CN108957512A

CN108957512A - Positioning device and method and automatic running device

Info

Publication number: CN108957512A
Application number: CN201710385778.2A
Authority: CN
Inventors: 杨洲; 周昶; 滕哲铭
Original assignee: Positec Power Tools Suzhou Co Ltd
Current assignee: Positec Power Tools Suzhou Co Ltd
Priority date: 2017-05-26
Filing date: 2017-05-26
Publication date: 2018-12-07

Abstract

This disclosure relates to positioning device and method and automatic running device, wherein positioning device includes the first locating module, sensor module and processing module, pedestrian's dead reckoning independent of external environment is introduced in the position fixing process for boundary, so that pedestrian's dead reckoning and other location technologies blend to construct virtual boundary, positioning accuracy is high, the boundary of building is accurate, and without laying physical boundary, reduces the complexity of user's operation.

Description

Positioning device and method and automatic running device

Technical field

This disclosure relates to field of locating technology more particularly to a kind of positioning device and method and automatic running device.

Background technique

With the development of science and technology, intelligent automatic running device is well known, since automatic running device can To execute pre-set inter-related task based on automatic pre-set program, without artificial operation and intervention, therefore in work It is very widely used in industry application and family product.The robot that industrial application such as performs various functions, family product On application such as grass trimmer, dust catcher, the automatic running devices of these intelligence dramatically save time of people, to industrial Production and home life all bring great convenience.

In practical applications, it usually needs this automatic running device automatically moves in a preset working region It is dynamic, and without departing from preset working region, therefore just it needs to be determined that the boundary of working region.

In the related technology, physical boundary could are set by way of laying boundary line, however this mode is to automatically walk The user of equipment increases trouble.

In the related technology, skill can also be positioned by GPS (Global Positioning System, global positioning system) The wireless location technologies such as the satellite positioning tech such as art or UWB (Ultra Wideband, ultra wide band) location technology construct fictitious line Boundary, however satellite positioning or wireless location not can guarantee determining for boundary when signal blocks occur vulnerable to environmental disturbances Position precision.

The boundary of working region that is how easy, being accurately determined automatic running device, is problem to be solved.

Summary of the invention

In view of this, the present disclosure proposes a kind of positioning device and method and automatic running device, with simplicity, accurately Determine the boundary of the working region of automatic running device.

The one side of the disclosure proposes a kind of positioning device, which is characterized in that the positioning device can be by carrier Walking is carried, the positioning device includes: the first locating module, the first positioning knot of the carrier for obtaining positioning device Fruit；Sensor module, the acceleration and angle parameter that the carrier for measurement and positioning device walks；And processing module, quilt It is configured that under the first mode for the boundary for determining the working range of automatic running device, if the first positioning knot Fruit meets quality requirements, then the position of the carrier of the positioning device is determined according to first positioning result；If described First positioning result is unsatisfactory for quality requirements, then according to the acceleration and the angle parameter, is calculated based on pedestrian's dead reckoning Method determines the position of the carrier of the positioning device；And the position of the carrier according to the positioning device, determine described in Boundary.

Another aspect of the present disclosure proposes a kind of positioning device, which is characterized in that the positioning device can be by carrying Person carries walking, and the positioning device includes: the first locating module, the first positioning knot of the carrier for obtaining positioning device Fruit；Sensor module, the acceleration and angle parameter that the carrier for measurement and positioning device walks；And processing module, quilt It is configured that under the first mode for the boundary for determining the working range of automatic running device, is tied according to first positioning Fruit determines the third place of the carrier of the positioning device；It is pushed away according to the acceleration and angle parameter, based on pedestrian's boat position Calculate the 4th position that algorithm determines the carrier of the positioning device；According to the third place and the 4th position, determine The position of the carrier of the positioning device；And the position of the carrier according to the positioning device, determine the boundary.

Another aspect of the present disclosure proposes a kind of automatic running device, which is characterized in that the automatic running device packet Equipment body and above-mentioned positioning device are included, wherein the positioning device can removably be installed on the equipment master Body.

Another aspect of the present disclosure proposes a kind of localization method, which comprises obtains the carrier of positioning device The first positioning result, carrier walking acceleration and angle parameter；For determining the working range of automatic running device Boundary first mode under, it is true according to first positioning result if first positioning result meets quality requirements The position of the carrier of the fixed positioning device；If first positioning result is unsatisfactory for quality requirements, added according to described Speed and the angle parameter determine the position of the carrier of the positioning device based on pedestrian's dead reckoning algorithm；And root According to the position of the carrier of the positioning device, the boundary is determined.

In a kind of possible embodiment, the method may also include that the step for obtaining the carrier of the positioning device The model parameter of long cadence model, wherein the step-length cadence model indicates the pass between the cadence and step-length of the carrier System；Using the acceleration and the angle parameter, the carrier of the positioning device is determined based on pedestrian's dead reckoning algorithm Position, it may include: according to the model parameter of the step-length cadence model and the acceleration and the angle parameter, base The position of the carrier of the positioning device is determined in pedestrian's dead reckoning algorithm.

Model parameter and the acceleration in a kind of possible embodiment, using the step-length cadence model With the angle parameter, the position of the carrier of the positioning device is determined based on pedestrian's dead reckoning algorithm, it may include: work as institute When stating the first positioning result and being unsatisfactory for quality requirements, obtains nearest the first positioning result for meeting quality requirements and navigate as pedestrian Position calculates the initial position of algorithm；The real-time course of the carrier is determined according to the angle parameter；According to the acceleration Determine the real-time cadence of the carrier；According to the model parameter of the real-time cadence and the step-length cadence model, institute is utilized State the real-time step-length that step-length cadence model determines the carrier；And according to the real-time course, the real-time step-length and The initial position determines the position of the carrier of the positioning device based on pedestrian's dead reckoning algorithm.

In a kind of possible embodiment, the model ginseng of the step-length cadence model of the carrier of the positioning device is obtained Number, it may include: the cadence of the carrier is determined according to the acceleration that the sensor module measures and is striden a little, according to described A little corresponding first positioning result that strides determines the step-length of the carrier, determines the step according to the cadence and the step-length The model parameter of long cadence model, wherein described stride a little as the characteristic point of the every stride of the carrier.

In a kind of possible embodiment, the method may also include that in first positioning result from being unsatisfactory for matter When amount condition becomes meeting quality requirements, obtain the carrier's of the positioning device determined based on pedestrian's dead reckoning algorithm First position and according to the first positioning result of first locating module determine the positioning device carrier second Position；According to the first position and the second position, to the base during first positioning result is unsatisfactory for quality requirements It is corrected in the position of the carrier for the positioning device that pedestrian's dead reckoning algorithm determines.

In a kind of possible embodiment, according to the position of the carrier of the positioning device, the boundary is determined, it can Include: that interpolation processing is carried out to the position of the carrier of the positioning device determined based on pedestrian's dead reckoning algorithm, obtains The position of the carrier of the positioning device after interpolation processing；To the position of the carrier of the positioning device after interpolation processing It sets and smothing filtering is carried out according to the position of the carrier of the determining positioning device of first positioning result, to determine State boundary.

In a kind of possible embodiment, first locating module can be satellite positioning module, first positioning It as a result is satellite positioning result.

In a kind of possible embodiment, the method may also include that according to the received satellite number of satellite positioning module One or both of with the positioning states of satellite positioning module, judge satellite positioning module the satellite positioning result whether Meet quality requirements.

In a kind of possible embodiment, according to determining for the received satellite number of satellite positioning module and satellite positioning module One or both of position state, judges whether the satellite positioning positioning result of satellite positioning module meets quality requirements, Can include: in the case where positioning states are designated state and satellite number is not less than threshold value, judge that the satellite positioning result is full Sufficient quality requirements.

In a kind of possible embodiment, the method may also include that for positioning the automatic running device Under the second mode of position, according at least one of first positioning result and inertial positioning result, determine described in The position of automatic running device, wherein the inertial positioning according to the acceleration and angle parameter, based on inertia the result is that lead Boat calculates what algorithm determined.

In a kind of possible embodiment, the inertial navigation calculates that algorithm includes INS algorithm.

In a kind of possible embodiment, pedestrian's dead reckoning algorithm includes PDR algorithm.

In a kind of possible embodiment, first locating module includes UWB locating module.

Another aspect of the present disclosure proposes a kind of localization method, which comprises obtains the carrier of positioning device The first positioning result, carrier walking acceleration and angle parameter；For determining the working range of automatic running device Boundary first mode under, the third place of the carrier of the positioning device is determined according to first positioning result；Root The 4th of the carrier of the positioning device is determined according to the acceleration and angle parameter, based on pedestrian's dead reckoning algorithm It sets；According to the third place and the 4th position, the position of the carrier of the positioning device is determined；And according to described The position of the carrier of positioning device determines the boundary.

In a kind of possible embodiment, according to the third place and the 4th position, the positioning dress is determined The position of the carrier set, it may include: according to the fusion of both the third place and the 4th position, determine the positioning The position of the carrier of device.

In a kind of possible embodiment, according to the fusion of both the third place and the 4th position, determine The position of the carrier of the positioning device, it may include: according to the weighted sum of the third place and the 4th position, determine The position of the carrier of the positioning device.

In a kind of possible embodiment, the method also includes: according to the quality of the first positioning result, determine described in Shared weight in each leisure weighted sum of the third place and the 4th position.

In a kind of possible embodiment, according to the quality of the first positioning result, the third place and described is determined Shared weight in each leisure weighted sum in 4th position, it may include: with the raising of the quality of first positioning result, Increase the third place weight shared in the weighted sum, and it is shared in the weighted sum to reduce the 4th position Weight；With the reduction of the quality of first positioning result, it is shared in the weighted sum to reduce the third place Weight, and increase the 4th position weight shared in the weighted sum.

In a kind of possible embodiment, first locating module is satellite positioning module, the first positioning knot Fruit is satellite positioning result.

In a kind of possible embodiment, the method may also include that according to the received satellite number of satellite positioning module One or both of with the positioning states of satellite positioning module, the matter of the satellite positioning result of satellite positioning module is judged Amount.

In a kind of possible embodiment, according to the third place and the 4th position, the positioning dress is determined The position of the carrier set, it may include: the 4th position according to the third place at striding and at striding, really Surely the position of the carrier of the positioning device at striding；The position of a carrier for the positioning device at striding is carried out Interpolation processing obtains the position of the carrier of the positioning device；It is wherein described to stride a little as the every stride of the carrier Characteristic point.

In a kind of possible embodiment, according to the third place and the 4th position, the positioning dress is determined The position of the carrier set, it may include: interpolation processing is carried out to the 4th position at striding, the after obtaining interpolation the 4th Position；According to the 4th position after the third place and the interpolation, the position of the carrier of the positioning device is determined；Its Described in stride a little be the every stride of the carrier characteristic point.

In a kind of possible embodiment, the method may also include that the step for obtaining the carrier of the positioning device The model parameter of long cadence model, wherein the step-length cadence model indicates the pass between the cadence and step-length of the carrier System；The of the carrier of the positioning device is determined according to the acceleration and angle parameter, based on pedestrian's dead reckoning algorithm Four positions, comprising: according to the model parameter of the step-length cadence model and the acceleration and the angle parameter, be based on Pedestrian's dead reckoning algorithm determines the 4th position of the carrier of the positioning device.

In a kind of possible embodiment, according to the model parameter of the step-length cadence model and the acceleration With the angle parameter, the 4th position of the carrier of the positioning device is determined based on pedestrian's dead reckoning algorithm, it may include: Obtain the initial position of pedestrian's dead reckoning algorithm；The real-time course of the carrier is determined according to the angle parameter；According to The acceleration determines the real-time cadence of the carrier；Joined according to the model of the real-time cadence and the step-length cadence model Number, the real-time step-length of the carrier is determined using the step-length cadence model；And according to the real-time course, it is described in real time Step-length and the initial position determine the 4th position of the carrier of the positioning device based on pedestrian's dead reckoning algorithm.

In a kind of possible embodiment, the method also includes: in the position for positioning the automatic running device Under the second mode set, according at least one of first positioning result and inertial positioning result, determination is described certainly The position of dynamic walking arrangement, wherein the inertial positioning is the result is that according to the acceleration and angle parameter, be based on inertial navigation Calculate what algorithm determined.

Positioning device, localization method and the automatic running device of all aspects of this disclosure are in the position fixing process for boundary Pedestrian's dead reckoning independent of external environment is introduced, so that pedestrian's dead reckoning and other location technology phases It merges to construct virtual boundary, positioning accuracy is high, and the boundary of building is accurate, and without laying physical boundary, reduces user's operation Complexity.

According to below with reference to the accompanying drawings to detailed description of illustrative embodiments, the other feature and aspect of the disclosure will become It is clear.

Detailed description of the invention

Comprising in the description and constituting the attached drawing of part of specification and specification together illustrates the disclosure Exemplary embodiment, feature and aspect, and for explaining the principles of this disclosure.

Fig. 1 shows a kind of schematic diagram of illustrative application environment of the embodiment of the present disclosure.

Fig. 2 shows the structure charts according to the positioning device of one embodiment of the disclosure.

Fig. 3 shows an exemplary flow chart of the treatment process of processing module.

Fig. 4 shows an exemplary flow chart of the treatment process of processing module.

Fig. 5 shows the exemplary schematic diagram that the process to stride a little is determined according to acceleration.

Fig. 6 shows an exemplary flow chart of the treatment process of processing module.

Fig. 7 shows the exemplary schematic diagram that initial heading is determined by linear fit.

Fig. 8 shows an exemplary flow chart of the treatment process of processing module.

Fig. 9 a, Fig. 9 b are shown to the corrected exemplary schematic diagram of the positioning result of pedestrian's dead reckoning algorithm.

Figure 10 shows an exemplary flow chart of the treatment process of processing module.

Figure 11 shows the structure chart of the positioning device according to one embodiment of the disclosure.

Figure 12 shows an exemplary flow chart of the treatment process of processing module.

Figure 13 shows a kind of structure chart of automatic running device according to the embodiment of the present disclosure.

Figure 14 shows a kind of flow chart of localization method according to the embodiment of the present disclosure.

Figure 15 shows a kind of flow chart of localization method according to the embodiment of the present disclosure.

Figure 16 a- Figure 16 c, shows according to the embodiment of the present disclosure using exemplary schematic diagram.

Specific embodiment

Various exemplary embodiments, feature and the aspect of the disclosure are described in detail below with reference to attached drawing.It is identical in attached drawing Appended drawing reference indicate element functionally identical or similar.Although the various aspects of embodiment are shown in the attached drawings, remove It non-specifically points out, it is not necessary to attached drawing drawn to scale.

Dedicated word " exemplary " means " being used as example, embodiment or illustrative " herein.Here as " exemplary " Illustrated any embodiment should not necessarily be construed as preferred or advantageous over other embodiments.

In addition, giving numerous details in specific embodiment below to better illustrate the disclosure. It will be appreciated by those skilled in the art that without certain details, the disclosure equally be can be implemented.In some instances, for Method, means, element and circuit well known to those skilled in the art are not described in detail, in order to highlight the purport of the disclosure.

As shown in Figure 1, by taking automatic mower 10 ' as an example, in a kind of illustrative application environment, using disclosure reality The localization method or positioning device of applying example determine the virtual boundary 50 ' of the working region of automatic mower 10 ', and boundary 50 ' is planned Working region 30 ' made of being surrounded out as boundary 50 ' and the non-active area 70 ' being located at outside the circle of boundary 50 '.

Automatic mower 10 ' in working region 30 ' when automatically walk, can by the position on self-position and boundary 50 ' into Row compares, and to judge itself whether to be located in working region 30 ', or judges itself distance apart from boundary 50 ', and according to judgement Result adjust move mode, make itself to be maintained in working region 30 '.

Fig. 2 shows the structure charts according to the positioning device of one embodiment of the disclosure.The positioning device can be by carrier Carry walking.As shown in Fig. 2, the positioning device 100 includes:

First locating module 101, the first positioning result of the carrier for obtaining positioning device 100；

Sensor module 102, the acceleration and angle parameter that the carrier for measurement and positioning device 100 walks；And

Processing module 103, is configured as:

Under the first mode for the boundary for determining the working range of automatic running device, if the first positioning knot Fruit meets quality requirements, then the position of the carrier of the positioning device is determined according to first positioning result；If described First positioning result is unsatisfactory for quality requirements, then according to the acceleration and the angle parameter, is calculated based on pedestrian's dead reckoning Method determines the position of the carrier of the positioning device；And

According to the position of the carrier of the positioning device, the boundary is determined.

By the quality according to the first positioning result, determined based on the first positioning result or based on pedestrian's dead reckoning algorithm The position of the carrier of positioning device makes pedestrian's dead reckoning and other positioning according to the positioning device of the embodiment of the present disclosure Technology blends to construct virtual boundary, since pedestrian's dead reckoning is not easy to be affected by, can make up for it Precision when his location technology is influenced by environment is insufficient, so that positioning accuracy is high, the boundary of building is accurate, and without laying object Boundary is managed, the complexity of user's operation is reduced.

Pedestrian's dead reckoning algorithm may include the location technology positioned based on step-length (length often to stride) and course. There are incidence relation between the cadence (step number of unit time) and step-length of pedestrian's walking, the gait of pedestrian's walking has the period Property, in a gait cycle (one strides), comprising less touch with the ground, swing, the rear foot heelstrike with stand etc. gaits, various gaits The acceleration of corresponding pedestrian is different.Therefore, by analyzing the feature of pedestrian acceleration, gait, cadence can be obtained, according to step Frequency can estimating step length pedestrian can be positioned according to step-length and course.Positioning device 100 is carried carrier (pedestrian) Under the scene of boundary walking, walked by the carrier of the 102 measurement and positioning device of sensor module in positioning device 100 Acceleration and angle parameter can be carried out in conjunction with the principle of above-mentioned pedestrian's dead reckoning algorithm based on pedestrian's dead reckoning algorithm Positioning.Pedestrian's dead reckoning algorithm for example can be PDR (Pedestrian Dead Reckoning, pedestrian's dead reckoning) calculation Method, or other any pedestrian's dead reckoning algorithms.

In a kind of possible embodiment, positioning device 100 is operable with a variety of including first mode, second mode etc. Operating mode.First mode is used to determine the boundary of the working range of automatic running device.In the flrst mode, positioning device 100 can disassemble from automatic running device, (such as hand-held) be carried by carrier (such as user), carrier is along expectation Boundary (such as boundary 50 ') walking can determine the seat on boundary by the positioning of positioning device 100 during walking Mark (border map) is simultaneously stored.Second mode is used to position the position of automatic running device.Under the second mode, positioning dress It sets mountable on automatic running device, positions the position of automatic running device, judge whether automatic running device exceeds boundary. Various operating modes manually or automatically can set and switch, and can be prompted on the positioning device.Art technology Personnel should be understood that the operating mode of positioning device is not limited to the above citing.Positioning device can also only have first mode, i.e., only For determining the position on boundary.

First locating module 101 can be the locating module for being not based on pedestrian's dead reckoning algorithm, for example, it is any can be by outer The locating module that portion's environment influences.For example, to can be GPS module, Beidou positioning module, Galileo fixed for the first locating module 101 The satellite positioning modules such as position module, for another example the first locating module 101 can be the wireless locating modules such as UWB locating module.When When first locating module 101 is GPS module, any module that can be realized based on GPS positioning can be, such as can receive The GPS receiver that GPS signal is positioned.First locating module 101 can be realized based on the prior art.

Sensor module 102 may include the component that can measure acceleration, such as accelerometer, and being capable of measurement angle Component of parameter, such as gyroscope, electronic compass etc..Wherein angle parameter for example can be angular speed, course angle etc..Citing comes Say, sensor module 102 may include gyroscope and accelerometer composition 6 axis inertial sensors, also may include gyroscope, Accelerometer and electronic compass also may include accelerometer and electronic compass.

Processing module 103 can be any processing component that can be carried out data processing such as single-chip microcontroller, CPU, MPU, FPGA, place Reason module 103 can be realized by special hardware circuit, can also combine executable logical order real by general procedure component It is existing, to execute the treatment process of processing module 103.

In a kind of possible embodiment, in the case where positioning device 100 is in open state, the first locating module 101 and sensor module 102 can keep working condition, to obtain the first positioning result, acceleration and angle parameter in real time, in real time The first positioning result, acceleration and the angle parameter obtained can transmit to processing module 103 to be handled.Acceleration and angle The data such as parameter can be sampled using the sampling clock unified with the first locating module 101, i.e., processing module 103 can get The first positioning result, acceleration measurement and the angle parameter measurement result of first locating module of same sampling time point.

In a kind of possible embodiment, positioning device 100 may also include memory module (not shown), to store processing The data, such as the coordinate data on boundary etc. that module 103 generates.

The quality of first locating module can be determined using any appropriate ways, such as connecing according to the first locating module It collects mail number or output signal determines that the disclosure is without limitation.

Using the first locating module as satellite positioning module, the first positioning result is processing module for satellite positioning result 103 can sentence according to one or both of the received satellite number of satellite positioning module and positioning states of satellite positioning module Whether the satellite positioning result of disconnected satellite positioning module meets quality requirements.The received satellite number of satellite positioning module, which reflects, to be defended Star signal strength or weakness and information content have an impact to the precision of satellite positioning result, and the positioning states of satellite positioning module can react The precision of satellite positioning result.

For example, for using GPS module as satellite positioning module, according to common GPS module parameter setting, positioning states Can include:

Positioning states 0: no-fix

Positioning states 1:GPS One-Point Location fixed solution

Positioning states 2: Differential positioning

Positioning states 3:PPS

Positioning states 4:RTK fixed solution

Positioning states 5:RTK float-solution

Positioning states 6: estimated value

Positioning states 7: mode is manually entered

Positioning states 8: simulation model

It is fine that part of positioning states (such as positioning states 4) can represent GPS positioning outcome quality, part positioning states It is preferable that (such as positioning states 5) can represent GPS positioning outcome quality, part positioning states (such as positioning states 1,2,3,6,7, 8) it is poor that GPS positioning outcome quality can be represented.

In a kind of possible embodiment, quality requirements can be set, meet the quality requirements, then it is assumed that the first positioning knot Fruit quality is preferable, is positioned using the first positioning result, and the quality requirements are unsatisfactory for, then it is assumed that the first positioning result quality compared with Difference is switched to and is positioned using pedestrian's dead reckoning algorithm.

For example, processing module 103 can be designated state and satellite number not less than in the case where threshold value in positioning states, Judge that the satellite positioning result meets quality requirements.

Still carried out for example by GPS module of the first locating module, it can be using such as positioning states 4,5 as specified shape State, and the threshold value of satellite number is set, such as 6.Processing module 103 can determine satellite number according to the output signal of GPS module And positioning states.Processing module 103 can be configured in positioning states be designated state (such as positioning states 4 or 5), and satellite Number judges that GPS positioning result (the first positioning result) meets quality item not less than in the case where threshold value (such as not less than 6) Part；It otherwise, is not designated state (such as being not positioning states 4, be not also positioning states 5) and/or satellite number in positioning states Less than threshold value (being, for example, less than 6), it can determine whether that GPS positioning result (the first positioning result) is unsatisfactory for quality requirements.

The above quality requirements are merely illustrative, other quality requirements can be set as needed to judge in those skilled in the art The quality of one positioning result.

Fig. 3 shows an exemplary flow chart of the treatment process of processing module.As shown in figure 3, a kind of possible In embodiment, processing module 103 be can be configured to: judge the operating mode (S301) of positioning device；If at positioning device Under first mode, then it can determine whether the first positioning result of the first locating module 101 meets quality requirements (S302), if First positioning result meets quality requirements (such as positioning states 4 or 5 of GPS module, and satellite number is not less than 6), then basis First positioning result determines the position (S303) of the carrier of the positioning device 100, and can be reserved for the position, if the One positioning result is unsatisfactory for quality requirements, and (such as positioning states are not 4, are also not 5 and/or satellite number less than 6, namely not Meet " positioning states 4 or 5, and satellite number is not less than 6 "), then the acceleration and angle measured according to sensor module 102 is joined Number, the position (S304) of the carrier of the positioning device is determined based on pedestrian's dead reckoning algorithm, and can be reserved for the position, can According to the position of the carrier of the positioning device, boundary is determined.

Fig. 4 shows an exemplary flow chart of the treatment process of processing module.Fig. 4 is shown in the first positioning result In the case where being unsatisfactory for quality requirements, an example process being positioned based on pedestrian's dead reckoning algorithm.Wherein with Fig. 3 Identical appended drawing reference represents similar step.

In a kind of possible embodiment, as shown in figure 4, processing module 103 can be configured to:

S401 obtains the model parameter of the step-length cadence model of the carrier of the positioning device, wherein the step-length walks Frequency model indicates the relationship between the cadence and step-length of the carrier；

Wherein, if first positioning result is unsatisfactory for quality requirements, joined according to the acceleration and the angle Number, the position of the carrier of the positioning device is determined based on pedestrian's dead reckoning algorithm, comprising:

S3041, if first positioning result is unsatisfactory for quality requirements, according to the model of the step-length cadence model Parameter and the acceleration and the angle parameter, the carrying of the positioning device is determined based on pedestrian's dead reckoning algorithm The position of person.

The model parameter of step-length cadence model can be obtained by various modes appropriate, and the disclosure does not limit this System.

For example, gait detection can be carried out according to acceleration, model parameter is determined according to the result that gait detects.Such as It is described previously, there is certain corresponding relationship between the gait and acceleration of pedestrian, the periodicity to stride can cause acceleration Cyclically-varying can determine the cadence of carrier according to the acceleration that the sensor module measures and stride a little.Fig. 5 is shown Exemplary schematic diagram of the process to stride a little is determined according to acceleration.As shown in figure 5, can given threshold Ta, work as acceleration Spend a certain acceleration sampled point a in period of change (striding the period)_iFor maximum (a_i>a_i-1And a_i>a_i+1), and the maximum is big In threshold value Ta (a_i> Ta), then it is assumed that the sampled point is to stride a little, and think that current period is the effective paces period, realizes step State detection.It will be understood by those skilled in the art that the characteristic point to stride as the every stride of the carrier, can also correspond to plus Other characteristic points of speed, and it is not limited to maximum point.It can be using the frequency occurred that strides as cadence, or with acceleration Period of change as cadence.Can according to stride a little corresponding (same sampling time point) the first positioning result determine described in The step-length l of carrier.The model parameter of step-length cadence model can be determined according to cadence f and step-length l.

Step-length cadence model, which can according to need, to be selected, and be can be linear model, is also possible to nonlinear model, this The open concrete form to step-length cadence model is with no restrictions.

For example, step-length cadence model can be such as Linear Model with Side:

L=k × f+b formula 1

Wherein f is cadence, and l is step-length, and k, b are model parameter.

It can use multiple groups step-length l and cadence f data, according to least square method calculating parameter k and b.

For example, determine present sample time point it is corresponding stride when, it is corresponding that present sample time point can be obtained First positioning result determines step-length l according to adjacent a little corresponding first positioning result that strides, according between the adjacent time to stride a little Every determining cadence f, multiple groups Stride length and frequency data can be stored, and using the multiple groups Stride length and frequency data of storage according to minimum Square law calculating parameter k and b.

Again for example, step-length cadence model is also possible to following nonlinear model:

Wherein l is step-length, and k, b are model parameter, a_maxAnd a_minIt is the maximum value of acceleration and most of striding in the period respectively Small value.Model parameter k and b can refer to example and calculated using least square method.

Fig. 6 shows an exemplary flow chart of the treatment process of processing module.Fig. 6 is shown in the first positioning result In the case where being unsatisfactory for quality requirements, according to the model parameter of the step-length cadence model and the acceleration and the angle Parameter is spent, an example of the process of the position of the carrier of the positioning device is determined based on pedestrian's dead reckoning algorithm, is wrapped It includes:

S601 obtains nearest meet quality requirements first when first positioning result is unsatisfactory for quality requirements Initial position of the positioning result as pedestrian's dead reckoning algorithm.

For example, if in sampling time point t_iJudge that the first positioning result is unsatisfactory for quality requirements, and previous sampling Time point t_i-1The first positioning result meet quality requirements, then can be by sampling time point t_i-1The first positioning result it is (nearest Meet the first positioning result of quality requirements) initial position as pedestrian's dead reckoning algorithm.

S602 determines the real-time course of the carrier according to the angle parameter.

For example, in the case where angle parameter includes angular speed, real-time course can be the carrier of positioning device Initial heading and the sum of the integrated value of angular speed real-time measurements since at the time of initial heading determines.

In a kind of possible embodiment, processing module can be configured to obtain the initial boat of the carrier of positioning device To.When initial heading can be positioning device and enter first mode, the initial heading of the carrier of positioning device in other words can To be initial heading when process that carrier positions boundary starts.In one example, initial heading can with it is upper It states model parameter while obtaining.

For example, the initial heading can be determined according to the first positioning result of the first locating module, for example, can be with According to striding in a period of time (such as 10 steps), a little corresponding first positioning result carries out linear fit, and the straight line after fitting is oblique The arc-tangent value of rate is as initial heading.Fig. 7 shows the exemplary schematic diagram that initial heading is determined by linear fit. Its orbicular spot represents corresponding first positioning result of every stride point, θ₀Angle is as initial heading.

The mode of the model parameter of initial heading determined above or step-length cadence model depends on the first positioning result.One In the possible embodiment of kind, positioning device 100 may include reminding module, when the first positioning result meets quality requirements, mention Awake user can be positioned with start boundary, when being unsatisfactory for quality requirements, remind user not can be carried out boundary alignment, and starting to carry out The first positioning result and acceleration are obtained when boundary alignment (such as into first mode) to determine initial heading and/or model ginseng Number, to ensure to obtain accurate initial heading and/or model parameter.

However, it will be understood by those skilled in the art that determining the mode of the model parameter of initial heading or cadence step-length model It is without being limited thereto.Such as it when entering the first mode, if first positioning result is unsatisfactory for quality requirements, can determine The initial heading is 0, and empirical value can be used in the model parameter of step-length cadence model, until the first positioning result quality meets item Initial heading and model parameter can be corrected when part.For another example positioning device may also include compass etc. for determining course Component, enter the first mode when, if first positioning result is unsatisfactory for quality requirements, using compass determine Empirical value can be used in the model parameter of the initial heading, step-length cadence model, until the first positioning result quality meets condition When initial heading and model parameter can be corrected.In this way, user can begin to use fixed under any conditions Position device 100 carries out boundary alignment, without finding or waiting until the first preferable starting point of positioning result quality.

Again for example, in the case where angle parameter includes course angle, real-time course can be directly true by course angle It is fixed.For example, the course angle that can measure electronic compass carries out coordinate system conversion, as real-time course.

S603 determines the real-time cadence of the carrier according to the acceleration.It for example, can be by being lifted above The mode of the gait detection of example, determines real-time cadence according to acceleration.

Wherein S601, S602 and S603 execution sequence with no restrictions.

S604 utilizes the step-length cadence mould according to the model parameter of the real-time cadence and the step-length cadence model Type determines the real-time step-length of the carrier.For example, real-time cadence can be brought into what the example of basis above determined Step-length cadence model (such as formula 1 or formula 2) determines real-time step-length.

S605 is calculated according to the real-time course, the real-time step-length and the initial position based on pedestrian's dead reckoning Method determines the position of the carrier of the positioning device.It for example, can be according to pedestrian's dead reckoning algorithm, according to real-time boat To, real-time step-length and initial position, determine the relative position after every stride between carrier and initial position, thus realize it is fixed Position.

It can be obtained during carrier carries positioning device 100 and takes a round along desired border row by above procedure The first positioning result quality it is higher when the first positioning result and pedestrian's dead reckoning when lower the first positioning result quality Thus the positioning result of algorithm obtains the position on boundary.

Due to the intrinsic zero bias of acceleration and angle parameter, in operation pedestrian's dead reckoning algorithmic procedure it is possible that Accumulated error.Therefore, in a kind of possible embodiment, processing module 103 can also navigate to pedestrian according to the first positioning result The positioning result that position calculates that algorithm obtains is corrected, to further increase the positioning accuracy to boundary.

Fig. 8 shows an exemplary flow chart of the treatment process of processing module.Fig. 8 shows that processing module carries out One example of correction process.As shown in figure 8, the processing module 103 is also configured to

S801 is obtained in first positioning result from when being unsatisfactory for quality requirements and becoming meeting quality requirements based on row The first position of the carrier for the positioning device that people's dead reckoning algorithm determines and according to the of first locating module The second position of the carrier for the positioning device that one positioning result determines；

For example, if sampling time point t₁To t_iThe first positioning result be unsatisfactory for quality requirements, positioning device 100 In t₁To t_iPositioned to obtain positioning result (such as the positioning dress of pedestrian's dead reckoning algorithm based on pedestrian's dead reckoning algorithm Set the coordinate where 100 carrier) P₁-P_i, in sampling time point t_i+1, processing module 103 be judged as the first positioning result from Being unsatisfactory for quality requirements has become meeting quality requirements, then available sampling time point t_i+1Pedestrian dead reckoning algorithm Positioning result P_i+1(first position) and the first positioning result P '_i+1(second position)

S802 is unsatisfactory for quality item in first positioning result according to the first position and the second position The position of the carrier of the positioning device determined during part based on pedestrian's dead reckoning algorithm is corrected.

It for example, can be according to above-mentioned first position P_i+1With second position P '_i+1, to sampling time point t₁To t_iRow The positioning result P of people's dead reckoning algorithm₁-P_iIt is corrected.The concrete mode of correction, which can according to need, to be selected, this public affairs It opens without limitation.

Fig. 9 a shows an exemplary schematic diagram corrected to the positioning result of pedestrian's dead reckoning algorithm.Such as figure Shown in 9a, in one example, first position P can be calculated_i+1With second position P '_i+1Between deviation D:

D=P '_i+1-P_i+1Formula 3

For example, if first position P_i+1With coordinate (x_i+1, y_i+1) indicate, second position P '_i+1With coordinate (x '_i+1, y’_i+1) indicate, then deviation D be represented by (Δ x, Δ y), in which:

Δ x=x '_i+1-x_i+1

Δ y=y '_i+1-y_i+1Formula 4

The deviation D can be divided equally during first positioning result is unsatisfactory for quality requirements based on pedestrian's dead reckoning Position (positioning result of pedestrian's dead reckoning algorithm) P of the carrier for the positioning device that algorithm determines₁-P_iIn, such as can By the positioning result P of each pedestrian's dead reckoning algorithm_j(j is 1 one into i) cumulative above-mentioned deviation D and pedestrian's boat position Calculate the quotient of the positioning result sum i of algorithm, the positioning result P ' of pedestrian's dead reckoning algorithm after being corrected_j(x’_j,y ’_j):

The positioning result of pedestrian's dead reckoning algorithm after can be reserved for correction is to determine boundary.

It will be understood by those skilled in the art that it is without being limited thereto to the correcting mode of the positioning result of pedestrian's dead reckoning algorithm, Such as it is also possible to share algorithm equally based on non-linear.Fig. 9 b, which is shown, is corrected the positioning result of pedestrian's dead reckoning algorithm Another exemplary schematic diagram, as shown in figure 9b, it may be determined that (i.e. pedestrian navigates for the positioning initial position of pedestrian's dead reckoning algorithm The last one meets the first positioning result of quality requirements before the positioning of position reckoning algorithm starts) P₀With above-mentioned first position P_i+1 Between primary vector V₁；And determine above-mentioned initial position P₀With said second position P '_i+1Between secondary vector V₂, by first Determining for pedestrian's dead reckoning algorithm is divided in angular displacement (size and Orientation of angle beta) between two vector, secondary vector vectors equally Each positioning result P during position₁-P_iIn, for example, making P₀With P₁-P_iBetween i vector towards towards V₂Direction (direction A shown in arrow) rotates angle beta/i, completes the amendment to the positioning result of pedestrian's dead reckoning algorithm.

Figure 10 shows an exemplary flow chart of the treatment process of processing module.Figure 10 shows processing module root According to the position of the carrier of the positioning device, an example process on the boundary is determined.As shown in Figure 10, the processing Module 103 is also configured to

S1001 carries out interpolation to the position of the carrier of the positioning device determined based on pedestrian's dead reckoning algorithm Processing, the position of the carrier of the positioning device after obtaining interpolation processing；

S1002, position to the carrier of the positioning device after interpolation processing and according to first positioning result The position of the carrier of the determining positioning device carries out smothing filtering, with the determination boundary.

Since the positioning result of pedestrian's dead reckoning algorithm is to stride as the period, that is, the positioning of each step is primary, frequency About 2Hz, interval are about 0.6m, therefore, further can carry out interpolation processing by the positioning result to pedestrian's dead reckoning algorithm, obtain Positioning result after to interpolation processing, the position made are smoothly continuous.The positioning knot of two neighboring pedestrian's dead reckoning algorithm Interpolation number between fruit with no restrictions, such as can be equal to adjacent rows people dead reckoning algorithm positioning result between when Between be spaced the number (or number for original first positioning result) of corresponding first positioning result.For example, in pedestrian's boat position Calculate the positioning result P of algorithm_iAnd P_i+1Between, difference can be carried out according to following formula, the position P after obtaining interpolation processing_m:

p_m=p_i+ m Δ p formula 6

Wherein 1≤m≤N,N is the number of original first positioning result.

Those skilled in the art can also be used other appropriate ways and carry out interpolation processing, and the disclosure is to the specific of interpolation processing Mode is with no restrictions.

The position obtained by the positioning result of first positioning result combination pedestrian's dead reckoning algorithm there may be bounce, Therefore, smothing filtering further can be carried out to position, reduces data bounce, obtains smooth boundary.

For example, dynamic sliding-window filtering method can be used and carry out smothing filtering.It, can for the different zones on boundary Using different size of filter window, for example, for the position (corner point) of boundary corner can be used lesser window (such as Window size is 2) to be filtered, and biggish window can be used for the position (non-corner point) of non-corner, and (such as window is big Small is 5) to be filtered.As shown by the following formula, wherein P " is the position after smothing filtering to one example of smothing filtering:

Those skilled in the art can also be used other appropriate ways and carry out smothing filtering, and the disclosure is to the specific of smothing filtering Mode is with no restrictions.

Those skilled in the art according to the usage requirement, take one or both of S1001, S1002 to be handled, or Person can also be without the processing of S1001, S1002.

Figure 11 shows the structure chart of the positioning device according to one embodiment of the disclosure.The positioning device can be by carrier Carry walking.As shown in figure 11, which includes:

First locating module 1101, the first positioning result of the carrier for obtaining positioning device 1100；

Sensor module 1102, the acceleration and angle parameter that the carrier for measurement and positioning device 1100 walks；With And

Processing module 1103, is configured as:

Under the first mode for the boundary for determining the working range of automatic running device, tied according to first positioning The third place of the carrier for the positioning device that fruit determines；According to the acceleration and angle parameter, based on pedestrian's boat position Calculate that algorithm determines the 4th position of the carrier of the positioning device；According to the third place and the 4th position, really The position of the carrier of the fixed positioning device；And

By the position determined according to the first positioning result and the position determined based on pedestrian's dead reckoning algorithm come really The position for determining the carrier of positioning device keeps pedestrian's dead reckoning fixed with other according to the positioning device of the embodiment of the present disclosure Position technology blends to construct virtual boundary, since pedestrian's dead reckoning is not easy to be affected by, can make up for it Precision when other location technologies are influenced by environment is insufficient, so that positioning accuracy is high, the boundary of building is accurate, and without laying Physical boundary reduces the complexity of user's operation.

The example of first locating module 1101, sensor module 1102 and processing module 1103, reference can be made to above with respect to The illustration of one locating module 101, sensor module 102 and processing module 103

Wherein it is possible in any suitable manner merge the third place and the 4th position, can be closely Fusion, is also possible to the fusion of relative loose, the disclosure is without limitation.

For example, according to the fusion of both the third place and the 4th position, the positioning device is determined The position of carrier, it may include: according to the weighted sum of the third place and the 4th position, determine the positioning device The position of carrier.

For example, in sampling time point t_j, the carrier of the positioning device is determined according to first positioning result The third place P_gj, and according to the acceleration and the angle parameter, the positioning is determined based on pedestrian's dead reckoning algorithm The 4th position P of the carrier of device_rj, sampling time point t can be determined by following formula 8_jThe carrier's of positioning device Position P_j:

P_j=w₁×P_gj+w₂×P_rjFormula 8

Wherein w₁It is the weighted value of the third place, w₂It is the weighted value of the 4th position, 0 < w₁<1,0<w₂< 1, w₁+w₂=1.

w₁、w₂Can according to need carry out value, the disclosure to this with no restriction.

In a kind of possible embodiment, w₁、w₂It can be fixed value.

In alternatively possible embodiment, processing module 1103 is also configured to: according to the first positioning result Quality determines weight shared in each leisure weighted sum of the third place and the 4th position.

In this way, make it possible to suitably adjust different positioning skills for the quality of the first different location datas The position that art obtains ratio shared in finally determining position, further ensure that positioning accuracy.

Determine that the example of the first positioning result quality may refer to above.In a kind of possible embodiment, with first Locating module is satellite positioning module, for the first positioning result is satellite positioning result, can be connect according to satellite positioning module One or both of satellite number and the positioning states of satellite positioning module of receipts judge the satellite of satellite positioning module The quality of position result.

For example, can improve with the first positioning result quality, increase w₁, reduce w₂, determined with increasing the third place Shared specific gravity in position reduces w as the first positioning result quality is deteriorated₁, increase w₂, determined with increasing the 4th position Shared specific gravity in position.

In this way, it can further improve positioning accuracy.

In a kind of possible embodiment, if the first positioning result is in extraordinary state, w can be made₁=1, w₂= 0, it can be considered the position that carrier is determined based entirely on the first positioning result at this time.In one example, in this case may be used Stop determining the 4th position.If the first positioning result is in excessively poor state, w can be made₁=0, w₂=1, it can be considered at this time The position of carrier is determined based on pedestrian's dead reckoning algorithm entirely.

For example, the quality of the first positioning result can be divided into excellent (the first quality state), general (third quality state) and Multiple states such as poor (the second quality states), in the state of different, settable w₁、w₂For different values.Such as two matter can be set Amount condition judges that the first positioning result is in the first quality state, makes w if meeting the first quality requirements₁=1, w₂=0, If being unsatisfactory for the second quality requirements, judges that the first positioning result is in the second quality state, make w₁=0, w₂=1, if not It is both the above situation (such as being unsatisfactory for the first quality requirements, but meet the second quality requirements), then judges the first location data In third quality state, w can be made₁、w₂For greater than the 0, median less than 1.For using GPS module as the first locating module, The threshold value of satellite number, such as 6 can be set.Processing module 103 can be determined according to the output signal of GPS module satellite number and Positioning states, if positioning states are 4, it is believed that meet the first quality requirements, processing module 103 can determine whether at GPS positioning result It is not 5 and/or satellite number less than 6, then it is assumed that be unsatisfactory for second if positioning states are not 4 in the first quality state yet Quality requirements, processing module 103 can determine whether that GPS positioning result is in the second quality state；If not both the above situation, example If positioning states are more than or equal to 6 for 5 or satellite number, processing module 103 can determine whether that GPS positioning result is in third quality shape State.

The above condition for distinguishing quality state is merely illustrative, and other conditions can be set as needed in those skilled in the art Different quality states is distinguished, may also set up one or any number of quality states.Alternatively, it can also be not provided with quality state, And weight w is calculated according to the quality of the first positioning result in real time₁、w₂, the disclosure is without limitation.

As described above, the positioning result (the 4th position) of pedestrian's dead reckoning algorithm may exist only in stride at, And the first positioning result (the third place) is likely to be present at each sampling time point, therefore, is being based on the third place and the 4th During position determines the position of the carrier of positioning device, interpolation processing can be carried out.

For example, can according to the 4th position at striding and at striding (i.e. with a little corresponding sampling that strides At time point) the third place, according to formula 8 obtain striding at carrier position, and for example using shown in formula 6 Mode or any appropriate ways carry out interpolation to the carrier position at respectively striding, and interpolation quantity, which can be, to stride between a little Corresponding first positioning result of time interval number (or number for original first positioning result), to obtain continuous Positioning device carrier position, ensure that the continuity of result.

In alternatively possible embodiment, according to the third place and the 4th position, the positioning is determined The position of the carrier of device, it may include: interpolation processing is carried out to the 4th position at striding, the after obtaining interpolation Four positions；According to the 4th position after the third place and the interpolation, the position of the carrier of the positioning device is determined； It is wherein described to stride a little as the characteristic point of the every stride of the carrier.

It for example, can be for example in the way of shown in formula 6 or any appropriate ways, to the 4th at respectively striding Position carries out interpolation, the 4th position after obtaining interpolation, and interpolation quantity can be the time interval to stride between a little corresponding the The number (or number for original first positioning result) of one positioning result, can be according to the 4th position after interpolation and each The third place at sampling time point obtains the position of the carrier of positioning device according to formula 8, ensure that the continuous of result Property.

It, can be to obtain the positioning result based on pedestrian's dead reckoning algorithm with above in a kind of possible embodiment Similar mode obtains the 4th position based on pedestrian's dead reckoning algorithm.

For example, processing module 1103 can obtain the step-length cadence mould of the carrier of the positioning device similar as abovely The model parameter of type, for example, the cadence of the carrier can be determined according to the acceleration that the sensor module measures With stride a little, the step-length of the carrier is determined according to a little corresponding first positioning result that strides, according to the cadence and The step-length determines the model parameter of the step-length cadence model, and exemplary illustration can be found in above.

It can similar as abovely, according to the model parameter of the step-length cadence model and the acceleration and described Angle parameter determines the 4th position of the carrier of the positioning device based on pedestrian's dead reckoning algorithm.

Figure 12 shows an exemplary flow chart of the treatment process of processing module.Figure 12 is shown according to the step-length The model parameter of cadence model and the acceleration and the angle parameter, based on described in the determination of pedestrian's dead reckoning algorithm One example of the process of the 4th position of the carrier of positioning device, comprising:

S1201 obtains the initial position of pedestrian's dead reckoning algorithm.

For example, the first positioning result when first mode can be entered with positioning device, as the initial position, this Carrier can be reminded to start again in the case where the first positioning result meets certain mass condition similar as abovely in the case of kind Positioning to boundary.After first mode can also being entered with positioning device, nearest the first positioning for meeting certain mass condition As a result it is used as the initial position.The disclosure to the acquisition modes of initial position with no restrictions.

S1202 determines the real-time course of the carrier according to the angle parameter.It can be found in the description as described in S602.

S1203 determines the real-time cadence of the carrier according to the acceleration.It can be found in the description as described in S603.

Wherein S1201, S1202 and S1203 execution sequence with no restrictions.

S1204 utilizes the step-length cadence mould according to the model parameter of the real-time cadence and the step-length cadence model Type determines the real-time step-length of the carrier.It can be found in the description as described in S604.

S1205 is based on pedestrian's dead reckoning according to the real-time course, the real-time step-length and the initial position Algorithm determines the 4th position of the carrier of the positioning device.It can be found in the description as described in S605.

In a kind of possible embodiment, the positioning device in the various embodiments described above can be installed on automatically walk and set Standby, the processing module (such as processing module 103 or 1103) in positioning device can be configured to: for positioning the automatic row Under the second mode for walking the position of equipment, according at least one of first positioning result and inertial positioning result, Determine the position of the automatic running device, wherein the inertial positioning is the result is that according to the acceleration and angle parameter, base Calculate what algorithm determined in inertial navigation.Wherein the exemplary illustration about first mode, second mode can be found in above.

For second mode, automatic running device itself can be positioned according to the first positioning result, it can also basis Inertial positioning result positions automatic running device itself, may be based on both the first positioning result and inertial positioning result Fusion automatic running device itself is positioned.

The fusion positioning of first positioning result and inertial positioning result, which for example can be, to be determined using Kalman filtering by first The position inertial datas such as result and acceleration, angle parameter carry out real time fusion, by the acceleration and angle of sensor module acquisition The first positioning result that parameter and the first locating module obtain, which is sent in Kalman filter, to be merged, and is tied to the first positioning Fruit carries out Closed-cycle correction, obtains revised position, speed and posture etc., to obtain the higher positioning result of precision, that is, realizes For the fusion positioning system of second mode, with the problem of positioning accuracy difference in the case of the first locating module signal blocks of confrontation. Fusion positioning can realize that and will not be described here in detail based on the relevant technologies.

In a kind of possible embodiment, inertial navigation calculates that algorithm may include INS (Inertial Navigation System, inertial navigation system) algorithm.

In a kind of possible embodiment, in the case where the first locating module is GPS module, also using DGPS (Differential Global Positioning System, Differential Global Positioning System), CORS (Continuously Operating Reference Stations, continuously runs reference station) etc. technologies further increase positioning accuracy.Wherein, root According to DGPS technology, movement station can receive GPS satellite signal in actual location simultaneously and (position is fixed and from base station Know) carrier observations amount and base station position, and form difference observed quantity with itself received carrier phase observed quantity and (utilize The technology that carrier phase carries out difference is also referred to as RTK (Real-time kinematic, carrier phase difference)), and then correct carrier wave Phase obtains high-precision positioning result.CORS technology is the CORS established using more base station network RTK technologies, if CORS will Dry fixed, continuous operation GPS reference station, forms difference net using modern computer, data communication and Internet technology Network is modified mobile target, substantially increases the positioning accuracy of movement station.

Figure 13 shows a kind of structure chart of automatic running device according to the embodiment of the present disclosure, the automatic running device 1300 include equipment body 200 and positioning device described above, such as positioning device 100 or positioning device 1100, wherein institute The equipment body 200 can be removably installed on by stating positioning device.

The automatic running device of the present embodiment can work in application environment for example shown in FIG. 1.The automatic running device The boundary of working region be positioned by positioning device (for example, boundary line 50 ' in Fig. 1).

The automatic running device of the embodiment of the present disclosure can be the diversified forms such as grass trimmer, dust catcher, industrial robot.From It can also further comprise cutting mechanism when dynamic walking arrangement is grass trimmer, cutting mechanism may include cutting motor and cutting blade, For grass trimmer in the working region 30 ' that boundary line 50 ' is defined when work, cutting motor drives cutting blade rotation, cutting lawns.

It will be understood by those skilled in the art that Figure 13 schematically shows only the schematic diagram of automatic running device, automatic row Installation site, the shape of positioning device of the shape, positioning device of equipment on automatic running device etc. is not walked in the disclosure not It is limited.

With no restrictions, such as positioning device can be connected to equipment to mounting means between positioning device and equipment body 200 In the card slot of main body, or to be contained in the mounting box being arranged on equipment body medium.It, can when positioning device is mounted on equipment body It is electrically connected with other circuits in equipment body, such as data or power communication can be carried out with other circuits.

Figure 14 shows a kind of flow chart of localization method according to the embodiment of the present disclosure.This method can be applied to above Positioning device 100 in.The described method includes:

S1401 obtains the first positioning result of the carrier of positioning device, the acceleration of carrier's walking and angle ginseng Number；

S1402, under the first mode for the boundary for determining the working range of automatic running device, if described first Positioning result meets quality requirements, then the position of the carrier of the positioning device is determined according to first positioning result；Such as First positioning result described in fruit is unsatisfactory for quality requirements, then according to the acceleration and the angle parameter, based on pedestrian's boat position Calculate that algorithm determines the position of the carrier of the positioning device；And

S1403 determines the boundary according to the position of the carrier of the positioning device.

By the quality according to the first positioning result, determined based on the first positioning result or based on pedestrian's dead reckoning algorithm The position of the carrier of positioning device makes pedestrian's dead reckoning and other positioning according to the localization method of the embodiment of the present disclosure Technology blends to construct virtual boundary, since pedestrian's dead reckoning is not easy to be affected by, can make up for it Precision when his location technology is influenced by environment is insufficient, so that positioning accuracy is high, the boundary of building is accurate, and without laying object Boundary is managed, the complexity of user's operation is reduced.

Above method can be executed by positioning device 100, such as be executed by the processing module 103 in positioning device.Place Reason module 103 can be configured to execute the special hardware circuit of above method, can also be above-mentioned to execute by executing logical order Method.The exemplary illustration of the above method can refer to the explanation above with respect to positioning device 100, be not repeated herein.

Figure 15 shows a kind of flow chart of localization method according to the embodiment of the present disclosure.This method can be applied to above Positioning device 1100 in.The described method includes:

S1501 obtains the first positioning result of the carrier of positioning device, the acceleration of carrier's walking and angle ginseng Number；

S1502, under the first mode for the boundary for determining the working range of automatic running device, according to described first Positioning result determines the third place of the carrier of the positioning device；According to the acceleration and angle parameter, it is based on pedestrian Dead reckoning algorithm determines the 4th position of the carrier of the positioning device；According to the third place and 4th described It sets, determines the position of the carrier of the positioning device；And

S1503 determines the boundary according to the position of the carrier of the positioning device.

By the position determined according to the first positioning result and the position determined based on pedestrian's dead reckoning algorithm come really The position for determining the carrier of positioning device keeps pedestrian's dead reckoning fixed with other according to the localization method of the embodiment of the present disclosure Position technology blends to construct virtual boundary, since pedestrian's dead reckoning is not easy to be affected by, can make up for it Precision when other location technologies are influenced by environment is insufficient, so that positioning accuracy is high, the boundary of building is accurate, and without laying Physical boundary reduces the complexity of user's operation.

Above method can be executed by positioning device 1100, such as be executed by the processing module 1103 in positioning device. Processing module 1103 can be configured to execute the special hardware circuit of above method, can also be executed by executing logical order State method.The exemplary illustration of the above method can refer to the explanation above with respect to positioning device 1100, be not repeated herein.

Using example 1

Below in conjunction with Figure 16 a and Figure 16 b, show according to one of the embodiment of the present disclosure using example.Those skilled in the art Member is it should be understood that this applies example only for the purposes of understanding, not with any purpose limitation disclosure.

It is GPS module that the application example, which illustrates the first locating module, and angle parameter is angular speed, with GPS positioning knot The variation of fruit quality switches the exemplary scene positioned using GPS and PDR.

When needing to determine virtual boundary position using positioning device, user carries positioning device and comes on boundary 50 ', uses Family can walk on boundary 50 ', the starting point S0 of quality requirements be met until finding GPS positioning result, positioning device can at this time It prompts user's GPS positioning quality good (or strong GPS signal area or GPS location precision height), can start to determine boundary Position.User can be by triggering the modes such as the button in positioning device, and order positioning device starts to carry out boundary alignment, positioning device It can be using the measurement result of GPS positioning result and sensor module when receiving order as the initial value of measurement, with S0 point work For the starting point of measurement.

As user walks clockwise along boundary 50 ', positioning device can obtain in real time and record GPS positioning result (x_t, y_t) Position as user stores, and at the same time, positioning device can judge in real time GPS positioning by the output of GPS module As a result quality state, and acceleration A cc and differences in angle Gyr is measured by sensor module, to determine initial heading θ₀And step Model parameter k, b of frequency step-length model.

When user runs to position S1, working region is blocked by house or trees, and positioning device judges GPS positioning result not Meet quality requirements (or weak GPS signal area or GPS location precision low), the last one is met quality requirements by positioning device Origin coordinates of the GPS positioning result as PDR, according to initial heading θ₀Real-time course θ is obtained with angular velocity data Δ θ_t, benefit Real-time step-length l is determined according to real-time cadence with cadence step-length model_t, according to real-time course and real-time step size computation real-time coordinates point (x’_t,y’_t), the position as user stores.

When user runs to position S2, GPS positioning result becomes meeting quality requirements, positioning dress from quality requirements are unsatisfactory for Set can get PDR positioning result at this time and GPS positioning as a result, and according to deviation between the two to before this be unsatisfactory for quality The PDR positioning result of condition is corrected.

As user walks along boundary 50 ', the above process according to the quality of GPS positioning result alternately, until user Return to starting point S₀.Positioning device can judge automatically user and return to starting point, or indicate that positioning device returns to starting by user Point, such as user can issue the order that positioning terminates to positioning device.Positioning device can carry out the PDR positioning result stored Interpolation processing carries out smothing filtering to the PDR positioning result after GPS positioning result and interpolation, obtains final boundary position number According to (map boundary line point) and it is stored in positioning device.

When needing using automatic running device, positioning device can be installed on automatic running device by user, positioning dress The position using GPS/INS fusion location technology positioning automatic running device is set, and is compared with the boundary position stored It is right, to judge that automatic running device whether in working region, or judges the distance between automatic running device and boundary etc., Thus the motion mode of automatic running device can be controlled.

Using example 2

Below in conjunction with Figure 16 a and Figure 16 c, show according to one of the embodiment of the present disclosure using example.Those skilled in the art Member is it should be understood that this applies example only for the purposes of understanding, not with any purpose limitation disclosure.

It is GPS module that the application example, which illustrates the first locating module, and angle parameter is angular speed, with GPS positioning knot The variation of fruit quality makes the exemplary scene of the weighted value variation of GPS positioning result and PDR positioning result in weighted sum.

Similarly with application example 1, when needing to determine virtual boundary position using positioning device, user carries positioning dress It sets and comes on boundary 50 ', user can walk on boundary 50 ', and the starting point of quality requirements is met until finding GPS positioning result S0, positioning device can prompt user's GPS positioning quality good (or strong GPS signal area or GPS location precision height) at this time, can To start the positioning to boundary.User can start to carry out by triggering modes, the order positioning devices such as the button in positioning device Boundary alignment, positioning device can be using the measurement results of GPS positioning result and sensor module when receiving order as measurement Initial value, wherein initial position of the GPS positioning result as PDR, using S0 point as the starting point of measurement.

As user walks clockwise along boundary 50 ', positioning device can obtain in real time and record GPS positioning result as the Three positions, simultaneously, positioning device can measure acceleration A cc and differences in angle Gyr by sensor module, to determine initial boat To θ₀With model parameter k, b of cadence step-length model, according to the initial position of PDR, initial heading θ₀It is obtained with angular velocity data Δ θ To real-time course θ_t, real-time step-length l is determined according to real-time cadence using cadence step-length model_t, according to real-time course and real-time step-length Real-time coordinates o'clock are calculated as the 4th position.Positioning device can calculate the weighted sum of the third place and the 4th position as carrier Position.

Positioning device can judge in real time the quality state of GPS positioning result by the output of GPS module, and according to quality State adjusts the weight of the third place and the 4th position in weighted sum.When user runs to position S1 ', working region is by house Or trees are blocked, positioning device judges that GPS positioning outcome quality is deteriorated, and positioning device will reduce the weight of the third place, increases The weight of 4th position.

When user runs to position S1, GPS positioning outcome quality becomes worse, can make the weighted value of the third place at this time 0, or ignore GPS positioning as a result, storing using the position of the 4th position as carrier.

When user runs to position S2, GPS positioning outcome quality improves, and positioning device can increase the weight of the third place, Reduce the weight of the 4th position.If GPS positioning outcome quality is good enough, positioning device even can stop PDR position fixing process, Or making the 4th position weight 0, the position using the third place as carrier stores.

As user walks along boundary 50 ', the above process according to the quality of GPS positioning result alternately, until user Return to starting point S₀.Positioning device can judge automatically user and return to starting point, or indicate that positioning device returns to starting by user Point, such as user can issue the order that positioning terminates to positioning device.Final boundary position data (can be obtained in positioning device Figure boundary point) and be stored in positioning device.

It should be noted that although above as locative coordinate data, this field by taking two-dimensional coordinate (x, y) as an example It should be understood to the one skilled in the art that can also indicate position with the coordinate data of three-dimensional coordinate or other forms, and coordinate system can be with It is chosen according to actual needs, the disclosure is without limitation.

The disclosure can be system, method and/or computer program product.Computer program product may include computer Readable storage medium storing program for executing, containing for making processor realize the computer-readable program instructions of various aspects of the disclosure.

Computer readable storage medium, which can be, can keep and store the tangible of the instruction used by instruction execution equipment Equipment.Computer readable storage medium for example can be-- but it is not limited to-- storage device electric, magnetic storage apparatus, optical storage Equipment, electric magnetic storage apparatus, semiconductor memory apparatus or above-mentioned any appropriate combination.Computer readable storage medium More specific example (non exhaustive list) includes: portable computer diskette, hard disk, random access memory (RAM), read-only deposits It is reservoir (ROM), erasable programmable read only memory (EPROM or flash memory), static random access memory (SRAM), portable Compact disk read-only memory (CD-ROM), digital versatile disc (DVD), memory stick, floppy disk, mechanical coding equipment, for example thereon It is stored with punch card or groove internal projection structure and the above-mentioned any appropriate combination of instruction.Calculating used herein above Machine readable storage medium storing program for executing is not interpreted that instantaneous signal itself, the electromagnetic wave of such as radio wave or other Free propagations lead to It crosses the electromagnetic wave (for example, the light pulse for passing through fiber optic cables) of waveguide or the propagation of other transmission mediums or is transmitted by electric wire Electric signal.

Computer-readable program instructions as described herein can be downloaded to from computer readable storage medium it is each calculate/ Processing equipment, or outer computer or outer is downloaded to by network, such as internet, local area network, wide area network and/or wireless network Portion stores equipment.Network may include copper transmission cable, optical fiber transmission, wireless transmission, router, firewall, interchanger, gateway Computer and/or Edge Server.Adapter or network interface in each calculating/processing equipment are received from network to be counted Calculation machine readable program instructions, and the computer-readable program instructions are forwarded, for the meter being stored in each calculating/processing equipment In calculation machine readable storage medium storing program for executing.

Computer program instructions for executing disclosure operation can be assembly instruction, instruction set architecture (ISA) instructs, Machine instruction, machine-dependent instructions, microcode, firmware instructions, condition setup data or with one or more programming languages The source code or object code that any combination is write, the programming language include the programming language-of object-oriented such as Smalltalk, C++ etc., and conventional procedural programming languages-such as " C " language or similar programming language.Computer Readable program instructions can be executed fully on the user computer, partly execute on the user computer, be only as one Vertical software package executes, part executes on the remote computer or completely in remote computer on the user computer for part Or it is executed on server.In situations involving remote computers, remote computer can pass through network-packet of any kind It includes local area network (LAN) or wide area network (WAN)-is connected to subscriber computer, or, it may be connected to outer computer (such as benefit It is connected with ISP by internet).In some embodiments, by utilizing computer-readable program instructions Status information carry out personalized customization electronic circuit, such as programmable logic circuit, field programmable gate array (FPGA) or can Programmed logic array (PLA) (PLA), the electronic circuit can execute computer-readable program instructions, to realize each side of the disclosure Face.

Referring herein to according to the flow chart of the method, apparatus (system) of the embodiment of the present disclosure and computer program product and/ Or block diagram describes various aspects of the disclosure.It should be appreciated that flowchart and or block diagram each box and flow chart and/ Or in block diagram each box combination, can be realized by computer-readable program instructions.

These computer-readable program instructions can be supplied to general purpose computer, special purpose computer or other programmable datas The processor of processing unit, so that a kind of machine is produced, so that these instructions are passing through computer or other programmable datas When the processor of processing unit executes, function specified in one or more boxes in implementation flow chart and/or block diagram is produced The device of energy/movement.These computer-readable program instructions can also be stored in a computer-readable storage medium, these refer to It enables so that computer, programmable data processing unit and/or other equipment work in a specific way, thus, it is stored with instruction Computer-readable medium then includes a manufacture comprising in one or more boxes in implementation flow chart and/or block diagram The instruction of the various aspects of defined function action.

Computer-readable program instructions can also be loaded into computer, other programmable data processing units or other In equipment, so that series of operation steps are executed in computer, other programmable data processing units or other equipment, to produce Raw computer implemented process, so that executed in computer, other programmable data processing units or other equipment Instruct function action specified in one or more boxes in implementation flow chart and/or block diagram.

The flow chart and block diagram in the drawings show system, method and the computer journeys according to multiple embodiments of the disclosure The architecture, function and operation in the cards of sequence product.In this regard, each box in flowchart or block diagram can generation One module of table, program segment or a part of instruction, the module, program segment or a part of instruction include one or more use The executable instruction of the logic function as defined in realizing.In some implementations as replacements, function marked in the box It can occur in a different order than that indicated in the drawings.For example, two continuous boxes can actually be held substantially in parallel Row, they can also be executed in the opposite order sometimes, and this depends on the function involved.It is also noted that block diagram and/or The combination of each box in flow chart and the box in block diagram and or flow chart, can the function as defined in executing or dynamic The dedicated hardware based system made is realized, or can be realized using a combination of dedicated hardware and computer instructions.

The presently disclosed embodiments is described above, above description is exemplary, and non-exclusive, and It is not limited to disclosed each embodiment.Without departing from the scope and spirit of illustrated each embodiment, for this skill Many modifications and changes are obvious for the those of ordinary skill in art field.The selection of term used herein, purport In the principle, practical application or technological improvement to the technology in market for best explaining each embodiment, or lead this technology Other those of ordinary skill in domain can understand each embodiment disclosed herein.

Claims

1. a kind of positioning device, which is characterized in that the positioning device can be carried by carrier and be walked, the positioning device packet It includes:

First locating module, the first positioning result of the carrier for obtaining positioning device；

Sensor module, the acceleration and angle parameter that the carrier for measurement and positioning device walks；And

Processing module is configured as:

Under the first mode for the boundary for determining the working range of automatic running device, if first positioning result is full Sufficient quality requirements then determine the position of the carrier of the positioning device according to first positioning result；If described first Positioning result is unsatisfactory for quality requirements, then true based on pedestrian's dead reckoning algorithm according to the acceleration and the angle parameter The position of the carrier of the fixed positioning device；And

2. positioning device according to claim 1, which is characterized in that the processing module is also configured to

The model parameter of the step-length cadence model of the carrier of the positioning device is obtained, wherein the step-length cadence model indicates Relationship between the cadence and step-length of the carrier；

Using the acceleration and the angle parameter, the carrier of the positioning device is determined based on pedestrian's dead reckoning algorithm Position, comprising:

According to the model parameter of the step-length cadence model and the acceleration and the angle parameter, based on pedestrian's boat position Calculate that algorithm determines the position of the carrier of the positioning device.

3. positioning device according to claim 2, which is characterized in that the model parameter of the use step-length cadence model, And the acceleration and the angle parameter, the position of the carrier of the positioning device is determined based on pedestrian's dead reckoning algorithm It sets, comprising:

When first positioning result is unsatisfactory for quality requirements, obtains nearest the first positioning result for meeting quality requirements and make For the initial position of pedestrian's dead reckoning algorithm；

The real-time course of the carrier is determined according to the angle parameter；

The real-time cadence of the carrier is determined according to the acceleration；

According to the model parameter of the real-time cadence and the step-length cadence model, using described in step-length cadence model determination The real-time step-length of carrier；And

According to the real-time course, the real-time step-length and the initial position, institute is determined based on pedestrian's dead reckoning algorithm State the position of the carrier of positioning device.

4. positioning device according to claim 2, which is characterized in that obtain the step-length step of the carrier of the positioning device The model parameter of frequency model, comprising:

The cadence of the carrier is determined according to the acceleration that the sensor module measures and is striden a little, is striden a little according to described Corresponding first positioning result determines the step-length of the carrier, determines the step-length cadence according to the cadence and the step-length The model parameter of model,

It is wherein described to stride a little as the characteristic point of the every stride of the carrier.

5. positioning device according to claim 1, which is characterized in that the processing module is also configured to

In first positioning result from when being unsatisfactory for quality requirements and becoming meeting quality requirements, obtains and be based on pedestrian's dead reckoning The first position of the carrier for the positioning device that algorithm determines and the first positioning result according to first locating module The second position of the carrier of the determining positioning device；

According to the first position and the second position, it is based on to during first positioning result is unsatisfactory for quality requirements The position of the carrier for the positioning device that pedestrian's dead reckoning algorithm determines is corrected.

6. positioning device according to claim 1, which is characterized in that according to the position of the carrier of the positioning device, Determine the boundary, comprising:

Interpolation processing is carried out to the position of the carrier of the positioning device determined based on pedestrian's dead reckoning algorithm, is inserted The position of the carrier of value treated the positioning device；

Position to the carrier of the positioning device after interpolation processing and described in being determined according to first positioning result The position of the carrier of positioning device carries out smothing filtering, with the determination boundary.

7. positioning device according to claim 1, which is characterized in that first locating module is satellite positioning module, First positioning result is satellite positioning result.

8. positioning device according to claim 7, which is characterized in that the processing module is also configured to

According to one or both of the received satellite number of satellite positioning module and positioning states of satellite positioning module, judgement is defended Whether the satellite positioning result of star locating module meets quality requirements.

9. positioning device according to claim 8, which is characterized in that according to the received satellite number of satellite positioning module and defend One or both of the positioning states of star locating module, judge satellite positioning module the satellite positioning positioning result whether Meet quality requirements, comprising:

In the case where positioning states are designated state and satellite number is not less than threshold value, judge that the satellite positioning result meets Quality requirements.

10. positioning device according to claim 1, which is characterized in that the positioning device can be installed on automatically walk Equipment,

The processing module is configured as: under the second mode of the position for positioning the automatic running device, according to institute At least one for stating the first positioning result and inertial positioning result determines the position of the automatic running device,

Wherein, the inertial positioning is the result is that calculate that algorithm determines according to the acceleration and angle parameter, based on inertial navigation 's.

11. positioning device according to claim 10, which is characterized in that the inertial navigation calculates that algorithm includes that INS is calculated Method.

12. positioning device according to claim 1, which is characterized in that pedestrian's dead reckoning algorithm includes that PDR is calculated Method.

13. positioning device according to claim 1, which is characterized in that first locating module includes UWB positioning mould Block.

14. a kind of automatic running device, which is characterized in that the automatic running device includes equipment body and according to claim Positioning device described in any one of 1 to 13, wherein the positioning device can removably be installed on described set Standby main body.

15. a kind of positioning device, which is characterized in that the positioning device can be carried by carrier and be walked, the positioning device Include:

Processing module is configured as:

It is true according to first positioning result under the first mode for the boundary for determining the working range of automatic running device The third place of the carrier of the fixed positioning device；It is calculated according to the acceleration and angle parameter, based on pedestrian's dead reckoning Method determines the 4th position of the carrier of the positioning device；According to the third place and the 4th position, determine described in The position of the carrier of positioning device；And

16. positioning device according to claim 15, which is characterized in that according to the third place and 4th described It sets, determines the position of the carrier of the positioning device, comprising:

According to the fusion of both the third place and the 4th position, the position of the carrier of the positioning device is determined.

17. positioning device according to claim 16, which is characterized in that according to the third place and the 4th position The fusion of the two determines the position of the carrier of the positioning device, comprising:

According to the weighted sum of the third place and the 4th position, the position of the carrier of the positioning device is determined.

18. positioning device according to claim 17, which is characterized in that the processing module is also configured to

According to the quality of the first positioning result, institute in each leisure weighted sum of the third place and the 4th position is determined The weight accounted for.

19. positioning device according to claim 18, which is characterized in that according to the quality of the first positioning result, determine institute State weight shared in each leisure weighted sum of the third place and the 4th position, comprising:

With the raising of the quality of first positioning result, increase the third place power shared in the weighted sum Weight, and reduce the 4th position weight shared in the weighted sum；

With the reduction of the quality of first positioning result, reduce the third place power shared in the weighted sum Weight, and increase the 4th position weight shared in the weighted sum.

20. positioning device described in any one of 5 to 19 according to claim 1, which is characterized in that first locating module For satellite positioning module, first positioning result is satellite positioning result.

21. positioning device according to claim 20, which is characterized in that the processing module is also configured to

According to one or both of the received satellite number of satellite positioning module and positioning states of satellite positioning module, judgement is defended The quality of the satellite positioning result of star locating module.

22. positioning device according to claim 15, which is characterized in that according to the third place and 4th described It sets, determines the position of the carrier of the positioning device, comprising:

According to the third place at striding and the 4th position at place that strides, determine that the positioning fills at striding The position of the carrier set；

Interpolation processing is carried out to the position of a carrier for the positioning device at striding, obtains the carrier of the positioning device Position；

23. positioning device according to claim 15, which is characterized in that according to the third place and 4th described It sets, determines the position of the carrier of the positioning device, comprising:

Interpolation processing is carried out to the 4th position at striding, the 4th position after obtaining interpolation；

According to the 4th position after the third place and the interpolation, the position of the carrier of the positioning device is determined；

24. positioning device according to claim 15, which is characterized in that the processing module is also configured to

The of the carrier of the positioning device is determined according to the acceleration and angle parameter, based on pedestrian's dead reckoning algorithm Four positions, comprising:

According to the model parameter of the step-length cadence model and the acceleration and the angle parameter, based on pedestrian's boat position Calculate that algorithm determines the 4th position of the carrier of the positioning device.

25. positioning device according to claim 24, which is characterized in that joined according to the model of the step-length cadence model The several and acceleration and the angle parameter, the carrier of the positioning device is determined based on pedestrian's dead reckoning algorithm The 4th position, comprising:

Obtain the initial position of pedestrian's dead reckoning algorithm；

According to the real-time course, the real-time step-length and the initial position, institute is determined based on pedestrian's dead reckoning algorithm State the 4th position of the carrier of positioning device.

26. positioning device according to claim 24, which is characterized in that obtain the step-length of the carrier of the positioning device The model parameter of cadence model, comprising:

27. positioning device according to claim 15, which is characterized in that the positioning device can be installed on automatically walk Equipment,

28. positioning device according to claim 27, which is characterized in that the inertial navigation calculates that algorithm includes that INS is calculated Method.

29. positioning device according to claim 15, which is characterized in that first locating module includes UWB positioning mould Block.

30. positioning device according to claim 15, which is characterized in that pedestrian's dead reckoning algorithm includes that PDR is calculated Method.

31. a kind of automatic running device, which is characterized in that the automatic running device includes equipment body and according to claim Positioning device described in any one of 15 to 30, wherein the positioning device can removably be installed on described set Standby main body.