CN107462902B - positioning method and positioning equipment - Google Patents
positioning method and positioning equipment Download PDFInfo
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- CN107462902B CN107462902B CN201610394264.9A CN201610394264A CN107462902B CN 107462902 B CN107462902 B CN 107462902B CN 201610394264 A CN201610394264 A CN 201610394264A CN 107462902 B CN107462902 B CN 107462902B
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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
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
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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
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- Position Fixing By Use Of Radio Waves (AREA)
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Abstract
The embodiment of the invention discloses positioning methods and positioning devices, wherein the methods are applied to a system comprising positioning devices and second positioning devices, the methods comprise that a th positioning device detects th position information and th calculation information in a preset period, a th positioning device receives second position information and second calculation information sent by the second positioning device in a preset period, a th positioning device calculates th current precision value of the position information according to the th calculation information and calculates second position information current precision value according to the second calculation information, and a positioning device determines current precision value smaller position information as position information of the th positioning device from th position information and the second position information.
Description
Technical Field
The invention relates to the technical field of terminals, in particular to positioning methods and positioning equipment.
Background
For example, the vehicle-mounted T-Box (Telematics Box) is very important parts in the current vehicle networking system, and the functions of the vehicle and a Telematics Service Provider (TSP) are interconnected.
However, in practice it has been found that many positioning devices are often not accurately positioned.
Disclosure of Invention
The embodiment of the invention discloses positioning methods and positioning equipment, which can improve the accuracy of positioning results.
In an aspect, the present invention provides positioning methods applied to a system including a th positioning device and a second positioning device, the method includes that the th positioning device detects th positioning information in a preset period, the th positioning information includes th positioning information where the th positioning device is currently located and th calculation information, the th calculation information is used for calculating an accuracy value of the th positioning information with time, the th positioning device receives second positioning information sent by the second positioning device in a preset period, the second positioning information includes second positioning information detected by the second positioning device and second calculation information, the second calculation information is used for calculating an accuracy value of the second positioning information with time, the th positioning device calculates a current accuracy value of the th positioning information according to the th calculation information, and calculates a current accuracy value of the second positioning information according to the second calculation information, the th positioning device selects a final accuracy value of the positioning result obtained by selecting the as a final positioning result of the current positioning result of the 4642, and the final positioning result of the 4642 obtained by the second positioning device.
In possible designs, the calculation information includes 0 th positioning time, 1 th positioning speed and 2 th positioning accuracy value, the th positioning time is the time when th position information is obtained, the th positioning speed is the speed of th positioning equipment when th position information is obtained, the th positioning accuracy value is the accuracy value of th position information when th position information is obtained, the second calculation information includes second positioning time, second positioning speed and second positioning accuracy value, the second positioning time is the time when the second position information is obtained, the second positioning speed is the speed of the second positioning equipment when the second position information is obtained, and the second positioning accuracy value is the accuracy value of the second position information when the second position information is obtained;
the positioning equipment calculates the current accuracy value of the 0 th position information according to the calculation information, which comprises the steps of calculating the th time interval between the current time and the th positioning time, multiplying the th positioning speed by the th time interval to obtain a th numerical value, and taking the absolute value of the difference between the th positioning accuracy value and the th numerical value as the current accuracy value of the th position information;
the positioning device calculating the current accuracy value of the second position information according to the second calculation information may include calculating a second time interval between the current time and the second positioning time, multiplying the second positioning speed by the second time interval to obtain a second value, and taking an absolute value of a difference between the second positioning accuracy value and the second value as the current accuracy value of the second position information.
It can be seen that by implementing this design, the th pointing device can accurately calculate the accuracy values of the th position information and the second position information with time, and the th pointing device can select more accurate position information from the th position information and the second position information as actual position information.
In possible designs, positioning information further includes indication information indicating whether th position information is valid, the second positioning information further includes second indication information indicating whether the second position information is valid, the th positioning device may further detect whether th indication message is used to indicate that th position information is valid and whether the second indication message is used to indicate that the second position information is valid, if th indication message is used to indicate that th position information is valid and the second indication message is used to indicate that the second position information is valid, the positioning device performs the steps of calculating th position information current precision value according to th calculation information and calculating second position information current precision value according to the second calculation information.
In possible designs, if the th indication message indicates that the 0 th position information is valid and the second indication message indicates that the second position information is invalid, the th positioning device determines the th position information as the position information where the th positioning device is actually located, and if the second position information is invalid and the th position information is valid, the th position information is more accurate than the second position information, so that the th position information can be directly determined as the position information where the th positioning device is actually located without re-calculating the current precision values of the th position information and the second position information.
In possible designs, if the th indication message indicates that the th position information is invalid and the second indication message indicates that the second position information is valid, the th positioning device determines the second position information as the position information where the th positioning device is actually located, when the second position information is valid and the th position information is invalid, the second position information is more accurate than the th position information, and therefore, the second position information can be directly determined as the position information where the th positioning device is actually located without calculating the current accuracy values of the th position information and the second position information.
In possible designs, positioning information further includes the direction of operation of the positioning device when th positioning information is obtained and the number of satellites used to obtain th positioning information, the second positioning information further includes the direction of operation of the second positioning device when second positioning information is obtained and the number of satellites used to obtain second positioning information, the rd positioning device, after determining that th positioning information is the actual position information of the th positioning device, may further transmit th positioning information, the direction of operation of the th positioning device when th positioning information is obtained and the number of satellites used to obtain th positioning information to the server for correlation, the th positioning device, after determining that second positioning information is the actual position information of the th positioning device, may further transmit second positioning information, the direction of operation of the second positioning device when second positioning information is obtained and the number of satellites used to obtain second positioning information to the server for correlation.
In a second aspect, an embodiment of the present invention provides pointing devices for use in a system including the pointing device and a second pointing device, the pointing device including functional units for performing the method provided in the above-mentioned aspect or further including functional units for performing a possible design of the method provided in the aspect.
In a third aspect, an embodiment of the present invention provides positioning apparatuses for use in a system including the positioning apparatus and a second positioning apparatus, the positioning apparatus including a processor, a memory, a transceiver, a bus system, and or more programs, the processor and the memory being connected via the bus system, and the processor and the transceiver being connected via the bus system, wherein the or more programs are stored in the memory, and the or more programs include instructions that, when executed by the positioning apparatus, cause the positioning apparatus to perform the method provided in or a possible design of the method provided in .
In a fourth aspect, embodiments of the invention provide computer readable storage media storing or more programs, or more programs including instructions for performing possible designs of the method provided in the aforementioned aspect or the method provided in the aforementioned aspect .
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic diagram of system architectures disclosed by the embodiments of the present invention;
FIG. 2 is a flow chart of positioning methods disclosed in the embodiments of the present invention;
FIG. 3 is a schematic flow chart of another positioning methods disclosed in the embodiments of the present invention;
FIG. 4 is a schematic structural diagram of positioning apparatuses disclosed in the embodiment of the present invention;
FIG. 5 is a schematic structural diagram of another positioning apparatuses disclosed in the embodiments of the present invention;
fig. 6 is a schematic structural diagram of another positioning devices disclosed by the embodiment of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention.
The embodiment of the invention discloses positioning methods and positioning equipment, which can improve the accuracy of positioning results, wherein the methods and the positioning equipment are based on the same concept of , and because the principles of solving the problems of the methods and the positioning equipment are similar, the positioning equipment and the methods can be implemented by mutually referring, and repeated parts are not repeated.
For clearly describing the scheme of the embodiment of the present invention, a service scenario and a system architecture that may be applied to the embodiment of the present invention are described below with reference to fig. 1.
Fig. 1 shows possible system architectures provided by the embodiment of the invention, as shown in fig. 1, the system architecture includes positioning device and second positioning device, where th positioning device may be any of devices with positioning function, such as a mobile phone with positioning function, a tablet computer, a vehicle-mounted T-Box, a vehicle-mounted navigation device, a vehicle machine, etc., where the second positioning device may include any of a vehicle machine with positioning function, a vehicle-mounted navigation device, a mobile phone with positioning function, a computer, etc., optionally, the th positioning device may be connected with the second positioning device through Universal Serial Bus (USB), CAN Bus, bluetooth, or WIFI.
Optionally, the system architecture further includes a server, such as a TSP server when the th positioning device is an onboard T-Box, the server wirelessly connecting with the th positioning device.
For example, the th positioning device may be a vehicle-mounted T-Box, which may have a poor ability of receiving positioning signals by an antenna thereof, and therefore may have an inaccurate positioning result of the vehicle-mounted T-Box, and may have a strong ability of receiving positioning signals by a vehicle-mounted device or a vehicle-mounted navigation device, etc. as the second positioning device, more accurate positioning results may be obtained as a final positioning result of the vehicle-mounted T-Box by implementing the embodiments of the present invention.
It is to be understood that the network architecture and the service scenario described in the embodiment of the present invention are for more clearly illustrating the technical solution of the embodiment of the present invention, and do not form a limitation on the technical solution provided in the embodiment of the present invention, and it is known by a person of ordinary skill in the art that the technical solution provided in the embodiment of the present invention is also applicable to similar technical problems along with the evolution of the network architecture and the appearance of a new service scenario.
The present embodiment will be described in further detail at based on the general aspects of the present embodiment described above.
Referring to fig. 2, fig. 2 is a schematic flow chart of positioning methods disclosed in the embodiment of the present invention, and as shown in fig. 2, the positioning method may include portions 201-204.
201. The th pointing device detects th pointing information at a preset period.
In the embodiment of the invention, the th positioning information comprises th position information where th positioning device is located currently and th calculation information, and the th calculation information is used for calculating the accuracy value of the th position information changing along with time.
In an embodiment of the present invention, for example, the th positioning device may detect th th positioning information every seconds or two seconds.
In an embodiment of the present invention, optionally, the th location information may include, but is not limited to, longitude information, latitude information, altitude information, and the like of a current location, optionally, the th Positioning device may detect the th location information through a Global Positioning System (GPS), or detect the th location information through an Assisted Global Positioning System (AGPS), or detect the th location information through a galileo satellite navigation System, or detect the th location information through a beidou satellite navigation System.
For example, when the accuracy value of th position information is 10 meters, the distance between th position information and the real position information of th positioning equipment is about equal to 10 meters, therefore, the smaller the accuracy value of the position information is, the closer the position information is to the real position information is proved.
For example, if the th position information is obtained, the th position information has an accuracy value of 10 meters, and after 2 seconds, the th positioning device runs for 30 meters, the nd position information after 2 seconds can be determined to have an accuracy value of 20 meters (i.e., 30 meters minus 10 meters).
202. the positioning device receives the second positioning information sent by the second positioning device with the preset period.
In this embodiment of the present invention, the second positioning information includes second position information detected by the second positioning device and second calculation information, and the second calculation information is used to calculate an accuracy value of the second position information over time.
In an embodiment of the present invention, the second pointing device may detect times the second pointing information every seconds or two seconds, for example.
In the embodiment of the present invention, optionally, the second location information may include, but is not limited to, longitude information, latitude information, altitude information, and the like of a current location. Optionally, the second Positioning device may detect the second position information through a Global Positioning System, or detect the second position information through an Assisted Global Positioning System (AGPS), or detect the second position information through a galileo satellite navigation System, or detect the second position information through a beidou satellite navigation System.
In the embodiment of the invention, the second position information has precision, and the precision value of the second position information may change along with the change of time. For example, if the second position information is obtained with an accuracy of 10 m, and the second positioning apparatus has been operated for 30 m after 2 seconds, it may be determined that the second position information has an accuracy of 20 m (i.e., 30 m minus 10 m) after 2 seconds.
203. The th pointing device calculates the current accuracy value of the th position information based on the th calculated information and calculates the current accuracy value of the second position information based on the second calculated information.
In the embodiment of the invention, after the th positioning device detects the th positioning information and receives the second positioning information, the current accuracy value of the th position information is calculated according to the th calculation information, and the current accuracy value of the second position information is calculated according to the second calculation information.
In the embodiment of the invention, the execution sequence of the 202 part and the 203 part is not in sequence.
204. The th pointing device determines pieces of position information having smaller current accuracy values from the th and second position information as position information where the th pointing device is actually located.
For example, if the current accuracy value of th position information is 50 meters and the current accuracy value of the second position information is 20 meters, the second position information is used as the position information where th positioning device is actually located.
After receiving the position information sent by the th positioning device, the TSP server may send the position information to a user mobile phone application so that the user can view the position of the vehicle, or the TSP server may send the position information to a rescue center so that the rescue center rescues the vehicle according to the position information.
In the method described in fig. 2, the th positioning device detects th position information and th calculation information at a preset period, receives second position information and second calculation information detected by the second positioning device sent at the preset period, calculates th current precision value of the position information according to st calculation information, calculates second current precision value according to the second calculation information, and finally, the th positioning device determines position information with smaller current precision value from the th position information and the second position information as th position information where the positioning device is actually located, it can be seen that the rd positioning device can select more precise positioning results from the self-obtained positioning results and the positioning results obtained by the second positioning device as final positioning results, thereby improving the accuracy of the positioning results.
, the calculation information includes 0 th positioning time, 1 th positioning speed and 2 th positioning accuracy value, the 3 th positioning time is the time when 4 th position information is obtained, the 5 th positioning speed is the speed of th positioning device when th position information is obtained, the th positioning accuracy value is the accuracy value of th position information when th position information is obtained, the second calculation information includes second positioning time, second positioning speed and second positioning accuracy value, the second positioning time is the time when second position information is obtained, the second positioning speed is the speed of the second positioning device when second position information is obtained, the second positioning accuracy value is the accuracy value of the second position information when the second position information is obtained, accordingly, the specific implementation manner of the positioning device calculating the current accuracy value of the th position information according to the th calculation information may include the following steps:
11) the th positioning device calculates the th time interval between the current time to the th positioning time.
12) The th positioning device multiplies the th positioning speed by the th time interval to obtain a th numerical value, and the absolute value of the difference between the th positioning accuracy value and the th numerical value is used as the current accuracy value of the th position information.
Accordingly, embodiments of the positioning apparatus calculating the current accuracy value of the second location information based on the second calculated information may include the steps of:
21) the th positioning device calculates a second time interval between the current time and the second positioning time.
22) And , the positioning device multiplies the second positioning speed by the second time interval to obtain a second numerical value, and the absolute value of the difference between the second positioning accuracy value and the second numerical value is used as the current accuracy value of the second position information.
For example, if the time interval between the current time and the th positioning time is 2 seconds (i.e., the th time interval is 2 seconds), the th positioning speed is 20 meters per second, the th value is 40 meters, and if the th positioning accuracy value is 10 meters, the th positioning device calculates the th position information current accuracy value to be 30 meters.
By implementing this embodiment, the th position information and the second position information can be accurately calculated as the accuracy values over time, and the th positioning device can select more accurate position information from the th position information and the second position information as the actual position information.
Referring to fig. 3, fig. 3 is a schematic flow chart of another positioning methods disclosed in the embodiment of the present invention, and as shown in fig. 3, the positioning method may include portions 301 to 309.
301. The th pointing device detects th pointing information at a preset period.
In the embodiment of the invention, the th positioning information comprises th position information where th positioning device is located currently and th calculation information, and the th calculation information is used for calculating the accuracy value of the th position information changing along with time.
In practical application, the th positioning device determines the position information obtained by positioning to be invalid due to weak signals of a GPS (global positioning system) or excessively long positioning time, and when the position information obtained by positioning is invalid, the position information obtained by positioning is very inaccurate.
In an embodiment of the present invention, the th location information may be detected by the th positioning device through a global positioning system, a beidou satellite navigation system, a galileo satellite navigation system or an AGPS, and the th location information further includes an operation direction of the th positioning device when obtaining the th location information and the number of satellites used for obtaining the th location information.
302. the positioning device receives the second positioning information sent by the second positioning device with the preset period.
In this embodiment of the present invention, the second positioning information includes second position information detected by the second positioning device and second calculation information, and the second calculation information is used to calculate an accuracy value of the second position information over time.
In this embodiment of the present invention, the second positioning information further includes second indication information for indicating whether the second positioning information is valid. When the second indication information indicates that the second location information is invalid, it may be determined that the second location information is very inaccurate.
In an embodiment of the present invention, the second location information is detected by the second positioning device through a global positioning system, a beidou satellite navigation system, a galileo satellite navigation system or an AGPS. The second positioning information further includes a direction of travel of the second positioning device when obtaining the second position information and a number of satellites used to obtain the second position information.
303. The th positioning device detects whether the th indication message is used to indicate that the th location information is valid and whether the second indication message is used to indicate that the second location information is valid.
In the embodiment of the present invention, after the th positioning device detects the th positioning information and receives the second positioning information, it will be detected whether the th indication message is used to indicate that the th position information is valid and whether the second indication message is used to indicate that the second position information is valid.
If the th indication message indicates that the th location information is valid and the second indication message indicates that the second location information is valid, then element 304 is performed.
Therefore, by executing part 303, it can be determined whether the th position information and the second indication message are both valid, so that when the th position information and the second position information are both valid, it can be determined which position information is more accurate by calculating the th position information and the second position information current accuracy value.
304. The th pointing device calculates the current accuracy value of the th position information based on the th calculated information and calculates the current accuracy value of the second position information based on the second calculated information.
305. The th pointing device determines pieces of position information having smaller current accuracy values from the th and second position information as position information where the th pointing device is actually located.
306. If the th indication message indicates that the th location information is valid and the second indication message indicates that the second location information is invalid, the th positioning device determines the th location information as the location information where the th positioning device is actually located.
When the second position information is invalid and the th position information is valid, the th position information is more accurate than the second position information, so that the th position information can be directly determined as the position information where the th positioning device is actually located without calculating the current accuracy values of the th position information and the second position information.
307. If the th indication message indicates that the th location information is invalid and the second indication message indicates that the second location information is valid, the th positioning device determines the second location information as the location information where the th positioning device is actually located.
When the second position information is valid and the th position information is invalid, the second position information is more accurate than the th position information, and thus, without calculating the th position information and the current accuracy value of the second position information, the second position information can be directly determined as the position information where the th positioning device is actually located.
308. The th positioning device sends th position information, the moving direction of the th positioning device when obtaining th position information and the number of satellites used for obtaining th position information to the server for relevant operation.
In the embodiment of the present invention, after the th positioning device determines the th position information as the position information of the th positioning device, the th position information, the operation direction of the th positioning device when the th positioning information is obtained, and the number of satellites used for obtaining the th position information can be sent to the server.
309. The th positioning device sends the second position information, the direction of travel of the second positioning device when obtaining the second position information, and the number of satellites used to obtain the second position information to the server for relevant operations.
In this embodiment of the present invention, after the th positioning device determines the second position information as the position information where the th positioning device is actually located, the th positioning device sends the second position information, the operation direction of the second positioning device when obtaining the second position information, and the number of satellites used for obtaining the second position information to the server for related operations.
In practice, the th positioning device generally needs to perform operations related to the direction of travel of the th positioning device when obtaining positioning information and the number of satellites used to obtain position information to the server by performing the 308 and 309 parts, a more accurate direction of travel of the th positioning device and the number of satellites used to obtain position information can be transmitted to the server.
The embodiment of the present invention may perform division of functional units on the positioning device according to the above method example, for example, each functional unit may be divided corresponding to each function, or two or more functions may be integrated into units.
Fig. 4 shows possible structural schematic diagrams of the positioning apparatus in the above embodiment, as shown in fig. 4, the positioning apparatus includes a th detecting unit 401, a receiving unit 402, a calculating unit 403, and a determining unit 404, wherein:
an th detecting unit 401 for detecting th positioning information at a preset cycle, the th positioning information including th position information at which the positioning apparatus is currently located and th calculation information, the th calculation information being used for calculating an accuracy value of the th position information with time.
A receiving unit 402, configured to receive second positioning information sent by a second positioning device at a preset period, where the second positioning information includes second position information detected by the second positioning device and second calculation information, and the second calculation information is used to calculate an accuracy value of the second position information over time.
In the embodiment of the present invention, the th detecting unit 401 sends th calculation information to the calculating unit 403 to calculate the current accuracy value of the th position information after detecting the th positioning information, and the receiving unit 402 sends the second calculation information to the calculating unit 403 to calculate the current accuracy value of the second position information after receiving the second calculation information.
A calculating unit 403 for calculating a current accuracy value of the th position information according to the th calculation information, and calculating a current accuracy value of the second position information according to the second calculation information.
A determining unit 404, configured to determine pieces of position information with smaller current precision values from the th position information and the second position information as the position information where the positioning apparatus is actually located.
alternative embodiments, the calculation information includes a 0 th positioning time, a 1 th positioning speed, and a th positioning accuracy value, the th positioning time is a time when th position information is obtained, the th positioning speed is a speed of the positioning device when th position information is obtained, and the th positioning accuracy value is an accuracy value of the th position information when th position information is obtained, the second calculation information includes a second positioning time, a second positioning speed, and a second positioning accuracy value, the second positioning time is a time when second position information is obtained, the second positioning speed is a speed of the second positioning device when second position information is obtained, and the second positioning accuracy value is an accuracy value of the second position information when the second position information is obtained.
The way for the calculating unit 403 to calculate the current accuracy value of the th position information according to the th calculation information is specifically as follows:
the th time interval between the current time and the th positioning time is calculated.
And multiplying the th positioning speed by the th time interval to obtain a th numerical value, and taking the absolute value of the difference between the th positioning accuracy value and the th numerical value as the current accuracy value of the th position information.
The way for calculating the current precision value of the second location information by the calculating unit 403 according to the second calculation information is specifically as follows:
a second time interval between the current time and the second location time is calculated.
And multiplying the second positioning speed by the second time interval to obtain a second numerical value, and taking the absolute value of the difference between the second positioning accuracy value and the second numerical value as the current accuracy value of the second position information.
Please , refer to fig. 5, and fig. 5 is a schematic structural diagram of another positioning apparatuses disclosed in the embodiments of the present invention, wherein the positioning apparatus shown in fig. 5 is optimized by the positioning apparatus shown in fig. 4, compared with the positioning apparatus shown in fig. 4, the positioning apparatus shown in fig. 5 may further include a second detecting unit 405 and a sending unit 406 in addition to all units of the positioning apparatus shown in fig. 4, wherein:
a second detecting unit 405 for detecting whether the th indication message is used for indicating that the th location information is valid, and whether the second indication message is used for indicating that the second location information is valid.
The calculating unit 403 is specifically configured to:
when the second detecting unit 405 detects that the th indication message indicates that the th position information is valid and the second indication message indicates that the second position information is valid, a current accuracy value of the th position information is calculated according to the th calculation information and a current accuracy value of the second position information is calculated according to the second calculation information.
The determining unit 404 is further configured to determine the th position information as the position information where the positioning apparatus is actually located when the second detecting unit 405 detects that the th indication message is used to indicate that the th position information is valid and the second indication message is used to indicate that the second position information is invalid.
The determining unit 404 is further configured to determine the second location information as the location information where the positioning device is actually located when the second detecting unit 405 detects that the th indication message is used to indicate that the th location information is invalid and the second indication message is used to indicate that the second location information is valid.
A sending unit 406, configured to send the th position information, the operation direction of the positioning apparatus when the th position information is obtained, and the number of satellites used for obtaining the th position information to the server for relevant operation when the determining unit 404 determines that the th position information is the position information where the positioning apparatus is actually located.
In the embodiment of the present invention, the th position information is detected by the th detecting unit through the global positioning system, the second position information is detected by the second positioning device through the global positioning system, the th positioning information further includes the operation direction of the positioning device when the th position information is obtained and the number of satellites used for obtaining the th position information, and the second positioning information further includes the operation direction of the second positioning device when the second position information is obtained and the number of satellites used for obtaining the second position information.
The sending unit 406 is further configured to, when the determining unit 404 determines that the second location information is the location information where the positioning apparatus is actually located, send the second location information, the operation direction of the second positioning apparatus when obtaining the second location information, and the number of satellites used for obtaining the second location information to the server for performing related operations.
Referring to fig. 6, fig. 6 is a schematic view of another possible structures of the positioning device disclosed in the embodiment of the present invention, as shown in fig. 6, the positioning device includes a processor 601, a memory 602, a bus system 603, and a transceiver 604, wherein the processor 601 and the memory 602 are connected via the bus system 603, and the processor 601 and the transceiver 604 are connected via the bus system 603.
The Processor 601 may be a Central Processing Unit (CPU), a general purpose Processor, a coprocessor, a Digital Signal Processor (DSP), an Application-Specific Integrated Circuit (ASIC), a field programmable Array (FPGA) or other programmable logic device, transistor logic, hardware components, or any combination thereof, the Processor 601 may also be a combination that implements computing functionality, such as a combination of or more microprocessors, a combination of DSPs and microprocessors, etc. the transceiver 604 is used to support communication between the pointing device and other network elements, such as a second pointing device and a server.
Wherein or more programs are stored in memory 602, the or more programs including instructions that, when executed by a positioning device, cause the positioning device to perform processes 201-204 of FIG. 2, processes 301-309 of FIG. 3, and/or other processes of the techniques described herein.
It should be noted that, in the above embodiments, the description of each embodiment has a respective emphasis, and parts of one embodiment that are not described in detail can be referred to the related description of other embodiments.
The steps in the method of the embodiment of the invention can be sequentially adjusted, combined and deleted according to actual needs.
The modules in the user terminal of the embodiment of the invention can be merged, divided and deleted according to actual needs.
Those skilled in the art will appreciate that all or part of the steps in the methods of the above embodiments may be implemented by a program instructing hardware associated with the terminal device, where the program may be stored in computer-readable storage medium, where the storage medium may include flash Memory, Read-Only Memory (ROM), Random Access Memory (RAM), magnetic or optical disk, and so on.
The positioning methods and positioning apparatuses disclosed in the embodiments of the present invention are described in detail above, and the principles and embodiments of the present invention are explained herein by applying specific examples, and the above description of the embodiments is only used to help understand the method and the core idea of the present invention, meanwhile, for persons in the art, there are changes in the specific embodiments and the application scope according to the idea of the present invention, and in conclusion, the content of the present description should not be construed as a limitation to the present invention.
Claims (12)
- positioning method, applied to a system comprising a th positioning device and a second positioning device, the method comprising:the th positioning device detects th positioning information at a preset period, the 0 th positioning information comprises th position information where the th positioning device is located currently and th calculation information, the th calculation information is used for calculating an accuracy value of the th position information along with time, and the accuracy value of the th position information is a closeness degree between the th position information and real position information of the th positioning device;the positioning device receives second positioning information sent by the second positioning device in the preset period, wherein the second positioning information comprises second position information detected by the second positioning device and second calculation information, the second calculation information is used for calculating an accuracy value of the second position information along with time, and the accuracy value of the second position information is the proximity degree between the second position information and the real position information of the second positioning device;the positioning device calculating the current precision value of the th position information according to the th calculation information and calculating the current precision value of the second position information according to the second calculation information;the th positioning device determining current position information with smaller accuracy value from the th position information and the second position information as the position information where the th positioning device is actually located;the th calculation information includes a th positioning time, a 0 th positioning speed and a 1 th positioning accuracy value, the th positioning time is the time when the th position information is obtained, the th positioning speed is the speed of th positioning equipment when the th position information is obtained, the th positioning accuracy value is the accuracy value of the th position information when the th position information is obtained, the second calculation information includes a second positioning time, a second positioning speed and a second positioning accuracy value, the second positioning time is the time when the second position information is obtained, the second positioning speed is the speed of the second positioning equipment when the second position information is obtained, and the second positioning accuracy value is the accuracy value of the second position information when the second position information is obtained.
- 2. The method of claim 1, wherein calculating the current accuracy value of the th position information according to the th calculation information comprises:calculating a th time interval between the current time and the th positioning time;multiplying the th positioning speed by the th time interval to obtain a th numerical value, and taking the absolute value of the difference between the th positioning accuracy value and the th numerical value as the current accuracy value of the th position information;calculating the current precision value of the second position information according to the second calculation information, wherein the calculation comprises the following steps:calculating a second time interval from the current time to the second positioning moment;and multiplying the second positioning speed by the second time interval to obtain a second numerical value, and taking the absolute value of the difference between the second positioning accuracy value and the second numerical value as the current accuracy value of the second position information.
- 3. The method as claimed in claim 1, wherein the th positioning information further comprises th indication information for indicating whether the th position information is valid, wherein the second positioning information further comprises second indication information for indicating whether the second position information is valid, wherein the method further comprises:detecting whether the th indication message is used to indicate that the th location information is valid and the second indication message is used to indicate that the second location information is valid;if the th indicating message indicates that the th position information is valid and the second indicating message indicates that the second position information is valid, the steps of calculating the current accuracy value of the th position information according to the th calculation information and calculating the current accuracy value of the second position information according to the second calculation information are performed.
- 4. The method as claimed in claim 3, wherein if the th indication message is used to indicate that the th position information is valid and the second indication message is used to indicate that the second position information is invalid, the th positioning device determines the th position information as the position information where the th positioning device is actually located.
- 5. The method as claimed in claim 3, wherein if the th indication message is used to indicate that the th location information is invalid and the second indication message is used to indicate that the second location information is valid, the th positioning device determines the second location information as the location information where the th positioning device is actually located.
- 6. The method of any of claims 1-5, wherein the positioning information further includes an orientation of operation of the positioning device when obtaining the position information and a number of satellites used to obtain the position information, and wherein the second positioning information further includes an orientation of operation of the second positioning device when obtaining the second position information and a number of satellites used to obtain the second position information, the method further comprising:if the th position information is determined to be the position information of the th positioning device, sending the th position information, the operation direction of the th positioning device when obtaining the th position information, and the number of satellites used for obtaining the th position information to a server for relevant operation;and if the second position information is determined to be the position information of the th positioning device, sending the second position information, the running direction of the second positioning device when the second position information is obtained, and the number of the satellites used for obtaining the second position information to a server for relevant operation.
- The locator device of claim , wherein the locator device is adapted to a system comprising the locator device and a second locator device, the locator device comprising:an detecting unit, configured to detect th positioning information at a preset period, where the th positioning information includes th position information where the positioning apparatus is currently located and th calculation information, where the th calculation information is used to calculate an accuracy value of the th position information over time, and the th position information is a proximity between the th position information and real position information of the positioning apparatus;a receiving unit, configured to receive second positioning information sent by the second positioning device in the preset period, where the second positioning information includes second position information detected by the second positioning device and second calculation information, the second calculation information is used to calculate an accuracy value of the second position information over time, and the accuracy value of the second position information is a proximity degree between the second position information and actual position information of the second positioning device;a calculating unit, for calculating the current accuracy value of the th position information according to the th calculation information, and calculating the current accuracy value of the second position information according to the second calculation information;a determining unit configured to determine pieces of location information having smaller current accuracy values as location information where the positioning apparatus is actually located, from the th location information and the second location information;the th calculation information includes a th positioning time, a 0 th positioning speed and a th positioning accuracy value, the th positioning time is the time when the th position information is obtained, the th positioning speed is the speed of the positioning device when the th position information is obtained, the th positioning accuracy value is the accuracy value of the th position information when the th position information is obtained, the second calculation information includes a second positioning time, a second positioning speed and a second positioning accuracy value, the second positioning time is the time when the second position information is obtained, the second positioning speed is the speed of the second positioning device when the second position information is obtained, and the second positioning accuracy value is the accuracy value of the second position information when the second position information is obtained.
- 8. The positioning apparatus according to claim 7, wherein said calculating unit calculates the current accuracy value of the th position information according to the th calculation information by:calculating a th time interval between the current time and the th positioning time;multiplying the th positioning speed by the th time interval to obtain a th numerical value, and taking the absolute value of the difference between the th positioning accuracy value and the th numerical value as the current accuracy value of the th position information;the way for the calculating unit to calculate the current precision value of the second location information according to the second calculation information is specifically as follows:calculating a second time interval from the current time to the second positioning moment;and multiplying the second positioning speed by the second time interval to obtain a second numerical value, and taking the absolute value of the difference between the second positioning accuracy value and the second numerical value as the current accuracy value of the second position information.
- 9. The positioning apparatus as claimed in claim 7, wherein the th positioning information further comprises th indication information for indicating whether the th position information is valid, the second positioning information further comprises second indication information for indicating whether the second position information is valid, the positioning apparatus further comprising:a second detecting unit, configured to detect whether the th indication message is used for indicating that the th location information is valid, and whether the second indication message is used for indicating that the second location information is valid;the calculation unit is specifically configured to:when the second detecting unit detects that the th indicating message is used for indicating that the th position information is valid and the second indicating message is used for indicating that the second position information is valid, calculating a current accuracy value of the th position information according to the th calculation information and calculating the current accuracy value of the second position information according to the second calculation information.
- 10. The positioning apparatus of claim 9,the determining unit is further configured to determine the th position information as the position information where the positioning apparatus is actually located when the second detecting unit detects that the th indication message is used to indicate that the th position information is valid and the second indication message is used to indicate that the second position information is invalid.
- 11. The positioning apparatus of claim 9,the determining unit is further configured to determine the second location information as the location information where the positioning apparatus is actually located when the second detecting unit detects that the th indication message is used to indicate that the th location information is invalid and the second indication message is used to indicate that the second location information is valid.
- 12. The position apparatus of any one of claims 7 to 11 and , wherein the th positioning information further comprises an operation direction of the position apparatus when obtaining the th position information and a number of satellites used for obtaining the th position information, wherein the second positioning information further comprises an operation direction of the second position apparatus when obtaining the second position information and a number of satellites used for obtaining the second position information, and wherein the position apparatus further comprises:a sending unit, configured to send, when the determining unit determines that the th location information is the location information where the positioning apparatus is actually located, the th location information, the operation direction of the positioning apparatus when the th location information is obtained, and the number of satellites used for obtaining the th location information to a server for performing related operations;the sending unit is further configured to send the second location information, the operation direction of the second location device when the second location information is obtained, and the number of satellites used for obtaining the second location information to a server for performing related operations when the determining unit determines that the second location information is the location information where the location device is actually located.
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| WO2020150960A1 (en) * | 2019-01-24 | 2020-07-30 | 深圳市大疆创新科技有限公司 | Positioning information fusion method and apparatus, and intelligent terminal |
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