile, the common GPS module has poor precision and certain errors. Therefore, as shown in fig. 4, in order to ensure timely switching between the low-precision acquisition mode and the high-precision acquisition mode, a key area is set around the preset point, and once the moving target enters the key area, the position information of the moving target is acquired by switching to the high-precision acquisition mode. Therefore, the requirement for saving cost can be met, and the positioning precision cannot be influenced.
The key area is set by the angle of the preset point, in addition, the key area can be directly set by the angle of the high-precision acquisition device, the detection radius of the high-precision acquisition device is set, and if the moving target enters the detection area, the high-precision acquisition mode is directly started to acquire the moving target.
Based on the above, it can be known that the third collecting device described in this embodiment also needs to adopt a high-precision collecting mode to collect the moving target, and therefore, the third collecting device can be implemented with reference to the first collecting mode. The position information of the moving target can be acquired by adopting a high-precision GPS positioning mode, a visual positioning mode, a laser radar positioning mode or other high-precision positioning modes. A specific positioning acquisition process is described below with reference to fig. 2 and 4.
If a high-precision GPS positioning mode is adopted to collect the position information of the moving target, only a high-precision GPS module needs to be arranged on the moving target in advance, and then the longitude and latitude information of the moving target can be obtained by analyzing an RTK signal sent by the high-precision GPS module.
If the visual positioning mode or the laser radar positioning mode is adopted, the visual or laser radar is required to be adopted to collect the image information of the road section where the preset point is located so that the cloud server can establish a local map of the road section where the preset point is located according to the image information and complete the mapping of the coordinate points of the local map and the actual longitude and latitude.
As can be seen from the above, the first and third collecting devices of this embodiment both have two collecting devices, namely, a high-precision GPS module and a vision/laser radar module, so that the terminal of this embodiment can generate 4 sets of completely different positioning modes in actual use, as shown in table 2:
TABLE 2
First collecting device Second collecting device Third collecting device
High-precision GPS module Low-precision GPS module High-precision GPS module
High-precision GPS module Low-precision GPS module Vision/laser radar module
Vision/laser radar module Low-precision GPS module High-precision GPS module
Vision/laser radar module Low-precision GPS module Vision/laser radar module
On the premise of not losing the positioning precision, the cost is saved through a flexible positioning combination mode, and the marshalling flexibility is improved.
After the position information of the moving target and the preset point is respectively determined through a series of positioning modes, the moving target can be accurately navigated through the relative position relation between the moving target and the preset point.
Example 5
As shown in fig. 7, the present embodiment provides a positioning system, which includes a cloud server and a terminal;
the terminal comprises a first acquisition device, a second acquisition device and a third acquisition device;
the first acquisition device is used for acquiring a preset point position signal preset by the cloud server and sending the preset point position signal to the cloud server;
the second acquisition device is used for acquiring a first position signal of a moving target in real time and sending the first position signal of the moving target to the cloud server;
and the third acquisition device is used for receiving and executing a trigger instruction which is sent by the cloud server and used for acquiring the second position signal of the moving target in real time, and sending the second position signal of the moving target to the cloud server.
The cloud server comprises a processor configured with processor-executable operating instructions to:
receiving a preset point position signal acquired by a terminal in a first acquisition mode, and acquiring preset point position information according to the preset point position signal;
receiving a first position signal of a moving target acquired by a terminal in real time in a second acquisition mode, and acquiring first position information of the moving target according to the first position signal of the moving target;
judging whether the moving target enters a key area set by taking a preset point as a center according to the first position information of the moving target, and triggering a terminal to acquire a second position signal of the moving target in real time in a third acquisition mode when the moving target enters the key area, wherein the acquisition precision of the third acquisition mode is higher than that of the second acquisition mode;
and receiving a second position signal of the moving target acquired by the terminal in real time in a third acquisition mode, and acquiring second position information of the moving target according to the second position signal of the moving target.
Specifically, before the system of this embodiment locates the moving object, a preset point is first set at a certain position of the road section according to the road traffic condition, and then a key area is set with the preset point as the center, where the key area can provide a margin for switching the acquisition devices.
The position information of the preset points needs to be sufficiently accurate, since it determines the next series of positioning related processes. The embodiment can adopt high-precision GPS positioning mode, visual positioning mode, laser radar positioning mode or other high-precision positioning mode to collect the position information of the preset point.
Taking the crossroad shown in fig. 2 as an example, if the high-precision GPS positioning mode is adopted to collect the position information of four vertex angles of the crossroad, a high-precision GPS module capable of realizing high-precision GPS positioning collection needs to be preset on the four vertex angles, so as to acquire RTK signals sent by the high-precision GPS module at the four vertex angles, and the longitude and latitude information corresponding to the four vertex angles can be acquired by analyzing the RTK signals
Figure GDA0001631210510000181
And recording and storing.
If a visual positioning mode or a laser radar positioning mode is adopted, map information of an area near the preset point, namely the surrounding environment information of the preset point, needs to be scanned, and then the map information is sent to a cloud server to be mapped with the actual longitude and latitude information, so that the longitude and latitude information corresponding to each point in the scanned map is obtained.
When the moving target is far from the preset point, a common GPS module with low accuracy may be selected to acquire the position of the moving target, that is, the second acquisition device acquires the position information of the moving target in real time in this embodiment.
The moving target is far away from the preset point and the requirement on the precision is not very high, so that the position information of the moving target can be acquired by adopting an acquisition mode with lower precision. When the moving object moves to the vicinity of the preset point, in order to accurately determine the position relationship between the moving object and the preset point, the position information of the moving object needs to be accurately acquired, that is, the third acquisition device described in this embodiment adopts accurate acquisition. The method can be realized by referring to the first acquisition device, namely, the position information of the moving target can be acquired by adopting a high-precision positioning mode such as a high-precision GPS positioning mode, a visual positioning mode or a laser radar positioning mode.
If a high-precision GPS positioning mode is adopted to collect the position information of the moving target, only a high-precision GPS module needs to be arranged on the moving target in advance, and then the longitude and latitude information of the moving target can be obtained by analyzing an RTK signal sent by the high-precision GPS module.
If the visual positioning mode or the laser radar positioning mode is adopted, the visual or laser radar is required to be adopted to collect the image information of the road section where the preset point is located so that the cloud server can establish a local map of the road section where the preset point is located according to the image information and complete the mapping of the coordinate points of the local map and the actual longitude and latitude.
After the position information of the moving target and the preset point is respectively determined through a series of positioning modes, the moving target can be accurately navigated through the relative position relation between the moving target and the preset point.
Example 6
The present embodiment provides an electronic device, including: a display, a memory, one or more processors; and one or more modules stored in the memory and configured to be executed by the one or more processors, the one or more modules including instructions for performing the steps of the positioning method of embodiment 1 above.
Example 7
The present embodiment proposes a computer program product comprising a computer program stored on a non-volatile computer-readable storage medium, the computer program comprising program instructions which, when executed by a computer, cause the computer to perform the steps of the positioning method according to embodiment 1.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

Claims (29)

1. A method of positioning, the method comprising:
receiving a first position signal of a moving target acquired by a terminal in real time in a second acquisition mode, and acquiring first position information of the moving target according to the first position signal of the moving target;
judging whether the moving target enters a key area set by taking a preset point as a center according to the first position information of the moving target, and triggering a terminal to acquire a second position signal of the moving target in real time in a third acquisition mode when the moving target enters the key area, wherein the acquisition precision of the third acquisition mode is higher than that of the second acquisition mode;
and receiving a second position signal of the moving target acquired by the terminal in real time in a third acquisition mode, and acquiring second position information of the moving target according to the second position signal of the moving target.
2. The method according to claim 1, wherein the receiving the second position signal of the moving object acquired by the terminal in real time in the third acquisition mode, and the process of obtaining the second position information of the moving object according to the second position signal of the moving object specifically comprises:
receiving an RTK signal sent by a GPS module in a moving target;
and analyzing the RTK signal to obtain longitude and latitude information of the moving target.
3. The method according to claim 1, wherein the receiving the second position signal of the moving object acquired by the terminal in real time in the third acquisition mode, and the process of obtaining the second position information of the moving object according to the second position signal of the moving object specifically comprises:
receiving image information of a road section where the preset point is located, which is sent by a terminal;
generating a second local map according to the image information, wherein the second local map comprises pixel coordinates of a moving target on the second local map;
and converting the pixel coordinates of the moving target on the second local map into actual longitude and latitude information.
4. The method according to claim 1, wherein the method further comprises, before receiving the moving object first position signal acquired by the terminal in real time in the second acquisition mode: and receiving the preset point position signal acquired by the terminal in a first acquisition mode, and acquiring preset point position information according to the preset point position signal.
5. The method according to claim 4, wherein the process of receiving the preset point position signal acquired by the terminal in the first acquisition manner and obtaining the preset point position information according to the preset point position signal specifically includes:
receiving an RTK signal sent by a GPS module preset at a preset point;
and analyzing the RTK signal to obtain longitude and latitude information of the preset point.
6. The method according to claim 4, wherein the process of receiving the preset point position signal acquired by the terminal in the first acquisition manner and obtaining the preset point position information according to the preset point position signal specifically includes:
receiving preset point peripheral environment information acquired by a terminal;
generating a first local map according to the preset point peripheral environment information, wherein the first local map comprises pixel coordinates of the preset point on the first local map;
and converting the pixel coordinates of the preset points on the first local map into actual longitude and latitude information.
7. The method of claim 4, further comprising: and navigating the moving target according to the second position information of the moving target and the position information of the preset point.
8. A method of positioning, the method comprising:
acquiring a first position signal of a moving target in real time in a second acquisition mode, and sending the first position signal of the moving target to a cloud server;
obtaining first position information of the moving target according to the first position signal of the moving target;
judging whether the moving target enters a key area set by taking a preset point as a center according to the first position information of the moving target, and triggering the cloud server to send a triggering instruction for acquiring a second position signal of the moving target in a third acquisition mode in real time when the moving target enters the key area; the acquisition precision of the third acquisition mode is higher than that of the second acquisition mode;
receiving and executing the trigger instruction, and sending the second position signal of the moving target to a cloud server;
and receiving the position information sent by the cloud server.
9. The method according to claim 8, wherein the step of acquiring the moving object first position signal in real time in the second acquisition mode and sending the moving object first position signal to the cloud server specifically comprises:
arranging a GPS module in a moving target;
the first position signal of the moving target is collected in real time through the GPS module and is sent to the cloud server in an RTK signal mode.
10. The method according to claim 8, wherein the receiving and executing the trigger instruction sent by the cloud server to acquire the second location signal of the moving target in real time in the third acquisition mode specifically includes:
receiving a trigger instruction which is sent by a cloud server and used for acquiring a second position signal of the moving target in real time in a third acquisition mode;
acquiring image information of a road section where a preset point set by a cloud server is located;
and sending the image information to a cloud server.
11. The method of claim 8, wherein before acquiring the moving object first location signal in real time in the second acquisition mode, sending the moving object first location signal to a cloud server, the method further comprises: the method comprises the steps of collecting preset point position signals preset by a cloud server in a first collection mode, and sending the preset point position signals to the cloud server.
12. The method according to claim 11, wherein the collecting the preset point position signal preset by the cloud server in the first collection manner and sending the preset point position signal to the cloud server specifically includes:
setting a GPS module at a preset point;
the GPS module is used for collecting a signal of a preset point position and sending the signal to the cloud server in an RTK signal mode.
13. The method according to claim 11, wherein the collecting the preset point position signal preset by the cloud server in the first collection manner and sending the preset point position signal to the cloud server specifically includes:
collecting the peripheral environment information of the preset points;
and sending the surrounding environment information to a cloud server.
14. A cloud server, comprising a processor configured with processor-executable operating instructions to:
receiving a first position signal of a moving target acquired by a terminal in real time in a second acquisition mode, and acquiring first position information of the moving target according to the first position signal of the moving target;
judging whether the moving target enters a key area set by taking a preset point as a center according to the first position information of the moving target, and triggering a terminal to acquire a second position signal of the moving target in real time in a third acquisition mode when the moving target enters the key area, wherein the acquisition precision of the third acquisition mode is higher than that of the second acquisition mode;
and receiving a second position signal of the moving target acquired by the terminal in real time in a third acquisition mode, and acquiring second position information of the moving target according to the second position signal of the moving target.
15. The cloud server of claim 14, wherein the processor is configured with processor-executable operating instructions to:
receiving an RTK signal sent by a GPS module in a moving target;
and analyzing the RTK signal to obtain longitude and latitude information of the moving target.
16. The cloud server of claim 14, wherein the processor is configured with processor-executable operating instructions to:
receiving image information of a road section where the preset point is located, which is sent by a terminal;
generating a second local map according to the image information, wherein the second local map comprises pixel coordinates of a moving target on the second local map;
and converting the pixel coordinates of the moving target on the second local map into actual longitude and latitude information.
17. The cloud server of claim 14, wherein the processor is configured with processor-executable operating instructions to: and receiving a preset point position signal acquired by a terminal in a first acquisition mode, and acquiring preset point position information according to the preset point position signal.
18. The cloud server of claim 17, wherein the processor is configured with processor-executable operating instructions to:
receiving an RTK signal sent by a GPS module preset at a preset point;
and analyzing the RTK signal to obtain longitude and latitude information of the preset point.
19. The cloud server of claim 17, wherein the processor is configured with processor-executable operating instructions to:
receiving preset point peripheral environment information acquired by a terminal;
generating a first local map according to the preset point peripheral environment information, wherein the first local map comprises pixel coordinates of the preset point on the first local map;
and converting the pixel coordinates of the preset points on the first local map into actual longitude and latitude information.
20. The cloud server of claim 17, wherein the processor is configured with processor-executable operating instructions to: and navigating the moving target according to the second position information of the moving target and the position information of the preset point.
21. A terminal is characterized in that the terminal comprises a second acquisition device and a third acquisition device;
the second acquisition device is used for acquiring a first position signal of a moving target in real time and sending the first position signal of the moving target to the cloud server; obtaining first position information of the moving target according to the first position signal;
the third acquisition device is used for receiving and executing a trigger instruction which is sent by the cloud server and used for acquiring a second position signal of the moving target in real time, and sending the second position signal of the moving target to the cloud server; the trigger instruction is triggered and generated when the moving target enters a key area; judging whether the moving target enters a key area which is set by taking a preset point as a center according to the first position information of the moving target; the acquisition precision of the third acquisition device is higher than that of the second acquisition device.
22. The terminal of claim 21, wherein the third acquiring means is implemented by a GPS module disposed in the moving target, and the third acquiring means is further configured to acquire the first position signal of the moving target in real time through the GPS module and send the first position signal to the cloud server in an RTK signal form.
23. The terminal of claim 21, wherein the third acquisition terminal is further configured to:
receiving a trigger instruction which is sent by a cloud server and used for acquiring a second position signal of the moving target in real time in a third acquisition mode;
acquiring image information of a road section where a preset point set by a cloud server is located;
and sending the image information to a cloud server.
24. The terminal of claim 21, further comprising a first acquisition device, wherein the first acquisition device is configured to acquire a preset point position signal preset by the cloud server and send the preset point position signal to the cloud server.
25. The terminal according to claim 24, wherein the first acquiring means is implemented by a GPS module disposed at a predetermined point, and the first acquiring means is further configured to acquire a predetermined point position signal through the GPS module and send the predetermined point position signal to the cloud server in an RTK signal form.
26. The terminal of claim 24, wherein the first collecting means is further configured to:
collecting the peripheral environment information of the preset points;
and sending the surrounding environment information to a cloud server.
27. A positioning system, characterized in that the system comprises the cloud server of any of claims 14 to 20 and the terminal of any of claims 21 to 26.
28. An electronic device, characterized in that the electronic device comprises: a display, a memory, one or more processors; and one or more modules stored in the memory and configured to be executed by the one or more processors, the one or more modules comprising instructions for performing the steps of the method of any of claims 1-7.
29. A computer program product, characterized in that the computer program product comprises a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions which, when executed by a computer, cause the computer to carry out the steps of the method according to any one of claims 1 to 7.
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