CN104132666B - Vehicle real-time location method based on variable importance degree - Google Patents

Abstract

A kind of vehicle real-time location method based on variable importance degree, is first obtained each self-align data of multiple location technology device on car-mounted terminal, and is determined the position covering domain of various location technology by the degree of error of every kind of location technology；Then, the importance degree of every kind of location technology position covering domain, and changing as the degree of error feeding back optimum position technology using importance degree are calculated according to importance degree methods analyst；Finally, using the importance degree of position covering domain as the weights in recombination site territory, weighted average calculation obtains real-time, the accurate location of target vehicle.Multiple vehicle positioning technology is merged by the present invention, i.e. using the importance degree of every kind of location technology as the weight during weighted average calculation of position, improves the reasonability that location technology merges.Operating procedure of the present invention is simple, real-time, can be used under varying environment, and location Calculation accuracy rate is high, amount of calculation is little, is applicable to multiple location equipment in car networking, therefore promotes easily, is widely used.

Description

Vehicle real-time location method based on variable importance degree

Technical field

The present invention relates to a kind of solve the technology that is accurately positioned of vehicle in car networking, exactly, relate to a kind of based on can Become the vehicle real-time location method of importance degree, belong to the technical field of vehicle location.

Background technology

Under car networked environment, vehicle obtains the related service of this network by accessing heterogeneous wireless network.At present, base Related application (such as: vehicle social networks, vehicle mounted guidance and automobile wireless network insertion selection etc.) in vehicle location) More and more, this be accomplished by vehicle termination obtain the most in real time, positional information accurately.

At present, the most frequently used vehicle positioning method is global position system GPS (Global Positioning System), although there is self wide coverage GPS location, location rapidly, accurately, can realize whole day in the case of unobstructed Wait the advantages such as location.But, in city, tall and big intensive building, viaduct, tunnel, radio interference etc., easily Cause GPS locating effect poor, it is impossible to be accurately positioned.Even if in countryside, also due to the woods, geographic factor and vile weather Deng, cause gps signal to interrupt and position cannot be confirmed.

In addition to GPS, also has now some other location technology, such as WLAN WLAN (Wireless Local Area Networks) location, cellular network (Cellular Network) location and REID RFID (Radio Frequency Identification) location etc., these location technologies can also be used in vehicle location.But, these location The impacts such as technology is disposed by locating base station to a certain extent, building stop, traffic density.In different environmental conditions Under, the precision of these location technologies is respectively arranged with quality.

Localization method for vehicle is studied, Cui and Ge of NUS is for vehicle under the environment of mountain valley, city The deficiency of GPS location, it is proposed that the solution of a kind of restricted type, in the program to route in road (such as straight line, curve, arc, Many summits etc.) carry out Similar moulding.Because vehicle moves only along fixing road route, then utilize this model to vehicle Location is predicted, and this can reduce the dependence to GPS position location satellite to a certain extent.Similar research also has Tsing-Hua University The data fusion positioning method of the big-dipper satellite based on Kalman filtering that proposes of Geng Hua et al. and onboard sensor, Yi Jihan The location algorithm based on interactive multimode filter that Kichun Jo of state's Han Yang University et al. proposes.In compound location technology, Weighting localization machine under a kind of heterogeneous wireless network that mainly Sheng-Cheng Yeh of Taiwan Ming Chuan university et al. proposes System, weights are the inverse of location technology error, are positioned GPS, WiFi and Zigbee (IEEE802.15.4) by weights Position is weighted averagely.The method has certain universality under car is networked, but the method is the most fixing, does not accounts for The change of location technology error under varying environment, causes its adaptivity relatively low.Further, vehicle location yet suffers from Significantly drawback: during as used GPS location, the stop of building under urban environment, the positioning precision of GPS is also deposited by multipath effect etc. In large effect.The deployment of the base station location of RFID is concentrated mainly on the intensive road of vehicle, is being positioned at the ground that base station is sparse District, the precision of RFID location then can be decreased obviously.The localization method of WLAN depends on the dense degree of vehicle, dilute at vehicle In the case of Shuing, vehicle networking stability is relatively low, and this can be substantially reduced the precision of location.How by the advantage of these location technologies It is fused together, learns from other's strong points to offset one's weaknesses under different conditions, to improve the precision of vehicle location, then there is important invention meaning Justice.

At present, along with proposition and the development of car networking technology, the problem that is accurately positioned of vehicle has become as in car networking many One of obstacle that item location application develops further.Therefore, many technical staff pay special attention to and have researched and solved and cut-off in the industry Be accurately positioned problem.

Summary of the invention

In view of this, it is an object of the invention to accurately calculate vehicle location, optimize compound location technology and optimum position The error of technology is as target, it is provided that a kind of vehicle real-time location method based on variable importance degree.The present invention is by effectively Ground merges the multiple localization method in car networking, learns from other's strong points to offset one's weaknesses in all cases, plays the advantage of various location technology, There is provided in real time, position accurately for vehicle, provide for the development further of car working application and ensure, and then network for China's car Development contributes.

In order to achieve the above object, the invention provides a kind of vehicle real-time location method based on variable importance degree, its It is characterised by: first obtain each self-align data of multiple location technology device on car-mounted terminal, and by every kind of location technology Degree of error determine the position covering domain of various location technology；Then, every kind of location technology is calculated according to importance degree methods analyst The importance degree of position covering domain, and changing as the degree of error feeding back optimum position technology using importance degree；Finally, with position The importance degree of covering domain is as the weights in recombination site territory, and weighted average calculation obtains the accurate location of target vehicle；The method Including following operative step:

Step 1, utilizes the multiple positioner carried on car-mounted terminal, gathers two or more positioner respectively and is obtained Respective location data；Described multiple positioner at least include following four kinds respectively with tetra-character representations of α, β, η and γ The positioner of different technologies: cellular network Cellular (Cellular Network) location, global position system GPS (Global Positioning System) location, WLAN WLAN (Wireless Local Area Networks) Location and REID RFID (Radio Frequency Identification) position；

Step 2, after gathering and get the real time positioning data of two or more positioner, counts respectively according to error radius Calculation obtains these positioners each self-corresponding position covering domain；

Step 3, because of the granularity of the position covering domain of every kind of positioner be this device location position covering domain area with The ratio of the position covering domain gross area of other all positioners, i.e. α kind positioner position covering domain R_αiGranularity0 ＜ GD (R_αi)≤1；Wherein, S_αiIt it is α kind positioner position covering domain R_αiArea, S_ViFor used , at least include described cellular network Cellular, global position system GPS, WLAN WLAN and radio frequency discrimination RFID The gross area of whole setting position covering domains of four kinds of location technologies；Every kind of positioner position can be obtained by that analogy cover The granularity in territory；Solve respectively further according to importance degree computing formula Sig (R)=1-GD (R) and obtain every kind of positioner position covering The respective importance degree in territory；

Step 4, because car-mounted terminal is in motion change, its position error changes according to environmental change；And vehicle is Along straight line or the road running of curve or move, having seriality on movement tendency, this vehicle movement tendency makes car The change of periphery also presents seriality；Therefore when analyzing and optimizing various positioner error, be according to current location information Feed back and optimize the position error next time after each car-mounted terminal location is measured；

Step 5, because of α kind positioner position covering domain R_αiCompound location covering domain R_cαiComprise: R_αi∩R_βi、R_αi∩ R_ηiAnd R_αi∩R_γi, therefore have R_cαi=(R_αi∩R_βi)∪(R_αi∩R_ηi)∪(R_αi∩R_γi), in formula, subscript c represents compound connotation, Cap symbol ∩ and cup symbol ∪ respectively asks the common factor between this symbol two side position covering domain and union；With Reason, obtains: R_cβi=(R_βi∩R_αi)∪(R_βi∩R_ηi)∪(R_βi∩R_γi)、R_cηi=(R_ηi∩R_αi)∪(R_ηi∩R_βi)∪(R_ηi∩ R_γi) and R_cγi=(R_γi∩R_αi)∪(R_γi∩R_βi)∪(R_γi∩R_ηi)；

Work as R_cαi∪R_cβi∪R_cηi∪R_cγiWhen ≠ 0, using importance degree corresponding to position covering domain as weights, flat by weighting Equal calculating, the target vehicle position obtained is:

$(x_i,y_i)=\frac{Sig\left(R_{\mathrm{\α}i}\right)R_{c\mathrm{\α}i}+Sig\left(R_{\mathrm{\β}i}\right)R_{c\mathrm{\β}i}+Sig\left(R_{\mathrm{\η}i}\right)R_{c\mathrm{\η}i}+Sig\left(R_{\mathrm{\γ}i}\right)R_{c\mathrm{\γ}i}}{Sig\left(R_{\mathrm{\α}i}\right)+Sig\left(R_{\mathrm{\β}i}\right)+Sig\left(R_{\mathrm{\η}i}\right)+Sig\left(R_{\mathrm{\γ}i}\right)};$

Work as R_cαi∪R_cβi∪R_cηi∪R_cγiWhen=0, when i.e. correspondence position covering domain not existing compound covering domain, still with position Put importance degree corresponding to covering domain as weights, by the weighted average calculation to position covering domain, the target vehicle position obtained Put and be:

Above-mentioned vehicle location coordinate (x_i,y_i) be exactly car-mounted terminal real-time positioning calculate result.

The innovative technology of present invention vehicle based on variable importance degree real-time location method is: by multiple vehicle positioning technology Merge, then using the importance degree of each location technology as the weight during weighted average calculation of position, improve location technology The reasonability merged.The error optimization method of the importance degree change feedback that the present invention proposes so that the present invention is calculated heavy Spend and can be changed according to actual state, and the importance degree accuracy under different actual state can ensure that target location is counted The accuracy calculated.Therefore, the key technology of the present invention is importance degree and the location mistake of importance degree change feedback of position covering domain Difference optimizes calculating.

This have the advantage that: can apply under varying environment, and the calculating of target vehicle real-time positioning position Accuracy rate is high.And the operating procedure of the method is simple, amount of calculation is little, real-time.It addition, present invention may apply to car Various location equipment in networking, therefore, promotes easily, is widely used, before having good penetration and promotion and application Scape.

Accompanying drawing explanation

Fig. 1 is present invention vehicle based on variable importance degree real-time location method operating procedure flow chart.

Fig. 2 is present invention vehicle based on variable importance degree real-time location method schematic flow sheet.

Fig. 3 is the position covering domain schematic diagram of four kinds of location technologies in the inventive method.

Detailed description of the invention

For making the object, technical solutions and advantages of the present invention clearer, below in conjunction with the accompanying drawings the present invention is made further Detailed description.

Present invention vehicle based on variable importance degree real-time location method is: first obtain multiple location technology on car-mounted terminal The each self-align data of device, and determine that the vehicle institute that various location technology confirms is in place by the degree of error of every kind of location technology The position covering domain put；Then, calculate the importance degree of every kind of location technology position covering domain according to importance degree methods analyst, and with The change of importance degree carrys out the degree of error of optimum position technology as feedback；Finally, using the importance degree of position covering domain as compound The weights of position field, weighted average calculation obtains the accurate location of target vehicle.

See Fig. 1 and Fig. 2, specifically introduce the following operative step of the inventive method:

Step 1, utilizes the multiple positioner carried on car-mounted terminal, gathers two or more positioner respectively and is obtained Respective location data.

The multiple positioner of the present invention at least includes four kinds respectively with the different technologies of tetra-character representations of α, β, η and γ Positioner: cellular network Cellular (Cellular Network) location, global position system GPS (Global Positioning System) location, WLAN WLAN (Wireless Local Area Networks) positions and penetrates Frequency identifies technology RFID (Radio Frequency Identification) location.

Step 2, after gathering and get the real time positioning data of two or more positioner, counts respectively according to error radius Calculation obtains these positioners each self-corresponding position covering domain (shown in Figure 3).

In Fig. 3 four with α, β, η and γ tetra-border circular areas of character representation, are four kinds of vehicle location sides of the present invention respectively The respective position covering domain of method, wherein, the center of circle of each circle is the position location of this location technology, and radius is the mistake of this location technology Margin.Character V represents the recombination site covering domain of these location technologies.

This step includes operations described below content: when gathering each real time positioning data of the four kinds of location technologies obtained respectively For: α_i、β_i、η_iAnd γ_iTime, the error radius of the location every time of these four kinds of location technologies is respectively as follows: Δ r_αi, Δ r_βi, Δ r_ηi, Δ r_γi, and four kinds of location technology each self-corresponding position covering domains are respectively as follows: R_αi、R_βi、R_ηiAnd R_γi；Wherein, α_i=(x_αi,y_αi)、 β_i=(x_βi,y_βi)、η_i=(x_ηi,y_ηi) and γ_i=(x_γi,y_γi), natural number i represents the sequence number of location Calculation, x and y is respectively The longitude of vehicle position and latitude parameter, therefore the center of circle (x_αi,y_αi) be α kind location technology i & lt location longitude and Position Latitude；Position covering domain R_αiIt is with α_i=(x_αi,y_αi) it is the center of circle, Δ r_αiCircular planer area for radius；R_βi、R_ηiWith R_γiAs the same.

Step 3, because of the granularity of the position covering domain of every kind of positioner be this device location position covering domain area with The ratio of the position covering domain gross area of other all positioners, i.e. α kind positioner position covering domain R_αiGranularity0 ＜ GD (R_αi)≤1；Wherein, S_αiIt it is α kind positioner position covering domain R_αiArea, S_ViFor used The gross area of whole setting position covering domains of other location technologies；Every kind of positioner position can be obtained by that analogy cover The granularity in lid territory；Solve respectively further according to importance degree computing formula Sig (R)=1-GD (R) and obtain every kind of positioner position and cover The respective importance degree in lid territory.

This step includes operations described below content: after the granularity of the position covering domain of every kind of location technology, according to important Degree computing formula Sig (R)=1-GD (R), the importance degree of the position covering domain being calculated these four kinds of location technologies is respectively as follows:WithAnd above-mentioned every kind of location The numerical range of the importance degree of the position covering domain of technology is all between interval [0,1].

Step 4, because car-mounted terminal is in motion change, its position error changes according to environmental change；And vehicle is Along straight line or the road running of curve or move, having seriality on movement tendency, this vehicle movement tendency makes car The change of periphery also presents seriality；Therefore when analyzing and optimizing various positioner error, be according to current location information Feed back and optimize the position error next time after each car-mounted terminal location is measured.This step includes operations described below content:

(41) initial error arranging four kinds of location technologies is respectively Δ r_α0、Δr_β0、Δr_η0With Δ r_γ0, then its initial importance degree divides It is not:WithIts In, S_α0、S_β0、S_η0And S_γ0It is respectively position covering domain R of four kinds of location technologies_α、R_β、R_ηAnd R_γInitial area coverage, initially Cover gross area S_V0=S_α0+S_β0+S_η0+S_γ0。

(42) there is seriality because of vehicle motion, and think that each change of importance degree also has stronger seriality, therefore have: Sig(R_α1)-Sig(R_α0)=Sig'(R_α2)-Sig(R_α1)、Sig(R_α2)-Sig(R_α1)=Sig'(R_α3)-Sig(R_α2), with this type of Push away, obtain: Sig (R_αi)-Sig(R_αk)=Sig'(R_αj)-Sig(R_αi)；Wherein, R_αiWhen being α kind location technology i & lt location Position covering domain, natural number k=i-1 and natural number j=i+1；Sig'(R_αj) it is α kind location technology jth time location Calculation Time position covering domain R_{α, j}Importance degree predictive value.

(43) position covering domain R when being calculated α kind location technology jth time location Calculation_αjImportance degree predictive value Sig' (R_αjAfter), according to the importance degree computing formula of the position covering domain of these four kinds of location technologiesIt is calculated respectively The placement error value optimized: WithWherein, S_Vi=S_αi+S_βi+S_ηi+S_γi。

Step 5, because of α kind positioner position covering domain R_αiCompound location covering domain R_cαiComprise: R_αi∩R_βi、R_αi∩ R_ηiAnd R_αi∩R_γi, therefore have R_cαi=(R_αi∩R_βi)∪(R_αi∩R_ηi)∪(R_αi∩R_γi), in formula, subscript c represents compound connotation, Cap symbol ∩ and cup symbol ∪ respectively asks the common factor between this symbol two side position covering domain and union；With Reason, obtains: R_cβi=(R_βi∩R_αi)∪(R_βi∩R_ηi)∪(R_βi∩R_γi)、R_cηi=(R_ηi∩R_αi)∪(R_ηi∩R_βi)∪(R_ηi∩ R_γi) and R_cγi=(R_γi∩R_αi)∪(R_γi∩R_βi)∪(R_γi∩R_ηi)；

Work as R_cαi∪R_cβi∪R_cηi∪R_cγiWhen ≠ 0, using importance degree corresponding to position covering domain as weights, flat by weighting Equal calculating, the target vehicle position obtained is:

$(x_i,y_i)=\frac{Sig\left(R_{\mathrm{\α}i}\right)R_{c\mathrm{\α}i}+Sig\left(R_{\mathrm{\β}i}\right)R_{c\mathrm{\β}i}+Sig\left(R_{\mathrm{\η}i}\right)R_{c\mathrm{\η}i}+Sig\left(R_{\mathrm{\γ}i}\right)R_{c\mathrm{\γ}i}}{Sig\left(R_{\mathrm{\α}i}\right)+Sig\left(R_{\mathrm{\β}i}\right)+Sig\left(R_{\mathrm{\η}i}\right)+Sig\left(R_{\mathrm{\γ}i}\right)};$

Work as R_cαi∪R_cβi∪R_cηi∪R_cγiWhen=0, when i.e. correspondence position covering domain not existing compound covering domain, still with position Put importance degree corresponding to covering domain as weights, by the weighted average calculation to position covering domain, the target vehicle position obtained Put and be:

Above-mentioned vehicle location coordinate (x_i,y_i) be exactly car-mounted terminal real-time positioning calculate result.

Although it should be noted that the method for the invention is to utilize above-mentioned 4 kinds of existing location technologies to be calculated standard The real time position of true target vehicle.But, car-mounted terminal, when reality is applied, uses two or more positioner to gather each During the data of location, kind and quantity to location technology the most do not limit.

Because vehicle is motor-driven vehicle, therefore its location positioning calculates higher to requirement of real-time, and this just requires The time performing vehicle location algorithm must be the shortest.Inventions have been Multi simulation running and implement test, embodiment Each positioning time of middle location algorithm of the present invention is time-consuming all within 40ms, meets the demand of real-time positioning.So, embodiment Result of the test data show: invention achieves the expection purpose of invention.

Claims (5)

1. a vehicle real-time location method based on variable importance degree, it is characterised in that: first obtain on car-mounted terminal multiple The each self-align data of location technology device, and determine that the position of various location technology is covered by the degree of error of every kind of location technology Lid territory；Then, calculate the importance degree of every kind of location technology position covering domain according to importance degree methods analyst, and with the change of importance degree It is turned to feed back the degree of error of optimum position technology；Finally, using the importance degree of position covering domain as the power in recombination site territory Value, weighted average calculation obtains real-time, the accurate location of vehicle；The method includes following operative step:

Step 1, utilizes the multiple positioner carried on car-mounted terminal, gathers two or more positioner respectively and is obtained each Location data；Described multiple positioner at least include following four kinds respectively with the difference of tetra-character representations of α, β, η and γ The positioner of technology: cellular network Cellular (Cellular Network) location, global position system GPS (Global Positioning System) location, WLAN WLAN (Wireless Local Area Networks) positions and penetrates Frequency identifies technology RFID (Radio Frequency Identification) location；

Step 2, after gathering and get the real time positioning data of two or more positioner, calculates respectively according to error radius To these positioners each self-corresponding position covering domain；

Step 3, because of the granularity of the position covering domain of every kind of positioner be this device location position covering domain area and other The ratio of the position covering domain gross area of all positioners, i.e. α kind positioner position covering domain R_αiGranularity0 ＜ GD (R_αi)≤1；Wherein, S_αiIt it is α kind positioner position covering domain R_αiArea, S_ViFor used , at least include described cellular network Cellular, global position system GPS, WLAN WLAN and radio frequency discrimination RFID The gross area of whole setting position covering domains of four kinds of location technologies；Every kind of positioner position can be obtained by that analogy cover The granularity in territory；Solve respectively further according to importance degree computing formula Sig (R)=1-GD (R) and obtain every kind of positioner position covering The respective importance degree in territory；

Step 4, because car-mounted terminal is in motion change, its position error changes according to environmental change；And vehicle be along Straight line or the road running of curve or motion, have seriality on movement tendency, and this vehicle movement tendency makes vehicle week The change on limit also presents seriality；Therefore when analyzing and optimizing various positioner error, to come anti-according to current location information Present and optimize the position error next time after each car-mounted terminal location is measured；

Step 5, because of α kind positioner position covering domain R_αiCompound location covering domain R_cαiComprise: R_αi∩R_βi、R_αi∩R_ηiWith R_αi∩R_γi, therefore have R_cαi=(R_αi∩R_βi)∪(R_αi∩R_ηi)∪(R_αi∩R_γi), in formula, subscript c represents compound connotation, asks and ships Operator ∩ and cup symbol ∪ respectively ask the common factor between this symbol two side position covering domain and union；In like manner, Arrive: R_cβi=(R_βi∩R_αi)∪(R_βi∩R_ηi)∪(R_βi∩R_γi)、

R_cηi=(R_ηi∩R_αi)∪(R_ηi∩R_βi)∪(R_ηi∩R_γi) and R_cγi=(R_γi∩R_αi)∪(R_γi∩R_βi)∪(R_γi∩ R_ηi)；

Work as R_cαi∪R_cβi∪R_cηi∪R_cγiWhen ≠ 0, using importance degree corresponding to position covering domain as weights, by average weighted Calculating, the target vehicle position obtained is:

$\left(x_i,y_i\right)=\frac{Sig\left(R_{\mathrm{\α}i}\right)R_{c\mathrm{\α}i}+Sig\left(R_{\mathrm{\β}i}\right)R_{c\mathrm{\β}i}+Sig\left(R_{\mathrm{\η}i}\right)R_{c\mathrm{\η}i}+Sig\left(R_{\mathrm{\γ}i}\right)R_{c\mathrm{\γ}i}}{Sig\left(R_{\mathrm{\α}i}\right)+Sig\left(R_{\mathrm{\β}i}\right)+Sig\left(R_{\mathrm{\η}i}\right)+Sig\left(R_{\mathrm{\γ}i}\right)};$

Work as R_cαi∪R_cβi∪R_cηi∪R_cγiWhen=0, when i.e. correspondence position covering domain not existing compound covering domain, still cover with position Importance degree corresponding to lid territory is as weights, and by the weighted average calculation to position covering domain, the target vehicle position obtained is:

Above-mentioned vehicle location coordinate (x_i,y_i) be exactly car-mounted terminal real-time positioning calculate result.

Method the most according to claim 1, it is characterised in that: described step 2 includes operations described below content:

When each real time positioning data gathering the four kinds of location technologies obtained is respectively as follows: α_i、β_i、η_iAnd γ_iTime, these four kinds location The error radius of the location every time of technology is respectively as follows: Δ r_αi, Δ r_βi, Δ r_ηi, Δ r_γi, and four kinds of location technologies are each self-corresponding Position covering domain is respectively as follows: R_αi、R_βi、R_ηiAnd R_γi；Wherein, α_i=(x_αi,y_αi)、β_i=(x_βi,y_βi)、η_i=(x_ηi,y_ηi) and γ_i =(x_γi,y_γi), natural number i represents the sequence number of location Calculation, x and y is respectively longitude and the latitude parameter of vehicle position, Therefore (x_αi,y_αi) be α kind location technology i & lt location longitude and Position Latitude；Position covering domain R_αiIt is with α_i=(x_αi, y_αi) it is the center of circle, Δ r_αiCircular planer area for radius；R_βi、R_ηiAnd R_γiAs the same.

Method the most according to claim 1, it is characterised in that: described step 3 includes operations described below content:

After the granularity of the position covering domain according to every kind of location technology, according to importance degree computing formula Sig (R)=1-GD (R), it is calculated The importance degree of the position covering domain of these four kinds of location technologies is respectively as follows: WithAnd the numerical range of the importance degree of the position covering domain of above-mentioned every kind of location technology is all in interval [0,1] Between.

Method the most according to claim 1, it is characterised in that: described step 4 includes operations described below content:

(41) initial error arranging four kinds of location technologies is respectively Δ r_α0、Δr_β0、Δr_η0With Δ r_γ0, then its initial importance degree It is respectively as follows:With Wherein, S_α0、S_β0、S_η0And S_γ0It is respectively position covering domain R of four kinds of location technologies_α、R_β、R_ηAnd R_γInitial area coverage, just Begin to cover gross area S_V0=S_α0+S_β0+S_η0+S_γ0；

(42) there is seriality because of vehicle motion, and think that each change of importance degree also has stronger seriality, therefore have: Sig (R_α1)-Sig(R_α0)=Sig'(R_α2)-Sig(R_α1)、Sig(R_α2)-Sig(R_α1)=Sig'(R_α3)-Sig(R_α2), by that analogy, Obtain: Sig (R_αi)-Sig(R_αk)=Sig'(R_αj)-Sig(R_αi)；Wherein, R_αiWhen being α kind location technology i & lt location Position covering domain, natural number k=i-1 and natural number j=i+1；Sig'(R_αj) when being α kind location technology jth time location Calculation Position covering domain R_{α, j}Importance degree predictive value；

(43) position covering domain R when being calculated α kind location technology jth time location Calculation_αjImportance degree predictive value Sig'(R_αjAfter), root Importance degree computing formula according to the position covering domain of these four kinds of location technologiesIt is calculated optimization respectively Placement error value: WithWherein, S_Vi=S_αi+S_βi+S_ηi+S_γi。

Method the most according to claim 1, it is characterised in that: described method is to utilize above-mentioned 4 kinds of existing location technologies It is calculated target location accurately；Car-mounted terminal, when reality is applied, uses two or more positioner to gather each self-align During data, kind and quantity to described positioner location technology the most do not limit.