CN105467419A - Positioning method and positioning device - Google Patents
Positioning method and positioning device Download PDFInfo
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- CN105467419A CN105467419A CN201511033901.1A CN201511033901A CN105467419A CN 105467419 A CN105467419 A CN 105467419A CN 201511033901 A CN201511033901 A CN 201511033901A CN 105467419 A CN105467419 A CN 105467419A
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- unique point
- acceleration
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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
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
Abstract
The invention is applicable to the communication field, and provides a positioning method and a positioning device. The method comprises steps: a travelling direction of a user is set; motion data during the user operation process are acquired, wherein the motion data comprise an acceleration and an angular velocity; current GPS signals are determined and feature points are set according to the GPS signals and the acceleration, wherein the feature points comprise latitude and longitude information; and when a positioning instruction is received, the feature points determined most recently are selected, and a target position is determined according to a motion track after the eature points determined most recently. The embodiment of the invention can improve the accuracy of positioning.
Description
Technical field
The embodiment of the present invention belongs to the communications field, particularly relates to a kind of localization method and device.
Background technology
At present, locator meams mainly adopts gps satellite to locate or mobile device architecture.But owing to often not receiving gps signal between indoor or high-rise building, therefore cause between indoor or high-rise building, adopting GPS to locate.And when utilizing base station signal to position, the degree of accuracy of its location can be subject to the impact of base station range.In order to increase the degree of accuracy of base station signal location, multiple base station signal location algorithm can be utilized, such as according to user location for the previous period in the different base station position of process, and then infer that the movement track of user is to reach location, but the degree of accuracy of the method location can fluctuate with factors such as base station number and movement locus.
To sum up, adopt gps satellite location or mobile device architecture all cannot use in a lot of occasion, such as in subway station, market etc., when emergency case occurring in these places and needing Emergency Assistance, be difficult to the position of accurate consumer positioning.
Summary of the invention
Embodiments provide a kind of localization method and device, be intended to solve the problem that existing method is difficult to accurate consumer positioning position.
The embodiment of the present invention is achieved in that a kind of localization method, and described method comprises:
What arrange user goes out line direction;
Obtain the exercise data of user's operational process, described exercise data comprises acceleration and angular velocity;
Determine current gps signal, and arrange unique point according to described gps signal and acceleration, described unique point comprises latitude and longitude information;
When receiving positioning instruction, choose the unique point determined recently, and determine target location according to the movement locus after the described unique point determined recently.
Another object of the embodiment of the present invention is to provide a kind of locating device, and described device comprises:
Go out line direction setting unit, go out line direction for what arrange user;
Operational factor determining unit, for obtaining the exercise data of user's operational process, described exercise data comprises acceleration and angular velocity;
Unique point determining unit, for determining current gps signal, and arrange unique point according to described gps signal and acceleration, described unique point comprises latitude and longitude information;
Target location determining unit, for when receiving positioning instruction, chooses the unique point determined recently, and determines target location according to the movement locus after the described unique point determined recently.
In embodiments of the present invention, owing to arranging unique point according to gps signal and acceleration, target location is released again according to the unique point arranged, and unique point comprises concrete latitude and longitude information, therefore, less place can be covered in gps signal weakness or base station signal, also can determine the target location of user, improve the degree of accuracy of the target location determined.
Accompanying drawing explanation
Fig. 1 is the process flow diagram of a kind of localization method that first embodiment of the invention provides;
Fig. 2 is the schematic diagram of the last position of the determination unique point that first embodiment of the invention provides;
Fig. 3 is the structural drawing of a kind of locating device that second embodiment of the invention provides.
Embodiment
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
In the embodiment of the present invention, what arrange user goes out line direction, obtain the exercise data of user's operational process, described exercise data comprises acceleration and angular velocity, determines current gps signal, and arranges unique point according to described gps signal and acceleration, described unique point comprises latitude and longitude information, when receiving positioning instruction, choose the unique point determined recently, and determine target location according to the movement locus after the described unique point determined recently.
In order to technical solutions according to the invention are described, be described below by specific embodiment.
embodiment one:
Fig. 1 shows the process flow diagram of a kind of localization method that first embodiment of the invention provides, and details are as follows:
Step S11, what arrange user goes out line direction.
Change relative to the angle of previous state because gyroscope can only record current state, therefore, need to arrange user and go out line direction, what such as arrange the start position of user goes out line direction, so that the movement locus of the whole trip route of subsequent reconstruction.With in the intelligent terminal of electronic compass, what can utilize electronic compass start of record position goes out line direction, if there is no electronic compass, and the intensity of the gps signal of start position is lower than the signal strength threshold preset, what then must input start position by user goes out line direction, if the intensity of start position gps signal is higher than the signal strength threshold preset, then go out line direction to draw in calculating correction subsequently by gps signal and electronic chart, wherein, this gps signal is the mobile phone place gps signal of user.
Particularly, the line direction that goes out of the described user of setting comprises:
The gps signal of A1, acquisition start position, and judge whether the gps signal obtained is greater than default signal strength threshold.
A2, obtain gps signal be greater than default signal strength threshold time, what arrange the start position of user according to described gps signal and electronic chart goes out line direction.
A3, obtain gps signal be less than or equal to default signal strength threshold time, receive user arrange go out line direction as user start position go out line direction.
Alternatively, arrange user go out line direction (as start position go out line direction) time, the start position of user can be set, the start position of this user by manual setting, also by Lookup protocol.
Wherein, the start position of the described user of setting comprises:
The start position that B1, reception user are arranged, described start position comprises latitude and longitude information.Start position is a few building, certain mansion such as, or is certain position on electronic chart, and these start positions can be converted to concrete latitude and longitude information, certainly, also directly manually can input latitude and longitude information.
Or,
B2, acquisition gps signal, and judge whether the intensity of the gps signal obtained is greater than default signal strength threshold, if be greater than, the position that described gps signal is located is set to the start position of user, otherwise, the position that gps signal and base station signal are located jointly is set to the start position of user.When the start position of Lookup protocol user, in order to improve the accuracy of the start position of setting, Cai only located by gps signal when the intensity of gps signal is greater than default signal strength threshold, otherwise, jointly located by gps signal and base station signal.
Step S12, obtain the exercise data of user's operational process, described exercise data comprises acceleration and angular velocity.
In this step, determine the exercise data such as acceleration, angular velocity of user's operational process by accelerometer, gyroscope and magnetometer.
Step S13, determines current gps signal, and arranges unique point according to described gps signal and acceleration, and described unique point comprises latitude and longitude information.
Here unique point also can be the accurate latitude and longitude information of specific position or building correspondence.
Alternatively, describedly determine current gps signal, and unique point be set according to described gps signal and acceleration, specifically comprise:
C1, determine current gps signal, judge whether the intensity of current gps signal is greater than default signal strength threshold.
C2, when the intensity of current gps signal is greater than default signal strength threshold, determine the travelling speed of user according to described acceleration, and judge whether the travelling speed of user is greater than the first default operational threshold speed.Particularly, the travelling speed of user is determined according to acceleration and working time.
C3, when the travelling speed of user is greater than the first default operational threshold speed, with preset the first interval time a unique point is set.When the travelling speed of user is greater than the second default operational threshold speed and is less than the first default operational threshold speed, arrange a unique point with second interval time of presetting, described the second default interval time is greater than the first default interval time.In this step, when the travelling speed of user is larger, the distance run due to the same time is also longer, therefore, can arrange and a unique point is set less interval time, on the contrary, then arrange and a unique point is set larger interval time, not excessive to ensure the distance between two unique points.It should be noted that, above-mentioned default signal strength threshold, the first operational threshold speed and the second operational threshold speed can be established according to the actual requirements, are not restricted this herein.
C4, when the intensity of current gps signal is less than or equal to default signal strength threshold, current location is set to unique point.In this step, when the intensity of gps signal is less, current location is set to unique point, is difficult in case follow-up position the position of user.
Above-mentioned C1 ~ C4 is by automatically determining unique point, in a practical situation, also can input feature vector point manually, be not construed as limiting herein.In addition, above-mentioned C1 ~ C4 is the interval time that the travelling speed by judging user selects to arrange a unique point, in a practical situation, also by judging that the range ability of user selects to arrange the interval time of a unique point, can be not construed as limiting herein.
Alternatively, determine current gps signal described, and arrange unique point according to described gps signal and acceleration, described unique point comprises after comprising latitude and longitude information:
When the number of unique point arranged is more than or equal to preset value, go out according to described exercise data and user the movement locus that line direction determines before the unique point arranged.
When preset value is 2, when the number of the described unique point arranging is more than or equal to 2, the line direction that goes out according to described exercise data and user determines that the movement locus before the unique point arranged specifically comprises:
D1, when the number of unique point arranged is more than or equal to 2, according to the time between described acceleration (acceleration of the previous position of the adjacent feature point of the unique point determined recently) and adjacent two acceleration (acceleration of the previous position of the adjacent feature point of the unique point determined recently and the acceleration of the adjacent feature point of unique point determined recently), calculate the path of adjacent feature point to the previous position of the adjacent feature point of the described unique point determined recently of the unique point determined recently.Particularly, suppose that the acceleration of the unique point determined recently is X, the acceleration of the previous position of the adjacent feature point of the unique point determined recently is Y, then according to the mistiming and the X that gather X and Y, the path of the previous position of the unique point that the unique point that calculating is determined recently is determined recently to this.
D2, with the adjacent feature point of the described unique point determined recently for the center of circle, the described path determined is radius, determines a circular arc.
D3, go out according to the default start position obtained the angle change information of adjacent feature point to the described unique point determined recently that line direction and described angular velocity determine the described unique point determined recently, according to the angle change information determined, described determine recently unique point, the described unique point determined recently adjacent feature point on described circular arc, determine the previous position of the adjacent feature point of the described unique point determined recently, until oppositely class release theoretical start position go out line direction and theoretical start position.In this step, behind the previous position of the adjacent feature point of the unique point determined recently, continue the previous position determining this previous position, until oppositely class release theoretical start position go out line direction and theoretical start position, and the theoretical start position released by reverse class go out the appearance direction (the appearance direction that non-user is manually arranged) of start position and the start position (start position that non-user is manually arranged) of Lookup protocol that line direction and theoretical start position correct Lookup protocol.
In order to more clearly describe D1 ~ D3, be described with an object lesson below: consult Fig. 2, in fig. 2, suppose that in the record run, existing unique point 1., have recorded second unique point subsequently 2., the unique point determined recently be unique point 2., the adjacent feature point of the unique point determined recently be unique point 1., then now need to calculate unique point 1. before all running orbits do not calculated.According to the time between acceleration and two acceleration, calculate the path that 1. unique point arrives this unique point previous position 1., suppose that this path is r, so with unique point 1. for the center of circle, r be radius circular arc on any point all may be unique point 1 before a bit, suppose that this point is Z, 1. and unique point line 2. and the angle b0 (being assumed to be 25 °) between Z and unique point line 1. then unique point, be the unique point determined according to angular velocity and 1. arrive unique point angle change 2., because 1. user arrives unique point from Z, therefore, the position of Z is the b2 in Fig. 2, instead of the b1 in Fig. 2.Starting point direction and the start position of user is released according to the reverse class of said method.It is to be noted, if start position is manually arrange, then when the position that reverse class is released is identical with the start position of the user of setting, stopping is analogized, if start position is Lookup protocol, start position due to Lookup protocol has certain error, therefore, in order to reduce error, then behind the starting point direction that reverse class releases user and start position, calculate the mean value of the start position of reverse class release and the start position of Lookup protocol, particularly, calculate the mean value of the longitude and latitude of the start position of reverse class release and the start position of Lookup protocol, and using the mean value of calculating as final start position.
Step S14, when receiving positioning instruction, chooses the unique point determined recently, and determines target location according to the movement locus after the described unique point determined recently.
Wherein, positioning instruction can by intelligent terminal by judging itself to meet and sending positioning instruction time automatically send and receive, also can receive the positioning instruction that other intelligent terminals send, not repeat herein.
Alternatively, described when receiving positioning instruction, choose the unique point determined recently, and determine target location according to the movement locus after the described unique point determined recently, specifically comprise:
E1, according to the time between described acceleration and adjacent two acceleration, calculate the unique point determined the recently path to a rear position of the described unique point determined recently.A rear position of the unique point determined recently here refers to the unique point determined recently from this, and determines according to the acceleration obtained and angular velocity the rear position that the relative direction that user runs is determined.
E2, with the described unique point determined recently for the center of circle, the described path determined is radius, determines a circular arc.
E3, determine the angle change information of the described unique point determined recently to a rear position of the described unique point determined recently according to described angular velocity, and according to the angle change information determined, described determine recently unique point, the described unique point determined recently adjacent feature point on described circular arc, determine a rear position of the described unique point determined recently, until class releases the direction and the position that receive positioning instruction forward, and using the position of class release forward as target location.In this step, each position grouping that class is released forward is the movement locus after the unique point determined recently together.
In above-mentioned E1 and E3, be analogize forward movement locus after the unique point determined recently according to the unique point determined recently, concrete reckoning process is similar with the reckoning process oppositely analogized, and repeats no more herein.
Alternatively, described determine the exercise data of user's operational process after, comprising:
F1, whether judge the direction of acceleration determined and the difference of the size of acceleration and acceleration of gravity is less than default difference threshold and downward range ability in default range ability threshold range downwards.Wherein, the difference threshold preset is very little, is almost 0, is such as 0.26,0.09 etc.; The range ability threshold value preset is the value of 1 meter or about 1 meter.
F2, in the direction of the acceleration determined downwards and the difference of the size of acceleration and acceleration of gravity be less than default difference threshold and downward range ability in the range ability threshold range preset time, judge whether the size of the acceleration of acquisition in follow-up preset time period is less than default acceleration rate threshold.Wherein, preset time period can be set to 10 seconds, 20 seconds or 1 minute etc.; The acceleration rate threshold preset is less, is such as 0.2m/s, or 0.3m/s etc.
When F3, the size of acceleration obtained in follow-up preset time period are less than default acceleration rate threshold, whether prompting calls for help, and when user does not send any instruction, determines target location, and target location is sent to the terminal of specifying.
When meeting the condition of above-mentioned F1 ~ F3, show that user may fall down, and probably have a bad spill, now, whether prompting calls for help, and responds, then determine the target location of user if user does not send any instruction within a period of time, and target location is sent to the terminal of specifying, succour user in time to make other people.Certainly, when whether prompting calls for help, ring prompting and or vibrations intelligent terminal can be sent simultaneously.
In first embodiment of the invention, what arrange user goes out line direction, obtain the exercise data of user's operational process, described exercise data comprises acceleration and angular velocity, determines current gps signal, and arranges unique point according to described gps signal and acceleration, described unique point comprises latitude and longitude information, when receiving positioning instruction, choose the unique point determined recently, and determine target location according to the movement locus after the described unique point determined recently.Owing to arranging unique point according to gps signal and acceleration, target location is released again according to the unique point arranged, and unique point comprises concrete latitude and longitude information, therefore, less place can be covered in gps signal weakness or base station signal, also can determine the target location of user, improve the degree of accuracy of the target location determined.
Should be understood that in embodiments of the present invention, the size of the sequence number of above-mentioned each process does not also mean that the priority of execution sequence, and the execution sequence of each process should be determined with its function and internal logic, and should not form any restriction to the implementation process of the embodiment of the present invention.
embodiment two:
Fig. 3 shows the structural drawing of a kind of locating device that second embodiment of the invention provides, this locating device can be applicable in intelligent terminal, this intelligent terminal can comprise and carries out through wireless access network RAN and one or more core net the subscriber equipment that communicates, this subscriber equipment can be mobile phone (or being called " honeycomb " phone), have the computing machine etc. of mobile device, such as, subscriber equipment can also be portable, pocket, hand-held, built-in computer or vehicle-mounted mobile device, they and wireless access network switched voice and/or data.Again such as, this mobile device can comprise smart mobile phone, panel computer, personal digital assistant PDA, point-of-sale terminal POS or vehicle-mounted computer etc.For convenience of explanation, illustrate only the part relevant to the embodiment of the present invention.
This locating device comprises: go out line direction setting unit 31, operational factor determining unit 32, unique point determining unit 33, target location determining unit 34.Wherein:
Go out line direction setting unit 31, go out line direction for what arrange user.
Alternatively, go out line direction setting unit 31 and obtain certain position, as the gps signal of start position, and judge whether the gps signal obtained is greater than default signal strength threshold, when the gps signal obtained is greater than default signal strength threshold, what arrange the start position of user according to described gps signal and electronic chart goes out line direction, obtain gps signal be less than or equal to default signal strength threshold time, receive user arrange go out line direction as user start position go out line direction.
Alternatively, this locating device comprises start position setting unit, and this start position setting unit is for arranging the start position of user.Particularly, start position setting unit comprises: start position manually arranges module, and for receiving the start position that user is arranged, described start position comprises latitude and longitude information.Start position is a few building, certain mansion such as, or is certain position on electronic chart, and these start positions can be converted to concrete latitude and longitude information, certainly, also directly manually can input latitude and longitude information.Start position Lookup protocol module, for obtaining gps signal, and judge whether the intensity of the gps signal obtained is greater than default signal strength threshold, if be greater than, the position that described gps signal is located is set to the start position of user, otherwise, the position that gps signal and base station signal are located jointly is set to the start position of user.
Operational factor determining unit 32, for obtaining the exercise data of user's operational process, described exercise data comprises acceleration and angular velocity.
Unique point determining unit 33, for determining current gps signal, and arrange unique point according to described gps signal and acceleration, described unique point comprises latitude and longitude information.
Here unique point also can be the accurate latitude and longitude information of specific position or building correspondence.
Alternatively, unique point determining unit 33 comprises:
The intensity judge module of gps signal, for determining current gps signal, judges whether the intensity of current gps signal is greater than default signal strength threshold.
Travelling speed judge module, for when the intensity of current gps signal is greater than default signal strength threshold, determines the travelling speed of user according to described acceleration, and judges whether the travelling speed of user is greater than the first default operational threshold speed.
Fisrt feature point arranges module, for when the travelling speed of user is greater than the first default operational threshold speed, arranges a unique point with first interval time of presetting.When the travelling speed of user is greater than the second default operational threshold speed and is less than the first default operational threshold speed, arrange a unique point with second interval time of presetting, described the second default interval time is greater than the first default interval time.
Second feature point arranges module, for when the intensity of current gps signal is less than or equal to default signal strength threshold, current location is set to unique point.
It is to be noted, the intensity judge module of above-mentioned gps signal, travelling speed judge module, fisrt feature point arrange module, second feature point arranges module by judging that the travelling speed of user selects to arrange the interval time of a unique point, in a practical situation, also by judging that the range ability of user selects to arrange the interval time of a unique point, can be not construed as limiting herein.
Alternatively, described locating device comprises:
Movement locus determining unit, during for being more than or equal to preset value in the number of unique point arranged, determines the movement locus before the unique point arranged according to the appearance direction of described exercise data and user.
Alternatively, described movement locus determining unit comprises:
Last location paths length computation module, for when the number of the unique point arranged is more than or equal to 2, according to the time between described acceleration and adjacent two acceleration, calculate the path of adjacent feature point to the previous position of the adjacent feature point of the described unique point determined recently of the unique point determined recently.
Place, last position circular arc determination module, for the adjacent feature point of the described unique point determined recently for the center of circle, the described path determined is radius, determines a circular arc.
User's start position is counter pushes away module, for going out according to the default start position obtained the angle change information of adjacent feature point to the described unique point determined recently that line direction and described angular velocity determine the described unique point determined recently, and according to the angle change information determined, described determine recently unique point, the described unique point determined recently adjacent feature point on described circular arc, determine the previous position of the adjacent feature point of the described unique point determined recently, until oppositely class release theoretical start position go out line direction and theoretical start position.
Target location determining unit 34, for when receiving positioning instruction, chooses the unique point determined recently, and determines target location according to the movement locus after the described unique point determined recently.
Wherein, positioning instruction can by intelligent terminal by judging itself to meet and sending positioning instruction time automatically send and receive, also can receive the positioning instruction that other intelligent terminals send, not repeat herein.
Alternatively, described target location determining unit 34 comprises:
A rear location paths length computation module, for according to the time between described acceleration and adjacent two acceleration, calculates the unique point determined the recently path to a rear position of the described unique point determined recently.
Rear place, a position circular arc determination module, for the described unique point determined recently for the center of circle, the described path determined is radius, determines a circular arc.
Module is analogized in target location, for determining the angle change information of the described unique point determined recently to a rear position of the described unique point determined recently according to described angular velocity, according to the angle change information determined, described determine recently unique point, the described unique point determined recently adjacent feature point on described circular arc, determine a rear position of the described unique point determined recently, until class releases the direction and the position that receive positioning instruction forward, and using the position of class release forward as target location.
Alternatively, described locating device comprises:
Acceleration judging unit, for judge the acceleration determined direction whether downwards and the difference of the size of acceleration and acceleration of gravity is less than default difference threshold and downward range ability in default range ability threshold range.Wherein, the difference threshold preset is very little, is almost 0, is such as 0.26,0.09 etc.; The range ability threshold value preset is the value of 1 meter or about 1 meter.
Acceleration magnitude judging unit, for in the direction of the acceleration determined downwards and the difference of the size of acceleration and acceleration of gravity be less than default difference threshold and downward range ability in the range ability threshold range preset time, judge whether the size of the acceleration of acquisition in follow-up preset time period is less than default acceleration rate threshold.Wherein, preset time period can be set to 10 seconds, 20 seconds or 1 minute etc.; The acceleration rate threshold preset is less, is such as 0.2m/s, or 0.3m/s etc.
Call for help Tip element, when the size for the acceleration obtained in follow-up preset time period is less than default acceleration rate threshold, whether prompting calls for help, and when user does not send any instruction, determines target location, and target location is sent to the terminal of specifying.
In above-mentioned acceleration judging unit, acceleration magnitude judging unit, calling for help Tip element, when judging that user may fall down, and when probably having a bad spill, whether prompting calls for help, if user does not send any instruction and responds within a period of time, then determine the target location of user, and target location is sent to the terminal of specifying, succour user in time to make other people.Certainly, when whether prompting calls for help, ring prompting and or vibrations intelligent terminal can be sent simultaneously.
In second embodiment of the invention, owing to arranging unique point according to gps signal and acceleration, target location is released again according to the unique point arranged, and unique point comprises concrete latitude and longitude information, therefore, less place can be covered in gps signal weakness or base station signal, also can determine the target location of user, improve the degree of accuracy of the target location determined.
Those of ordinary skill in the art can recognize, in conjunction with unit and the algorithm steps of each example of embodiment disclosed herein description, can realize with the combination of electronic hardware or computer software and electronic hardware.These functions perform with hardware or software mode actually, depend on application-specific and the design constraint of technical scheme.Professional and technical personnel can use distinct methods to realize described function to each specifically should being used for, but this realization should not thought and exceeds scope of the present invention.
Those skilled in the art can be well understood to, and for convenience and simplicity of description, the specific works process of the system of foregoing description, device and unit, with reference to the corresponding process in preceding method embodiment, can not repeat them here.
In several embodiments that the application provides, should be understood that disclosed system, apparatus and method can realize by another way.Such as, device embodiment described above is only schematic, such as, the division of described unit, be only a kind of logic function to divide, actual can have other dividing mode when realizing, such as multiple unit or assembly can in conjunction with or another system can be integrated into, or some features can be ignored, or do not perform.Another point, shown or discussed coupling each other or direct-coupling or communication connection can be by some interfaces, and the indirect coupling of device or unit or communication connection can be electrical, machinery or other form.
The described unit illustrated as separating component or can may not be and physically separates, and the parts as unit display can be or may not be physical location, namely can be positioned at a place, or also can be distributed in multiple network element.Some or all of unit wherein can be selected according to the actual needs to realize the object of the present embodiment scheme.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, also can be that the independent physics of unit exists, also can two or more unit in a unit integrated.
If described function using the form of SFU software functional unit realize and as independently production marketing or use time, can be stored in a computer read/write memory medium.Based on such understanding, the part of the part that technical scheme of the present invention contributes to prior art in essence in other words or this technical scheme can embody with the form of software product, this computer software product is stored in a storage medium, comprising some instructions in order to make a computer equipment (can be personal computer, server, or the network equipment etc.) perform all or part of step of method described in each embodiment of the present invention.And aforesaid storage medium comprises: USB flash disk, portable hard drive, ROM (read-only memory) (ROM, Read-OnlyMemory), random access memory (RAM, RandomAccessMemory), magnetic disc or CD etc. various can be program code stored medium.
The above; be only the specific embodiment of the present invention, but protection scope of the present invention is not limited thereto, is anyly familiar with those skilled in the art in the technical scope that the present invention discloses; change can be expected easily or replace, all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should described be as the criterion with the protection domain of claim.
Claims (10)
1. a localization method, is characterized in that, described method comprises:
What arrange user goes out line direction;
Obtain the exercise data of user's operational process, described exercise data comprises acceleration and angular velocity;
Determine current gps signal, and arrange unique point according to described gps signal and acceleration, described unique point comprises latitude and longitude information;
When receiving positioning instruction, choose the unique point determined recently, and determine target location according to the movement locus after the described unique point determined recently.
2. method according to claim 1, is characterized in that, describedly determines current gps signal, and arranges unique point according to described gps signal and acceleration, specifically comprises:
Determine current gps signal, judge whether the intensity of current gps signal is greater than default signal strength threshold;
When the intensity of current gps signal is greater than default signal strength threshold, determine the travelling speed of user according to described acceleration, and judge whether the travelling speed of user is greater than the first default operational threshold speed;
When the travelling speed of user is greater than the first default operational threshold speed, a unique point is set with first interval time of presetting; When the travelling speed of user is greater than the second default operational threshold speed and is less than the first default operational threshold speed, arrange a unique point with second interval time of presetting, described the second default interval time is greater than the first default interval time;
When the intensity of current gps signal is less than or equal to default signal strength threshold, current location is set to unique point.
3. method according to claim 1, is characterized in that, described unique point step is set after, receive before positioning instruction and also comprise step:
When the number of unique point arranged is more than or equal to preset value, go out according to described exercise data and user the movement locus that line direction determines before the unique point arranged.
4. method according to claim 3, it is characterized in that, described preset value is 2, when the number of the described unique point arranging is more than or equal to 2, go out according to described exercise data and user the movement locus that line direction determines before the unique point arranged, specifically comprise:
When the number of the unique point arranged is more than or equal to 2, according to the time between described acceleration and adjacent two acceleration, calculate the path of adjacent feature point to the previous position of the adjacent feature point of the described unique point determined recently of the unique point determined recently;
With the adjacent feature point of the described unique point determined recently for the center of circle, the described path determined is radius, determines a circular arc;
The angle change information of adjacent feature point to the described unique point determined recently that line direction and described angular velocity determine the described unique point determined recently is gone out according to the default start position obtained;
According to the angle change information determined, described determine recently unique point, the described unique point determined recently adjacent feature point on described circular arc, determine the previous position of the adjacent feature point of the described unique point determined recently, until oppositely class release theoretical start position go out line direction and theoretical start position.
5. method according to claim 1, is characterized in that, described when receiving positioning instruction, chooses the unique point determined recently, and determines target location according to the movement locus after the described unique point determined recently, specifically comprises:
According to the time between described acceleration and adjacent two acceleration, calculate the unique point determined the recently path to a rear position of the described unique point determined recently;
With the described unique point determined recently for the center of circle, the described path determined is radius, determines a circular arc;
The angle change information of the described unique point determined recently to a rear position of the described unique point determined recently is determined according to described angular velocity;
According to the angle change information determined, described determine recently unique point, the described unique point determined recently adjacent feature point on described circular arc, determine a rear position of the described unique point determined recently, until class releases the direction and the position that receive positioning instruction forward, and using the position of class release forward as target location.
6. method according to claim 1, is characterized in that, described determine the exercise data of user's operational process after, comprising:
Judge the direction of acceleration determined whether and the difference of the size of acceleration and acceleration of gravity is less than default difference threshold and downward range ability in default range ability threshold range downwards;
In the direction of the acceleration determined downwards and the difference of the size of acceleration and acceleration of gravity be less than default difference threshold and downward range ability in the range ability threshold range preset time, judge whether the size of the acceleration of acquisition in follow-up preset time period is less than default acceleration rate threshold;
When the size of the acceleration obtained in follow-up preset time period is less than default acceleration rate threshold, whether prompting calls for help, and when user does not send any instruction, determines target location, and target location is sent to the terminal of specifying.
7. a locating device, is characterized in that, described device comprises:
Go out line direction setting unit, go out line direction for what arrange user;
Operational factor determining unit, for obtaining the exercise data of user's operational process, described exercise data comprises acceleration and angular velocity;
Unique point determining unit, for determining current gps signal, and arrange unique point according to described gps signal and acceleration, described unique point comprises latitude and longitude information;
Target location determining unit, for when receiving positioning instruction, chooses the unique point determined recently, and determines target location according to the movement locus after the described unique point determined recently.
8. device according to claim 7, is characterized in that, described unique point determining unit comprises:
The intensity judge module of gps signal, for determining current gps signal, judges whether the intensity of current gps signal is greater than default signal strength threshold;
Travelling speed judge module, for when the intensity of current gps signal is greater than default signal strength threshold, determines the travelling speed of user according to described acceleration, and judges whether the travelling speed of user is greater than the first default operational threshold speed;
Fisrt feature point arranges module, for when the travelling speed of user is greater than the first default operational threshold speed, arranges a unique point with first interval time of presetting; When the travelling speed of user is greater than the second default operational threshold speed and is less than the first default operational threshold speed, arrange a unique point with second interval time of presetting, described the second default interval time is greater than the first default interval time;
Second feature point arranges module, for when the intensity of current gps signal is less than or equal to default signal strength threshold, current location is set to unique point.
9. device according to claim 7, is characterized in that, described target location determining unit comprises:
A rear location paths length computation module, for according to the time between described acceleration and adjacent two acceleration, calculates the unique point determined the recently path to a rear position of the described unique point determined recently;
Rear place, a position circular arc determination module, for the described unique point determined recently for the center of circle, the described path determined is radius, determines a circular arc;
Module is analogized in target location, for determining the angle change information of the described unique point determined recently to a rear position of the described unique point determined recently according to described angular velocity, according to the angle change information determined, described determine recently unique point, the described unique point determined recently adjacent feature point on described circular arc, determine a rear position of the described unique point determined recently, until class releases the direction and the position that receive positioning instruction forward, and using the position of class release forward as target location.
10. device according to claim 7, is characterized in that, described device comprises:
Acceleration judging unit, for judge the acceleration determined direction whether downwards and the difference of the size of acceleration and acceleration of gravity is less than default difference threshold and downward range ability in default range ability threshold range;
Acceleration magnitude judging unit, for in the direction of the acceleration determined downwards and the difference of the size of acceleration and acceleration of gravity be less than default difference threshold and downward range ability in the range ability threshold range preset time, judge whether the size of the acceleration of acquisition in follow-up preset time period is less than default acceleration rate threshold;
Call for help Tip element, when the size for the acceleration obtained in follow-up preset time period is less than default acceleration rate threshold, whether prompting calls for help, and when user does not send any instruction, determines target location, and target location is sent to the terminal of specifying.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201511033901.1A CN105467419A (en) | 2015-12-31 | 2015-12-31 | Positioning method and positioning device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201511033901.1A CN105467419A (en) | 2015-12-31 | 2015-12-31 | Positioning method and positioning device |
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Application publication date: 20160406 |