CN111770438A - Positioning method, terminal and storage medium - Google Patents
Positioning method, terminal and storage medium Download PDFInfo
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- CN111770438A CN111770438A CN202010583522.4A CN202010583522A CN111770438A CN 111770438 A CN111770438 A CN 111770438A CN 202010583522 A CN202010583522 A CN 202010583522A CN 111770438 A CN111770438 A CN 111770438A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
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Abstract
The embodiment of the invention discloses a positioning method, a terminal and a storage medium, wherein the positioning method comprises the following steps: searching target anchor point equipment under the condition of receiving a positioning instruction; determining first relative position information between the target anchor point equipment and the target anchor point equipment; determining first positioning information of target anchor point equipment; and determining the positioning information corresponding to the positioning instruction according to the first positioning information and the first relative position information.
Description
Technical Field
The present invention relates to the field of positioning technologies, and in particular, to a positioning method, a terminal, and a storage medium.
Background
With the development of scientific technology, the application of positioning technology is becoming more and more extensive, such as Global Positioning System (GPS), beidou navigation positioning, Global satellite navigation System (GLONASS), galileo, and the like.
In the prior art, GPS positioning, Beidou navigation positioning, GLONASS, Galileo and the like are all positioned by utilizing satellite signals, and due to shielding of building objects such as a roof or a solid wall and the like, the signal intensity of the satellite signals can be weakened, so that the accuracy of terminal positioning is reduced.
Disclosure of Invention
In order to solve the above technical problem, embodiments of the present invention are intended to provide a positioning method, a terminal, and a storage medium, which can improve accuracy of positioning a terminal.
The technical scheme of the invention is realized as follows:
the embodiment of the application provides a positioning method, which comprises the following steps:
searching target anchor point equipment under the condition of receiving a positioning instruction;
determining first relative position information between the target anchor point device and the target anchor point device;
determining first positioning information of the target anchor point equipment;
and determining the positioning information corresponding to the positioning instruction according to the first positioning information and the first relative position information.
The embodiment of the application provides a terminal, the terminal includes:
the searching unit is used for searching the target anchor point equipment under the condition of receiving the positioning instruction;
a determining unit, configured to determine first relative position information with the target anchor device; determining first positioning information of the target anchor point equipment; and determining the positioning information corresponding to the positioning instruction according to the first positioning information and the first relative position information.
An embodiment of the present application provides a terminal, including:
a memory, a processor and a communication bus, the memory communicating with the processor through the communication bus, the memory storing a program for positioning executable by the processor, the method being performed by the processor when the positioning program is executed.
The embodiment of the present application provides a storage medium, on which a computer program is stored, and is applied to a terminal, wherein the computer program is implemented by a processor, and when executed by the processor, the method is implemented.
The embodiment of the invention provides a positioning method, a terminal and a storage medium, wherein the positioning method comprises the following steps: searching target anchor point equipment under the condition of receiving a positioning instruction; determining first relative position information between the target anchor point equipment and the target anchor point equipment; determining first positioning information of target anchor point equipment; and determining the positioning information corresponding to the positioning instruction according to the first positioning information and the first relative position information. By adopting the method, the terminal determines the first relative position information between the terminal and the target anchor point device and the first positioning information of the target anchor point device under the condition that the terminal receives the positioning instruction, so that the terminal can position the terminal according to the first positioning information and the first relative position information, and the current position information is positioned according to the satellite signal with weak signal strength without acquiring the satellite signal with weak signal strength, thereby improving the accuracy of the terminal in positioning.
Drawings
Fig. 1 is a flowchart of a positioning method according to an embodiment of the present application;
fig. 2 is a schematic diagram illustrating a distribution of a plurality of anchor point devices in an indoor area according to an exemplary embodiment of the present disclosure;
fig. 3 is a flowchart of an exemplary positioning method provided by an embodiment of the present application;
fig. 4 is a first schematic structural diagram of a terminal according to an embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of a terminal according to an embodiment of the present application.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Currently, widely used positioning technologies are satellite positioning systems, such as: GPS system, Beidou navigation and positioning system, GLONASS, Galileo, etc. The GPS system can provide positioning accuracy of about 5-10m under the outdoor non-shielding condition. Under the outdoor non-shielding condition, the GPS system can realize the positioning precision of 2m by utilizing a real-time dynamic carrier phase differential model algorithm.
In addition, other auxiliary positioning systems are applied, base station auxiliary positioning, wifi auxiliary positioning, bluetooth auxiliary positioning and the like are common, and a cellular base station, a wifi hotspot and a bluetooth hotspot are mainly used as positioning anchor points to provide positioning reference. However, the frequency of the cellular base station is a narrow-band frequency, and is easily influenced by multiple images, so that the positioning accuracy is influenced; the bluetooth hotspot and wifi hotspot have large limitation, the bluetooth transmission distance is short, the bluetooth and wifi technologies calculate the distance by measuring the intensity change of the transmitted signal, and are easily influenced by air flow and the like, so that the positioning precision is influenced, therefore, in the prior art, the honeycomb base station, the wifi hotspot and the bluetooth hotspot are taken as positioning anchor points, the positioning is inaccurate when positioning reference is provided, the anti-interference capability is weak, and the precision is low.
The problems in the prior art can be solved by the following methods in the following embodiments.
Example one
An embodiment of the present application provides a positioning method, and fig. 1 is a first flowchart of the positioning method provided in the embodiment of the present application, and as shown in fig. 1, the positioning method may include:
s101, searching target anchor point equipment under the condition of receiving a positioning instruction.
The positioning method provided by the embodiment of the application is suitable for a scene of positioning the terminal by using the target anchor point equipment.
In the embodiment of the application, the area where the terminal searches for the target anchor point device may be an indoor area; the area which is covered by dense tree shades outdoors can be also provided; the area may be an area with a high-rise building nearby, and the specific situation may be determined according to the actual situation, which is not limited in the embodiment of the present application.
It should be noted that anchor point equipment is arranged in an indoor area, and the indoor area can be specifically an area such as a shopping mall, a parking lot, an office building and the like; anchor point equipment is arranged in the region with the dense tree shade shielding, and the region with the dense tree shade shielding can be a forest, a deep mountain and the like; the anchor point device is arranged in an area with a high-rise building, such as a construction site, and the like, which can be determined according to actual conditions, and the embodiment of the present application does not limit the anchor point device.
In this embodiment of the present application, the number of the anchor point devices may be one, and the number of the anchor point devices may also be multiple, which may be specifically determined according to an actual situation, and this is not limited in this embodiment of the present application.
In this embodiment of the present application, the anchor point device may be a device having an Ultra Wide Band (UWB) tag, and may also be an electronic device having a function of the UWB tag, which may be specifically determined according to an actual situation, and this is not limited in this embodiment of the present application.
In this embodiment of the present application, the terminal may search for the target anchor point device when receiving the positioning instruction, or the terminal may search for the target anchor point device when receiving the positioning instruction and the signal strength of the satellite positioning is lower than the preset signal strength threshold, which may be specifically determined according to an actual situation, which is not limited in this embodiment of the present application.
It should be noted that the terminal can be implemented in various forms. For example, the terminal described in the present application may include devices such as a mobile phone, a watch, a tablet computer, a notebook computer, a palmtop computer, a Personal Digital Assistant (PDA), a Portable Media Player (PMP), a navigation device, a wearable device, a smart band, a pedometer, and the like, and devices such as a digital TV, a desktop computer, and the like.
It should be noted that the preset signal threshold may be a signal threshold configured by the terminal, or may also be a signal threshold obtained after the terminal adjusts the configured signal threshold according to a received adjustment instruction of the signal threshold, which may be specifically determined according to an actual situation, and the embodiment of the present application does not limit this.
In this embodiment of the present application, in a case that the number of anchor point devices is one, a process of a terminal searching for a target anchor point device includes: a terminal broadcasts a search request of anchor point equipment; and under the condition that the terminal receives the response instruction of the search request, the terminal takes the anchor point equipment corresponding to the response instruction as target anchor point equipment.
In the embodiment of the application, when the terminal needs to search for the target anchor point device, the terminal broadcasts the search request of the anchor point device, and when the anchor point device receives the search request, the anchor point device feeds back a response instruction of the search request to the terminal.
It should be noted that, when the number of the response instructions is one, the number of the anchor point devices searched by the terminal is one, and in the case that the terminal searches the anchor point device, the terminal uses the anchor point device as a target anchor point device and locates the terminal by using the target anchor point device.
In this embodiment of the present application, when the number of anchor point devices is multiple, a process of a terminal searching for a target anchor point device includes: a terminal broadcasts a search request of anchor point equipment; under the condition that the terminal receives a plurality of response instructions corresponding to the search request, the terminal determines a plurality of anchor point devices corresponding to the response instructions; and under the condition that the terminal determines a plurality of anchor point devices corresponding to the plurality of response instructions, the terminal determines the target anchor point device from the plurality of anchor point devices.
It should be noted that a plurality of response commands correspond to a plurality of anchor devices one to one, where one response command corresponds to one anchor device.
In the embodiment of the application, when the number of the response instructions is multiple, the number of the anchor point devices searched by the terminal is multiple, and when the terminal searches the multiple anchor point devices, the terminal determines the target anchor point device from the multiple anchor point devices and locates the terminal by using the target anchor point device.
It should be noted that the terminal may select an anchor point device closest to the terminal from the multiple anchor point devices as a target anchor point device; the terminal can also select the anchor point device with the least load from the anchor point devices as the target anchor point device; the terminal can also determine the target anchor point equipment from the anchor point equipment according to the load of the anchor point equipment and the distance between the anchor point equipment and the terminal, and the target anchor point equipment can be specifically determined according to the actual condition.
In this embodiment of the present application, a process in which a terminal determines a target anchor point device from a plurality of anchor point devices includes: the terminal respectively determines a plurality of distances between a plurality of anchor point devices and the terminal; after the terminal determines a plurality of distances between a plurality of anchor point devices and the terminal, the terminal determines a first distance with the shortest distance from the plurality of distances; after the terminal determines a first distance with the shortest distance from the plurality of distances, the terminal takes the anchor point device corresponding to the first distance as a target anchor point device.
In this embodiment of the present application, a process in which a terminal determines a target anchor point device from a plurality of anchor point devices includes: the terminal detects the moving speed of the mobile terminal and determines the moving direction of the terminal and the positioning frequency of the terminal according to the moving speed; under the condition that the terminal determines the moving direction and the moving speed, the terminal predicts the driving route of the terminal according to the moving direction and the positioning frequency; after the terminal predicts the driving route according to the moving direction and the positioning frequency, the terminal determines the next target anchor point device according to the driving route so as to position the terminal at the next moment by using the next target anchor point device.
It should be noted that the next target anchor point device is the anchor point device closest to the terminal at the next time.
In this embodiment of the present application, a process in which a terminal determines a target anchor point device from a plurality of anchor point devices includes: the terminal determines a plurality of load information corresponding to a plurality of anchor point devices; after the terminal determines a plurality of pieces of load information corresponding to a plurality of anchor point devices, the terminal determines a second anchor point device with the least load from the plurality of pieces of load information; after the terminal device determines the second anchor point device with the minimum load from the plurality of load information, the terminal device takes the second anchor point device as the target anchor point device.
It should be noted that a plurality of anchor point devices correspond to a plurality of load information one to one, where one anchor point device corresponds to one load information.
It should be noted that the load information may be the number of terminals loaded by the anchor point device, and if the number of terminals loaded by the anchor point device is greater, the load amount of the anchor point device is greater; if the number of terminals loaded by the anchor device is smaller, the load of the anchor device is smaller.
In this application embodiment, when the terminal communicates with a plurality of anchor point devices, any one of the anchor point devices may send load information of the anchor point device to the terminal, so that the terminal determines a second anchor point device with the least load according to a plurality of load information corresponding to the anchor point devices.
In this embodiment of the application, a master control scheduling system may also be utilized to monitor a plurality of load information corresponding to a plurality of anchor point devices, monitor relative position information between the terminal device and the plurality of anchor point devices, determine a target anchor point device according to the plurality of load information and the relative position information between the terminal device and the plurality of anchor point devices, and transmit target information of the target anchor point device to the terminal, so that the terminal determines the target anchor point device according to the target information, and determines the positioning information of the terminal by using the target anchor point device.
In the embodiment of the application, the anchor point device may detect the number of terminals connected thereto; the terminal can acquire the number of terminals connected with the anchor point device from the anchor point device through communication with the anchor point device.
S102, determining first relative position information between the target anchor point device and the target anchor point device.
In the embodiment of the application, after the terminal searches for the target anchor point device, the terminal determines first relative position information with the target device.
In this embodiment of the present application, the first relative location information is specifically location information of the target anchor point device relative to the terminal, and specifically, the first relative location information includes distance information between the terminal and the target anchor point device and angle information of the target anchor point device relative to the terminal.
S103, determining first positioning information of the target anchor point device.
In the embodiment of the application, after the terminal searches for the target anchor point device, the terminal may determine the first positioning information of the target anchor point device.
In the embodiment of the application, after the terminal searches for the target anchor point device, the terminal may determine first relative position information with the target device, and then the terminal determines first positioning information of the target anchor point device; after the terminal searches for the target anchor point device, the terminal may determine first positioning information of the target anchor point device first, and then the terminal determines first relative position information with the target device; after the terminal searches for the target anchor point device, the terminal may also determine the first positioning information of the target anchor point device while determining the first relative position information with the target device, which may be specifically determined according to an actual situation, and the embodiment of the present application does not limit this.
In this embodiment of the application, the first positioning information is positioning information of the target anchor point device, and specifically, the positioning information of the target anchor point device includes longitude information and latitude information of a position where the target anchor point device is located.
In this embodiment of the present application, if the number of anchor point devices is one, the process of determining, by the terminal, the first positioning information of the target anchor point device includes: the terminal obtains satellite positioning information at a first position; after the terminal acquires the satellite positioning information, the terminal acquires second relative position information between the target anchor point equipment and the first position; after the terminal acquires the second relative position information between the target anchor point device and the first position, the terminal acquires the first positioning information according to the satellite positioning information and the second relative position information.
It should be noted that the first position is a position where the satellite signal strength is higher than a preset signal strength threshold.
It should also be noted that the preset signal strength threshold may be a signal strength threshold configured by the terminal, or may also be a signal strength threshold obtained after the terminal adjusts the configured signal strength threshold according to the received adjustment instruction of the signal strength threshold, which may be specifically determined according to an actual situation, and the embodiment of the present application is not limited thereto.
In this embodiment of the application, if the area where the terminal searches for the target anchor point device is an indoor area, the first position may be a position of a gate of the indoor area, a position of a window of the indoor area, or other positions of the indoor area where the satellite signal can be acquired, which may be specifically determined according to an actual situation, and this is not limited in this embodiment of the application.
Illustratively, the first location may be a location at a gate of a mall, i.e., an entrance location of the mall.
It should be noted that the second relative position information is specifically position information of the target anchor device relative to the first position, and specifically, the second relative position information includes distance information between the first position and the target anchor device and angle information of the target anchor device relative to the first position.
In the embodiment of the application, after the terminal acquires the satellite positioning information at the first position, the terminal acquires second relative position information between the target anchor point device and the first position at the first position.
It should be noted that the satellite positioning information may be positioning information obtained by the terminal using a GPS; the satellite positioning information can also be positioning information obtained by the terminal by using a Beidou navigation positioning system; the satellite positioning information may also be positioning information obtained by the terminal using GLONASS, or positioning information obtained by the terminal using galileo, and the specific course is determined according to the actual situation, which is not limited in the embodiment of the present application.
In this embodiment of the present application, if the number of anchor point devices is multiple, the process of determining, by the terminal, the first positioning information of the target anchor point device includes: the terminal acquires relative position relation information between any two anchor point devices in the anchor point devices from the target anchor point device; after the terminal acquires the relative position relationship information between any two anchor points in the anchor point devices from the target anchor point device, the terminal acquires the third relative position relationship between the third anchor point device and the target anchor point device from the relative position relationship information, and after the terminal acquires the third relative position relationship between the third anchor point device and the target anchor point device, the terminal can determine the first positioning information according to the third relative position relationship and the second positioning information of the third anchor point device.
In the embodiment of the application, any one of a plurality of anchor point devices stores relative position relationship information between any two of the anchor point devices; the third anchor point device is the anchor point device except the target anchor point device in the plurality of anchor point devices; the second positioning information is positioning information determined based on the satellite positioning information of the first position and a relative position with respect to the first position.
In the embodiment of the present application, since the relative position relationship information between any two anchor point devices in the plurality of anchor point devices is set and stored in each of the plurality of anchor point devices, after the terminal establishes a connection with any one of the plurality of anchor point devices, the terminal may acquire the relative position relationship information from the any one of the anchor point devices.
In this embodiment of the present application, the third anchor point device may be an anchor point device closest to the first location, and the third anchor point device may also be an anchor point device within a preset distance range from the first location; the third anchor point device may also be any anchor point device in the multiple anchor point devices except the target anchor point device, which may be specifically determined according to an actual situation, and the embodiment of the present application does not limit this.
In this embodiment, if the anchor point device is disposed at the first location, when the terminal acquires the satellite positioning information at the first location, the terminal uses the satellite positioning information as the first positioning information.
In this embodiment of the application, if the anchor point device is not set at the first location, the terminal may determine a third anchor point device from the multiple anchor point devices, and determine fourth relative location information between the first location and the third anchor point device, so as to determine the location information of the third anchor point device by using the fourth relative location information and the satellite location information.
It should be noted that the second positioning information is positioning information of a third anchor point device, and specifically, the positioning information of the third anchor point device may be longitude information and latitude information of a position where the third anchor point device is located.
For example, the area where the terminal finds the target anchor device may be an indoor area, as shown in fig. 2, 10 small boxes (small boxes numbered 0-9) in the indoor area are 10 anchor devices, the location of box a in the door area is a first location, when the terminal moves to the vicinity of the anchor device at box 2 and receives a positioning instruction, the terminal may regard the anchor device at box 2 as the target anchor device, the third anchor device may be an anchor device at box 0, the terminal may acquire an anchor device network from the target anchor device, acquire a third relative positional relationship between the third anchor device and the target anchor device from the anchor device network, and then the terminal may use the satellite positioning information acquired at the first location and fourth relative positional information between the third anchor device and the first location, second positioning information of the third anchor point device can be determined, and then the terminal can determine the first positioning information according to the second positioning information and the third relative position relation.
It should be noted that, an anchor point device may also be set at the position of the box a, the anchor point device and 10 indoor anchor point devices together form an anchor point device network, when the terminal acquires satellite positioning information at the position of the box a, the terminal uses the satellite positioning information as positioning information of the anchor point device at the box a, determines positioning information of any anchor point device in the indoor area according to the positioning information and a relative position relationship between any one anchor point device in the anchor point device network and the anchor point device at the box a, and determines positioning information of the terminal according to the positioning information of any anchor point device.
And S104, determining positioning information corresponding to the positioning instruction according to the first positioning information and the first relative position information.
In this embodiment of the application, after the terminal determines the first positioning information and the first relative position information, the terminal may determine the positioning information corresponding to the positioning instruction according to the first positioning information and the first relative position information.
For example, an exemplary positioning method flowchart is provided in an embodiment of the present application and is shown in fig. 3:
1. and searching the target anchor point equipment under the condition of receiving the positioning instruction.
2. First relative position information with a target anchor device is determined.
3. At a first location, satellite positioning information is acquired.
4. And acquiring second relative position information between the target anchor point device and the first position.
5. And obtaining first positioning information according to the satellite positioning information and the second relative position information.
6. And determining the positioning information corresponding to the positioning instruction according to the first positioning information and the first relative position information.
It can be understood that, when the terminal receives the positioning instruction, the terminal determines the first relative position information between the terminal and the target anchor point device and the first positioning information of the target anchor point device, so that the terminal can position the terminal according to the first positioning information and the first relative position information, and does not need to acquire a satellite signal with weak signal strength to position the current position information according to the satellite signal with weak signal strength, thereby improving the accuracy of the terminal in positioning.
Example two
Based on the same inventive concept of the embodiments, the embodiments of the present application provide a terminal 1, corresponding to a positioning method; fig. 4 is a schematic structural diagram of a terminal according to an embodiment of the present application, where the terminal 1 may include:
the searching unit 11 is configured to search the target anchor point device when the positioning instruction is received;
a determining unit 12, configured to determine first relative location information with the target anchor device; determining first positioning information of the target anchor point equipment; and determining the positioning information corresponding to the positioning instruction according to the first positioning information and the first relative position information.
In some embodiments of the present application, the terminal further comprises a broadcasting unit;
the broadcast unit is used for broadcasting a search request of the anchor point equipment;
the determining unit 12 is configured to, when a response instruction of the search request is received, use the anchor point device corresponding to the response instruction as the target anchor point device.
In some embodiments of the present application, the terminal further includes an obtaining unit;
the acquisition unit is used for acquiring satellite positioning information at a first position, wherein the first position is a position at which the satellite signal strength is higher than a preset signal strength threshold; acquiring second relative position information between the target anchor point equipment and the first position;
the determining unit 12 is configured to obtain the first positioning information according to the satellite positioning information and the second relative position information.
In some embodiments of the present application, the broadcasting unit is configured to broadcast a search request of an anchor point device;
the determining unit 12 is configured to determine, when receiving a plurality of response instructions corresponding to the search request, a plurality of anchor point devices corresponding to the plurality of response instructions; and determining the target anchor point device from the plurality of anchor point devices.
In some embodiments of the present application, the determining unit 12 is specifically configured to determine a plurality of distances between the anchor point devices and the terminal, respectively; determining a first distance with the shortest distance from the plurality of distances; and taking the anchor point device corresponding to the first distance as the target anchor point device.
In some embodiments of the present application, the terminal further comprises a detection unit and a prediction unit,
the detection unit is used for detecting the moving speed of the terminal;
the determining unit 12 is configured to determine a moving direction of the terminal and a positioning frequency of the terminal according to the moving speed; determining next target anchor point equipment according to the driving route of the terminal, wherein the next target anchor point equipment is the anchor point equipment which is closest to the terminal at the next moment so as to position the terminal at the next moment by utilizing the next target anchor point equipment;
the prediction unit is used for predicting the driving route according to the moving direction and the positioning frequency.
In some embodiments of the present application, the determining unit 12 is configured to determine a plurality of pieces of load information corresponding to the plurality of anchor point devices; determining a second anchor point device with the least load from the plurality of load information; and taking the second anchor point device as the target anchor point device.
In some embodiments of the present application, the obtaining unit is specifically configured to obtain, from the target anchor point device, relative position relationship information between any two anchor point devices in the multiple anchor point devices; acquiring a third relative position relationship between a third anchor point device and the target anchor point device from the relative position relationship information, wherein the third anchor point device is an anchor point device except the target anchor point device in the plurality of anchor point devices;
the determining unit 12 is configured to determine the first positioning information according to the third relative position relationship and second positioning information of the third anchor point device, where the second positioning information is positioning information determined according to satellite positioning information of a first position and a relative position between the first position and the second positioning information.
In practical applications, the search Unit 11 and the determination Unit 12 may be implemented by a processor 13 on the terminal 1, specifically implemented by a Central Processing Unit (CPU), an MPU (microprocessor), a Digital Signal Processor (DSP), a Field Programmable Gate Array (FPGA), or the like; the above-described data storage may be implemented by the memory 14 on the terminal 1.
An embodiment of the present invention further provides a terminal 1, and as shown in fig. 5, the terminal 1 includes: a processor 13, a memory 14 and a communication bus 15, the memory 14 being in communication with the processor 13 via the communication bus 15, the memory 14 storing a program executable by the processor 13, the program, when executed, causing the processor 13 to perform the positioning method as described above.
In practical applications, the Memory 14 may be a volatile Memory (volatile Memory), such as a Random-Access Memory (RAM); or a non-volatile Memory (non-volatile Memory), such as a Read-Only Memory (ROM), a flash Memory (flash Memory), a Hard disk (Hard disk Drive, HDD) or a Solid-State Drive (SSD); or a combination of the above types of memories and provides instructions and data to the processor 13.
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 13 to implement the positioning method as described above.
It can be understood that, when the terminal receives the positioning instruction, the terminal determines the first relative position information between the terminal and the target anchor point device and the first positioning information of the target anchor point device, so that the terminal can position the terminal according to the first positioning information and the first relative position information, and does not need to acquire a satellite signal with weak signal strength to position the current position information according to the satellite signal with weak signal strength, thereby improving the accuracy of the terminal in positioning.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of a hardware embodiment, a software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention.
Claims (11)
1. A method of positioning, the method comprising:
searching target anchor point equipment under the condition of receiving a positioning instruction;
determining first relative position information between the target anchor point device and the target anchor point device;
determining first positioning information of the target anchor point equipment;
and determining the positioning information corresponding to the positioning instruction according to the first positioning information and the first relative position information.
2. The method of claim 1, wherein the number of anchor point devices is one, and wherein searching for the target anchor point device comprises:
broadcasting a search request of anchor point equipment;
and taking the anchor point equipment corresponding to the response instruction as the target anchor point equipment under the condition of receiving the response instruction of the search request.
3. The method of claim 2, wherein the determining the first positioning information of the target anchor device comprises:
acquiring satellite positioning information at a first position, wherein the first position is a position with satellite signal strength higher than a preset signal strength threshold;
acquiring second relative position information between the target anchor point equipment and the first position;
and obtaining the first positioning information according to the satellite positioning information and the second relative position information.
4. The method of claim 1, wherein the number of anchor point devices is plural, and wherein searching for the target anchor point device comprises:
broadcasting a search request of anchor point equipment;
under the condition that a plurality of response instructions corresponding to the search request are received, a plurality of anchor point devices corresponding to the response instructions are determined;
and determining the target anchor point device from the plurality of anchor point devices.
5. The method of claim 4, wherein said determining the target anchor device from the plurality of anchor devices comprises:
respectively determining a plurality of distances between the anchor point devices and the terminal;
determining a first distance with the shortest distance from the plurality of distances;
and taking the anchor point device corresponding to the first distance as the target anchor point device.
6. The method of claim 4, further comprising:
detecting the moving speed of the terminal, and determining the moving direction of the terminal and the positioning frequency of the terminal according to the moving speed;
predicting a driving route of the terminal according to the moving direction and the positioning frequency;
and determining next target anchor point equipment according to the driving route, wherein the next target anchor point equipment is the anchor point equipment which is closest to the terminal at the next moment, so that the next target anchor point equipment is utilized to position the terminal at the next moment.
7. The method of claim 4, wherein said determining the target anchor device from the plurality of anchor devices comprises:
determining a plurality of load information corresponding to the anchor point devices;
determining a second anchor point device with the least load from the plurality of load information;
and taking the second anchor point device as the target anchor point device.
8. The method of claim 4, wherein the determining the first positioning information of the target anchor device comprises:
acquiring relative position relation information between any two anchor point devices in the anchor point devices from the target anchor point device;
acquiring a third relative position relationship between a third anchor point device and the target anchor point device from the relative position relationship information, wherein the third anchor point device is an anchor point device except the target anchor point device in the plurality of anchor point devices;
and determining the first positioning information according to the third relative position relation and second positioning information of the third anchor point equipment, wherein the second positioning information is positioning information determined according to the satellite positioning information of the first position and the relative position between the first position and the second positioning information.
9. A terminal, characterized in that the terminal comprises:
the searching unit is used for searching the target anchor point equipment under the condition of receiving the positioning instruction;
a determining unit, configured to determine first relative position information with the target anchor device; determining first positioning information of the target anchor point equipment; and determining the positioning information corresponding to the positioning instruction according to the first positioning information and the first relative position information.
10. A terminal, characterized in that the terminal comprises:
a memory, a processor, and a communication bus, the memory in communication with the processor through the communication bus, the memory storing a program for localization executable by the processor, the method of any of claims 1 to 8 being performed by the processor when the program for localization is executed.
11. A storage medium having stored thereon a computer program for application to a terminal, characterized in that the computer program, when being executed by a processor, is adapted to carry out the method of any one of claims 1 to 8.
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| CN202010583522.4A CN111770438A (en) | 2020-06-23 | 2020-06-23 | Positioning method, terminal and storage medium |
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