CN110703192A

CN110703192A - Positioning method and device, equipment and storage medium

Info

Publication number: CN110703192A
Application number: CN201810745870.XA
Authority: CN
Inventors: 吴敏; 严镭
Original assignee: China Mobile Communications Group Co Ltd; China Mobile M2M Co Ltd
Current assignee: China Mobile Communications Group Co Ltd; China Mobile M2M Co Ltd
Priority date: 2018-07-09
Filing date: 2018-07-09
Publication date: 2020-01-17
Anticipated expiration: 2038-07-09
Also published as: CN110703192B

Abstract

The embodiment of the invention discloses a positioning method, a positioning device, equipment and a storage medium, wherein the method comprises the following steps: acquiring a first base station set; screening out a first screened base station from the first base station set according to the base station parameters of all base stations in the first base station set and a preset centroid distance removing strategy to obtain a second base station set, wherein the first screened base station comprises the base station of which the distance standard deviation between the base stations is greater than a preset distance standard deviation threshold value and the signal intensity of the base station is the weakest; screening a second screened base station from the second base station set according to the base station parameters of each base station in the second base station set and a preset adjacent base station selection strategy to obtain a third base station set, wherein the second screened base station comprises base stations with the distance between any two base stations within a preset distance threshold and weaker base station signal intensity; and obtaining the position information of the positioning terminal according to the position information of each base station in the third base station set and a preset weighted positioning calculation strategy.

Description

Positioning method and device, equipment and storage medium

Technical Field

The present invention relates to mobile communication technologies, and in particular, to a method, an apparatus, a device, and a storage medium for positioning.

Background

The mobile communication base station location calculation can be roughly divided into 3 types in principle: a positioning technology based on trigonometric relation and operation, a positioning technology based on scene analysis and a positioning technology based on proximity relation. The positioning technology based on the triangle relation and the operation is the most important and the positioning technology which is most widely applied, and the position of the measured object is calculated by using the geometric triangle relation; triangulation and arithmetic based positioning techniques can be subdivided into distance measurement based positioning techniques and angle measurement based positioning techniques. The positioning technology based on scene analysis abstracts and formalizes the specific positioning environment, and the core of the positioning technology is a position feature database and a matching rule, which is essentially a pattern recognition method. Proximity-based positioning techniques position based on the proximity of an object to be positioned to one or more known locations.

In practice, more positioning based on trigonometric and operational relationships and positioning based on proximity relationships are used. In positioning based on trigonometric and arithmetic, distances or angles need to be measured accurately, angle measurement requires a large hardware cost, and is difficult to apply in small positioners, such as small beneficial positioners. Meanwhile, the distance measurement has a large error due to the complex and changeable environment between the base station and the point to be measured, and the path attenuation and the power of each base station are inconsistent. On the other hand, positioning based on trigonometric relation and calculation requires at least 3 or more base station signals to be received for geometric calculation, and conditions are harsh. In the positioning based on the proximity relation, the positioning method completely depends on the geometrical distribution situation of the base stations, does not have the function of actively approaching the base stations with stronger strength, and has poor precision.

The traditional positioning technology based on the trigonometric relation and the operation has the defects of harsh input conditions, low applicability, difficult distance calculation, easy error amplification and the like, and the traditional positioning technology based on the proximity relation has larger error. Therefore, an implementation scheme for positioning is needed, which can relax the input conditions, has better applicability, improves the positioning accuracy, and effectively reduces the influence of the measurement error on the positioning result.

Disclosure of Invention

In view of this, embodiments of the present invention provide a positioning method, apparatus, device, and storage medium for solving at least one problem in the prior art, where a weighting positioning calculation strategy performed converts distance calculation into weight calculation, and performs weighted averaging, when the number of base stations is greater than 1, the applicability is higher than that of at least 3 base stations based on positioning of trigonometric relationship and operation, and the accuracy is higher than that of positioning based on proximity relationship, and meanwhile, a centroid distance elimination strategy and a neighboring base station selection strategy performed before the weighting positioning calculation strategy can effectively screen out abnormal base stations in advance, thereby further reducing errors.

In order to achieve the purpose, the technical scheme of the invention is realized as follows:

in a first aspect, an embodiment of the present invention provides a positioning method, where the method is applied to a server for positioning a base station of a positioning terminal, and the method includes:

acquiring a first base station set, wherein the first base station set comprises base stations which enable the positioning terminal to receive signals;

screening out a first screened base station from the first base station set according to the base station parameters of all base stations in the first base station set and a preset centroid distance removing strategy to obtain a second base station set, wherein the first screened base station comprises the base station of which the distance standard deviation between the base stations is greater than a preset distance standard deviation threshold value and the signal intensity of the base station is weakest;

screening a second screened base station from the second base station set according to the base station parameters of each base station in the second base station set and a preset adjacent base station selection strategy to obtain a third base station set, wherein the second screened base station comprises a base station of which the distance between any two base stations is within a preset distance threshold and the signal intensity of the base station is weaker;

and obtaining the position information of the positioning terminal according to the position information of each base station in the third base station set and a preset weighted positioning calculation strategy.

The screening out a first screened base station from the first base station set according to the base station parameters of each base station in the first base station set and a preset centroid distance removing strategy to obtain a second base station set, including:

determining a distance standard deviation between base stations in the first base station set according to the base station longitude and latitude of each base station in the first base station set;

comparing the distance standard deviation with a preset distance standard deviation threshold value;

when the distance standard deviation is larger than the distance standard deviation threshold value and the number of base stations in the first base station set is larger than 2, screening out the base station with the largest distance standard deviation from the first base station set to obtain a second base station set;

when the distance standard deviation is greater than the distance standard deviation threshold value and the number of base stations in the first base station set is greater than 2, and the number of base stations with the maximum distance standard deviation in the first base station set is 2 or more than 2, screening out the base station with the weakest signal strength among the base stations with the maximum distance standard deviation to obtain a second base station set;

and when the distance standard deviation is larger than the distance standard deviation threshold value and the number of the base stations in the first base station set is equal to 2, screening the base stations with the weakest base station signal intensity from the first base station set to obtain a second base station set.

The screening a second screened base station from the second base station set according to the base station parameters of each base station in the second base station set and a preset adjacent base station selection strategy to obtain a third base station set, including:

determining the distance between any two base stations in the second base station set according to the longitude and latitude of each base station in the second base station set;

comparing the distance between any two base stations in the second base station set with a preset distance threshold;

and when the distance between any two base stations in the second base station set is smaller than the distance threshold, screening out the base stations with weaker signal strength between any two base stations to obtain a third base station set.

The obtaining the position information of the positioning terminal according to the position information of each base station in the third base station set and a preset weighted positioning calculation strategy includes:

according to the signal intensity of each base station in the third base station set, selecting the base station with the strongest base station signal intensity from the third base station set as a main base station, and taking other base stations except the main base station in the third base station set as slave base stations, wherein the signal intensity of the main base station is in positive correlation with a preset main base station weighting probability, and the preset main base station weighting probability represents the degree of the position information of the positioning terminal biased to the longitude and latitude of the main base station;

determining each slave base station weight according to the signal intensity of each slave base station;

determining a weighted average value of the longitude and latitude of the slave base station according to the longitude and latitude of each slave base station and the weight of each slave base station;

and summing the product of the longitude and latitude of the master base station and the weighting probability of the master base station and the product of the weighted average of the longitude and latitude of the slave base station and the weighting probability of the slave base station to obtain the weighted average of the longitude and latitude of the base station for representing the position information of the positioning terminal, wherein the sum of the weighted probability of the slave base station and the weighted probability of the master base station is 1.

The determining a weighted average value of the longitude and latitude of the slave base station according to the longitude and latitude of each slave base station and the weight of each slave base station comprises the following steps:

accumulating the weight of each slave base station to obtain an accumulated value of the weight of the slave base station;

multiplying the longitude and latitude of each slave base station by the weight of each slave base station to obtain the weighted longitude and latitude of each slave base station;

accumulating the weighted longitude and latitude of each slave base station to obtain a weighted accumulated value of the longitude and latitude of the slave base station;

and dividing the weighted accumulated value of the longitude and latitude of the slave base station by the accumulated value of the weight of the slave base station to obtain the weighted average value of the longitude and latitude of the slave base station.

In a second aspect, an embodiment of the present invention provides an apparatus for positioning, where the apparatus includes: the device comprises an acquisition unit, a first screening unit, a second screening unit and a weighting unit, wherein:

the acquiring unit is configured to acquire a first set of base stations, where the first set of base stations includes base stations that enable the positioning terminal to receive signals;

the first screening unit is configured to screen out a first screened base station from the first base station set according to the base station parameters of each base station in the first base station set and a preset centroid distance rejection strategy to obtain a second base station set, where the first screened base station includes a base station whose distance standard deviation between base stations is greater than a preset distance standard deviation threshold and whose base station signal strength is weakest;

the second screening unit is configured to screen out a second screened base station from the second base station set according to the base station parameters of each base station in the second base station set and a preset adjacent base station selection policy, so as to obtain a third base station set, where the second screened base station includes a base station whose distance between any two base stations is within a preset distance threshold and whose base station signal strength is weak;

and the weighting unit is used for acquiring the position information of the positioning terminal according to the position information of each base station in the third base station set and a preset weighting positioning calculation strategy.

In a third aspect, an embodiment of the present invention provides an apparatus, including a memory and a processor, where the memory stores a computer program operable on the processor, and the processor implements the steps in the accuracy prediction method for positioning when executing the program.

In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the steps in the accuracy prediction method for positioning.

In the embodiment of the invention, a first base station set is obtained, wherein the first base station set comprises base stations which can enable the positioning terminal to receive signals; screening out a first screened base station from the first base station set according to the base station parameters of all base stations in the first base station set and a preset centroid distance removing strategy to obtain a second base station set, wherein the first screened base station comprises the base station of which the distance standard deviation between the base stations is greater than a preset distance standard deviation threshold value and the signal intensity of the base station is weakest; screening a second screened base station from the second base station set according to the base station parameters of each base station in the second base station set and a preset adjacent base station selection strategy to obtain a third base station set, wherein the second screened base station comprises a base station of which the distance between any two base stations is within a preset distance threshold and the signal intensity of the base station is weaker; obtaining the position information of the positioning terminal according to the position information of each base station in the third base station set and a preset weighted positioning calculation strategy; therefore, the distance calculation is converted into weight calculation by the weighting positioning calculation strategy, the weighted average is carried out, when the number of the base stations is larger than 1, the applicability of the base stations is higher than that of at least 3 base stations based on the positioning of the triangular relation and the calculation, the base stations are closer to the correct position than the positioning based on the proximity relation, the precision is higher, meanwhile, the centroid distance rejection strategy and the proximity base station selection strategy which are carried out before the weighting positioning calculation strategy can effectively screen out abnormal base stations in advance, and the error is further reduced.

Drawings

FIG. 1 is a schematic diagram of a network architecture according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a flow chart of an implementation of a positioning method according to an embodiment of the present invention;

FIG. 3 is a schematic flow chart of a server implementing a centroid distance elimination strategy according to an embodiment of the present invention;

fig. 4 is a schematic flow chart illustrating a process of implementing a neighbor base station selection policy by a server according to an embodiment of the present invention;

FIG. 5 is a flowchart illustrating a server implementing a weighted positioning calculation strategy according to an embodiment of the present invention;

FIG. 6 is a schematic diagram of the structure of a positioning device according to an embodiment of the present invention;

FIG. 7 is a schematic diagram of the structure of a positioning device according to an embodiment of the present invention;

FIG. 8 is a schematic diagram of the structure of a positioning device according to an embodiment of the present invention;

FIG. 9 is a schematic diagram of the structure of a positioning device according to an embodiment of the present invention;

FIG. 10 is a schematic diagram of the structure of a positioning device according to an embodiment of the present invention;

FIG. 11 is a schematic diagram of the structure of the apparatus according to the embodiment of the present invention.

Detailed Description

It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

In order to facilitate understanding of the embodiments of the present invention, a communication network architecture on which the server of the present invention is based is described below.

Referring to fig. 1, fig. 1 is a schematic diagram of a network architecture according to an embodiment of the present invention, as shown in fig. 1, the network architecture includes one or more base stations 11 to 1N, where N is a positive integer and the maximum value of N is 7, a positioning terminal 21, a server 31, a network 41, and a user terminal 51; the positioning terminal 21 interacts with the base stations 11 to 1N, the positioning terminal 21 interacts with the server 31 through the network 41, and the server 31 interacts with the user terminal 51 through the network 41. The positioning terminal 21 collects the base station parameters of the base stations 11 to 1N, the positioning terminal 21 then sends the collected base station parameters to the server 31 through the network 41, the server 31 performs positioning calculation after obtaining the base station parameters, and the server 31 sends the positioning calculation results to the user terminal 51 through the network 41. The server 31 receives the base station ID sent by the positioning terminal 21, and the server 31 queries a base station coverage radius through a base station database of the server 31 according to the base station ID, where the base station coverage radius is a base station reference coverage radius, and in practice, for example, when there is a situation where the base station 1N is not shielded by an obstacle and the environment is clear, the actual coverage radius of the base station 1N exceeds the base station 1N reference coverage radius, a situation where the positioning terminal 21 can still receive a signal outside the base station 1N reference coverage radius occurs, and a solid line circle represents the base station 1N coverage radius, that is, the base station 1N reference coverage radius, and a dotted line circle represents the actual coverage radius of the base station 1N in fig. 1.

In general, the positioning terminal may be various types of devices with information processing capability in the implementation process, for example, the positioning terminal may include a small benefit locator, a positioning device, and the like.

Generally, the user terminal may be various types of devices with information processing capability in the implementation process, for example, the user terminal may include a mobile phone, a tablet computer, a desktop computer, and the like. Specifically, for example, the mobile phone receives the positioning result sent by the server.

The embodiment provides a positioning method, which is applied to a device, and the functions implemented by the method can be implemented by calling a program code by a processor in the device, although the program code can be stored in a computer storage medium, and the device at least comprises the processor and the storage medium. In general, a device may be various types of devices having information processing capabilities in the course of implementation, and for example, the device may include a server or the like.

Based on the network architecture, various embodiments of the method of the present invention are presented.

Example one

Fig. 2 is a schematic flow chart of an implementation of a positioning method according to an embodiment of the present invention, and as shown in fig. 2, the method is applied to a server for positioning a base station, and the method includes:

step S201, a first base station set is obtained, where the first base station set includes base stations that enable the positioning terminal to receive signals.

Step S202, according to the base station parameters of all base stations in the first base station set and a preset centroid distance removing strategy, a first base station to be removed is removed from the first base station set, and a second base station set is obtained, wherein the first base station to be removed comprises the base station of which the distance standard deviation between the base stations is larger than a preset distance standard deviation threshold value and the signal intensity of the base station is weakest.

Step S203, according to the base station parameters of each base station in the second base station set and a preset adjacent base station selection strategy, screening a second screened base station from the second base station set to obtain a third base station set, where the second screened base station includes a base station whose distance between any two base stations is within a preset distance threshold and whose base station signal strength is weak.

Step S204, obtaining the position information of the positioning terminal according to the position information of each base station in the third base station set and a preset weighted positioning calculation strategy.

For the technical solution shown in fig. 2, it should be noted that the positioning terminal acquires base station parameters, sends the base station parameters to the server through the network, and the server acquires a first base station set according to the base station parameters, where the first base station set includes base stations that enable the positioning terminal to receive signals; the server screens out a first screened base station from the first base station set according to the base station parameters of all base stations in the first base station set and a preset centroid distance removing strategy to obtain a second base station set, wherein the first screened base station comprises the base station of which the distance standard deviation between the base stations is greater than a preset distance standard deviation threshold value and the signal intensity of the base station is weakest; the server screens out a second screened base station from the second base station set according to the base station parameters of each base station in the second base station set and a preset adjacent base station selection strategy to obtain a third base station set, wherein the second screened base station comprises a base station of which the distance between any two base stations is within a preset distance threshold and the signal intensity of the base station is weaker; and the server acquires the position information of the positioning terminal according to the position information of each base station in the third base station set and a preset weighted positioning calculation strategy. Therefore, the distance calculation is converted into weight calculation by the weighting positioning calculation strategy, the weighted average is carried out, when the number of the base stations is larger than 1, the applicability of the base stations is higher than that of at least 3 base stations based on the positioning of the triangular relation and the calculation, the base stations are closer to the correct position than the positioning based on the proximity relation, the precision is higher, meanwhile, the centroid distance rejection strategy and the proximity base station selection strategy which are carried out before the weighting positioning calculation strategy can effectively screen out abnormal base stations in advance, and the error is further reduced.

It should be noted that, the positioning terminal, such as the small benefit locator, acquires the number of base stations, the signal strength of the base station, and the ID of the base station; the positioning terminal sends a positioning request to the server, the server receives the base station ID, the server inquires the coverage radius and the longitude and latitude of the base station through a base station database of the server according to the base station ID, the server calculates the distance between the base stations and the distance matrix between the base stations according to the base station ID, calculates the average distance between the base stations according to the base station matrix between the base stations, calculates and generates a distance standard deviation according to the average distance between the base stations, and the server also receives the number of the base stations and the signal intensity of the base stations sent by the positioning terminal.

The number of the base stations, the signal intensity of the base stations and the longitude and latitude of the base stations are factors influencing the positioning calculation, so the base stations are used as the base station parameters of the positioning calculation of the server.

For the technical solution shown in fig. 2, in a possible implementation scheme, the screening a first screened base station from the first base station set according to the base station parameters of each base station in the first base station set and a preset centroid distance removing strategy to obtain a second base station set specifically includes:

To explain the foregoing implementation scheme by a specific example, fig. 3 is a schematic flow diagram illustrating a process of implementing a centroid distance elimination policy by a server according to an embodiment of the present invention, and as shown in fig. 3, according to a base station parameter of each base station in the first base station set and a preset centroid distance elimination policy, a first base station to be eliminated is eliminated from the first base station set to obtain a second base station set, which specifically includes:

step S301, the server obtains base station parameters of the first base station set.

Here, the base station parameter is the number of base stations and the signal strength of the base station, which are received by the server and sent by the positioning terminal, and determines the latitude and longitude of the base station, that is, the base station parameter is the number of base stations and the signal strength of the base station in the first base station set, and determines the latitude and longitude of the base station.

The server receives the number of base stations, the signal intensity of the base stations and the ID of the base stations sent by the positioning terminal; and the server inquires the longitude and latitude of the base station through a base station database of the server according to the base station ID.

Step S302, the server judges whether the number of the base stations is 1, if the number of the base stations is 1, the process of realizing the centroid distance elimination strategy by the server is finished, and if the number of the base stations is not 1, the process goes to the step S303 to be processed.

Step S303, the server generates a distance matrix between the base stations.

It should be noted that the server generates the distance matrix according to the longitude and latitude of the base station, and the distance matrix is a two-dimensional array representing the distance between every two base stations.

In step S304, the server generates an average value of distances between the base stations.

Here, the server generates a distance average value between the base stations on the basis of the distance matrix.

In step S305, the server generates a standard deviation of distances from a certain base station to the rest of the base stations.

Here, the server generates a distance standard deviation for the distance from each base station to the remaining base stations based on the average value of the distances between the base stations.

And S306, judging whether the distance standard deviation is greater than 0.8 by the server, if so, turning to the step S307 for processing, and if not, finishing the process of realizing the centroid distance elimination strategy by the server.

Here, the preset distance standard deviation threshold is 0.8.

In step S307, the server determines whether the number of base stations is equal to 2, and if the number of base stations is equal to 2, the server goes to step S308, and if the number of base stations is not equal to 2, that is, if the number of base stations is greater than 2, the server goes to step S309.

Step S308, the server screens out the base stations with weaker signal strength from the two base stations, so as to obtain the second base station set.

Here, the base station with the weakest signal strength in the base stations is screened out from the first base station set, and the second base station set is obtained.

Step S309, the server screens out the base stations with the maximum distance standard deviation, or when the number of base stations with the maximum distance standard deviation is 2 or more than 2, the server screens out the base station with the weakest signal strength among the base stations with the maximum distance standard deviation, so as to obtain the second base station set.

Here, the base station with the largest distance standard deviation is screened out from the first base station set, so as to obtain the second base station set; and when the number of the base stations with the maximum distance standard deviation in the first base station set is more than 2 or 2, screening out the base stations with the weakest signal intensity in the base stations with the maximum distance standard deviation to obtain the second base station set.

It should be noted that the first screened base stations include base stations whose distance standard deviation between base stations is greater than a preset distance standard deviation threshold and whose signal strength is the weakest.

It should be noted that, because the coverage area of the base station is not consistent with the transmission power of the base station signal, the positioning terminal may receive base station signals from different distances, some base stations have a long distance, which is up to several kilometers or even more than ten kilometers, but the signal strength is still weak, such a base station may be severely biased to position if participating in calculation, and meanwhile, considering the rationality of the number of base stations and the overall distribution of the base stations, the centroid distance elimination strategy is used to eliminate abnormal base stations. Through a large amount of data analysis and test, a preset distance standard deviation threshold value is selected to be 0.8, when the distance standard deviation of a certain base station is larger than the preset distance standard deviation threshold value to be 0.8, the base station distribution is considered to be abnormal, and meanwhile, the condition that the number of the received base stations is limited and the distances among all the base stations are far in the actual environment is considered, and for all the base stations which are possible to be abnormal, the base station with the weakest signal intensity is selected to be screened. And when only two receiving base stations reach the preset distance standard deviation threshold value of 0.8, rejecting the weak signal.

In the embodiment of the invention, the distance standard deviation between base stations in the first base station set is determined according to the latitude and longitude of the base stations in the first base station set; comparing the distance standard deviation with a preset distance standard deviation threshold value; when the distance standard deviation is larger than the distance standard deviation threshold value and the number of base stations in the first base station set is larger than 2, screening out the base station with the largest distance standard deviation from the first base station set to obtain a second base station set; when the distance standard deviation is greater than the distance standard deviation threshold value and the number of base stations in the first base station set is greater than 2, and the number of base stations with the maximum distance standard deviation in the first base station set is 2 or more than 2, screening out the base station with the weakest signal strength among the base stations with the maximum distance standard deviation to obtain a second base station set; and when the distance standard deviation is larger than the distance standard deviation threshold value and the number of the base stations in the first base station set is equal to 2, screening the base stations with the weakest base station signal intensity from the first base station set to obtain a second base station set.

For the technical solution shown in fig. 2, in a possible implementation scheme, the screening out a second screened base station from the second base station set according to the base station parameters of each base station in the second base station set and a preset adjacent base station selection policy to obtain a third base station set specifically includes:

To explain the foregoing implementation scheme by a specific example, fig. 4 is a schematic flow diagram illustrating a process of implementing a neighbor base station selection policy by a server according to an embodiment of the present invention, and as shown in fig. 4, the screening out a second screened base station from the second base station set according to a base station parameter of each base station in the second base station set and a preset neighbor base station selection policy to obtain a third base station set specifically includes:

step S401, the server obtains the base station parameters of the second base station set.

Here, the base station parameters are the number of base stations, the signal strength of the base stations, and the latitude and longitude of the base stations in the second set of base stations.

Step S402, the server judges whether all base stations are traversed, if all base stations are traversed, the server finishes the process of selecting the strategy by the adjacent base stations, and if all base stations are not traversed, the server goes to step S403 to process.

In step S403, the server determines whether the remaining base stations are traversed, and if the remaining base stations are traversed, the processing goes to step S402, and if the remaining base stations are not traversed, the processing goes to step S404.

In step S404, the server generates a distance between any two base stations.

Here, the server obtains a distance between any two base stations according to the latitude and longitude of the base stations.

In step S405, the server determines whether the distance between any two base stations is greater than 10m, and if the distance is greater than 10m, the server goes to step S403, and if the distance is not greater than 10m, the server goes to step S406.

Here, the preset distance threshold is 10 m.

Step S406, the server screens out the base stations with weak base station signal strength between any two base stations, so as to obtain the third base station set.

It should be noted that, when the distance between any two base stations is smaller than the distance threshold 10m, the base stations with weaker signal strength between any two base stations are screened out, and only the base station with the strongest signal strength is reserved.

It should be noted that, after the server receives a single positioning request of the positioning terminal, for example, the server receives a single positioning request of the small beneficial locator, and after the client terminal is timed, the small beneficial locator will periodically send a positioning request to the server, and because there are base stations with close base station distances and large signal strength differences, if all the base stations participate in the calculation, the calculation result will be greatly shifted to the small area, but the correctness of the shift direction cannot be guaranteed, for this reason, it is considered that the base station with the strongest signal in the base stations in the same small area attenuates less and is closer to the natural attenuation value. Before positioning calculation, adjacent base stations are selected, the server screens a plurality of base stations within 10m, only one base station with the strongest signal intensity is reserved for calculation, the adjacent base stations are selected and possibly removed from the plurality of base stations, the overall distribution condition of the base stations is influenced, and therefore screening is carried out after the server realizes the process of the centroid distance removal strategy.

In the embodiment of the invention, the distance between any two base stations in the second base station set is determined according to the longitude and latitude of each base station in the second base station set; comparing the distance between any two base stations in the second base station set with a preset distance threshold; and when the distance between any two base stations in the second base station set is smaller than the distance threshold, screening out the base stations with weaker signal strength between any two base stations to obtain a third base station set.

For the technical solution shown in fig. 2, in a possible implementation solution, the obtaining the location information of the location terminal according to the location information of each base station in the third base station set and a preset weighted location calculation policy specifically includes:

For the technical solution shown in fig. 2, in a possible implementation scheme, the determining a weighted average of the longitude and latitude of the slave base station according to the longitude and latitude of each slave base station and the weight of each slave base station specifically includes:

To explain the foregoing implementation scheme by a specific example, fig. 5 is a schematic flowchart of a process for implementing a weighted positioning calculation policy by a server according to an embodiment of the present invention, and as shown in fig. 5, the obtaining the location information of the positioning terminal according to the location information of each base station in the third base station set and a preset weighted positioning calculation policy specifically includes:

step S501, the server obtains base station parameters of a third base station set.

Here, the base station parameters are the number of base stations, the signal strength of the base stations, and the latitude and longitude of the base stations in the third set of base stations.

Step S502, the server selects a main base station, and B represents the longitude and latitude of the main base station.

According to the base station signal intensity of each base station in the third base station set, selecting the base station with the strongest base station signal intensity from the third base station set as a main base station, and taking other base stations except the main base station in the third base station set as slave base stations

In step S503, the server determines whether the signal strength rssi of the main base station is greater than-60, and if so, the server goes to step S505, and if not, the server goes to step S504.

In step S504, the server judges whether the signal intensity rssi of the main base station is greater than-75, if so, the processing is transferred to step S506, and if not, the processing is transferred to step S507.

In step S505, the server selects a preset primary base station weighting probability p to be 0.8.

It should be noted that the signal strength rssi of the master base station is in a positive correlation with the preset master base station weighting probability p. Here, the preset master base station weighting probability p represents a degree that the position information of the positioning terminal is biased to the longitude and latitude of the master base station, and the slave base station weighting probability is 1-p.

In step S506, the server selects the preset primary base station weighting probability p to be 0.6.

In step S507, the server selects the preset primary base station weighting probability p to be 0.5.

In step S508, the server determines whether the remaining base stations have been traversed, and if the remaining base stations have been traversed, the processing goes to step S513, and if the remaining base stations have not been traversed, the processing goes to step S509.

Here, the remaining base stations are the slave base stations.

In step S509, the server generates each slave base station weight according to each slave base station rssi.

It should be noted that, the coordinates of the base station, that is, the latitude and longitude of the base station are known, because the attenuation factor of the signal strength of the base station is uncertain, the positioning error based on the triangulation relationship and the calculation becomes large, the positioning based on the proximity relationship can only obtain a relatively compromised position, and the formula of the signal strength and the transmission distance in the positioning based on the triangulation relationship and the calculation is referred to:

|rssi|＝32.44+20lgd+20lgf

on the basis of the formula, a weight formula is evolved:

wherein rssi is the base station signal strength measured in real time, f is the base station signal frequency, and f takes 1000MHz as accurate signal frequency cannot be obtained; d is the distance from the positioning terminal to the base station, and the unit is kilometers;

and the server generates the weight of each slave base station by using the weight formula.

In step S510, the server generates a weight sum + weight from the accumulated weight sum of the base stations.

Here, the weight sum initial value is 0, and the server accumulates each of the slave base station weights to obtain an accumulated value of the slave base station weights.

In step S511, the server generates weighted slave base station longitude and latitude — slave base station longitude and latitude × weight.

Here, multiplying each slave base station longitude and latitude by the weight of each slave base station to obtain the weighted longitude and latitude of each slave base station.

In step S512, the server generates weighted longitude and latitude of each slave base station, where the weighted longitude and latitude of the slave base station is added value coordSum ═ coordSum +.

Here, the coordSum initial value is 0, and the server accumulates the weighted longitude and latitude of each slave base station to obtain a weighted accumulated value of the longitude and latitude of the slave base station.

In step S513, the server generates a weighted average coord of the longitude and latitude of the slave base station, where coord is coordSum/weightSum.

Here, the weighted slave base station longitude and latitude accumulated value coordSum is divided by the slave base station weight accumulated value weightSum to obtain the slave base station longitude and latitude weighted average value coord.

Step S514, the server obtains a weighted average of the longitude and latitude of the base station for representing the location information of the positioning terminal, where the weighted average of the longitude and latitude of the base station is B × p + (1-p) × coord.

Here, the server sums the product of the master base station longitude and latitude B and the master base station weighted probability p and the product of the slave base station longitude and latitude weighted average coord and the slave base station weighted probabilities 1-p to obtain the base station longitude and latitude weighted average coord. The longitude and latitude weighted average value of the base station is the longitude and latitude of the positioning terminal, the server obtains the longitude and latitude weighted average value of the base station for representing the position information of the positioning terminal, and the server sends the longitude and latitude weighted average value of the base station to the user terminal, namely the user terminal receives the longitude and latitude of the positioning terminal.

It should be noted that the weighted positioning calculation strategy can effectively perform offset on the basis of compromising the proximity position, and the stronger the signal strength is, the larger the weight is, and finally the base station positioning result will be biased to the base station with the stronger rssi. The weighted positioning calculation strategy is also applicable when the number of base stations is small.

In the embodiment of the present invention, according to the base station signal strength of each base station in the third base station set, selecting a base station with the strongest base station signal strength from the third base station set as a master base station, and using other base stations except the master base station in the third base station set as slave base stations, where the master base station signal strength is in a positive correlation with a preset master base station weighting probability, where the preset master base station weighting probability represents a degree that the position information of the positioning terminal is biased toward the longitude and latitude of the master base station; determining each slave base station weight according to the signal intensity of each slave base station; determining a weighted average value of the longitude and latitude of the slave base station according to the longitude and latitude of each slave base station and the weight of each slave base station; and summing the product of the longitude and latitude of the master base station and the weighting probability of the master base station and the product of the weighted average of the longitude and latitude of the slave base station and the weighting probability of the slave base station to obtain the weighted average of the longitude and latitude of the base station for representing the position information of the positioning terminal, wherein the sum of the weighted probability of the slave base station and the weighted probability of the master base station is 1.

In the embodiment of the invention, a first base station set is obtained, wherein the first base station set comprises base stations which can enable the positioning terminal to receive signals; screening out a first screened base station from the first base station set according to the base station parameters of all base stations in the first base station set and a preset centroid distance removing strategy to obtain a second base station set, wherein the first screened base station comprises the base station of which the distance standard deviation between the base stations is greater than a preset distance standard deviation threshold value and the signal intensity of the base station is weakest; screening a second screened base station from the second base station set according to the base station parameters of each base station in the second base station set and a preset adjacent base station selection strategy to obtain a third base station set, wherein the second screened base station comprises a base station of which the distance between any two base stations is within a preset distance threshold and the signal intensity of the base station is weaker; and obtaining the position information of the positioning terminal according to the position information of each base station in the third base station set and a preset weighted positioning calculation strategy. Therefore, the distance calculation is converted into weight calculation by the weighting positioning calculation strategy, the weighted average is carried out, when the number of the base stations is larger than 1, the applicability of the base stations is higher than that of at least 3 base stations based on the positioning of the triangular relation and the calculation, the base stations are closer to the correct position than the positioning based on the proximity relation, the precision is higher, meanwhile, the centroid distance rejection strategy and the proximity base station selection strategy which are carried out before the weighting positioning calculation strategy can effectively screen out abnormal base stations in advance, and the error is further reduced.

Example two

Based on the same inventive concept of the foregoing embodiment, fig. 6 is a schematic structural diagram of a positioning apparatus according to an embodiment of the present invention, and as shown in fig. 6, the positioning apparatus 600 includes: an obtaining unit 601, a first screening unit 602, a second screening unit 603, and a weighting unit 604, wherein:

the acquiring unit 601 is configured to acquire a first set of base stations, where the first set of base stations includes base stations that enable the positioning terminal to receive signals;

the first screening unit 602 is configured to screen out a first screened base station from the first base station set according to the base station parameters of each base station in the first base station set and a preset centroid distance removing policy, so as to obtain a second base station set, where the first screened base station includes a base station whose distance standard deviation between base stations is greater than a preset distance standard deviation threshold and whose base station signal strength is weakest;

the second screening unit 603 is configured to screen out a second screened base station from the second base station set according to the base station parameters of each base station in the second base station set and a preset adjacent base station selection policy, so as to obtain a third base station set, where the second screened base station includes a base station whose distance between any two base stations is within a preset distance threshold and whose base station signal strength is weak;

the weighting unit 604 is configured to obtain the location information of the location terminal according to the location information of each base station in the third base station set and a preset weighted location calculation policy.

In the above scheme, referring to fig. 7, the first screening unit 602 includes: a first acquisition module 6021, a first comparison module 6022, and a first screening module 6023, wherein:

the first obtaining module 6021 is configured to determine a distance standard deviation between base stations in the first base station set according to base station longitudes and latitudes of the base stations in the first base station set;

the first comparing module 6022 is configured to compare the distance standard deviation with a preset distance standard deviation threshold;

the first screening module 6023 is configured to, when the distance standard deviation is greater than the distance standard deviation threshold and the number of base stations in the first base station set is greater than 2, screen the base station with the largest distance standard deviation from the first base station set to obtain the second base station set; when the distance standard deviation is greater than the distance standard deviation threshold value and the number of base stations in the first base station set is greater than 2, and the number of base stations with the maximum distance standard deviation in the first base station set is 2 or more than 2, screening out the base station with the weakest signal strength among the base stations with the maximum distance standard deviation to obtain a second base station set; and when the distance standard deviation is larger than the distance standard deviation threshold value and the number of the base stations in the first base station set is equal to 2, screening the base stations with the weakest base station signal intensity from the first base station set to obtain a second base station set.

In the above scheme, referring to fig. 8, the second screening unit 603 includes: a second obtaining module 6031, a second comparing module 6032, and a second screening module 6033, wherein:

the second obtaining module 6031 is configured to determine a distance between any two base stations in the second base station set according to the longitude and latitude of each base station in the second base station set;

the second comparing module 6032 is configured to compare a distance between any two base stations in the second set of base stations with a preset distance threshold;

the second screening module 6033 is configured to, when the distance between any two base stations in the second base station set is smaller than the distance threshold, screen out a base station with weak signal strength between any two base stations to obtain the third base station set.

In the above scheme, referring to fig. 9, the weighting unit 604 includes: a first determination module 6041, a second determination module 6042, a first weighting module 6043, and a second weighting module 6044, wherein:

a first determining module 6041, configured to select, according to base station signal strengths of base stations in the third base station set, a base station with a strongest base station signal strength from the third base station set as a master base station, and use other base stations in the third base station set except the master base station as slave base stations, where the master base station signal strength is in a positive correlation with a preset master base station weighted probability, and the preset master base station weighted probability indicates a degree that location information of the location terminal is biased toward the master base station longitude and latitude;

a second determining module 6042, configured to determine each slave base station weight according to the signal strength of each slave base station;

a first weighting module 6043, configured to determine a weighted average value of the longitude and latitude of the slave base station according to the longitude and latitude of each slave base station and the weight of each slave base station;

a second weighting module 6044, configured to sum a product of the longitude and latitude of the master base station and the weighting probability of the master base station, and a product of the weighted average of the longitude and latitude of the slave base station and the weighted probability of the slave base station, to obtain a weighted average of the longitude and latitude of the base station, where the weighted probability of the slave base station and the weighted probability of the master base station are summed to be 1.

In the above scheme, referring to fig. 10, the first weighting module 6043 includes: a first calculation module 60431, a second calculation module 60432, a third calculation module 60433, and a fourth calculation module 60434, wherein:

a first calculating module 60431, configured to accumulate the weight values of each slave base station to obtain an accumulated value of the weight values of the slave base stations;

a second calculating module 60432, configured to multiply the longitude and latitude of each slave base station with the weight of each slave base station to obtain a weighted longitude and latitude of each slave base station;

a third calculating module 60433, configured to accumulate the weighted longitude and latitude of each slave base station to obtain a weighted accumulated value of the longitude and latitude of the slave base station;

a fourth calculating module 60434, configured to divide the weighted accumulated value of the longitude and latitude of the slave base station by the weight accumulated value of the slave base station, so as to obtain a weighted average value of the longitude and latitude of the slave base station.

The above description of the apparatus embodiments, similar to the above description of the method embodiments, has similar beneficial effects as the method embodiments. For technical details not disclosed in the embodiments of the apparatus according to the invention, reference is made to the description of the embodiments of the method according to the invention for understanding.

It should be noted that, in the embodiment of the present invention, if the above positioning method is implemented in the form of a software functional module and is sold or used as a standalone product, it may also be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the embodiments of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a device to perform all or part of the methods according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read Only Memory (ROM), a magnetic disk, or an optical disk. Thus, embodiments of the invention are not limited to any specific combination of hardware and software.

Correspondingly, an embodiment of the present invention provides an apparatus, including a memory and a processor, where the memory stores a computer program operable on the processor, and the processor executes the computer program to implement the steps in the above-mentioned positioning method.

Correspondingly, the embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the steps in the above-mentioned positioning method.

Here, it should be noted that: the above description of the storage medium and device embodiments is similar to the description of the method embodiments above, with similar advantageous effects as the method embodiments. For technical details not disclosed in the embodiments of the storage medium and the apparatus according to the invention, reference is made to the description of the embodiments of the method according to the invention.

An apparatus according to an embodiment of the present invention is provided, fig. 11 is a schematic diagram illustrating a composition structure of the apparatus according to an embodiment of the present invention, and as shown in fig. 11, the apparatus 1100 at least includes a processor 1101, at least one communication bus 1102, a user interface 1103, at least one external communication interface 1104, and a memory 1105. Wherein the communication bus 1102 is configured to enable connective communication between these components. The user interface 1103 may include a display screen, and the external communication interface 1104 may include standard wired and wireless interfaces, among others. The Memory 1105 is configured to store instructions and applications executable by the processor 1101, and may also buffer data to be processed or already processed by the processor 1101 and modules in the device 1100, and may be implemented by a FLASH Memory (FLASH) or a Random Access Memory (RAM).

Wherein the processor 1101 is configured to:

In an embodiment, the processor 1101 is further configured to:

In an embodiment, the processor 1201 is further configured to:

In an embodiment, the processor 1101 is further configured to:

It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present invention. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. It should be understood that, in various embodiments of the present invention, the sequence numbers of the above-mentioned processes do not mean the execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention. The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described device embodiments are merely illustrative, for example, the division of the unit is only a logical functional division, and there may be other division ways in actual implementation, such as: multiple units or components may be combined, or may be integrated into another system, or some features may be omitted, or not implemented. In addition, the coupling, direct coupling or communication connection between the components shown or discussed may be through some interfaces, and the indirect coupling or communication connection between the devices or units may be electrical, mechanical or other forms.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units; can be located in one place or distributed on a plurality of network units; some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, all the functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may be separately regarded as one unit, or two or more units may be integrated into one unit; the integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.

Those of ordinary skill in the art will understand that: all or part of the steps for realizing the method embodiments can be completed by hardware related to program instructions, the program can be stored in a computer readable storage medium, and the program executes the steps comprising the method embodiments when executed; and the aforementioned storage medium includes: various media that can store program codes, such as a removable Memory device, a Read Only Memory (ROM), a magnetic disk, or an optical disk.

Alternatively, the integrated unit of the present invention may be stored in a computer-readable storage medium if it is implemented in the form of a software functional module and sold or used as a separate product. Based on such understanding, the technical solutions of the embodiments of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a device to perform all or part of the methods according to the embodiments of the present invention. And the aforementioned storage medium includes: a removable storage device, a ROM, a magnetic or optical disk, or other various media that can store program code.

The above description is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of changes or substitutions within the technical scope of the present invention, and all such changes or substitutions are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.

Claims

1. A method for positioning, wherein the method is applied to a server for positioning a base station of a positioning terminal, and the method comprises:

2. The method of claim 1, wherein the removing a first removed base station from the first base station set according to the base station parameters of each base station in the first base station set and a preset centroid distance removing strategy to obtain a second base station set comprises:

3. The method of claim 2, wherein the screening a second screened base station from the second base station set according to the base station parameters of each base station in the second base station set and a preset neighbor base station selection policy to obtain a third base station set, comprises:

4. The method according to claim 3, wherein the obtaining the location information of the positioning terminal according to the location information of each base station in the third set of base stations and a preset weighted positioning calculation policy includes:

5. The method of claim 4, wherein determining a weighted average of the slave base station longitude and latitude based on the slave base station longitude and latitude and the slave base station weight comprises:

6. An apparatus for positioning, the apparatus comprising: the device comprises an acquisition unit, a first screening unit, a second screening unit and a weighting unit, wherein:

7. An apparatus comprising a memory and a processor, the memory storing a computer program operable on the processor, wherein the processor when executing the program performs the steps in the method of positioning according to any of claims 1 to 5.

8. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method of positioning according to any one of claims 1 to 5.