CN109756837B - Positioning method and device - Google Patents
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- CN109756837B CN109756837B CN201711070091.6A CN201711070091A CN109756837B CN 109756837 B CN109756837 B CN 109756837B CN 201711070091 A CN201711070091 A CN 201711070091A CN 109756837 B CN109756837 B CN 109756837B
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Abstract
The invention provides a positioning method and a positioning device. The positioning method comprises the steps of receiving a plurality of pieces of position information, wherein the plurality of pieces of position information are used for indicating the current position of a terminal; acquiring historical position information of the terminal, wherein the historical position information is historical position information within a preset time interval from the time when the plurality of position information are received; and determining the actual position of the terminal from the plurality of position information according to the historical position information. According to the positioning method and the positioning device, one actual position of the terminal is determined from the received position information according to the historical position of the terminal, so that the positioning result is more accurate, and the technical problem of inaccurate positioning caused by the fact that the final positioning result is determined only by the confidence degree of the position in the prior art is solved.
Description
Technical Field
The invention relates to a positioning technology, in particular to a positioning method and a positioning device, and belongs to the technical field of internet.
Background
In order to provide better service for users, many software have positioning functions, such as navigation software, and the like, and the software can acquire the position of the user through the built-in positioning function.
In the prior art, a background service of Software calculates and returns a plurality of possible location information, and an SDK (Software Development Kit) positioning module built in the Software selects a location with the highest confidence level among the plurality of location information, and uses the location as a positioning result of a user. Confidence is a probability value used to describe that the location information is likely to be the actual location, and there are many methods in the prior art to determine the confidence, for example, the background service returns A, B, C three location information, where the confidence of the a location is considered to be the highest when the a location is taken as the actual location the most times.
However, the position information with the highest confidence is not necessarily the actual position of the user, and therefore, it is not accurate to determine the final positioning result by only relying on the confidence.
Disclosure of Invention
The invention provides a positioning method and a positioning device, which can determine an actual position of a terminal from a plurality of received position information according to a historical position, can enable a positioning result to be more accurate, and solve the technical problem of inaccurate positioning caused by determining a final positioning result only by depending on the confidence degree of the position in the prior art.
A first aspect of the present invention provides a positioning method, including:
receiving a plurality of pieces of position information, wherein the plurality of pieces of position information are used for indicating the current position of a terminal;
obtaining historical position information of the terminal, wherein the historical position information is historical position information within a preset time interval from the time when the plurality of position information are received;
and determining the actual position of the terminal in the plurality of position information according to the historical position information.
A first aspect of the present invention provides a positioning apparatus comprising:
the terminal comprises a receiving module, a judging module and a judging module, wherein the receiving module is used for receiving a plurality of pieces of position information, and the plurality of pieces of position information are used for indicating the current position of the terminal;
the acquisition module is used for acquiring historical position information of the terminal, wherein the historical position information is historical position information within a preset time interval from the time when the plurality of position information are received;
and the determining module is used for determining the actual position of the terminal in the plurality of position information according to the historical position information.
The positioning method and the positioning device provided by the invention have the technical effects that: the method and the device provided by the invention firstly receive a plurality of pieces of position information, then obtain the historical position information of the terminal, and the historical position information is the historical position information within a preset time interval from the received plurality of pieces of position information, and finally determine the actual position of the terminal in the plurality of pieces of position information according to the historical position information. According to the method and the device provided by the invention, the current actual position of the terminal is deduced from the plurality of position information calculated by the background service according to the historical positions of the terminal when the plurality of position information are received and at an earlier moment, so that the positioning result is more accurate, and the technical problem that the actual position is not accurate enough to be selected from the plurality of positions calculated by the background service only according to the confidence coefficient in the prior art is solved.
Drawings
Fig. 1 is a flow chart illustrating a positioning method according to an exemplary embodiment of the present invention;
FIG. 2 is a schematic illustration of a positioning principle shown in another exemplary embodiment of the present invention;
fig. 3 is a flowchart illustrating a positioning method according to another exemplary embodiment of the present invention;
fig. 4 is a flowchart illustrating a positioning method according to yet another exemplary embodiment of the present invention;
FIG. 5 is a block diagram of a positioning device in accordance with an exemplary embodiment of the present invention;
fig. 6 is a block diagram illustrating a positioning apparatus according to another exemplary embodiment of the present invention.
Detailed Description
Fig. 1 is a flowchart illustrating a positioning method according to an exemplary embodiment of the present invention.
As shown in fig. 1, the positioning method provided in this embodiment includes:
The received position information is provided by a background, and the background may be a positioning function of the terminal device for executing the method provided by this embodiment, or may be a background server having a positioning function.
For example, the method provided by this embodiment may be packaged as application software, and installed in a terminal having a positioning function, where the terminal is capable of determining a plurality of pieces of location information used for indicating a current location according to the positioning function, and when the software needs to acquire the location information, the terminal sends the plurality of pieces of location information to the software. Or, the method provided by the embodiment is packaged in software, and the software has a positioning server with a function of calculating the current position of the terminal. After the software starts the positioning function, a positioning request is sent to a positioning server through a terminal provided with the software. The positioning server calculates a plurality of possible positions of the terminal at present according to the received request, and transmits the calculated plurality of position information to software in the terminal.
Specifically, the terminal includes a mobile phone, a PAD, and other electronic devices capable of being networked. Software installed in the terminal can acquire the historical position of the terminal, for example, the position 5s before receiving a plurality of position information sent by the background from a pre-storage unit.
Further, the historical location information is location information of the terminal within a preset time period apart from the receiving of the plurality of location information. For example, the movement trajectory of the terminal in the preset time period may be, or the movement trajectory may be a plurality of location points where the terminal is located in the preset time period.
Preferably, the historical location information includes at least the location of the terminal at the time of receiving the plurality of location information. After the software initiates a positioning request, the background determines a plurality of position information through calculation and sends the position information to the software, and if the background is a positioning server, the process is completed through network transmission, so that the speed is very high. Since the speed of returning the position information to the software by the background is very fast, the position of the terminal is considered to be closest to the position of the terminal when receiving a plurality of position information and initiating a positioning request.
In practice, the historical location information may include a plurality of locations. For example, a historical movement track in a preset time period includes all positions of the terminal in the preset time period; or a plurality of location points where the terminal is located within a preset time period, such as the location obtained through a global positioning system GPS.
And 103, determining the actual position of the terminal from the plurality of pieces of position information according to the historical position information.
The location information closest to the location of the terminal at the time of receiving the plurality of location information may be determined from the plurality of location information, and may be used as the current location of the user terminal.
The moving trend of the terminal can be determined according to the historical moving track or the historical positions of the terminal, and the current position of the terminal can be determined in the position information according to the moving trend.
Fig. 2 is a schematic diagram illustrating a positioning principle according to an exemplary embodiment of the present invention. As shown in fig. 2, the curves are the movement trajectories of the terminals, and Loc1, Loc2, and Loc3 are position information transmitted in the background. The distance between the position of the end of the movement track and the 3 pieces of position information is calculated respectively, and the movement trend of the movement track is calculated, so that it can be inferred that Loc2 is the current position of the terminal.
The positioning method provided by this embodiment first receives a plurality of pieces of location information, then obtains historical location information of the terminal, where the historical location information is historical location information within a preset time interval from the time when the plurality of pieces of location information are received, and finally determines an actual location of the terminal from the plurality of pieces of location information according to the historical location information. According to the method and the device provided by the invention, the current actual position of the terminal is deduced from the plurality of position information calculated in the background according to the historical positions of the terminal when the plurality of position information are received and at an earlier moment, so that the positioning result is more accurate, and the technical problem that the actual position is not accurately selected from the plurality of positions calculated in the background according to the confidence coefficient in the prior art is solved.
Fig. 3 is a flowchart illustrating a positioning method according to another exemplary embodiment of the present invention.
As shown in fig. 3, if the background is a positioning server, the positioning method provided in this embodiment further includes:
And the software installed in the terminal collects positioning data through the terminal.
The positioning data is data information used to calculate the current position of the terminal, such as GPS positioning results, surrounding base station signal identifiers and their strengths detected by the terminal, and Wi-Fi signal identifiers and their strengths.
And the background calculates the position information of the plurality of terminals according to the positioning data and sends the position information to the software. For example, the background calculates the position of the terminal by comprehensively considering the GPS positioning result, the signal identification of the surrounding base stations detected by the terminal and the strength of the signal identification.
Specifically, if the background is a terminal for executing the embodiment, the terminal can acquire positioning data through an internally-arranged sensor, and then calculate position information according to the positioning data.
When the software initiates a positioning request, the server or the terminal receiving the positioning request feeds back the calculated position information to the software.
Specifically, the time interval may be set according to the requirement, for example, 2 minutes. And determining the starting moment of a preset time interval before receiving the plurality of position information according to the preset time interval. For example, at a time 2 minutes before receiving the plurality of pieces of position information.
Whether the terminal is indoors or outdoors can be judged according to whether the terminal can receive the GPS signal. In addition, when the terminal is outside the room, but the GPS signal is unstable due to the influence of surrounding buildings, the terminal may be considered to be indoors.
When the terminal is outdoors, the GPS positioning result pre-stored in the terminal at the starting moment can be obtained, and the starting position information is generated.
When the terminal is indoors, whether the terminal can receive the GPS signal at the starting time can be judged, if the terminal receives the GPS signal, the terminal is considered to be in an outdoor environment at the starting time, and the starting position information can be generated according to the result of GPS positioning of the terminal at the starting time.
If the terminal is not received, the terminal is considered to be in an indoor environment at the starting time, then the GPS positioning result received by the terminal last can be obtained, the moving track of the terminal after the GPS signal disappears is obtained, and the position of the terminal at the starting time can be determined according to the GPS positioning result and the moving track received by the terminal last.
And step 206, acquiring the movement track of the terminal within a preset time interval according to the initial position information, and determining the historical position information of the terminal according to the movement track.
And after the starting moment is obtained, the moving track of the terminal is obtained. According to the starting position and the moving track, the historical position of the terminal in a preset time interval can be determined, and then historical position information is generated according to the historical position. For example, if the user of the terminal is walking, the moving track may be calculated based on PDR (Pedestrian Dead Reckoning) algorithm.
Specifically, data information such as step length, step number, direction and the like of a user walking, which is detected by a sensor arranged in the terminal, is obtained, and a moving track of the user, that is, a moving track of the terminal, can be calculated based on a PDR algorithm according to the obtained data information.
For example, it is assumed that the terminal cannot receive the GPS signal in a shopping mall, and then it is determined whether the terminal receives the GPS signal at the starting time, and now it is assumed that the terminal does not receive the GPS signal at the starting time, and then the last GPS positioning result received by the terminal and the first movement track from the terminal that the terminal cannot receive the GPS signal to the starting time are obtained, and the position of the terminal at the starting time can be calculated. And then, a second moving track of the terminal after the starting moment is obtained, and the historical position information of the terminal in a preset time interval can be determined according to the second moving track.
Fig. 4 is a flowchart illustrating a positioning method according to another exemplary embodiment of the present invention.
As shown in fig. 4, in this embodiment, the acquiring the moving track of the terminal within the preset time interval in step 206 may further include:
The terminal is internally provided with sensors such as an acceleration sensor, a gyroscope, a magnetic field sensor and the like, and can detect data such as step length, direction, pace and the like when a user walks according to the sensors, and then can calculate the moving track of the terminal according to the data. For example, the movement trajectory of the terminal is calculated according to the PDR algorithm.
And/or, in step 2062, the movement track is determined according to the positioning information acquired by the global positioning system of the terminal within the preset time interval.
If the terminal is located outdoors, a plurality of positioning results determined by the GPS within a preset time interval can be obtained, and the plurality of positioning results are connected into a track line, so that a moving track is obtained.
Preferably, the deviation can be corrected according to a first moving track obtained by comprehensive calculation and a second moving track obtained by a GPS positioning result according to a preset rule, so that a more accurate moving track result is obtained.
Since the GPS positioning function of the user terminal cannot be used indoors, and the positioning accuracy of the GPS is degraded as the duration of use is prolonged. Therefore, the historical position of the user terminal can be jointly deduced according to the GPS positioning result and the movement track, so that the obtained historical position information is more accurate.
Further, the embodiment may further include, step 207, determining end position information of the movement trajectory; and comparing the end point position information with a plurality of position information. The actual position is then determined from the plurality of position information.
The end position is the end position of the movement track, that is, the position of the terminal at the latest time among all the positions of the movement track.
For example, the position information closest to the end position may be used as the actual position. The actual position of the terminal is determined in the position information calculated in the plurality of backgrounds according to the historical position information, the moving direction, the trend and the like of the terminal are considered, and the actual position is more accurate than the actual position determined only according to the confidence coefficient.
The specific implementation manner may be:
and step 208, determining the distance between the end position and each piece of position information, and determining the actual position in the plurality of pieces of position information according to the distance.
The actual position may be determined based on a distance between the determined end position and a plurality of position information provided by the background, for example, the position information closest to the end position may be taken as the actual position.
Further, the method provided by this embodiment further includes another way of determining the actual position:
and step 209, determining an actual position in the plurality of position information according to the movement trend.
The movement tendency may be a direction in which the terminal travels the next moment estimated from the movement trajectory. For example, if the direction of the movement trajectory is the westward movement, it can be considered that the position information located on the east side of the end position is not the actual position of the terminal.
Step 208 and step 209 may be implemented in parallel, or may be implemented in combination, and the distance between the end position and the position information provided by the background and the movement trend of the terminal are taken into consideration to determine the actual position of the terminal.
In addition, the present embodiment also provides another implementation manner for determining an actual location of the terminal according to the historical location information of the terminal, including:
confidence levels of a plurality of position information are obtained.
Specifically, the confidence level refers to the probability that the location is the current location of the user terminal. The confidence level may be stored in the positioning server in the form of a database, and the confidence levels of the plurality of location information may be obtained from the server by the user terminal. It is also possible to store the data in the form of a database in the user terminal and set the database in a state that can be read only by executing the software of the present embodiment, so as to secure the database. In addition, the confidence may be calculated, and the basic data for calculating the confidence may be stored in the positioning server or the user terminal, and the basic data for calculating may further include real-time data acquired from the user terminal.
And correcting the confidence degrees of the plurality of pieces of position information according to the historical positions to obtain the final confidence degree.
The final position of the user terminal at the latest moment in the historical position can be obtained, the distance between the final position and the plurality of position information sent by the background is calculated, and the confidence coefficient is corrected by using the distance value, so that the confidence coefficient of the position information closest to the final position is increased, and the final confidence coefficient is obtained.
In addition, the moving direction of the user can be calculated according to the historical position information, and the confidence of the position information in the moving direction is increased to obtain the final confidence.
And determining the position information with the highest final confidence coefficient in the plurality of position information as the current position of the user terminal according to the final confidence coefficient.
Specifically, the final confidence degrees of the plurality of pieces of position information may be ranked, and the position with the highest final confidence degree is used as the positioning result. Since the final confidence is a result of correcting the confidence from the historical position, the probability that the position information is likely to be the actual position can be described more accurately using the final confidence.
In the positioning method provided by this embodiment, if the background is a server, the positioning data is first collected and sent to the server, so that the server can accurately calculate the position information of the user terminal, then obtain the positioning result and the movement track of the user terminal, then obtain the end point position of the movement track, determine the accurate historical position of the user terminal by determining the distances between a plurality of pieces of position information and the end point position, or determine the movement trend according to the movement track of the terminal, and determine the accurate historical position of the user terminal according to the movement trend. According to the method provided by the embodiment, the current position of the user terminal is determined from the plurality of pieces of position information sent by the background according to the GPS positioning result and the movement track of the user terminal, so that the positioning result is more accurate, and the technical problem that the actual position is not accurate enough to be selected from the plurality of positions calculated by the background according to the confidence coefficient in the prior art is solved.
In addition, the positioning method provided in this embodiment corrects the confidence of each piece of location information according to the historical location to obtain the final confidence of each piece of location information, and uses the location information with the highest final confidence as the current location of the user terminal. According to the method provided by the embodiment, the current position of the user terminal is determined from the plurality of pieces of position information sent by the background according to the GPS positioning result and the movement track of the user terminal, so that the positioning result is more accurate, and the technical problem that the actual position is not accurate enough to be selected from the plurality of positions calculated by the background according to the confidence coefficient in the prior art is solved.
Fig. 5 is a block diagram illustrating a positioning apparatus according to an exemplary embodiment of the present invention.
As shown in fig. 5, the positioning device provided in this embodiment includes: the device comprises a receiving module 51, an obtaining module 52 and a determining module 53, wherein the receiving module 51 and the obtaining module 52 are respectively connected with the determining module 53.
A receiving module 51, configured to receive a plurality of pieces of location information, where the plurality of pieces of location information are used to indicate a current location of the terminal. The receiving module 51 can access the background for transmitting the location information so that the receiving module 51 can receive the location information transmitted in the background. The background may be a positioning function of the terminal device for executing the method provided in this embodiment, or may be a background server having a positioning function.
An obtaining module 52, configured to obtain historical location information of the terminal, where the historical location information is historical location information within a preset time interval from receiving the multiple pieces of location information.
A determining module 53, configured to determine an actual position of the terminal from the plurality of position information according to the historical position information.
The positioning apparatus provided in this embodiment first receives a plurality of pieces of location information, then obtains historical location information of the terminal, where the historical location information is historical location information within a preset time interval from the receiving of the plurality of pieces of location information, and finally determines an actual location of the terminal from the plurality of pieces of location information according to the historical location information. According to the device provided by the invention, the current actual position of the terminal is deduced from the plurality of position information calculated in the background according to the historical positions of the terminal when the plurality of position information are received and at an earlier moment, so that the positioning result is more accurate, and the technical problem that the actual position is not accurately selected from the plurality of positions calculated in the background according to the confidence coefficient in the prior art is solved. The specific principle and implementation of the positioning device provided in this embodiment are similar to those of the embodiment shown in fig. 1, and are not described herein again.
Fig. 6 is a block diagram illustrating a positioning apparatus according to another exemplary embodiment of the present invention.
As shown in fig. 6, on the basis of the above embodiment, in the positioning device provided in this embodiment, the obtaining module 52 includes:
a determining unit 521, configured to determine, according to the preset time interval, a starting time of the preset time interval between the time interval and the time when the plurality of pieces of location information are received;
an obtaining unit 522, configured to obtain a position of the terminal at the start time, and generate start position information;
the obtaining unit 522 is further configured to obtain, according to the initial position information, a moving trajectory of the terminal within the preset time interval;
the determining unit 521 is further configured to determine the historical location information of the terminal according to the movement track.
The obtaining unit 522 is specifically configured to:
acquiring data collected by an acceleration sensor, a gyroscope and a magnetic field sensor in the terminal within the preset time interval, and determining the moving track according to the data;
and/or acquiring positioning information of a global positioning system of the terminal in the preset time interval, and determining the moving track according to the positioning information.
The determining module 53 further includes:
an end point determining unit 531 for determining end point position information of the moving trajectory;
an actual position determining unit 532, configured to compare the end point position information with the plurality of position information, and determine the actual position in the plurality of position information.
The actual position determining unit 532 is specifically configured to:
determining a distance between the end point position and each piece of the position information, and determining the actual position in the plurality of pieces of position information according to the distance;
and/or determining the movement trend of the terminal according to the movement track, and determining the actual position in the plurality of position information according to the movement trend.
In addition, the positioning apparatus provided in this embodiment further provides another way of determining the actual position according to the historical position of the terminal, wherein the determining module 53 includes:
a second acquisition unit configured to acquire confidence levels of the plurality of pieces of position information;
the correction unit is used for correcting the confidence degrees of the plurality of pieces of position information according to the historical positions to obtain final confidence degrees;
and a second determining unit, configured to determine, according to the final confidence, location information with a highest final confidence in the plurality of location information as the current location of the user terminal.
In addition, the positioning device provided by this embodiment may further include:
the acquisition module is used for acquiring positioning data;
and the sending module is used for sending the positioning data to the server so that the server can calculate a plurality of pieces of position information according to the positioning data.
The acquisition module is connected with the sending module.
The sending module can access a background for calculating the position information, so that the sending module can send the positioning data to the background.
In the positioning apparatus provided in this embodiment, if the background is the server, the positioning data is first collected and sent to the server, so that the server can accurately calculate the position information that the user terminal may be located. And then obtaining a positioning result and a moving track of the user terminal, then obtaining an end point position of the moving track, and determining the accurate historical position of the user terminal through comparison of a plurality of position information and the end point position. The device provided by the embodiment determines the current position of the user terminal from the plurality of pieces of position information sent by the background according to the GPS positioning result and the movement track of the user terminal, so that the positioning result is more accurate, and the technical problem that the actual position is not accurate enough to be selected from the plurality of positions calculated by the background according to the confidence in the prior art is solved.
In addition, the positioning apparatus according to this embodiment corrects the confidence of each piece of location information according to the historical location to obtain the final confidence of each piece of location information, and uses the location information with the highest final confidence as the current location of the user terminal. The device provided by the embodiment determines the current position of the user terminal from the plurality of pieces of position information sent by the background according to the GPS positioning result and the movement track of the user terminal, so that the positioning result is more accurate, and the technical problem that the actual position is not accurate enough to be selected from the plurality of positions calculated by the background according to the confidence in the prior art is solved.
The specific principle and implementation of the positioning device provided in this embodiment are similar to those of the embodiment shown in fig. 3, and are not described herein again.
Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. The program may be stored in a computer-readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (4)
1. A method of positioning, comprising:
receiving a plurality of pieces of position information, wherein the plurality of pieces of position information are used for indicating the current position of a terminal;
obtaining historical position information of the terminal, wherein the historical position information is historical position information within a preset time interval from the time when the plurality of position information are received;
determining the actual position of the terminal in the plurality of position information according to the historical position information;
wherein the obtaining of the historical location information of the terminal includes:
determining and receiving the starting time of the preset time interval between the plurality of position information intervals according to the preset time interval;
acquiring the position of the terminal at the starting moment to generate starting position information;
acquiring a moving track of the terminal within the preset time interval according to the initial position information;
determining the historical position information of the terminal according to the movement track;
the acquiring of the movement track of the terminal within the preset time interval includes:
determining a first moving track according to data collected by an acceleration sensor, a gyroscope and a magnetic field sensor of the terminal within the preset time interval;
determining a second movement track according to positioning information acquired by a global positioning system of the terminal within the preset time interval;
determining a final movement track according to the first movement track and the second movement track;
the determining the actual position of the terminal from the plurality of position information according to the historical position information includes:
determining end point position information of the moving track;
comparing the end point position information with the plurality of position information, and determining the actual position in the plurality of position information;
the determining the actual position of the terminal in the plurality of position information according to the historical position information further comprises:
obtaining confidence degrees of the plurality of position information;
correcting the confidence degrees of the plurality of position information according to the historical position information to obtain a final confidence degree;
and determining the position information with the highest final confidence coefficient in the plurality of position information as the current position of the user terminal according to the final confidence coefficient.
2. The method of claim 1, wherein comparing the end-point location information to the plurality of location information to determine the actual location in the plurality of location information comprises:
determining a distance between the end point position and each piece of the position information, and determining the actual position in the plurality of pieces of position information according to the distance;
or determining the movement trend of the terminal according to the movement track, and determining the actual position in the plurality of position information according to the movement trend.
3. A positioning device, comprising:
the terminal comprises a receiving module, a judging module and a judging module, wherein the receiving module is used for receiving a plurality of pieces of position information, and the plurality of pieces of position information are used for indicating the current position of the terminal;
the acquisition module is used for acquiring historical position information of the terminal, wherein the historical position information is historical position information within a preset time interval from the time when the plurality of position information are received;
a determining module, configured to determine an actual position of the terminal from the plurality of pieces of position information according to the historical position information;
wherein the acquisition module comprises:
the determining unit is used for determining and receiving the starting time of the preset time interval between the plurality of position information intervals according to the preset time interval;
an obtaining unit, configured to obtain a position of the terminal at the starting time, and generate starting position information;
the obtaining unit is further configured to obtain a moving track of the terminal within the preset time interval according to the initial position information;
the determining unit is further configured to determine the historical location information of the terminal according to the movement track;
the obtaining unit is specifically configured to:
acquiring data collected by an acceleration sensor, a gyroscope and a magnetic field sensor of the terminal within the preset time interval, and determining a first moving track according to the data;
acquiring positioning information of a global positioning system of the terminal in the preset time interval, and determining a second moving track according to the positioning information;
determining a final movement track according to the first movement track and the second movement track;
the determining module comprises:
an end point determining unit for determining end point position information of the moving track;
an actual position determining unit, configured to compare the destination position information with the plurality of position information, and determine the actual position in the plurality of position information;
the determining module further comprises:
a confidence coefficient acquisition unit that acquires confidence coefficients of the plurality of pieces of position information;
a final confidence obtaining unit for correcting the confidence of the plurality of position information according to the historical position information to obtain a final confidence;
and the actual position determining unit is used for determining the position information with the highest final confidence coefficient in the plurality of position information as the current position of the user terminal according to the final confidence coefficient.
4. The apparatus according to claim 3, wherein the actual position determining unit is specifically configured to:
determining a distance between the end point position and each piece of the position information, and determining the actual position in the plurality of pieces of position information according to the distance;
and/or determining the movement trend of the terminal according to the movement track, and determining the actual position in the plurality of position information according to the movement trend.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711070091.6A CN109756837B (en) | 2017-11-03 | 2017-11-03 | Positioning method and device |
| PCT/CN2018/095031 WO2019007437A1 (en) | 2017-07-07 | 2018-07-09 | Systems and methods for determining a position of a terminal device |
| CN201880043725.5A CN110800274A (en) | 2017-07-07 | 2018-07-09 | System and method for determining position of terminal equipment |
| US16/735,741 US11323847B2 (en) | 2017-07-07 | 2020-01-07 | Systems and methods for determining a position of a terminal device using a hidden Markov model |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711070091.6A CN109756837B (en) | 2017-11-03 | 2017-11-03 | Positioning method and device |
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| Publication Number | Publication Date |
|---|---|
| CN109756837A CN109756837A (en) | 2019-05-14 |
| CN109756837B true CN109756837B (en) | 2020-11-24 |
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| CN201711070091.6A Active CN109756837B (en) | 2017-07-07 | 2017-11-03 | Positioning method and device |
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| CN111044069B (en) * | 2019-12-16 | 2022-04-29 | 驭势科技（北京）有限公司 | Vehicle positioning method, vehicle-mounted equipment and storage medium |
| CN114079853B (en) * | 2020-08-12 | 2023-03-28 | 华为技术有限公司 | Position acquisition method and device |
| CN112363196B (en) * | 2020-10-20 | 2023-10-31 | 北京嘀嘀无限科技发展有限公司 | Vehicle attribute determining method, device, storage medium and electronic equipment |
| CN112702690A (en) * | 2020-12-14 | 2021-04-23 | 上海锐承通讯技术有限公司 | Correction positioning method for mobile terminal, mobile terminal and terminal system |
| CN112511985A (en) * | 2020-12-21 | 2021-03-16 | 迪爱斯信息技术股份有限公司 | Alarm position positioning method, system, computer equipment and storage medium |
| CN113808230A (en) * | 2021-08-26 | 2021-12-17 | 华南理工大学 | Method, system, device and storage medium for improving electrical impedance imaging accuracy |
| CN117409340B (en) * | 2023-12-14 | 2024-03-22 | 上海海事大学 | Unmanned aerial vehicle cluster multi-view fusion aerial photography port monitoring method, system and medium |
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