CN104502932A - Method and device for positioning terminal equipment - Google Patents
Method and device for positioning terminal equipment Download PDFInfo
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- CN104502932A CN104502932A CN201410764783.0A CN201410764783A CN104502932A CN 104502932 A CN104502932 A CN 104502932A CN 201410764783 A CN201410764783 A CN 201410764783A CN 104502932 A CN104502932 A CN 104502932A
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- position coordinates
- terminal device
- gps signal
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
Abstract
The invention discloses a method and a device for positioning terminal equipment. The method comprises the following steps that after a connection between the terminal equipment and at least one other terminal equipment is established, a GPS (Global Positioning System) signal of the other terminal equipment is obtained; the other terminal equipment and the terminal equipment are positioned in the same area; position information of the terminal equipment is obtained according to the GPS signal of the other terminal equipment. The device comprises a GPS signal acquisition module of the other terminal equipment and a position information acquisition module of the terminal equipment, wherein the GPS signal acquisition module of the other terminal equipment is used for obtaining the GPS signal of the other terminal equipment after the connection between the terminal equipment and at least one other terminal equipment is established; the other terminal equipment and the terminal equipment are positioned in the same area; the position information acquisition module of the terminal equipment is used for obtaining the position information of the terminal equipment according to the GPS signal of the other terminal equipment. Through the method and the device, the positioning accuracy and the continuous navigation sensor are improved, and the problem of low precision due to a single signal source or incapability of positioning due to loss is avoided.
Description
Technical field
The present invention relates to field of locating technology, particularly relate to a kind of localization method and device of terminal device.
Background technology
GPS (Global Positioning System, GPS) is by the New Satellite navigational system of U.S. Department of Defense's joint research and development the seventies, and last 20 years, cost 20,000,000,000 dollars, built up in 1994 comprehensively.It adopts the successful experience of transit navigation system, has global, the feature that round-the-clock, high-precision three-dimensional is located.Gps system forms primarily of three parts: gps satellite constellation (space segment), ground monitoring system (control section) and gps signal receiver (User Part).The positioning principle of GPS be exactly according to the satellite instantaneous position of high-speed motion as known data, adopt the method for space length resection, determine the position of tested point.At present, the such as terminal such as mobile phone, onboard system has been integrated with GPS positioning service, the position of user can well have been shown by this type of business, and according to user need navigation information is provided.
But, in the location of present terminal equipment, because gps signal is from single gps signal source, terminal likely cannot obtain enough accurate gps signal or due to terminal capabilities reason gps signal loss, finally cause cannot realizing location or locating inaccurate.
Summary of the invention
The embodiment of the present invention provides a kind of localization method and device of terminal device, to improve the positioning precision of terminal device.
First aspect, embodiments provides a kind of localization method of terminal device, comprising:
After connecting with at least one other-end equipment, obtain the gps signal of described other-end equipment; Described other-end equipment and this terminal device are positioned at the same area;
The positional information of this terminal device is obtained according to the gps signal of other-end equipment.
Second aspect, the embodiment of the present invention additionally provides a kind of locating device of terminal device, comprising:
Other-end equipment gps signal acquisition module, after connecting with at least one other-end equipment, obtains the gps signal of described other-end equipment; Described other-end equipment and this terminal device are positioned at the same area;
This terminal device position information acquisition module, for obtaining the positional information of this terminal device according to the gps signal of other-end equipment.
The localization method of the terminal device that the embodiment of the present invention provides and device, by integrating the gps signal being positioned at multiple terminal devices of the same area, use multiple signal source to position simultaneously, the positional information of final this terminal device of acquisition, improve setting accuracy and lasting homing capability, avoid because single signal source precision is not high or lose the problem causing locating.
Accompanying drawing explanation
In order to be illustrated more clearly in the present invention, introduce doing one to the accompanying drawing used required in the present invention simply below, apparently, accompanying drawing in the following describes is some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
A kind of process flow diagram of localization method of terminal device of Fig. 1 for providing for the embodiment of the present invention one;
The process flow diagram of the localization method of a kind of terminal device that Fig. 2 provides for the embodiment of the present invention two;
According to the position coordinates of location point in the most intensive described class in the localization method of a kind of terminal device that Fig. 3 provides for the embodiment of the present invention three, the process flow diagram of the position coordinates operation of the central point of the most intensive class described in determining;
The process flow diagram of the localization method of a kind of terminal device that Fig. 4 provides for the embodiment of the present invention four;
According to the accuracy value of location point in the position coordinates of location point in the most intensive described class and the most intensive described class in the localization method of a kind of terminal device that Fig. 5 provides for the embodiment of the present invention five, the process flow diagram of the position coordinates operation of the central point of the most intensive class described in determining;
The structural representation of the locating device of a kind of terminal device that Fig. 6 provides for the embodiment of the present invention six.
Embodiment
For making the object, technical solutions and advantages of the present invention clearly, be described in further detail the technical scheme in the embodiment of the present invention below in conjunction with accompanying drawing, obviously, described embodiment is the present invention's part embodiment, instead of whole embodiments.Be understandable that; specific embodiment described herein is only for explaining the present invention; but not limitation of the invention; based on the embodiment in the present invention; those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.It also should be noted that, for convenience of description, illustrate only part related to the present invention in accompanying drawing but not full content.
Embodiment one
Refer to Fig. 1, the process flow diagram of the localization method of a kind of terminal device provided for the embodiment of the present invention one.The method that the embodiment of the present invention provides is applicable to comprise and is arranged in a terminal device of the same area and the system architecture of at least one other-end equipment, described terminal device and other-end equipment are gps signal source, possess GPS positioning function, and can data interaction be carried out between described terminal device and other-end equipment.As shown in Figure 1, the method comprises following operation:
110, after connecting with at least one other-end equipment, the gps signal of described other-end equipment is obtained; Described other-end equipment and this terminal device are positioned at the same area;
This operation specifically obtains the gps signal of other-end equipment, particularly, first connects with at least one other-end equipment.Wherein, the quantity connecting other-end equipment is more, and the positional information of final this terminal device obtained is more accurate.This terminal device and other-end equipment can be specifically mobile terminal, such as mobile phone, can also be vehicle-mounted GPS equipments.Then, the gps signal of the other-end equipment be connected with this terminal device is obtained.Concrete obtain manner comprises: obtain the gps signal that described other-end equipment initiatively sends; Or this terminal device first sends gps signal transfer instruction to described other-end equipment, then described other-end equipment sends gps signal to this terminal device after accepting gps signal transfer instruction, and this terminal device receives this gps signal.
In addition, for ensureing setting accuracy, this terminal device need be positioned at the same area with the other-end equipment be connected, and concrete region limited range, those skilled in the art can set as the case may be.
Preferably, for improving communications speed, described connection can be that bluetooth connects, and this terminal device carries out data with other-end equipment by Bluetooth technology to be transmitted and communicates.Obviously, the described connection in the present invention is not defined as bluetooth and connects, and except bluetooth connects, other connected mode can also be selected between this terminal device with other-end equipment to transmit to realize data and communicate.
120, the positional information of this terminal device is obtained according to the gps signal of other-end equipment.
Particularly, the described gps signal according to other-end equipment obtains the positional information of this terminal device, specifically comprises:
The position coordinates of current time is obtained from the gps signal of described other-end equipment; The positional information of this terminal device at current time is obtained according to the position coordinates got; Or,
From the gps signal of described other-end equipment, obtain the position coordinates of current time, and from the gps signal of this terminal device, obtain the position coordinates of current time, obtain the positional information of this terminal device at current time according to the position coordinates got.
The technical scheme of the present embodiment, terminal device is connected with at least one the other-end equipment being positioned at the same area, obtain the positional information of described other-end equipment, and the positional information of this terminal device is obtained according to the gps signal of other-end equipment, use multiple signal source to position simultaneously, obtain the positional information of this terminal device, improve setting accuracy, avoid because single signal source precision is not high or lose the problem causing locating.
Embodiment two
Refer to Fig. 2, the process flow diagram of the localization method of a kind of terminal device provided for the embodiment of the present invention two.The method comprises following operation:
210, after connecting with at least one other-end equipment, send gps signal transfer instruction to described other-end equipment, receive the gps signal that described other-end equipment is sent after receiving described gps signal transfer instruction;
Exemplarily, the present embodiment selects 10 other-end equipment, and this terminal device is labeled as Device-0, itself possesses gps signal source GPS-0, provides gps signal receiving ability simultaneously; 10 other-end equipment are labeled as Device-1 successively, possess gps signal source GPS-1; Device-2, possesses gps signal source GPS-2; Device-3, possesses gps signal source GPS-3; Device-10, possesses gps signal source GPS-10.This terminal device Device-0 carries out bluetooth with 10 other-end equipment respectively and is connected, upon establishment of a connection, Device-0 sends gps signal transfer instruction to 10 other-end equipment, and receive the GPS-1 that 10 other-end equipment send after receiving gps signal transfer instruction, GPS-2, GPS-3 ..., GPS-10 signal.
220, from the gps signal of described other-end equipment, obtain the position coordinates of current time, and from the gps signal of this terminal device, obtain the position coordinates of current time;
The every other terminal device collected and the gps signal raw data of self carry out unifying process by this terminal device Device-0, from GPS-0, GPS-1, GPS-2, GPS-3,, in GPS-10 signal, obtain position coordinates [P0, the P1 of each terminal device at current time, P2, P3 ..., P10].
230, the clustering algorithm location point corresponding to the position coordinates got is adopted to carry out cluster;
Clustering algorithm can be divided into method, the method based on grid, the method based on model of partitioning, stratification, density based, and the selection of specific algorithm can be determined according to embody rule environment.
Multiple location points with identical positional information specifically, after the positional information that each gps signal of the current time acquisition determined is corresponding, are polymerized by this operation.According to condense together and the class that the location point that quantity is maximum is corresponding, as the most intensive class.In the present embodiment, location point corresponding for 11 position coordinateses is carried out cluster, and such as obtain 3 classes altogether, wherein the most intensive class comprises 5 location points, respectively corresponding P0, P1, P2, P3, P4.
240, according to the position coordinates of location point in the most intensive described class, the position coordinates of the central point of the most intensive class described in determining, determines the positional information of this terminal device at current time according to the position coordinates of this central point;
The object of this operation is the position coordinates of the central point obtaining the most intensive class, particularly, by the above-mentioned cluster to position coordinates, the most intensive class is obtained, and obtain the position coordinates of all location points in the most intensive class, thus determine the position coordinates of the central point of the most intensive class.
250, after the positional information obtaining this terminal device, according to the translational speed of the mistiming sent between moment of described gps signal transfer instruction and the moment receiving the gps signal that described other-end equipment is sent and this terminal device, determine displacement, revise according to the positional information of this displacement to this terminal device.
Poor owing to sending life period between the moment of described gps signal transfer instruction and the moment receiving the gps signal that described other-end equipment is sent, if be mobile in this terminal device is poor at this moment, can there is certain error in the positional information of this terminal device got so according to the method described above.The method that the present embodiment provides can avoid the generation of this error, particularly, if the moment of described gps signal transfer instruction is t1, the moment receiving the gps signal that described other-end equipment is sent is t2, mistiming is t2-t1=Δ t, the translational speed of this terminal device is V0, thus the gps signal that this terminal is sent from the described gps signal transfer instruction of transmission to the described other-end equipment of reception can be determined, the distance of movement is S=V0 × Δ t, if the position of this terminal device obtained according to step 210-240 is P this moment, then the displacement of position P on the moving direction of terminal device is increased S, obtain the new position P of this terminal device
'.
The technical scheme of the present embodiment is connected by this terminal device and at least one the other-end equipment being positioned at the same area, obtain the position coordinates of described other-end equipment, and above-mentioned position coordinates cluster is obtained to the position coordinates of location point in the most intensive class, then the position coordinates of the central point of the most intensive class is determined, the positional information of this middle-end equipment current time is finally obtained according to the position coordinates of central point, improve setting accuracy, avoid because single signal source precision is not high or lose the problem causing locating.In addition, the present embodiment is also revised the positional information of current time, further increases setting accuracy.
On the basis of above-described embodiment, for this terminal device setting locating periodically T, the positional information of this terminal device of timing acquisition, so GPS sequence [PT0, PT1, the PT2 of each this terminal device of moment can be obtained, ], therefore can obtain the path of this terminal device, improve and continue homing capability, urge the operation of navigational system.
Embodiment three
According to the position coordinates of location point in the most intensive described class in the localization method of a kind of terminal device that Fig. 3 provides for the embodiment of the present invention three, the process flow diagram of the position coordinates operation of the central point of the most intensive class described in determining, the present embodiment is the further optimization on above-described embodiment two basis, particularly, the position coordinates of location point in the most intensive class described in described basis, the position coordinates of the central point of the most intensive class described in determining, realizes by following child-operation 310-330:
310, the location point in the most intensive class described in traversal; Using first location point traversing as reference position point, using second location point traversing as final position point;
Exemplarily, first location point of traversal is P0, and second location point is P1, using P0 as reference position point, using P1 as final position point.
320, according to the position coordinates of current reference position point and the position coordinates of current final position point, the position coordinates of the central point of current reference position point and current final position point is determined; If there is the location point be not traversed in the most intensive class described in current, then using the central point of current reference position point and current final position point as new reference position point, using the next position point of traversing as new final position point, and repeat this operation, until in the most intensive class described in current, there is not the location point be not traversed;
Determine the position coordinates P1 ' of the intermediate point of P0 and P1, because the most intensive class comprises 5 location points, so also there is the location point be not traversed, using P1 ' as new reference position point, using the next position point P2 of traversing as new final position point, determine the position coordinates P2 ' of the intermediate point of P1 ' and P2.Using P2 ' as new reference position point, using the next position point P3 of traversing as new final position point, determine the position coordinates P3 ' of the intermediate point of P2 ' and P3.Using P3 ' as new reference position point, using the next position point P4 of traversing as new final position point, determine the position coordinates P4 ' of the intermediate point of P3 ' and P4.Now, there is not the location point be not traversed in the most intensive class, and ergodic process terminates.
330, the position coordinates of the central point finally obtained is defined as described in the position coordinates of central point of the most intensive class.
The position coordinates P4 ' of the central point obtained by aforesaid operations, as the position coordinates of the central point of the most intensive class, and determines the positional information of this terminal device at current time according to the position coordinates of this central point.
Wherein, according to the position coordinates of current reference position point and the position coordinates of current final position point described in aforesaid operations, determine the position coordinates of the central point of current reference position point and current final position point, specifically comprise: the horizontal ordinate x0 according to the central point of following formulae discovery current reference position point and current final position point:
X0=(x1+x2)/2, wherein x1 is the horizontal ordinate of current reference position point; X2 is the horizontal ordinate of current final position point;
Ordinate y0 according to the central point of following formulae discovery current reference position point and current final position point:
Y0=(y1+y2)/2, wherein y1 is the ordinate of current reference position point; Y2 is the ordinate of current final position point.
The technical scheme of the present embodiment, by traveling through all location points of the most intensive class, according to the position coordinates of all location points, thus determine the position coordinates of central point, and then the positional information of terminal device is obtained according to the position coordinates of central point, solve because single signal source precision is not high or lose the problem causing locating, improve the setting accuracy of terminal device.
Embodiment four
Refer to Fig. 4, the process flow diagram of the localization method of a kind of terminal device provided for the embodiment of the present invention four.The method comprises:
410, after connecting with at least one other-end equipment, the gps signal that described other-end equipment initiatively sends is obtained;
The active presetting described other-end device periodically in the present embodiment sends gps signal to this terminal device, this approach reduces signal transmission time, avoids the positioning error because Signal transmissions causes.
420, from the gps signal of described other-end equipment, obtain the position coordinates of current time;
430, the position coordinates of accuracy value in the position coordinates got lower than setting threshold value is filtered out;
On the basis of above-described embodiment two, embodiment adds location filtering step, preset precision threshold, such as 50 meters, if the position coordinates sequence of current acquisition is P0, P1, P2 ..., P10, the position coordinates wherein positioning precision being greater than 50 meters filters out.
440, the clustering algorithm location point corresponding to the position coordinates got is adopted to carry out cluster;
450, according to the accuracy value of location point in the position coordinates of location point in the most intensive described class and the most intensive described class, the position coordinates of the central point of the most intensive class described in determining;
460, the positional information of this terminal device at current time is determined according to the position coordinates of this central point.
The technical scheme of the present embodiment, connected by this terminal device and at least one the other-end equipment being positioned at the same area, obtain the gps signal that other-end equipment initiatively sends, after extracting position coordinate, after the location point filtering of precision lower than setting threshold value exact value, carry out cluster, according to the exact value of location point in the position coordinates of location point in the most intensive class and the most intensive class, determine the position coordinates of the central point of the most intensive class, thus determine the positional information of this terminal device at current time according to the position coordinates of central point.This method avoid because single signal source precision is not high or lose the problem causing locating, improve the setting accuracy of terminal device.
Embodiment five
According to the accuracy value of location point in the position coordinates of location point in the most intensive described class and the most intensive described class in the localization method of a kind of terminal device that Fig. 5 provides for the embodiment of the present invention five, the process flow diagram of the position coordinates operation of the central point of the most intensive class described in determining, on above-described embodiment basis, this operation preferably realizes by following child-operation 510-530:
510, the location point in the most intensive class described in traversal; Using first location point traversing as reference position point, using second location point traversing as final position point;
520, the weighted value of current reference position point and current final position point is determined according to the accuracy value of current reference position point and current final position point, according to the position coordinates of current reference position point and the position coordinates of weighted value and current final position point and weighted value, determine the position coordinates of the central point of current reference position point and current final position point; If there is the location point be not traversed in the most intensive class described in current, then using the central point of current reference position point and current final position point as new reference position point, using the next position point of traversing as new final position point, and repeat the operation of this step, until in the most intensive class described in current, there is not the location point be not traversed;
530, the position coordinates of the central point finally obtained is defined as described in the position coordinates of central point of the most intensive class.
Wherein, the described accuracy value according to current reference position point and current final position point determines the weighted value of current reference position point and current final position point, specifically comprises:
According to following formulae discovery current reference position point weighted value q1:
Accuracy value/current reference position the point of q1=current final position point and the accuracy value sum of current final position point;
According to following formulae discovery current reference position point weighted value q2:
Accuracy value/current reference position the point of q2=current reference position point and the accuracy value sum of current final position point.
The accuracy value of location point in the most intensive described class obtains from the gps signal of correspondence;
Further, according to the position coordinates of current reference position point and the position coordinates of weighted value and current final position point and weighted value, determine the position coordinates of the central point of current reference position point and current final position point, specifically comprise:
Horizontal ordinate x0 according to the central point of following formulae discovery current reference position point and current final position point:
X0=q1 × x1+q2 × x2, wherein x1 is the horizontal ordinate of current reference position point; X2 is the horizontal ordinate of current final position point;
Ordinate y0 according to the central point of following formulae discovery current reference position point and current final position point:
Y0=q1 × y1+q2 × y2, wherein y1 is the ordinate of current reference position point; Y2 is the ordinate of current final position point.
The accuracy value of the weighted value × current final position point of the accuracy value+current final position point of the weighted value × current reference position point of the accuracy value=current reference position point of the central point determined.
The technical scheme of the present embodiment, by traveling through all location points of the most intensive class, according to position coordinates and the accuracy value of all location points, thus determine the position coordinates of central point, and then the positional information of terminal device is obtained according to the position coordinates of central point, solve because single signal source precision is not high or lose the problem causing locating, owing to considering the accuracy value of each position point in the most intensive class, further increase the setting accuracy of terminal device.
Embodiment six
Refer to Fig. 6, the structural representation of the locating device of a kind of terminal device provided for the embodiment of the present invention four.This device comprises:
Other-end equipment gps signal acquisition module 610, after connecting with at least one other-end equipment, obtains the gps signal of described other-end equipment; Described other-end equipment and this terminal device are positioned at the same area;
This terminal device position information acquisition module 620, for obtaining the positional information of this terminal device according to the gps signal of other-end equipment.
The terminal device locating device that the present embodiment provides is by after connecting with at least one other-end equipment, obtain the gps signal of described other-end equipment, and the positional information of this terminal device is obtained according to the gps signal of other-end equipment, use multiple signal source to position simultaneously, the positional information of final this terminal device of acquisition, improve setting accuracy and lasting homing capability, avoid because single signal source precision is not high or lose the problem causing locating.
Further, described other-end equipment gps signal acquisition module 610, specifically for: work in following two kinds of modes:
Mode one: obtain the gps signal that described other-end equipment initiatively sends; Or,
Mode two: send gps signal transfer instruction to described other-end equipment, receive the gps signal that described other-end equipment is sent after receiving described gps signal transfer instruction.
Further, described terminal device position information acquisition module 620, specifically comprises:
Position coordinates acquiring unit 621, for obtaining the position coordinates of current time in the gps signal from described other-end equipment; Or, from the gps signal of described other-end equipment, obtain the position coordinates of current time, and from the gps signal of this terminal device, obtain the position coordinates of current time;
Location information acquiring unit 622, the position coordinates for getting according to described position coordinates acquiring unit obtains the positional information of this terminal device at current time.
Further, described location information acquiring unit 622, specifically comprises:
Cluster module 622-1, the location point that the position coordinates for adopting clustering algorithm to get described position coordinates acquiring unit is corresponding carries out cluster;
Central point determination module 622-2, for determining the position coordinates of the central point of the most intensive class that described cluster module obtains;
Position determination module 622-3, for determining the positional information of this terminal device at current time according to the position coordinates of this central point.
Further, described central point determination module 622-2 specifically for: according to the position coordinates of location point in the most intensive described class, the position coordinates of the central point of the most intensive class described in determining; Or,
According to the accuracy value of location point in the position coordinates of location point in the most intensive described class and the most intensive described class, the position coordinates of the central point of the most intensive class described in determining.
Wherein, described central point determination module 622-2 as follows according to the accuracy value of location point in the position coordinates of location point in the most intensive described class and the most intensive described class, the position coordinates of the central point of the most intensive class described in determining:
Location point in the most intensive class described in traversal; Using first location point traversing as reference position point, using second location point traversing as final position point;
The weighted value of current reference position point and current final position point is determined according to the accuracy value of current reference position point and current final position point, according to the position coordinates of current reference position point and the position coordinates of weighted value and current final position point and weighted value, determine the position coordinates of the central point of current reference position point and current final position point; If there is the location point be not traversed in the most intensive class described in current, then using the central point of current reference position point and current final position point as new reference position point, using the next position point of traversing as new final position point, and repeat the operation of this step, until in the most intensive class described in current, there is not the location point be not traversed;
The position coordinates of the central point of the most intensive class described in the position coordinates of the central point finally obtained is defined as.
The described accuracy value according to current reference position point and current final position point determines the weighted value of current reference position point and current final position point, specifically comprises: according to following formulae discovery current reference position point weighted value q1:
Accuracy value/current reference position the point of q1=current final position point and the accuracy value sum of current final position point;
According to following formulae discovery current reference position point weighted value q2:
Accuracy value/current reference position the point of q2=current reference position point and the accuracy value sum of current final position point.
Further, according to the position coordinates of current reference position point and the position coordinates of weighted value and current final position point and weighted value, determine the position coordinates of the central point of current reference position point and current final position point, specifically comprise:
Horizontal ordinate x0 according to the central point of following formulae discovery current reference position point and current final position point:
X0=q1 × x1+q2 × x2, wherein x1 is the horizontal ordinate of current reference position point; X2 is the horizontal ordinate of current final position point;
Ordinate y0 according to the central point of following formulae discovery current reference position point and current final position point:
Y0=q1 × y1+q2 × y2, wherein y1 is the ordinate of current reference position point; Y2 is the ordinate of current final position point.
Wherein, the accuracy value of location point in the most intensive described class obtains from the gps signal of correspondence; The accuracy value of the weighted value × current final position point of the accuracy value+current final position point of the weighted value × current reference position point of the accuracy value=current reference position point of the central point determined.
Described central point determination module 622-2 as follows according to the position coordinates of location point in the most intensive described class, the position coordinates of the central point of the most intensive class described in determining:
Location point in the most intensive class described in traversal; Using first location point traversing as reference position point, using second location point traversing as final position point; According to the position coordinates of current reference position point and the position coordinates of current final position point, determine the position coordinates of the central point of current reference position point and current final position point; If there is the location point be not traversed in the most intensive class described in current, then using the central point of current reference position point and current final position point as new reference position point, using the next position point of traversing as new final position point, and repeat the operation of this step, until in the most intensive class described in current, there is not the location point be not traversed; The position coordinates of the central point of the most intensive class described in the position coordinates of the central point finally obtained is defined as.Further, described according to the position coordinates of current reference position point and the position coordinates of current final position point, determine the position coordinates of the central point of current reference position point and current final position point, specifically comprise:
Horizontal ordinate x0 according to the central point of following formulae discovery current reference position point and current final position point:
X0=(x1+x2)/2, wherein x1 is the horizontal ordinate of current reference position point; X2 is the horizontal ordinate of current final position point;
Ordinate y0 according to the central point of following formulae discovery current reference position point and current final position point:
Y0=(y1+y2)/2, wherein y1 is the ordinate of current reference position point; Y2 is the ordinate of current final position point.
Preferably, described terminal device position information acquisition module 620 also comprises: filtering module 623, for being filtered out by the position coordinates of accuracy value in the position coordinates got lower than setting threshold value.
On the basis of above-described embodiment, when described other-end equipment gps signal acquisition module works in mode two, described device also comprises: positional information correcting module 630, for after the positional information obtaining this terminal device, according to the translational speed of the mistiming sent between moment of described gps signal transfer instruction and the moment receiving the gps signal that described other-end equipment is sent and this terminal device, determine displacement, revise according to the positional information of this displacement to this terminal device.
Further, described connection is that bluetooth connects; Described other-end equipment comprises at least one in mobile terminal, vehicle-mounted GPS equipment.
The locating device of the terminal device that the embodiment of the present invention provides can perform the localization method of the terminal device that any embodiment of the present invention provides, and possesses the corresponding functional module of manner of execution and beneficial effect.
Last it is noted that above each embodiment is only for illustration of technical scheme of the present invention, but not be limited; In embodiment preferred embodiment, be not limited, to those skilled in the art, the present invention can have various change and change.All do within spirit of the present invention and principle any amendment, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (14)
1. a localization method for terminal device, is characterized in that, comprising:
After connecting with at least one other-end equipment, obtain the global position system GPS signal of described other-end equipment; Described other-end equipment and this terminal device are positioned at the same area;
The positional information of this terminal device is obtained according to the gps signal of other-end equipment.
2. method according to claim 1, is characterized in that, the described gps signal according to other-end equipment obtains the positional information of this terminal device, specifically comprises:
The position coordinates of current time is obtained from the gps signal of described other-end equipment; The positional information of this terminal device at current time is obtained according to the position coordinates got; Or,
From the gps signal of described other-end equipment, obtain the position coordinates of current time, and from the gps signal of this terminal device, obtain the position coordinates of current time, obtain the positional information of this terminal device at current time according to the position coordinates got.
3. method according to claim 2, is characterized in that, the position coordinates that described basis gets obtains the positional information of this terminal device at current time, specifically comprises:
Adopt the clustering algorithm location point corresponding to the position coordinates got to carry out cluster, determine the position coordinates of the central point of the most intensive class obtained, determine the positional information of this terminal device at current time according to the position coordinates of this central point.
4. method according to claim 3, is characterized in that, the described position coordinates determining the central point of the most intensive class obtained, specifically comprises:
According to the position coordinates of location point in the most intensive described class, the position coordinates of the central point of the most intensive class described in determining; Or,
According to the accuracy value of location point in the position coordinates of location point in the most intensive described class and the most intensive described class, the position coordinates of the central point of the most intensive class described in determining.
5. method according to claim 4, is characterized in that, the accuracy value of location point in the position coordinates of location point and the most intensive described class in the most intensive class described in described basis, and the position coordinates of the central point of the most intensive class described in determining, specifically comprises:
Location point in the most intensive class described in traversal; Using first location point traversing as reference position point, using second location point traversing as final position point;
The weighted value of current reference position point and current final position point is determined according to the accuracy value of current reference position point and current final position point, according to the position coordinates of current reference position point and the position coordinates of weighted value and current final position point and weighted value, determine the position coordinates of the central point of current reference position point and current final position point; If there is the location point be not traversed in the most intensive class described in current, then using the central point of current reference position point and current final position point as new reference position point, using the next position point of traversing as new final position point, and repeat the operation of this step, until there is not the location point be not traversed in the most intensive described class;
The position coordinates of the central point of the most intensive class described in the position coordinates of the central point finally obtained is defined as.
6. method according to claim 3, is characterized in that, before the location point that employing clustering algorithm is corresponding to the position coordinates got carries out cluster, also comprises:
The position coordinates of accuracy value in the position coordinates got lower than setting threshold value is filtered out.
7. method according to claim 1, it is characterized in that, the gps signal of described acquisition described other-end equipment specifically comprises: send gps signal transfer instruction to described other-end equipment, receive the gps signal that described other-end equipment is sent after receiving described gps signal transfer instruction;
After the positional information obtaining this terminal device, also comprise:
According to the translational speed of the mistiming sent between moment of described gps signal transfer instruction and the moment receiving the gps signal that described other-end equipment is sent and this terminal device, determine displacement, revise according to the positional information of this displacement to this terminal device.
8. a locating device for terminal device, is characterized in that, comprising:
Other-end equipment gps signal acquisition module, after connecting with at least one other-end equipment, obtains the gps signal of described other-end equipment; Described other-end equipment and this terminal device are positioned at the same area;
This terminal device position information acquisition module, for obtaining the positional information of this terminal device according to the gps signal of other-end equipment.
9. locating device according to claim 8, is characterized in that, described terminal device position information acquisition module, specifically comprises:
Position coordinates acquiring unit, for obtaining the position coordinates of current time in the gps signal from described other-end equipment; Or, from the gps signal of described other-end equipment, obtain the position coordinates of current time, and from the gps signal of this terminal device, obtain the position coordinates of current time;
Location information acquiring unit, the position coordinates for getting according to described position coordinates acquiring unit obtains the positional information of this terminal device at current time.
10. locating device according to claim 9, is characterized in that, described location information acquiring unit, specifically comprises:
Cluster module, the location point that the position coordinates for adopting clustering algorithm to get described position coordinates acquiring unit is corresponding carries out cluster;
Central point determination module, for determining the position coordinates of the central point of the most intensive class that described cluster module obtains;
Position determination module, for determining the positional information of this terminal device at current time according to the position coordinates of this central point.
11. locating devices according to claim 10, is characterized in that, described central point determination module specifically for:
According to the position coordinates of location point in the most intensive described class, the position coordinates of the central point of the most intensive class described in determining; Or,
According to the accuracy value of location point in the position coordinates of location point in the most intensive described class and the most intensive described class, the position coordinates of the central point of the most intensive class described in determining.
12. locating devices according to claim 11, it is characterized in that, described central point determination module specifically for: as follows according to the accuracy value of location point in the position coordinates of location point in the most intensive described class and the most intensive described class, the position coordinates of the central point of the most intensive class described in determining:
Location point in the most intensive class described in traversal; Using first location point traversing as reference position point, using second location point traversing as final position point;
The weighted value of current reference position point and current final position point is determined according to the accuracy value of current reference position point and current final position point, according to the position coordinates of current reference position point and the position coordinates of weighted value and current final position point and weighted value, determine the position coordinates of the central point of current reference position point and current final position point; If there is the location point be not traversed in the most intensive class described in current, then using the central point of current reference position point and current final position point as new reference position point, using the next position point of traversing as new final position point, and repeat the operation of this step, until in the most intensive class described in current, there is not the location point be not traversed;
The position coordinates of the central point of the most intensive class described in the position coordinates of the central point finally obtained is defined as.
13. locating devices according to claim 9, it is characterized in that, described terminal device position information acquisition module also comprises: filtering module, filters out for the position coordinates of accuracy value in the position coordinates that got by described position coordinates acquiring unit lower than setting threshold value.
14. locating devices according to claim 8, it is characterized in that, described other-end equipment gps signal acquisition module specifically for: send gps signal transfer instruction to described other-end equipment, receive the gps signal that described other-end equipment is sent after receiving described gps signal transfer instruction;
Described device also comprises: positional information correcting module, for after the positional information obtaining this terminal device, according to the translational speed of the mistiming sent between moment of described gps signal transfer instruction and the moment receiving the gps signal that described other-end equipment is sent and this terminal device, determine displacement, revise according to the positional information of this displacement to this terminal device.
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