CN109814137B

CN109814137B - Positioning method, positioning device and computing equipment

Info

Publication number: CN109814137B
Application number: CN201910141126.3A
Authority: CN
Inventors: 刘恒进; 俞一帆
Original assignee: Tencent Technology Shenzhen Co Ltd
Current assignee: Tencent Technology Shenzhen Co Ltd
Priority date: 2019-02-26
Filing date: 2019-02-26
Publication date: 2023-07-14
Anticipated expiration: 2039-02-26
Also published as: CN109814137A

Abstract

The present disclosure provides a positioning method, apparatus and computing device. The positioning method comprises the following steps: receiving a request for GPS positioning of terminal equipment; acquiring first GPS positioning data of terminal equipment from the terminal equipment; obtaining second GPS positioning data of the GPS reference station from the edge computing device; and determining the position of the terminal equipment according to the first GPS positioning data and the second GPS positioning data. By the embodiment of the disclosure, the GPS positioning data can be transmitted through the edge computing device of the mobile communication network.

Description

Positioning method, positioning device and computing equipment

Technical Field

The present disclosure relates to the field of object positioning technologies, and in particular, to a positioning method, an apparatus, a computing device, and a computer readable storage medium.

Background

In positioning systems such as DGPS (differential global positioning system ), RTK (carrier phase differential technique, real Time Kinematic), etc., it is often necessary to exchange GPS (global positioning system ) positioning data between a reference station and a rover station or between a reference station, a rover station, and a positioning device such as a differential post-processing system. When the number of the mobile stations increases, the amount of data interacted between the above parts also increases, which easily causes congestion of a data chain for transmitting the interacted data, thereby causing an increase in data transmission delay. An increase in data transmission delay will result in a decrease in the accuracy of the GPS position correction calculation result, and thus in the accuracy of the GPS positioning result.

Disclosure of Invention

Embodiments of the present disclosure provide a positioning method, apparatus, computing device, and computer-readable storage medium to address congestion that may be caused when GPS positioning data is transmitted between a reference station, a rover station, and a positioning apparatus.

According to a first aspect of an embodiment of the present disclosure, a positioning method is disclosed, comprising:

receiving a request for GPS positioning of terminal equipment;

acquiring first GPS positioning data of terminal equipment from the terminal equipment;

obtaining second GPS positioning data of the GPS reference station from the edge computing device;

and determining the position of the terminal equipment according to the first GPS positioning data and the second GPS positioning data.

According to a second aspect of an embodiment of the present disclosure, a method for transmitting GPS positioning data is disclosed, which includes:

the edge computing device detecting a request sent to the mobile communication network to acquire second GPS positioning data of the GPS reference station;

the edge computing device obtains second GPS positioning data from a GPS reference station accessed to a mobile communication network;

the edge computing device sends third GPS location data based on the acquired second GPS location data to the requester.

According to a third aspect of embodiments of the present disclosure, a positioning method is disclosed, comprising:

The terminal equipment sends a request for acquiring second GPS positioning data of the GPS reference station to the mobile communication network;

the terminal device receives third GPS positioning data based on the second GPS positioning data, which is sent by the edge computing device in response to the request.

According to a fourth aspect of embodiments of the present disclosure, a positioning method is disclosed, comprising:

the GPS reference station is accessed to a mobile communication network;

the GPS reference station transmits second GPS positioning data of the GPS reference station to an edge computing device in a mobile communication network.

According to a fifth aspect of embodiments of the present disclosure, there is disclosed a positioning device comprising:

a receiving unit configured to receive a request for GPS positioning of a terminal device;

a first acquisition unit configured to acquire first GPS positioning data of a terminal device from the terminal device;

a second acquisition unit configured to acquire second GPS positioning data of the GPS reference station from the edge computing device;

a location determination unit configured to determine a location of the terminal device based on the first GPS positioning data and the second GPS positioning data.

According to a sixth aspect of the disclosed embodiments, a computing device is disclosed that includes a processor and a memory having stored thereon computer readable instructions that, when executed on the memory, are configured to implement the positioning methods described in the first through fourth aspects of the disclosed embodiments.

According to a seventh aspect of the embodiments of the present disclosure, a computer-readable storage medium is disclosed, on which a computer program is stored, which, when being executed by a processor, implements the positioning method described in the first to fourth aspects of the embodiments of the present disclosure.

According to an eighth aspect of embodiments of the present disclosure, a positioning method is disclosed, comprising:

the edge computing equipment acquires the relative position of an object in an image shot by the terminal equipment relative to the terminal equipment;

the edge computing device acquires GPS positioning data of a GPS reference station and determines the absolute position of the terminal device based on the acquired GPS positioning data;

the edge computing device determines an absolute position of the object in the image based on a relative position of the object in the image with respect to the terminal device and an absolute position of the terminal device.

According to an exemplary embodiment, before the edge computing device obtains the relative position of the object in the image captured by the terminal device with respect to the terminal device, the positioning method further comprises:

the terminal equipment shoots the image;

the terminal equipment determines the relative position of an object in the image relative to the terminal equipment according to the image;

The terminal device sends the determined relative position of the object in the image to the edge computing device.

According to an exemplary embodiment, the positioning method further comprises:

the edge computing device management system aligns the absolute positions of the objects in the determined images shot by the plurality of terminal devices according to time to obtain panoramic object positioning.

The technical scheme provided by the embodiment of the disclosure can have the following beneficial effects:

in one or more of the embodiments of the present disclosure, GPS positioning data is not directly transmitted on a transmission link with a reference station or a mobile station (terminal device) in a conventional GPS, but is transmitted through a mobile communication network, and in particular, the GPS positioning data of the reference station may be acquired from an edge computing device of the mobile communication network, and the location of the terminal device may be determined in combination with its GPS positioning data acquired from the terminal device, so that a positioning result with higher accuracy may be obtained without jamming the transmission link.

Other features and advantages of the present disclosure will be apparent from the following detailed description, or may be learned in part by the practice of the disclosure.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Drawings

The above and other objects, features and advantages of the present disclosure will become more apparent by describing in detail exemplary embodiments thereof with reference to the attached drawings. The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application.

Fig. 1 illustrates an example application environment schematic of a positioning method according to an example embodiment of the present disclosure.

Fig. 2 shows a schematic flow chart of a positioning method according to an exemplary embodiment of the present disclosure.

Fig. 3 shows a schematic flow chart of a method of transmitting GPS positioning data according to an exemplary embodiment of the present disclosure.

Fig. 4 shows a schematic flow chart of a positioning method according to another exemplary embodiment of the present disclosure.

Fig. 5 shows a schematic flow chart of a positioning method according to yet another exemplary embodiment of the present disclosure.

Fig. 6 shows a flow chart of interactions of devices in a positioning method according to an exemplary embodiment of the present disclosure.

Fig. 7 illustrates an environmental schematic for implementing a panoramic positioning method according to an exemplary embodiment of the present disclosure.

Fig. 8 shows a schematic flow chart of a panoramic positioning method according to an exemplary embodiment of the present disclosure.

Fig. 9 shows a schematic block diagram of a positioning device according to an exemplary embodiment of the present disclosure.

Fig. 10 shows a schematic block diagram of a computing device shown in accordance with an exemplary embodiment of the present disclosure.

Detailed Description

Example embodiments will now be described more fully with reference to the accompanying drawings. However, the exemplary embodiments may be embodied in many forms and should not be construed as limited to the examples set forth herein; rather, these example embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the example embodiments to those skilled in the art. The drawings are merely schematic illustrations of the present disclosure and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and thus a repetitive description thereof will be omitted.

Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more example embodiments. In the following description, numerous specific details are provided to give a thorough understanding of example embodiments of the disclosure. One skilled in the relevant art will recognize, however, that the aspects of the disclosure may be practiced without one or more of the specific details, or with other methods, components, steps, etc. In other instances, well-known structures, methods, implementations, or operations are not shown or described in detail to avoid obscuring aspects of the disclosure.

Some of the block diagrams shown in the figures are functional entities and do not necessarily correspond to physically or logically separate entities. These functional entities may be implemented in software or in one or more hardware modules or integrated circuits or in different networks and/or processor devices and/or microcontroller devices.

Positioning systems such as GPS, high performance RTK systems typically utilize the observations of more than two receivers to determine the relative position between the points of observation. For example, a GPS receiver (called a GPS reference station) is placed at a point of coordinates, correction values for observations are calculated using known coordinates and satellite ephemeris, and the correction values are sent to the moving GPS receiver (called a rover station) through a data link such as a radio. The rover uses the received correction values to correct its own GPS observations to eliminate the effects of satellite clock bias, receiver clock bias, atmospheric ionosphere and troposphere refractive errors. Such positioning systems typically accomplish the correction calculation of GPS observations in two ways: the first is that the mobile station automatically completes calculation according to the received differential data; the second is to use a differential post-processing system to acquire the pseudo-range observation values and the original ephemeris data from the GPS reference station and the mobile station, then complete the calculation in the differential post-processing system, and finally inform the mobile station of the calculated values.

Either way, it is necessary to exchange GPS data between the GPS reference station, the rover station, and the differential post-processing system. After the number of the mobile stations increases, the amount of data interacted between the above parts correspondingly increases, so that the data link is congested, and the data transmission delay is increased. An increase in data transmission delay will result in a decrease in the accuracy of the GPS position correction calculation result.

To overcome this drawback, embodiments of the present disclosure propose a solution for implementing transmission of GPS positioning data using an edge computing device in a mobile communication network.

FIG. 1 is a schematic diagram illustrating an example application environment to which the present disclosure relates, according to an example embodiment.

As shown in fig. 1,

GPS reference stations

111 and 112 access mobile communication network 120, for example, via

base stations

151 and 153, and reference station management system 113 for managing the GPS reference stations also accesses mobile communication network 120, for example, via internet 141. The

terminal devices

131, 132, 133 also access the mobile communication network 120 via e.g. base stations 151-153. The mobile communication network 120 includes

edge computing devices

121, 122, 123, and an edge computing device management system 124 for managing the edge computing devices communicates with the edge computing devices through a core network 125. Data interactions between the

edge computing devices

121, 122, 123 may also be accomplished through the core network 125. In one example, edge computing devices may be deployed separately at locations near a base station.

The reference station management system 113 is responsible for managing GPS reference stations with records distributed throughout the network, and the edge computing device management system is responsible for managing edge computing devices with records distributed throughout the network. The reference station management system 113 may interact with the edge computing device management system 124 via, for example, the internet.

In the embodiment according to the present disclosure, the positioning means for determining the position of the terminal device according to the GPS positioning data of the GPS reference station and the GPS positioning data of the terminal device may be located in a functional module in the edge computing device, the terminal device or other mobile communication network device, or may be a separate device capable of accessing the mobile communication network. In an embodiment according to the present disclosure, the

edge computing devices

121, 122, 123 acquire and save GPS positioning data of the

GPS reference stations

111, 112 through the mobile communication network. The positioning means may acquire GPS positioning data of the

GPS reference stations

111, 112 from the

edge computing devices

121, 122, 123, acquire GPS positioning data of the terminal device from the terminal device, and determine the position of the terminal device by, for example, differential positioning calculation when determining the position of the terminal device by, for example, differential positioning calculation. Thus, in embodiments of the present disclosure, the positioning device does not need to transmit GPS positioning data of the reference station or rover via a conventional GPS data transmission link, without causing congestion in the transmission link.

In the example of fig. 1, while the number of GPS reference stations, terminal devices, edge computing devices are shown as a particular number as shown, it should be understood that they may be a greater or lesser number, respectively, i.e., the GPS reference stations, terminal devices, edge computing devices may be one or more, respectively.

As used herein, "terminal device" refers broadly to any electronic device capable of accessing a mobile communications network and receiving GPS signals, which may include, but is not limited to, cell phones, desktop computers, notebook computers, tablet computers, cameras, smart appliances, and the like.

The "first GPS positioning data" as referred to herein is the GPS positioning data of the terminal device, and the "second GPS positioning data" is the GPS positioning data of the GPS reference station. The "GPS positioning data" includes, but is not limited to, GPS observations, correction values for observations calculated using known coordinates and satellite ephemeris, corrected GPS observations, and the like. For example, the second GPS positioning data may be DGNSS (differential global satellite navigation system) data.

The positioning method or the transmission method of GPS positioning data according to the embodiments of the present disclosure is applicable to positioning systems such as RTK and DGPS, but is not limited to RTK and DGPS, and may be applicable to any system or occasion where it is necessary to acquire its second GPS positioning data from a GPS reference station.

Fig. 2 shows a schematic flow chart of a positioning method according to an exemplary embodiment of the present disclosure. The example positioning method may be performed by a positioning device. As described above, the positioning device may be located in an edge computing device, a terminal device, or a functional module in other mobile communication network devices, or may be a stand-alone device capable of accessing a mobile communication network. As shown in fig. 2, the example method includes:

s210, receiving a request for GPS positioning of the terminal equipment.

The term "request for GPS positioning of a terminal device (also referred to as GPS positioning request)" as used herein refers broadly to any request that can result in the transmission of GPS positioning data or the determination of the position of the terminal device.

In one example, in the case where the positioning device is located in the terminal device, when the user invokes the self-positioning function of the terminal device when using the terminal device or the terminal device receives a request from another device to obtain its position or GPS positioning data, it is equivalent to the terminal device sending a GPS positioning request to the positioning device.

In another example, in the case where the positioning means is located in an edge computing device or other device that has access to the mobile communication network or is a separate device that has access to the mobile communication network, when the terminal device sends a positioning request or a request to acquire reference station GPS positioning data to the mobile communication network, it is equivalent to the terminal device sending a GPS positioning request. The GPS location request may be captured by a corresponding edge computing device or a corresponding other device in the mobile communications network that includes the location apparatus. For example, the GPS location request may be transmitted to the mobile communications network via a base station, where the GPS location request may be captured by a corresponding edge computing device or corresponding other device containing a locating means in the vicinity of or within the coverage area of the base station.

In yet another example, the "request for GPS positioning of a terminal device" is not initiated by the terminal device, but by other principals such as other devices, other users, other applications, etc.

S220, acquiring first GPS positioning data of the terminal equipment from the terminal equipment.

In one example, the positioning means may acquire the first GPS positioning data of the terminal device itself inside the terminal device, in case the positioning means is located in the terminal device.

In another example, where the positioning apparatus is located in an edge computing device or other device that has access to the mobile communication network or is a separate device that has access to the mobile communication network, the positioning apparatus that has acquired the request to GPS locate the terminal device may acquire first GPS location data for the terminal device from the terminal device that sent the request via the mobile communication network.

S230, acquiring second GPS positioning data of the GPS reference station from the edge computing device.

In one example, where the positioning apparatus is located in the terminal device, the positioning apparatus may obtain second GPS positioning data of the GPS reference station from the edge computing device via the mobile communication network. For example, the positioning means may cause the terminal device to send a request to the mobile communication network (e.g. via a base station) to obtain second GPS positioning data of the GPS reference station after receiving a request to GPS position the terminal device. The request may be captured by a corresponding edge computing device within the coverage area of the base station. The respective edge computing device may send the saved second GPS positioning data of the GPS reference station to the terminal device containing the positioning means in response to the request.

In another example, where the positioning apparatus is located in an edge computing device, the edge computing device that captured the request to GPS locate the terminal device may send, within the edge computing device, second GPS location data of the GPS reference station stored by itself to the positioning apparatus within the edge computing device.

In yet another example, the positioning apparatus capturing the request for GPS positioning of the terminal device may obtain the second GPS positioning data of the GPS reference station from the edge computing device via the mobile communication network, in case the positioning apparatus is located in another device accessing the mobile communication network or is a separate device accessing the mobile communication network. For example, the positioning means may send a request to the mobile communication network (e.g. via a base station) to obtain second GPS positioning data of the GPS reference station after receiving a request for GPS positioning of the terminal device. The request may be captured by a corresponding edge computing device within the coverage area of the base station. The respective edge computing device may send the saved second GPS location data of the GPS reference station to the location apparatus in response to the request.

In one embodiment, the second GPS location data held by the edge computing device may be second GPS location data of a GPS reference station corresponding thereto. In one example, each GPS reference station initiates device registration with the reference station management system after accessing the mobile communications network. The reference station management system records information of the GPS reference station including, but not limited to, the IP address of the GPS reference station, the work port, the work protocol (e.g., TCP or UDP), and the GPS information. After the reference station management system completes the registration of the new GPS reference station, the information of the new GPS reference station is informed to the edge computing equipment management system. The edge computing device management system matches the corresponding edge computing device with the acquired information of the new GPS reference station. For example, the edge computing device management system is aware of the coverage of each edge computing device in the mobile communication network, looks at which edge computing device the location of the new GPS reference station is within the coverage of and determines that edge computing device as the edge computing device corresponding to the new GPS reference station. The edge computing device management system informs the corresponding edge computing device of the information of the new GPS reference station. The edge computing device will record the GPS reference station information, including but not limited to the IP address, work port, work protocol (e.g., TCP or UDP), and GPS information, of the new GPS reference station after it receives the GPS reference station information notified by the edge computing device management system. For example, in fig. 1, the GPS reference station 111 is within the coverage of the edge computing device 121, so that the two are in a corresponding relationship; the GPS reference station 112 is within the coverage of the edge computing device 123, so that the two are in corresponding relationship; the edge computing device 122 has no corresponding GPS reference station.

In one example, the edge computing device may actively transmit a request to its corresponding GPS reference station to acquire second GPS location data at any time or periodically and save the second GPS location data returned by the GPS reference station. In another example, the edge computing device may monitor and capture and copy and save the corresponding second GPS positioning data report information sent by the GPS reference station to the reference station management system. Specifically, when the edge computing device detects that a data packet addressed to the core network (via which the GPS reference station communicates with the reference station management system) conforms to the recorded information of the corresponding GPS reference station (for example, conforms to one or more of the IP address, the work port, the work protocol, and the like of the GPS reference station), the data packet will be duplicated, and the second GPS positioning data contained therein will be restored.

In one example, the edge computing device may also not save the second GPS positioning data of the corresponding GPS reference station, but instead obtain the second GPS positioning data from the corresponding GPS reference station in real time based on the request of the positioning device and return to the positioning device.

In another embodiment, the edge computing device is not assigned a corresponding GPS reference station. In this case, the edge computing device may obtain and save second GPS positioning data of the GPS reference station corresponding to the other edge computing device from the other edge computing device via the mobile communication network (e.g., via the core network). For example, all edge computing devices within the mobile communication network may build a multicast group, and the edge computing device that records the corresponding GPS reference station information notifies other edge computing devices of its IP address and work port within the multicast group. After the edge computing device without the corresponding GPS reference station receives the notification, the edge computing device that sent the notification may request the second GPS positioning data from the edge computing device that sent the notification, so that the second GPS positioning data of the GPS reference station corresponding to the edge computing device that sent the notification may be obtained. For example, as shown in fig. 1, the edge computing devices 121-123 may form a multicast group, the

edge computing devices

121 and 123 having recorded therein the corresponding

GPS reference stations

111 and 112 may notify their own IP addresses and work ports within the multicast group, and the edge computing device 122 without the corresponding GPS reference stations may request the second positioning data of the GPS reference stations from the edge computing devices 121 and/or 123 based on the notification.

In one example, if an edge computing device obtains second GPS location data for multiple GPS reference stations from multiple corresponding GPS reference stations or from other edge computing devices, the edge computing device may use only the newly updated second GPS location data and ignore other.

S240, determining the position of the terminal equipment according to the first GPS positioning data and the second GPS positioning data.

After the first GPS positioning data of the terminal device is acquired from the terminal device and the second GPS positioning data of the GPS reference station is acquired from the edge computing device, the positioning device can determine the position of the terminal device according to the first GPS positioning data and the second GPS positioning data. For example, the positioning means may determine the exact GPS position of the terminal device by differential positioning calculations.

By the positioning method according to the above-described embodiment of the present disclosure, the GPS positioning data of the GPS reference station can be acquired from the edge computing device of the mobile communication network to calculate the accurate GPS position of the rover station (e.g., the terminal device), so that the time delay due to the data link congestion of the conventional GPS can be eliminated or reduced, and thus the accuracy of the GPS positioning result can be improved.

The example positioning method of fig. 2 is described from the positioning device side. Positioning methods according to embodiments of the present disclosure will be described below with reference to fig. 3-5 from an edge computing device side, a terminal device side, a GPS reference station side, respectively.

Fig. 3 shows a schematic flow chart of a method of transmitting GPS positioning data according to an exemplary embodiment of the present disclosure. The example method may be performed by an edge computing device in a mobile communication network. As shown in fig. 3, the example method includes:

s310, the edge computing device detects a request sent to a mobile communication network to acquire second GPS positioning data of a GPS reference station.

The request to acquire the second GPS positioning data of the GPS reference station may be sent onto the mobile communications network by any device accessing the mobile communications network that may desire to use the second GPS positioning data of the GPS reference station to locate itself or other device's location or for other purposes. The request may be an explicit request to acquire second GPS location data of the GPS reference station or may be a request (e.g., a GPS location request) that implicitly or would result in acquisition of second GPS location data of the GPS reference station.

For example, assume that the terminal device wants to acquire second GPS positioning data of the GPS reference station to determine its own accurate GPS position. In one example, the GPS location calculation is finalized by the edge computing device (i.e., the location device is located in the edge computing device), the terminal device may send a GPS location request to the mobile communications network while sending its own first GPS location data along with the GPS location request. After the corresponding edge computing device in the mobile communication network detects the GPS request and the first GPS positioning data, in order to position the terminal device, the edge computing device needs to acquire the second GPS positioning data of the GPS reference station, that is, determines that the GPS request implicitly acquires the second GPS positioning data of the GPS reference station. In another example, the GPS positioning calculation is done by the terminal device (i.e. the positioning means is located in the terminal device), the terminal device may send a request to the mobile communication network to acquire the second GPS positioning data of the GPS reference station.

S320, the edge computing device acquires second GPS positioning data from a GPS reference station accessed to the mobile communication network.

As described above, in one or more embodiments of the present disclosure, the GPS reference station is connected to the mobile communication network and is recorded by the corresponding edge computing device. The edge computing device may obtain second GPS location data for the GPS reference station from its corresponding GPS reference station, and may also obtain second GPS location data for the GPS reference station corresponding to the other edge computing device from the other edge computing device. For a detailed description of the edge computing device acquiring the second GPS positioning data from the GPS reference station, please refer to the above description of step S230, which is not repeated here.

The edge computing device may acquire the second GPS positioning data from the GPS reference station based on the request described in step S310, or may acquire the second GPS positioning data from the GPS reference station and save it at any time or periodically without the request.

S330, the edge computing device sends third GPS positioning data based on the acquired second GPS positioning data to the requester.

The third GPS location data sent by the edge computing device to the requester is data based on the second GPS location data. In one example, in the event that the second GPS location data itself is requested by the requester (e.g., the terminal device), then the third GPS location data returned by the edge computing device is the second GPS location data. In another example, the requester (e.g., the terminal device) requests a GPS location of the terminal device, and then the third GPS location data returned by the edge computing device is the location of the terminal device determined by the location calculation based on the second GPS location data and the first GPS data of the terminal device.

Fig. 4 shows a schematic flow chart of a positioning method according to another exemplary embodiment of the present disclosure. The example method may be performed by a terminal device accessing a mobile communication network. As shown in fig. 4, the example method includes:

s410, the terminal device sends a request for acquiring second GPS positioning data of the GPS reference station to the mobile communication network.

For the request for acquiring the second GPS positioning data of the GPS reference station, please refer to step S310, which is not described herein.

S420, the terminal equipment receives third GPS positioning data based on the second GPS positioning data of the GPS reference station, which is sent by the edge computing equipment in response to the GPS positioning request.

For the third GPS positioning data, please refer to step S330, which is not described herein.

Fig. 5 shows a schematic flow chart of a positioning method according to yet another exemplary embodiment of the present disclosure. The example method may be performed by a GPS reference station. As shown in fig. 5, the example method includes:

s510, the GPS reference station accesses the mobile communication network.

Step S510 may be implemented by providing a mobile communication module in the GPS reference station, or the GPS reference station may be made to access the mobile communication network through another network (e.g., the internet), or otherwise.

S520, the GPS reference station transmits second GPS positioning data of the GPS reference station to an edge computing device in the mobile communication network.

For the GPS reference station to transmit the second GPS positioning data of the GPS reference station to the edge computing device in the mobile communication network, please refer to the detailed description in connection with fig. 2. In addition, in a modification, the reference station management system and the edge computing device management system may not be included. In this variant, the GPS reference station may be detected by the corresponding edge computing device after access to the mobile communications network. For example, information sent by a GPS reference station to a mobile communication network through a base station may be detected by an edge computing device in the vicinity of the base station, and the edge computing device is the corresponding edge computing device of the GPS reference station. As shown in fig. 1,

GPS reference stations

111 and 112 are detected by

edge computing devices

121 and 123, respectively, after being connected to the mobile communication network, and edge computing device 122 does not detect any GPS reference station, then edge computing device 122 does not have a corresponding GPS reference station. As described above, the edge computing device 122 may obtain the second GPS positioning data from the edge computing device 121 and the edge computing device 123 via the multicast group and retain the latest updated data. In this variant as well, the GPS reference station may send its second GPS positioning data to the mobile communication network at any time or periodically after having accessed the mobile communication network, for example by being transmitted to the mobile communication network via a base station, which may be detected and captured by an edge computing device in the vicinity of the base station, so that the second GPS positioning data may be saved and used. The GPS reference station need only actively (periodically or aperiodically) or upon request transmit the second GPS positioning data to the edge computing device over the mobile communications network, without directly responding to the terminal device using a conventional GPS data chain.

Fig. 6 shows a flow chart of interactions of devices in a positioning method according to an exemplary embodiment of the present disclosure. In this example, the positioning device is illustrated as being provided in an edge computing device. As shown in fig. 6, the flow includes:

s1, the GPS reference station initiates equipment registration to a reference station management system after accessing a mobile communication network.

S2, the reference station management system records the information registered by the GPS reference station and informs the edge computing equipment management system of the information of the GPS reference station.

And S3, the edge computing equipment management system matches corresponding edge computing equipment for the GPS reference station according to the information of the GPS reference station.

And S4, the edge computing device management system sends the information of the GPS reference station to the matched corresponding edge computing device.

And S5, the corresponding edge computing equipment records the information of the GPS reference station and acquires second GPS positioning data from the GPS reference station.

And S6, the corresponding edge computing device stores the acquired second GPS positioning data of the GPS reference station.

S7, the GPS positioning request sent by the terminal equipment to the mobile communication network is detected by the edge computing equipment, wherein the GPS positioning request contains first GPS positioning data of the terminal equipment.

S8, the edge computing device determines the position of the terminal device according to the first GPS positioning data and the second GPS positioning data.

And S9, the edge computing equipment sends the determined position of the terminal equipment to the terminal equipment as a positioning result.

For details of steps S1-S9 above, reference may be made to the description above in connection with fig. 1-6, which is not repeated here.

As a variant of the example of fig. 6, steps S7-9 may be replaced by the following steps:

s7', a request sent by the terminal device to the mobile communication network to acquire second GPS positioning data of the GPS reference station is detected by the edge computing device.

And S8', the edge computing device transmits second GPS positioning data of the GPS reference station to the terminal device.

S9', the terminal equipment determines the position of the terminal equipment according to the first GPS positioning data of the terminal equipment and the second GPS positioning data acquired from the edge computing equipment.

By the embodiment of the positioning method, the GPS positioning data of the GPS reference station can be transmitted by the edge computing equipment in the mobile communication network by bypassing the traditional GPS data chain, and the mobile communication network has stronger load capacity so as to avoid data congestion and transmission delay, thereby avoiding the GPS positioning precision loss caused by the data congestion and the transmission delay. Further, the positioning method according to the embodiment of the present disclosure can realize distribution of GPS positioning data of a GPS reference station based on a mobile communication network (e.g., 4G/5G network), which allows a general terminal device such as a mobile phone terminal to also improve positioning accuracy using DGNSS data. Because the traditional high-performance RTK differential system requires the user to be provided with expensive special terminal equipment, a common user has a higher threshold in the aspect of acquiring high-precision positioning capability, and the scheme effectively reduces the terminal threshold of the user. In other embodiments, the computing power of the edge computing device may also be used to determine the location of the end device through differential positioning calculations using the GPS positioning data of the reference station and the GPS positioning data of the rover (e.g., end device), thereby reducing the computational burden on the end device or the differential post-processing system of the GPS system.

The positioning method according to the embodiment of the disclosure can be applied to a map or a positioning product, and a user can realize high-precision positioning (for example, sub-meter level) by using a terminal device such as a mobile phone. On the terminal side, a corresponding SDK needs to be developed to enable the SDK to establish network connection with the edge computing device on the mobile communication network side, and complete GPS signal data transmission. When an application (e.g., a map application) on the terminal device needs to invoke the positioning capability of the terminal device, the SDK will send GPS signal data (or referred to as GPS positioning data) detected by the terminal device to the edge computing device or grasp the GPS signal data of the reference station from the edge computing device, and finally output GPS positioning information to the upper layer application. On the network side, the edge computing device may periodically or at any time acquire second GPS positioning data from nearby reference stations and distribute it to other edge computing devices. The terminal device may obtain location capability support directly from a nearby edge computing device, including a second GPS location data acquisition or GPS location calculation result acquisition.

Another application of the positioning method according to an embodiment of the present disclosure is panoramic positioning of a target object. The target object here may be a pedestrian, an animal, a bicycle, etc., which targets typically have no way to communicate with the network and report their own location. In the internet of vehicles/automatic driving, the accurate position of such targets is very important for driving safety, but unlike the target objects provided with a positioning device, the target objects such as pedestrians and pets at the intersections cannot directly communicate with the network, and cannot report the position of the target objects to the network. There is therefore a great need for techniques that can provide panoramic localization positions of such target objects. Fig. 7 illustrates an environmental schematic for implementing a panoramic positioning method according to an exemplary embodiment of the present disclosure. As shown in fig. 7, one or more cameras 711 and 712 (two cameras are illustrated in the figure as an example) may capture images of the target object as described above, analyze the captured images to obtain relative (relative to the captured cameras) positions of the objects contained in the images, and send to corresponding

edge computing devices

721 and 722 in the mobile communication network. The

edge computing devices

721 and 722 may obtain the GPS absolute positions of the

cameras

711 and 712 according to the positioning methods in the implementations described above, so that the absolute position of one or more objects contained in the image may be determined from the relative positions of the objects with respect to the cameras and the GPS positions of the cameras. By integrating the locations of the objects determined by the one or more edge computing devices, a panoramic localization map of the objects, i.e., a map containing the locations of all (or a majority of) objects of interest that are actually within a geographic range at the respective times, may be obtained. For example, the one or more edge computing devices send the determined locations of the objects and corresponding times when determined to the edge computing device management system 731, and the locations of the objects are aligned by time by the edge computing device management system 731 to obtain a panoramic localization map.

Cameras

711 and 722 may include overhead cameras or vehicle cameras. The overhead camera is usually installed on the holding pole of traffic lights, RSU (road side unit) and the like, the visual field is wider, and the vehicle-mounted camera is installed on a vehicle and can also provide information of objects. The captured image may be a video or still image, or may be an image obtained by a laser radar, millimeter wave radar, ultrasonic radar, or the like. Here, the

cameras

711 and 722 can be regarded as terminal devices in the positioning method embodiment described above, which have a function of capturing images.

It will be appreciated that, as a modification, the

cameras

711 and 712 may send captured images directly to the

edge computing devices

721 and 722 without analysis, and the images are analyzed by the

edge computing devices

721 and 722 to obtain the relative positions of the objects contained in the images with respect to the cameras.

As a further variant, the edge computing device may also only provide the camera with accurate positioning information for the camera, the determination of the absolute position of the object being accomplished by the camera.

As a further variation, the edge computing device may provide only the second GPS positioning data of the GPS reference station to the camera, with the camera performing its own positioning calculation.

Fig. 8 shows a schematic flow chart of a panoramic positioning method according to an exemplary embodiment of the present disclosure. As shown in fig. 8, the example method includes:

s810, the edge computing device acquires the relative position of an object in an image shot by the terminal device relative to the terminal device.

The terminal device is here a terminal device with shooting capabilities, for example a camera. As described above, the relative position of the object contained in the image may be determined by the terminal device and transmitted to the edge computing device, or the terminal device may transmit the captured image and the parameters to the edge computing device, and the edge computing device may determine the relative position of the object contained in the image.

In one example, the relative position of objects in an image may be determined by image object detection and visual localization or fingerprint localization techniques. For example, a camera of the terminal device photographs a target object such as a pedestrian, and performs target detection on a picture to find the pedestrian, the pet or other objects in the picture. Then, the relative positional relationship between the target in the picture and the camera (terminal device), i.e., the 3D (3-dimensional) distance, is calculated. The calculation method can be binocular vision positioning or matching positioning, namely, the camera view is subjected to grid division in advance, a grid-position mapping table is established, and the position of an object can be known by detecting which grid table the object in the image is in.

The terminal device may actively or upon request of the edge computing device send the captured image or the relative position information of the object in the image to the edge computing device. For example, the edge computing device or edge computing device management system requests a message from the terminal device/camera of the location of the target object. The request message at least contains at least one of the following information: camera ID information, timer information, object category (pedestrian, pet, etc.), timestamp, location type (absolute or relative), etc. The terminal device/camera returns the detected object information to the server. The message at least contains at least one of the following information: object type identification (pedestrians, pets, etc.), number of objects (total number or number corresponding to each type), position information of objects (absolute position or relative position), format of position (i.e. under what coordinate system), time stamp (time of photographing moment), confidence indication of each object position, object size information, object color information, etc.

For another example, the edge computing device or its management system does not send a request, but rather is reported to the edge computing device or its management system by the terminal device in real time, at any time, or periodically after the image is captured. In one example, the terminal device may initiate an authentication request message to the edge computing device or its management system, and after passing the authentication, may send data to the edge computing device or its management system to avoid malicious reporting of false data. The message carries at least one of the following messages: camera ID, key, type, etc. After the feedback authentication is passed, the server allows the terminal device to send the image or the relative position information of the object in the image.

The terminal device and the edge computing device may be in wired communication or wireless communication. The location information of the image or object may be sent by the terminal device directly to the edge computing device or the edge computing device management system, or may be forwarded via other devices. For example, the terminal device sends to the RSU, which is then passed on by the RSU to the edge computing device. For another example, the data may be sent by the terminal device to the base station, and then transferred by the base station to the edge computing device or the edge computing device management system.

S820, the edge computing device acquires GPS positioning data of the GPS reference station and determines an absolute position of the terminal device based on the acquired GPS positioning data.

For this step, please refer to the previous description of the embodiments of the positioning method.

As described above, the edge computing device may directly return the GPS positioning data to the terminal device after obtaining the GPS positioning data of the GPS reference station, and the terminal device may calculate its own positioning, or the edge computing device may determine the absolute position of the terminal device according to the obtained GPS positioning data and the GPS positioning data of the terminal device itself.

And S830, the edge computing device determines the absolute position of the object in the image according to the relative position of the object in the image relative to the terminal device and the absolute position of the terminal device.

Similarly, the actions in step S830 may also be performed by the terminal device.

the terminal equipment shoots the image;

According to an exemplary embodiment, the positioning method further comprises:

According to another aspect of the embodiments of the present disclosure, there is also provided a positioning device operable to perform embodiments of the positioning method and the transmission method of GPS positioning data as described above. As mentioned above, the apparatus may be located in an edge computing device, a terminal device or a functional module in other mobile communication network devices, or may be a stand-alone device capable of accessing a mobile communication network. Fig. 9 shows a schematic block diagram of a positioning device 900 according to an exemplary embodiment of the present disclosure, as shown in fig. 9, the device 900 includes:

A receiving unit 910 configured to receive a request for GPS positioning of a terminal device;

a first acquisition unit 920 configured to acquire first GPS positioning data of a terminal device from the terminal device;

a second acquisition unit 930 configured to acquire second GPS positioning data of the GPS reference station from the edge computing device;

a location determination unit 940 configured to determine a location of the terminal device based on the first GPS positioning data and the second GPS positioning data.

According to an exemplary embodiment, the second obtaining unit 930 is configured to:

second GPS positioning data of a GPS reference station corresponding to the edge computing device is obtained from the edge computing device.

second GPS positioning data of GPS reference stations corresponding to other edge computing devices, which are sent to the edge computing device by the other edge computing devices, are obtained from the edge computing device.

The implementation process of the functions and roles of each unit/module in the positioning device and the relevant details are specifically detailed in the implementation process of the corresponding steps in the method embodiment, and are not repeated here.

The positioning apparatus embodiments in the above embodiments may be implemented by hardware, software, firmware, or a combination thereof, and may be implemented as a single apparatus, or as a logic integrated system in which constituent units/modules are dispersed in one or more computing devices and perform corresponding functions, respectively.

The units/modules constituting the positioning device in the above embodiments are divided according to logic functions, they may be re-divided according to logic functions, and the device may be implemented by more or fewer units/modules, for example. These constituent units/modules may be implemented by hardware, software, firmware or a combination thereof, and they may be separate independent components or may be integrated units/modules where a plurality of components are combined to perform corresponding logic functions. The means for hardware, software, firmware, or a combination thereof may include: separate hardware components, functional modules implemented by programming, functional modules implemented by programmable logic devices, or the like, or a combination thereof.

According to one exemplary embodiment, the positioning device embodiment may be implemented as a computing device comprising a memory and a processor, the memory storing a computer program that, when executed by the processor, causes the computing device to perform any one of the positioning/GPS positioning data transmission method embodiments described above, or that, when executed by the processor, causes the computing device to perform the functions performed by the constituent elements/modules of the positioning device embodiments described above.

The processors described in the above embodiments may refer to a single processing unit, such as a central processing unit CPU, or may be distributed processor systems including a plurality of discrete processing units/processors.

The memory described in the above embodiments may include one or more memories, which may be internal memory of the computing device, such as various memories, transient or non-transient, or external storage connected to the computing device through a memory interface.

Fig. 10 illustrates a schematic block diagram of one exemplary embodiment of such a computing device 1001. As shown in fig. 10, the computing device may include, but is not limited to: at least one processing unit 1010, at least one memory unit 1020, and a bus 1030 that connects the various system components, including the memory unit 1020 and the processing unit 1010.

The storage unit stores program code that is executable by the processing unit 1010 such that the processing unit 1010 performs steps according to various exemplary embodiments of the present disclosure described in the description section of the exemplary methods described above in the present specification. For example, the processing unit 1010 may perform the various steps as shown in fig. 2-6.

The memory unit 1020 may include readable media in the form of volatile memory units such as Random Access Memory (RAM) 1021 and/or cache memory unit 1022, and may further include Read Only Memory (ROM) 1023.

Storage unit 1020 may also include a program/utility 1024 having a set (at least one) of program modules 1025, such program modules 1025 including, but not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment.

Bus 1030 may be representing one or more of several types of bus structures including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

The computing device may also communicate with one or more external devices 1070 (e.g., keyboard, pointing device, bluetooth device, etc.), one or more devices that enable a user to interact with the computing device, and/or any devices (e.g., routers, modems, etc.) that enable the computing device to communicate with one or more other computing devices. Such communication may occur through an input/output (I/O) interface 1050. And the computing device may also communicate with one or more networks such as a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, e.g., the internet, through a network adapter 1060. As shown, the network adapter 1060 communicates with other modules of the computing device over bus 1030. It should be appreciated that although not shown, the computing device may be implemented using other hardware and/or software modules, including, but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, data backup storage systems, and the like.

From the above description of embodiments, those skilled in the art will readily appreciate that the example embodiments described herein may be implemented in software, or may be implemented in software in combination with the necessary hardware. Thus, the technical solution according to the embodiments of the present disclosure may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (may be a CD-ROM, a U-disk, a mobile hard disk, etc.) or on a network, including several instructions to cause a computing device (may be a personal computer, a server, a terminal device, or a network device, etc.) to perform the method according to the embodiments of the present disclosure.

In an exemplary embodiment of the present disclosure, there is also provided a computer-readable storage medium having stored thereon computer-readable instructions, which, when executed by a processor of a computer, cause the computer to perform the method embodiments described in the method embodiment section above.

According to an embodiment of the present disclosure, there is also provided a program product for implementing the method in the above method embodiments, which may employ a portable compact disc read only memory (CD-ROM) and comprise program code, and may be run on a terminal device, such as a personal computer. However, the program product of the present disclosure is not limited thereto, and in this document, a readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium can be, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium would include the following: an electrical connection having one or more wires, a portable disk, a hard disk, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

The computer readable signal medium may include a data signal propagated in baseband or as part of a carrier wave with readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A readable signal medium may also be any readable medium that is not a readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.

Program code embodied on a readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

Program code for carrying out operations of the present disclosure may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device, partly on a remote computing device, or entirely on the remote computing device or server. In the case of remote computing devices, the remote computing device may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device (e.g., connected via the Internet using an Internet service provider).

It should be noted that although in the above detailed description several modules or units of a device for action execution are mentioned, such a division is not mandatory. Indeed, the features and functionality of two or more modules or units described above may be embodied in one module or unit in accordance with embodiments of the present disclosure. Conversely, the features and functions of one module or unit described above may be further divided into a plurality of modules or units to be embodied.

Furthermore, although the steps of the methods in the present disclosure are depicted in a particular order in the drawings, this does not require or imply that the steps must be performed in that particular order or that all illustrated steps be performed in order to achieve desirable results. Additionally or alternatively, certain steps may be omitted, multiple steps combined into one step to perform, and/or one step decomposed into multiple steps to perform, etc.

From the above description of embodiments, those skilled in the art will readily appreciate that the example embodiments described herein may be implemented in software, or may be implemented in software in combination with the necessary hardware. Thus, the technical solution according to the embodiments of the present disclosure may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (may be a CD-ROM, a U-disk, a mobile hard disk, etc.) or on a network, including several instructions to cause a computing device (may be a personal computer, a server, a mobile terminal, or a network device, etc.) to perform the method according to the embodiments of the present disclosure.

Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any adaptations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

Claims

1. A positioning method, comprising:

receiving a request for GPS positioning of terminal equipment;

obtaining second GPS positioning data of the GPS reference station from the edge computing device; the edge computing device and the GPS reference station are accessed to a mobile communication network, and the GPS reference station sends the second GPS positioning data to the edge computing device through the mobile communication network;

determining the position of the terminal equipment according to the first GPS positioning data and the second GPS positioning data;

wherein the acquiring second GPS positioning data of the GPS reference station from the edge computing device comprises:

if the GPS reference station corresponding to the edge computing equipment does not exist, acquiring second GPS positioning data of the GPS reference stations corresponding to other edge computing equipment from the edge computing equipment; the GPS reference station corresponding to the other edge computing equipment is in the coverage range of the other edge computing equipment, and the edge computing equipment requests to acquire the second GPS positioning data from the other edge computing equipment according to the notification sent by the other edge computing equipment, wherein the notification comprises the IP address and the work port of the other edge computing equipment.

2. The method of claim 1, wherein the obtaining second GPS positioning data of the GPS reference station from the edge computing device comprises:

3. A method for transmitting GPS positioning data, comprising:

the edge computing device obtains second GPS positioning data from a GPS reference station accessed to a mobile communication network; the edge computing equipment is accessed to a mobile communication network, and the GPS reference station sends the second GPS positioning data to the edge computing equipment through the mobile communication network;

the edge computing device sends third GPS positioning data based on the acquired second GPS positioning data to a requester, so that the requester determines the position of the terminal device according to the second GPS data and the first GPS data of the terminal device;

the edge computing device obtaining second GPS positioning data from a GPS reference station accessing a mobile communications network includes:

the edge computing equipment receives notifications sent by other edge computing equipment recorded with corresponding GPS reference stations; the notification comprises IP addresses and work ports of other edge computing devices, and GPS reference stations corresponding to the other edge computing devices are in coverage areas of the other edge computing devices;

And if the GPS reference station corresponding to the edge computing equipment does not exist, the edge computing equipment requests to acquire second GPS positioning data of the GPS reference station corresponding to the other edge computing equipment from the other edge computing equipment according to the notification.

4. The method of claim 3, wherein the edge computing device obtaining second GPS positioning data from a GPS reference station that accesses a mobile communications network comprises:

the edge computing device obtains second GPS positioning data for a GPS reference station from the GPS reference station corresponding to the edge computing device.

5. The method of claim 4, wherein the edge computing device obtaining second GPS positioning data for a GPS reference station corresponding to the edge computing device from the GPS reference station comprises:

the edge computing device receives and records information of the corresponding GPS reference station from an edge computing device management system;

the edge computing device obtains the second GPS positioning data from the GPS reference station according to the recorded information of the corresponding GPS reference station.

6. The method of claim 5, wherein prior to the edge computing device receiving and recording information of the corresponding GPS reference station from an edge computing device management system, the method further comprises:

The GPS reference station is accessed to a mobile communication network and registers with a reference station management system accessed to the mobile communication network;

the reference station management system sends the information of the GPS reference station to the edge computing equipment management system in the mobile communication network;

the edge computing device management system determines the corresponding edge computing device according to the information of the GPS reference station and sends the information of the GPS reference station to the edge computing device.

7. The method of claim 4, wherein the edge computing device obtaining second GPS positioning data for a GPS reference station corresponding to the edge computing device from the GPS reference station comprises:

the edge computing device sends a positioning data acquisition request to the corresponding GPS reference station;

the edge computing device receives the second GPS positioning data sent by the GPS reference station to the edge computing device in response to the positioning data acquisition request.

8. The method of claim 6, wherein the edge computing device obtaining second GPS positioning data for a GPS reference station corresponding to the edge computing device from the GPS reference station comprises:

The edge computing equipment detects GPS positioning data reporting information which is captured on a mobile communication network and sent to a reference station management system by a GPS reference station;

and the edge computing equipment copies and stores second GPS positioning data contained in the GPS positioning data report information under the condition that the GPS reference station is determined to be the corresponding GPS reference station recorded by the edge computing equipment.

9. The method of claim 8, wherein the edge computing device determines whether the GPS reference station is the corresponding GPS reference station recorded by the edge computing device by comparing the recorded information of the corresponding GPS reference station with the information of the GPS reference station contained in the captured GPS positioning data reporting information.

10. A method according to claim 3, wherein the third GPS data is:

second GPS data; or (b)

And determining the position of the terminal equipment according to the second GPS data and the first GPS data of the terminal equipment.

11. A method of positioning, the method comprising:

acquiring the relative positions of a plurality of target objects in images shot by a plurality of terminal devices in the coverage range of a plurality of edge computing devices; the relative position of each target object is used for representing the position relation between each target object and the terminal equipment corresponding to each target object;

Acquiring positions respectively corresponding to the plurality of terminal devices determined by the method according to any one of claims 1 to 10;

determining the absolute position of each target object according to the relative position of each target object and the position of the terminal equipment corresponding to each target object;

and aligning the absolute positions of the target objects according to time to obtain a panoramic positioning map.

12. A positioning device, comprising:

a receiving unit configured to receive a GPS positioning request transmitted by a terminal device;

a second acquisition unit configured to acquire second GPS positioning data of the GPS reference station from the edge computing device; the edge computing device and the GPS reference station are accessed to a mobile communication network, and the GPS reference station sends the second GPS positioning data to the edge computing device through the mobile communication network;

a position determining unit configured to determine a position of the terminal device from the first GPS positioning data and the second GPS positioning data;

Acquiring second GPS positioning data of GPS reference stations corresponding to other edge computing devices from the edge computing devices; the GPS reference station corresponding to the other edge computing equipment is in the coverage range of the other edge computing equipment, and the edge computing equipment requests to acquire the second GPS positioning data from the other edge computing equipment according to the notification sent by the other edge computing equipment, wherein the notification comprises the IP address and the work port of the other edge computing equipment.

13. A computing device comprising a processor and a memory having stored thereon computer readable instructions that, when executed on the memory, are configured to implement the method of any of claims 1 to 11.

14. A computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method according to any of claims 1 to 11.