CN109474894B

CN109474894B - Terminal positioning processing method and device and electronic equipment

Info

Publication number: CN109474894B
Application number: CN201910004553.7A
Authority: CN
Inventors: 王涛; 俞一帆; 张云飞
Original assignee: Tencent Technology Shenzhen Co Ltd
Current assignee: Tencent Technology Shenzhen Co Ltd
Priority date: 2019-01-03
Filing date: 2019-01-03
Publication date: 2020-09-11
Anticipated expiration: 2039-01-03
Also published as: CN109474894A

Abstract

The embodiment of the invention provides a terminal positioning processing method and device and electronic equipment. The terminal positioning processing method comprises the following steps: acquiring a network side positioning result aiming at a terminal, and error indexes of a historical network side positioning result and an actual positioning result of the terminal; calculating a confidence index of the network side positioning result according to the network side positioning result and the error index; and sending the network side positioning result and the confidence index to the terminal so that the terminal performs positioning based on the network side positioning result and the confidence index. The technical scheme of the embodiment of the invention can improve the accuracy and reliability of the terminal positioning result.

Description

Terminal positioning processing method and device and electronic equipment

Technical Field

The invention relates to the technical field of computers and communication, in particular to a terminal positioning processing method and device and electronic equipment.

Background

At present, when a positioning terminal (such as a vehicle terminal) performs positioning, a positioning result at a network side is usually referred to, for example, a Real-time kinematic (RTK) positioning result at the network side, but because the positioning terminal cannot determine the reliability of the positioning result at the network side, the positioning result finally determined by the positioning terminal may have the problems of inaccuracy and unreliability.

Disclosure of Invention

The embodiment of the invention provides a terminal positioning processing method and device and electronic equipment, so that the accuracy and reliability of a terminal positioning result can be improved at least to a certain extent.

Additional features and advantages of the invention will be set forth in the detailed description which follows, or may be learned by practice of the invention.

According to an aspect of the embodiments of the present invention, a method for processing terminal positioning is provided, including: acquiring a network side positioning result aiming at a terminal, and error indexes of a historical network side positioning result and an actual positioning result of the terminal; calculating a confidence index of the network side positioning result according to the network side positioning result and the error index; and sending the network side positioning result and the confidence index to the terminal so that the terminal performs positioning based on the network side positioning result and the confidence index.

According to an aspect of the embodiments of the present invention, a method for processing terminal positioning is provided, including: receiving a network side positioning result sent by a network positioning server and a confidence index of the network side positioning result, wherein the confidence index is obtained by calculation according to the network side positioning result and error indexes of a historical network side positioning result and an actual positioning result of a terminal; and positioning according to the network side positioning result and the confidence index.

According to an aspect of the embodiments of the present invention, there is provided a terminal positioning processing apparatus, including: the device comprises an acquisition unit, a processing unit and a processing unit, wherein the acquisition unit is used for acquiring a network side positioning result aiming at a terminal and error indexes of a historical network side positioning result and an actual positioning result of the terminal; the calculation unit is used for calculating a confidence index of the network side positioning result according to the network side positioning result and the error index; and the sending unit is used for sending the network side positioning result and the confidence index to the terminal so that the terminal can perform positioning based on the network side positioning result and the confidence index.

In some embodiments of the present invention, based on the foregoing scheme, the obtaining unit is configured to: acquiring at least one positioning data for network positioning of the terminal; calculating at least one positioning result for the terminal according to the at least one positioning data; and performing fusion processing on the at least one positioning result to obtain a network side positioning result of the terminal.

In some embodiments of the present invention, based on the foregoing scheme, the obtaining unit is configured to: calculating a first positioning result aiming at the terminal according to differential information of a satellite signal fed back by a real-time dynamic RTK reference station and a satellite signal observed quantity fed back by the terminal; and/or determining a second positioning result of the terminal according to the information of the terminal collected by the road side unit, or receiving the second positioning result determined by the road side unit according to the collected information of the terminal; and/or acquiring a beacon signal received by a signal receiver which is installed on the terminal and used for fingerprint positioning, and determining a third positioning result of the terminal according to the beacon signal.

In some embodiments of the present invention, based on the foregoing solution, the computing unit is configured to: determining a target parameter for calculating the confidence index according to the network side positioning result, wherein the target parameter is used for indicating the influence condition of the area where the terminal is located on the network positioning precision; and calculating the confidence index according to the target parameter and the error index.

In some embodiments of the present invention, based on the foregoing solution, the computing unit is configured to: determining the area where the terminal is located according to the network side positioning result; and determining the target parameter corresponding to the area where the terminal is located based on the corresponding relation between the area and the target parameter.

In some embodiments of the present invention, based on the foregoing solution, the computing unit is configured to: normalizing the error index to obtain an index value after normalization; and calculating the product of the target parameter and the index value after the normalization processing to obtain the confidence index.

In some embodiments of the invention, based on the foregoing, the terminal comprises a vehicle communication terminal; the transmitting unit is configured to: generating a vehicle communication message containing the network side positioning result, wherein a designated field in the vehicle communication message is used for indicating a confidence index of the network side positioning result; and sending the vehicle communication message to the vehicle communication terminal.

According to an aspect of the embodiments of the present invention, there is provided a terminal positioning processing apparatus, including: the receiving unit is used for receiving a network side positioning result sent by a network positioning server and a confidence index of the network side positioning result, wherein the confidence index is obtained by calculation according to the network side positioning result and error indexes of a historical network side positioning result and an actual positioning result of a terminal; and the processing unit is used for carrying out positioning processing according to the network side positioning result and the confidence index.

In some embodiments of the present invention, based on the foregoing solution, the processing unit is configured to: determining the weight of the network side positioning result and the weight of the terminal side positioning result obtained by positioning equipment installed on the terminal according to the confidence index; and fusing the network side positioning result and the terminal side positioning result based on the weight of the network side positioning result and the weight of the terminal side positioning result to obtain the actual positioning result of the terminal.

In some embodiments of the present invention, based on the foregoing solution, the processing unit is configured to: if the confidence index is greater than or equal to a first threshold, taking the network side positioning result as the actual positioning result of the terminal; or if the confidence index is greater than or equal to a second threshold, fusing the positioning result of the network side and the positioning result of the inertial measurement unit on the terminal to obtain the actual positioning result of the terminal; or if the confidence index is smaller than or equal to a third threshold, fusing the positioning result of the network side, the positioning result of the inertial measurement unit on the terminal and the positioning result of the sensor point cloud on the terminal to obtain the actual positioning result of the terminal.

In some embodiments of the present invention, based on the foregoing solution, the process of fusing the network side positioning result, the positioning result of the inertial measurement unit on the terminal, and the positioning result of the sensor point cloud on the terminal by the processing unit includes: fusing the network side positioning result and the positioning result of the inertial measurement unit to obtain a corrected network side positioning result; and fusing the corrected network side positioning result and the positioning result of the sensor point cloud in a preset range, wherein the confidence index and the preset range form an inverse correlation relationship.

In some embodiments of the present invention, based on the foregoing solution, the terminal location processing apparatus further includes: a feedback unit, configured to calculate an error indicator between the actual positioning result and the network side positioning result according to the actual positioning result of the terminal and the network side positioning result, and feed back the error indicator between the actual positioning result and the network side positioning result to the network positioning server; or feeding back the actual positioning result of the terminal to the network positioning server, so that the network positioning server can calculate the error index of the actual positioning result and the network side positioning result.

According to an aspect of the embodiments of the present invention, there is provided a computer readable medium, on which a computer program is stored, which when executed by a processor, implements the terminal location processing method as described in the above embodiments.

According to an aspect of an embodiment of the present invention, there is provided an electronic apparatus including: one or more processors; a storage device for storing one or more programs which, when executed by the one or more processors, cause the one or more processors to implement the terminal location processing method as described in the above embodiments.

In the technical solutions provided in some embodiments of the present invention, the confidence index of the network side positioning result is calculated according to the network side positioning result and the error index of the historical network side positioning result and the actual positioning result of the terminal, and the network side positioning result and the confidence index are sent to the terminal, so that the terminal can refer to the confidence index of the network side positioning result when determining the actual positioning result, and determine the reliability of the network side positioning result based on the confidence index, and further select the degree of dependence on the network side positioning result based on the reliability of the network side positioning result, thereby avoiding the problem that the final positioning result of the terminal is inaccurate because the network side positioning result is completely dependent on the network side positioning result when the network side positioning result is unreliable, and effectively improving the accuracy and reliability of the terminal positioning result.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort. In the drawings:

FIG. 1 shows a schematic diagram of an exemplary system architecture to which aspects of embodiments of the invention may be applied;

fig. 2 schematically shows a flow chart of a terminal location processing method according to an embodiment of the present invention;

fig. 3 schematically shows a flow chart for obtaining a network side positioning result for a terminal according to one embodiment of the invention;

FIG. 4 schematically illustrates a flow chart for computing a confidence index for a network-side positioning result based on the network-side positioning result and an error indicator, according to an embodiment of the invention;

fig. 5 schematically shows a flow chart of a terminal location processing method according to an embodiment of the present invention;

FIG. 6 schematically shows a flow diagram of a positioning process based on a network-side positioning result and the confidence index, according to an embodiment of the invention;

fig. 7 schematically shows a flow chart of a terminal location processing method according to an embodiment of the present invention;

fig. 8 is a block diagram schematically illustrating a system for performing a location process on a terminal according to an embodiment of the present invention;

FIG. 9 is a diagram illustrating interaction between devices in the system shown in FIG. 8;

fig. 10 schematically shows a flowchart of fusion localization and confidence index calculation in step S904 shown in fig. 9;

fig. 11 schematically shows a flowchart in which the positioning terminal fuses the network-side positioning result and the terminal-side positioning result to determine an actual positioning result in step S906 shown in fig. 9;

FIG. 12 shows a schematic diagram of the application architecture of V2X according to one embodiment of the present invention;

fig. 13 schematically shows a block diagram of a terminal location processing apparatus according to an embodiment of the present invention;

fig. 14 schematically shows a block diagram of a terminal location processing apparatus according to an embodiment of the present invention;

FIG. 15 illustrates a schematic structural diagram of a computer system suitable for use with the electronic device to implement an embodiment of the invention.

Detailed Description

Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art.

Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to provide a thorough understanding of embodiments of the invention. One skilled in the relevant art will recognize, however, that the invention may be practiced without one or more of the specific details, or with other methods, components, devices, steps, and so forth. In other instances, well-known methods, devices, implementations or operations have not been shown or described in detail to avoid obscuring aspects of the invention.

The block diagrams shown in the figures are functional entities only and do not necessarily correspond to physically separate entities. I.e. these functional entities may be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor means and/or microcontroller means.

The flow charts shown in the drawings are merely illustrative and do not necessarily include all of the contents and operations/steps, nor do they necessarily have to be performed in the order described. For example, some operations/steps may be decomposed, and some operations/steps may be combined or partially combined, so that the actual execution sequence may be changed according to the actual situation.

Fig. 1 shows a schematic diagram of an exemplary system architecture to which the technical solution of the embodiments of the present invention can be applied.

As shown in fig. 1, the system architecture may include a vehicle terminal 101, a network positioning server 102, an RTK reference station 103, and a roadside awareness base station 104. The network positioning server 102 and the vehicle terminal 101, the RTK reference station 103 and the roadside awareness base station 104 may be connected through a network, such as a wired communication link, a wireless communication link, and the like.

It should be understood that the number of vehicle terminals 101, network positioning servers 102, RTK reference stations 103, and roadside awareness base stations 104 in fig. 1 are merely illustrative. There may be any number of vehicle terminals 101, network positioning servers 102, RTK reference stations 103, and roadside awareness base stations 104, as desired for an implementation.

In an embodiment of the present invention, the network positioning server 102 may acquire difference information of a satellite signal fed back by the RTK reference station 103, acquire terminal information (such as image information acquired by a camera, signal information sensed by an ultrasonic radar, and the like) acquired by the roadside sensing base station 104, and acquire an observed amount of the satellite signal and an observed amount of fingerprint positioning fed back by the vehicle terminal 101 at the same time. Furthermore, the network positioning server 102 determines a first positioning result according to the difference information of the satellite signal fed back by the RTK base station 103 and the observation amount of the satellite signal fed back by the vehicle terminal 101, determines a second positioning result according to the terminal information collected by the roadside sensing base station 104, and determines a third positioning result according to the observation amount of fingerprint positioning fed back by the vehicle terminal 101. After determining the first positioning result, the second positioning result, and the third positioning result, the network positioning server 102 may fuse the three positioning results to obtain a network-side positioning result for the vehicle terminal 101.

After the network positioning server 102 obtains the network side positioning result of the vehicle terminal 101, the confidence index of the network side positioning result may be calculated according to the network side positioning result and the error index of the historical network side positioning result and the actual positioning result of the vehicle terminal 101, and the network side positioning result and the confidence index may be sent to the vehicle terminal 101.

After obtaining the network side positioning result and the confidence index, the vehicle terminal 101 may perform positioning processing according to the network side positioning result and the confidence index. If the confidence index is larger, the network side positioning result may be used as the actual positioning result of the vehicle terminal 101; or fusing the network side positioning result and an Inertial Measurement Unit (IMU) positioning result on the vehicle terminal 101 to serve as an actual positioning result of the vehicle terminal 101; or fusing the network side positioning result, the IMU positioning result on the vehicle terminal 101, and the positioning result of the sensor point cloud (such as camera point cloud, radar point cloud, etc.) on the vehicle terminal 101 to serve as the actual positioning result of the vehicle terminal 101.

Because the terminal can refer to the confidence index of the network side positioning result when determining the actual positioning result, the reliability of the network side positioning result can be determined based on the confidence index, and then the degree of dependence on the network side positioning result can be selected based on the reliability of the network side positioning result, so that the problem that the final positioning result of the terminal is inaccurate because the network side positioning result is completely dependent on the network side positioning result when the network side positioning result is unreliable can be avoided, and the accuracy and the reliability of the terminal positioning result are effectively improved.

The implementation details of the technical scheme of the embodiment of the invention are explained in detail as follows:

fig. 2 schematically shows a flowchart of a terminal location processing method according to an embodiment of the present invention, which may be performed by a server, which may be the network location server shown in fig. 1. Referring to fig. 2, the terminal location processing method at least includes steps S210 to S230, which are described in detail as follows:

in step S210, a network side positioning result for a terminal and an error index of a historical network side positioning result and an actual positioning result of the terminal are obtained.

In an embodiment of the present invention, the error indicator of the historical network side positioning result and the actual positioning result of the terminal may be an error indicator directly fed back by the terminal after calculation. For example, after the terminal determines the actual positioning result according to the received network side positioning result, the error index is calculated according to the network side positioning result and the actual positioning result. The error index can be an error index value calculated by the terminal according to the previous network positioning result and the actual positioning result; or the terminal may calculate a plurality of error indexes according to the network positioning results of the previous times and the actual positioning results corresponding to each network positioning result, and then obtain an average error index value by calculating an average value.

In an embodiment of the present invention, the error indicator of the historical network side positioning result and the actual positioning result of the terminal may also be calculated by the network positioning server according to the network side positioning result and the actual positioning result fed back by the terminal. The error index can be an error index value calculated according to a previous network side positioning result and a previous actual positioning result fed back by the terminal; or the average error index value may be obtained by calculating an average value after calculating a plurality of error indexes according to the network positioning results of the previous times and the actual positioning results corresponding to the network positioning results fed back by the terminal.

In an embodiment of the present invention, as shown in fig. 3, the process of acquiring the network-side positioning result for the terminal in step S210 includes the following steps S310 to S330, which are described in detail as follows:

in step S310, at least one positioning data for network positioning of the terminal is acquired.

In one embodiment of the present invention, each type of positioning data for network positioning of the terminal corresponds to a network positioning mode. For example, the network positioning method for the terminal includes RTK positioning, Road Side Unit (RSU, for example, roadside sensing base station) positioning, fingerprint positioning, and the like. Positioning data corresponding to RTK positioning comprises differential information of a satellite signal fed back by an RTK base station and a satellite signal observed quantity fed back by a terminal; the positioning data corresponding to the positioning of the road side unit comprises position information and the like of the road object acquired by the road side unit; the positioning data corresponding to the fingerprint positioning includes a beacon signal received by a signal receiver installed on the terminal, and the like.

In step S320, at least one positioning result for the terminal is calculated according to the at least one positioning data.

In one embodiment of the present invention, if the positioning data includes difference information of a satellite signal fed back by the RTK reference station and a satellite signal observation amount fed back by the terminal, a first positioning result for the terminal may be calculated according to the difference information of the satellite signal fed back by the RTK reference station and the satellite signal observation amount fed back by the terminal. After acquiring the satellite signal observed by the RTK reference station, calculating differential information of the satellite signal according to the satellite signal observed by the RTK reference station and actual coordinate information of the RTK reference station, and then feeding the differential information back to the network positioning server.

In an embodiment of the present invention, if the positioning data includes information of the terminal collected by the road side unit, the second positioning result of the terminal may be determined according to the information of the terminal collected by the road side unit. It should be noted that, if the roadside unit can directly determine the positioning result of the terminal according to the collected information of the terminal, the network positioning server may directly obtain the second positioning result determined by the roadside unit according to the collected information of the terminal.

In one embodiment of the present invention, if the positioning data includes a beacon signal received by a signal receiver installed on the terminal for fingerprint positioning, a third positioning result of the terminal may be determined according to the beacon signal.

It should be noted that a "fingerprint" in fingerprint localization may be a feature or features (most commonly signal strength) of a certain information or signal. For example, some sending devices with known and fixed positions send signals or information, the device to be positioned receives the signals or information sent by the sending device, and then the position relationship between the device to be positioned and the sending device can be estimated according to the characteristics (such as signal strength) of the received signals or information, so as to determine the position of the device to be positioned.

In step S330, the at least one positioning result is fused to obtain a network-side positioning result of the terminal.

In an embodiment of the present invention, if there is only one positioning result, the positioning result may be directly used as a network side positioning result, and if there are multiple positioning results, the multiple positioning results may be subjected to fusion processing by using a kalman filter algorithm.

Continuing to refer to fig. 2, in step S220, a confidence index of the network-side positioning result is calculated according to the network-side positioning result and the error index.

In an embodiment of the present invention, as shown in fig. 4, the process of calculating the confidence index of the network-side positioning result according to the network-side positioning result and the error index in step S220 includes the following steps S410 and S420, which are described in detail as follows:

in step S410, a target parameter for calculating the confidence index is determined according to a network side positioning result, where the target parameter is used to indicate an influence situation of an area where the terminal is located on network positioning accuracy.

In an embodiment of the present invention, since the positioning accuracy of the network positioning in different areas may be different, for example, the accuracy of the network positioning in the case of no occlusion and in the case of occlusion (e.g. in a scenario such as a tunnel) may be different, the response condition of the area where the terminal is located to the network positioning accuracy may be reflected by the target parameter. Specifically, the corresponding relationship between the area and the target parameter may be set according to the accuracy of network positioning in different areas, and then the area where the terminal is located may be determined according to the network side positioning result of the terminal, so as to determine the target parameter corresponding to the area where the terminal is located based on the corresponding relationship between the area and the target parameter.

With continued reference to fig. 4, in step S420, the confidence index is calculated according to the target parameter and the error index.

In an embodiment of the present invention, the error indicator of the historical network side positioning result fed back by the terminal may be normalized to obtain an indicator value after normalization, for example, the error indicator is normalized to a value between 0 and 1, where 1 indicates no error, and 0 indicates that the error exceeds a specified range. Then, the product of the target parameter obtained in step S410 and the index value after the normalization processing is calculated to obtain a confidence index.

Continuing to refer to fig. 2, in step S230, the network-side positioning result and the confidence index are sent to the terminal, so that the terminal performs positioning based on the network-side positioning result and the confidence index.

In one embodiment of the present invention, a data packet or a notification message may be sent to the terminal to send the network-side positioning result and the confidence index to the terminal.

In an application scenario of the present invention, the terminal may be a vehicle communication terminal, and when the network-side positioning result and the confidence index are sent to the vehicle communication terminal, a vehicle communication message including the network-side positioning result may be generated, and the confidence index of the network-side positioning result is indicated by a specified field in the vehicle communication message, so as to send the vehicle communication message to the vehicle communication terminal.

Fig. 5 schematically shows a flowchart of a terminal location processing method according to an embodiment of the present invention, which may be performed by a terminal, which may be the vehicle terminal shown in fig. 1. Referring to fig. 5, the terminal location processing method at least includes step S510 and step S520, and the following details are introduced:

in step S510, a network side positioning result and a confidence index of the network side positioning result, which are sent by a network positioning server, are received, where the confidence index is calculated according to the network side positioning result and error indexes of a historical network side positioning result and an actual positioning result of a terminal.

In the embodiment of the present invention, the calculation manner of the confidence index has been described in the technical solutions of the foregoing embodiments, and is not described herein again.

In step S520, a positioning process is performed according to the network side positioning result and the confidence index.

In an embodiment of the present invention, as shown in fig. 6, the process of performing positioning processing according to the network side positioning result and the confidence index in step S520 includes the following steps:

step S610, determining the weight of the network side positioning result and the weight of the terminal side positioning result obtained by the positioning device installed on the terminal according to the confidence index.

In one embodiment of the present invention, the positioning device installed on the terminal may be an IMU positioning device, a sensor point cloud positioning device (e.g., a camera point cloud, a radar point cloud, etc.).

In an embodiment of the present invention, if the confidence of the network side positioning result is greater, the weight of the network side positioning result may be set to be greater, and the weight of the terminal side positioning result may be set to be smaller; if the confidence of the network side positioning result is smaller, the weight of the network side positioning result can be set smaller, and the weight of the terminal side positioning result can be set larger.

And step S620, fusing the network side positioning result and the terminal side positioning result based on the weight of the network side positioning result and the weight of the terminal side positioning result to obtain the actual positioning result of the terminal.

In an embodiment of the present invention, when performing fusion processing on the network side positioning result and the terminal side positioning result, a fusion parameter may be set according to the weight of the network side positioning result and the weight of the terminal side positioning result, so that the result of the fusion processing is more emphasized on the positioning result with a larger weight, and the complexity of the fusion algorithm may be reduced. Alternatively, the fusion may be performed by means of kalman filtering.

In an embodiment of the present invention, if the confidence index is greater than or equal to the first threshold, the network-side positioning result may be directly used as the actual positioning result of the terminal, which is lower in algorithm complexity. For example, if the confidence index is at most 1, the first threshold may be set to a value close to 1, such as 0.9, 0.95, and the like, so as to directly adopt the network side positioning result as the actual positioning result of the terminal when the confidence index is larger.

In an embodiment of the present invention, if the confidence index is greater than or equal to the second threshold, the network side positioning result and the positioning result of the inertial measurement unit on the terminal may be fused to obtain the actual positioning result of the terminal. For example, if the confidence index is at most 1, the second threshold may be set to a value closer to 1, such as 0.7, 0.8, and the like, so that when the confidence index is not too small, the positioning result on the network side is optimized by the IMU positioning result on the terminal to obtain the actual positioning result of the terminal.

In an embodiment of the present invention, if the confidence index is less than or equal to a third threshold, the network side positioning result, the positioning result of the inertial measurement unit on the terminal, and the positioning result of the sensor point cloud on the terminal are fused to obtain an actual positioning result of the terminal. For example, if the confidence index is at most 1, the third threshold may be set to a value far from 1, such as 0.5, 0.6, and the like, so that when the confidence index is small, the network-side positioning result is jointly optimized through the IMU positioning result on the terminal and the positioning result of the sensor point cloud, so as to obtain the actual positioning result of the terminal.

In an embodiment of the present invention, the process of fusing the network-side positioning result, the positioning result of the inertial measurement unit on the terminal, and the positioning result of the sensor point cloud on the terminal may be to fuse the network-side positioning result and the positioning result of the inertial measurement unit to obtain a corrected network-side positioning result, and then fuse the corrected network-side positioning result and the positioning result of the predetermined range of the sensor point cloud, where the confidence index is in an inverse correlation with the predetermined range. If the confidence index is higher, the accuracy of the corrected network side positioning result is also higher, and then the positioning results of the sensor point clouds in a smaller range can be selected for fusion again; if the confidence index is smaller, the accuracy of the corrected network side positioning result is also lower, and further the positioning results of the sensor point clouds in a larger range can be selected for fusion again, so that the accuracy of the obtained actual positioning result of the terminal is improved.

It should be noted that, in other embodiments of the present invention, the network side positioning result, the positioning result of the inertial measurement unit, and the positioning result of the sensor point cloud may also be fused at the same time; or the positioning result of the network side and the positioning result of the sensor point cloud are fused firstly, and then the positioning result of the inertial measurement unit is fused.

As shown in fig. 7, after determining the actual positioning result of the terminal, the method for positioning a terminal according to an embodiment of the present invention may further include the following steps:

step S710, calculating error indexes of the actual positioning result and the network side positioning result according to the actual positioning result of the terminal and the network side positioning result.

In an embodiment of the present invention, a difference between an actual positioning result of the terminal and a network side positioning result may be used as an error indicator of the network side positioning result; or after calculating the difference between the actual positioning result of the terminal and the network side positioning result, performing normalization processing on the difference to obtain an error index of the network side positioning result.

Step S720, feeding back the error index of the actual positioning result and the network side positioning result to the network positioning server. And the network positioning server can calculate the confidence index of the subsequently sent network side positioning result according to the error indexes of the actual positioning result and the network side positioning result.

In other embodiments of the present invention, the terminal may also only feed back the actual positioning result to the network positioning server, and the network positioning server may further calculate an error index according to the actual positioning result and the network side positioning result, and calculate a confidence index of a subsequently sent network side positioning result according to the error index.

The terminal positioning processing method according to the embodiment of the present invention is described in detail above from the perspective of the network positioning server and the terminal, and the implementation details of the technical solution according to the embodiment of the present invention are further described below with reference to fig. 8 to 12:

as shown in fig. 8, in an embodiment of the present invention, a system for performing location processing on a terminal may include: an RTK reference station 801, a roadside awareness base station 802, a network positioning server 803, a mobile communication network 804, and a positioning terminal 805.

Wherein, the RTK reference station 801 is used for RTK differential positioning, and the RTK reference station 801 can be connected to the network positioning server 803 by means of wired private network or mobile communication. The RTK reference station 801 is mainly used for receiving GNSS (Global Navigation Satellite System) Satellite signals, and may include BeiDou Navigation Satellite System (BDS) signals, GPS (Global positioning System) signals, glonass (russian "Global Navigation Satellite System" for short) signals, GALILEO (GALILEO Satellite Navigation System) signals, and the like. The RTK reference station 801 needs to be deployed in an open and non-blocking and non-interfering position, and the main function of the RTK reference station is to perform joint calculation according to the currently received GNSS signal and the position information of the RTK reference station itself to obtain a GNSS differential signal and provide the GNSS differential signal to the network positioning server 803.

The roadside sensing base station 802 is a roadside unit, which includes a camera, an ultrasonic radar, and other sensor devices, and these sensor devices can calculate an actual positioning position of an object according to their own position and the position of a detected road object (such as a vehicle, a pedestrian, an accident, and the like), and return the calculated positioning result to the network positioning server 803 for processing.

The main roles of the network location server 803 include: (1) resolving a differential signal based on the multiple RTK reference stations 801, and performing RTK positioning resolving on a cloud end by combining GNSS original observed quantities fed back by the positioning terminal 805 to obtain an RTK positioning result; (2) acquiring a roadside sensing and positioning result of a road object fed back by a roadside sensing base station 802; (3) acquiring a fingerprint positioning observed quantity fed back by the positioning terminal 805, and calculating according to the observed quantity to obtain a fingerprint positioning result; (4) after all or part of the RTK positioning result, the fingerprint positioning result, and the roadside sensing positioning result is obtained, the network side positioning result of the network positioning server 803 is solved, and the confidence index of the network side positioning result is determined by combining the terminal final positioning result (such as the fusion positioning result completed on the vehicle terminal side in the automatic driving scene) fed back by the positioning terminal 805.

The mobile communication network 804 is used for providing the distribution and data transmission of the confidence index between the network positioning server 803 and the positioning terminal 805, and may be, for example, a 3G/4G/5G network or some dedicated network.

The positioning terminal 805 may be an autonomous vehicle equipped with an RTK terminal for observing the GNSS raw observations and sending to the network positioning server 803 for RTK positioning; the autonomous automobile may also be equipped with a beacon signal receiver for fingerprint positioning, and the beacon signal receiver sends the received positioning fingerprint observation to the network positioning server 803 for fingerprint positioning; in addition, the automatic driving automobile can also be positioned in a multi-source fusion positioning mode, for example, terminal side positioning can be performed through devices such as Light Detection And Ranging (namely, laser Detection And measurement), a camera, an IMU gyroscope, a wheel range finder And the like, positioning results of the devices can be fused together with network side positioning results, And higher positioning accuracy can be obtained by using the lowest possible calculation complexity. Of course, the positioning terminal 805 may also be other devices, such as a common vehicle, a mobile phone, etc., in which case the positioning terminal 805 may only have an RTK terminal or a beacon signal receiver for fingerprint positioning, or may not include any of these devices, and completely depend on the network-side positioning result provided by the network positioning server 803.

The following describes in detail an interaction process between the devices in the system shown in fig. 8 with reference to fig. 9, and as shown in fig. 9, the method specifically includes the following steps:

in step S901, the RTK reference station performs joint calculation according to the currently received GNSS signal and its own position information to obtain a GNSS differential signal, and then sends the GNSS differential signal to the network positioning server according to a higher frequency. Wherein the RTK reference station may periodically feed back GNSS differential signals to the network positioning server.

And S902, after capturing pictures through a camera and detecting the distance of the obstacle through an ultrasonic radar, the roadside sensing base station analyzes corresponding position information and feeds back a positioning result obtained through analysis to a network positioning server. In addition, the roadside perception base station can only feed back the image information captured by the camera and the detection information of the ultrasonic radar to the network positioning server, so that the network positioning server can conveniently identify and calculate the corresponding positioning result. The roadside sensing base station can also periodically feed back a positioning result (or information collected by a camera and an ultrasonic radar) to the network positioning server.

Step S903, the positioning terminal (such as an automatic driving automobile) feeds back GNSS original observed quantity obtained by an RTK terminal arranged on the positioning terminal, a beacon signal received by a beacon signal receiver based on fingerprint positioning and an actual positioning result obtained by the positioning terminal in the last fusion positioning period to a network positioning server. The positioning terminal can uniformly package the three values in an uplink message and send the uplink message to the network positioning server, so that the network positioning server can perform positioning calculation, fusion and calculation of a positioning reliability index; in addition, the positioning terminal may also transmit the three values according to the three uplink messages, or may also perform a combination between the three uplink messages to upload the messages. The data uploaded to the network positioning server by the positioning terminal may include only a part of the three values, or may include data other than the three values.

Step S904, after receiving the related information respectively sent from the RTK base station, the roadside sensing base station, and the positioning terminal, the network positioning server performs related fusion positioning and confidence index calculation. The specific calculation process will be described in detail in the following examples.

Step S905, after the network positioning server calculates the network side positioning result and the confidence index, the network positioning server sends the network side positioning result and the confidence index to the positioning terminal through the mobile communication network.

Step S906, after receiving the network side positioning result and the confidence index fed back by the network positioning server, the positioning terminal determines an optimal fusion positioning algorithm according to the confidence index, and fuses the network side positioning result and the terminal side positioning result (such as one or some of the laser radar positioning result, the camera positioning result, the IMU gyroscope positioning result and the wheel range finder positioning result) to determine a final actual positioning result. The specific processing procedure will be described in detail in the following examples.

The process of performing fusion localization and confidence index calculation in step S904 is described in detail below with reference to fig. 10, and specifically includes the following steps:

step S1001, after receiving the related information respectively sent by the RTK base station, the roadside sensing base station and the positioning terminal, the network positioning server performs corresponding positioning settlement to calculate and obtain an RTK positioning result, a positioning result of the roadside sensing base station and a fingerprint positioning result.

Step S1002, the network positioning server performs fusion calculation after obtaining all or part of the above three positioning results, so as to obtain a fusion positioning result. The fusion algorithm may adopt a kalman (kalman) filtering algorithm. If only one positioning result is used in the fusion, the positioning result is the fused network side positioning result.

And step S1003, the network positioning server calculates the confidence index according to the network side positioning result and the historical actual positioning result fed back by the positioning terminal.

In one embodiment of the present invention, the confidence index may be calculated by the following formula:

η＝a×b

wherein b (0 ≦ b ≦ 1) in the formula represents the error confidence between the network side positioning result of the previous cycle and the actual positioning result determined by the positioning terminal, and the error confidence may be normalized to a coefficient between 0 and 1 to represent the error size, for example, 1 represents no error, and 0 represents that the error is beyond a specified range.

In the formula, a (0< a is less than or equal to 1) represents the multipath condition of the positioning road section and can be distinguished according to the geographic environment, for example, a rural road, a highway far away from the urban area and the like are 1, and the value a of an unobstructed area, an obstructed area and the like in the city can be correspondingly reduced. The value a is set mainly for correlating the correlation between the positioning error in the previous period and the possible positioning error in the current period, specifically, the value b only represents the error confidence of the previous positioning period, and the value a may represent to some extent the scene and the multipath condition where the current positioning period has the greatest influence on the network positioning accuracy. In an embodiment of the present invention, each area in the map may be associated with an a value, and then after obtaining the network side positioning result of the current period, an area where the positioning terminal is currently located approximately may be determined according to the network side positioning result, and then the a value associated with the area is obtained.

It should be noted that, in the embodiment shown in fig. 10, the positioning terminal feeds back a historical actual positioning result to the network positioning server, and the network positioning server calculates an error confidence b between the network-side positioning result of the previous cycle and the historical actual positioning result fed back by the positioning terminal. In other embodiments of the present invention, the positioning terminal may also calculate an error confidence b between the network-side positioning result of the previous cycle and the historical actual positioning result, and then directly feed back the error confidence b to the network positioning server, so that the network positioning server can calculate the confidence index.

In an embodiment of the present invention, after the network positioning server obtains the network-side positioning result and the confidence index, the network positioning server sends these information to the positioning terminal through the network, so that the positioning terminal can calculate the actual positioning result.

The following describes in detail the process of determining the actual positioning result by fusing the network side positioning result and the terminal side positioning result by the positioning terminal in step S906 with reference to fig. 11, and specifically includes the following steps:

step S1101, combining the network side positioning result with the IMU positioning result, so as to correct the network side positioning result through the IMU positioning result.

In an embodiment of the present invention, since the frequency of network positioning is usually low, in a positioning period, accurate real-time positioning can be achieved by combining IMU positioning (IMU positioning has displacement error, proportional error and background white noise error, and the error is accumulated continuously, so that it cannot be used for long-time positioning, but the positioning frequency is high). The combination process of the IMU positioning result and the network side positioning result is also a fusion process, and the fusion process can be dynamically adjusted according to the confidence index of the network side positioning result during fusion. If the confidence of the network side positioning result is higher, the weight of the network side positioning result can be set to be larger; if the confidence of the network side positioning result is low, the weight of the network side positioning result can be set to be small.

Step S1102, fusing the network side positioning result corrected by the IMU positioning result with a point cloud (e.g., laser radar point cloud, camera point cloud, etc.) positioning result. During the fusion processing, the physical range of point cloud calculation can be selected according to the confidence index of the network side positioning result, for example, if the confidence index is high, the point cloud calculation can be performed only in a small range; if the confidence index is low, the point cloud calculation range can be expanded.

In an embodiment of the present invention, when performing fusion processing on each positioning result, kalman filtering algorithm may be used to perform the fusion processing. Parameters in the Kalman filtering algorithm, such as the fusion relationship of each positioning result in the transformation matrix, can be determined according to the confidence index of the network side positioning result, so that the convergence speed of the fusion algorithm is increased, and the calculation amount of the fusion algorithm is reduced.

It should be noted that fig. 11 only shows a part of the terminal-side positioning results (i.e., the point cloud positioning results and the IMU positioning results), and in other embodiments of the present invention, more terminal-side positioning results may be added for the fusion processing. In addition, when the final actual positioning result is determined based on the network side positioning result, the positioning terminal can also directly adopt the network positioning result with high confidence index, or adopt different fusion positioning modes for the network positioning results with different confidence indexes, for example, when the confidence index is higher, only the network side positioning result and the IMU positioning result are fused, and when the confidence index is lower, the point cloud positioning result and the like are combined.

In a specific application scenario of the present invention, the technical solution of the embodiment of the present invention may be applied to a transfer process of a V2X (Vehicle to outside communication) message. Specifically, as shown in fig. 12, in the application architecture of V2X, UEs (User equipments) can directly communicate with each other through a PC5 interface, for example, UE a (vehicle terminal), UE B (vehicle terminal), and UE D (fixed object) directly communicate with each other, and UE B and UE C (pedestrian terminal) directly communicate with each other; the UE may also communicate with an NG-RAN (Next Generation Radio Access Network) through a Uu interface, such as between UE a and the NG-RAN, and between UE D and the NG-RAN.

The network positioning server may add the calculated confidence index of the network-side positioning result to the V2X message, then send the message to the core network device 1201, and then forward the message to the access network through the core network device, and then forward the message to the corresponding UE (e.g., UE a or UE D) through the access network. The core network device 1201 may include a UDM (Unified data Management Function), a PCF (Policy Control Function), a V2XCF (Vehicle to electronic Control Function), a NEF (network exposure Function), an AF (Application Function), a user plane Function, an SMF (Session Management Function), an AMF (Access and Mobility Management Function), and the like.

In an embodiment of the present invention, the UE may also carry the confidence index of the network-side positioning result when forwarding the network-side positioning result. By way of extension, in the embodiment of the present invention, any communication message (including V2X message set) related to a position in V2X communication may carry a field of confidence index to indicate the confidence of the position. In addition, for other V2X messages, a confidence index may be added to the V2X message to indicate the confidence of the relevant information in the V2X message, for example, if a certain V2X message is used to inform how many vehicles are on the road, then a confidence index may also be added to indicate the reliability of the information.

The following describes an embodiment of an apparatus of the present invention, which may be used to execute the terminal location processing method in the foregoing embodiment of the present invention. For details that are not disclosed in the embodiments of the apparatus of the present invention, please refer to the embodiments of the terminal positioning processing method of the present invention.

Fig. 13 schematically shows a block diagram of a terminal location processing apparatus according to an embodiment of the present invention.

Referring to fig. 13, a terminal location processing apparatus 1300 according to an embodiment of the present invention includes: an acquisition unit 1302, a calculation unit 1304, and a transmission unit 1306.

The obtaining unit 1302 is configured to obtain a network side positioning result for a terminal, and an error indicator of a historical network side positioning result and an actual positioning result of the terminal; the calculating unit 1304 is configured to calculate a confidence index of the network-side positioning result according to the network-side positioning result and the error index; the sending unit 1306 is configured to send the network-side positioning result and the confidence index to the terminal, so that the terminal performs positioning based on the network-side positioning result and the confidence index.

In one embodiment of the present invention, the obtaining unit 1302 is configured to: acquiring at least one positioning data for network positioning of the terminal; calculating at least one positioning result for the terminal according to the at least one positioning data; and performing fusion processing on the at least one positioning result to obtain a network side positioning result of the terminal.

In one embodiment of the present invention, the obtaining unit 1302 is configured to: calculating a first positioning result aiming at the terminal according to differential information of a satellite signal fed back by a real-time dynamic RTK reference station and a satellite signal observed quantity fed back by the terminal; and/or determining a second positioning result of the terminal according to the information of the terminal collected by the road side unit, or receiving the second positioning result determined by the road side unit according to the collected information of the terminal; and/or acquiring a beacon signal received by a signal receiver which is installed on the terminal and used for fingerprint positioning, and determining a third positioning result of the terminal according to the beacon signal.

In one embodiment of the invention, the calculation unit 1304 is configured to: determining a target parameter for calculating the confidence index according to the network side positioning result, wherein the target parameter is used for indicating the influence condition of the area where the terminal is located on the network positioning precision; and calculating the confidence index according to the target parameter and the error index.

In one embodiment of the invention, the calculation unit 1304 is configured to: determining the area where the terminal is located according to the network side positioning result; and determining the target parameter corresponding to the area where the terminal is located based on the corresponding relation between the area and the target parameter.

In one embodiment of the invention, the calculation unit 1304 is configured to: normalizing the error index to obtain an index value after normalization; and calculating the product of the target parameter and the index value after the normalization processing to obtain the confidence index.

In one embodiment of the invention, the terminal comprises a vehicle communication terminal; the sending unit 1306 is configured to: generating a vehicle communication message containing the network side positioning result, wherein a designated field in the vehicle communication message is used for indicating a confidence index of the network side positioning result; and sending the vehicle communication message to the vehicle communication terminal.

Fig. 14 schematically shows a block diagram of a terminal location processing apparatus according to an embodiment of the present invention.

Referring to fig. 14, a terminal location processing apparatus 1400 according to an embodiment of the present invention includes: a receiving unit 1402 and a processing unit 1404.

The receiving unit 1402 is configured to receive a network side positioning result sent by a network positioning server and a confidence index of the network side positioning result, where the confidence index is calculated according to the network side positioning result and error indexes of a historical network side positioning result and an actual positioning result of a terminal; the processing unit 1404 is configured to perform positioning processing according to the network side positioning result and the confidence index.

In one embodiment of the invention, the processing unit 1404 is configured to: determining the weight of the network side positioning result and the weight of the terminal side positioning result obtained by positioning equipment installed on the terminal according to the confidence index; and fusing the network side positioning result and the terminal side positioning result based on the weight of the network side positioning result and the weight of the terminal side positioning result to obtain the actual positioning result of the terminal.

In one embodiment of the invention, the processing unit 1404 is configured to: if the confidence index is greater than or equal to a first threshold, taking the network side positioning result as the actual positioning result of the terminal; or if the confidence index is greater than or equal to a second threshold, fusing the positioning result of the network side and the positioning result of the inertial measurement unit on the terminal to obtain the actual positioning result of the terminal; or if the confidence index is smaller than or equal to a third threshold, fusing the positioning result of the network side, the positioning result of the inertial measurement unit on the terminal and the positioning result of the sensor point cloud on the terminal to obtain the actual positioning result of the terminal.

In an embodiment of the present invention, the processing unit 1404 is configured to perform a fusion process on the network-side positioning result, the positioning result of the inertial measurement unit on the terminal, and the positioning result of the sensor point cloud on the terminal, including: fusing the network side positioning result and the positioning result of the inertial measurement unit to obtain a corrected network side positioning result; and fusing the corrected network side positioning result and the positioning result of the sensor point cloud in a preset range, wherein the confidence index and the preset range form an inverse correlation relationship.

In an embodiment of the present invention, the terminal location processing apparatus 1400 further includes: a feedback unit, configured to calculate an error indicator between the actual positioning result and the network side positioning result according to the actual positioning result of the terminal and the network side positioning result, and feed back the error indicator between the actual positioning result and the network side positioning result to the network positioning server; or feeding back the actual positioning result of the terminal to the network positioning server, so that the network positioning server can calculate the error index of the actual positioning result and the network side positioning result.

It should be noted that the computer system 1500 of the electronic device shown in fig. 15 is only an example, and should not bring any limitation to the functions and the scope of the application of the embodiments of the present invention.

As shown in fig. 15, the computer system 1500 includes a Central Processing Unit (CPU)1501 which can perform various appropriate actions and processes in accordance with a program stored in a Read-Only Memory (ROM) 1502 or a program loaded from a storage section 1508 into a Random Access Memory (RAM) 1503. In the RAM 1503, various programs and data necessary for system operation are also stored. The CPU1501, the ROM 1502, and the RAM 1503 are connected to each other by a bus 1504. An Input/Output (I/O) interface 1505 is also connected to bus 1504.

The following components are connected to the I/O interface 1505: an input portion 1506 including a keyboard, a mouse, and the like; an output section 1507 including a Display such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and a speaker; a storage portion 1508 including a hard disk and the like; and a communication section 1509 including a network interface card such as a LAN (Local area network) card, a modem, or the like. The communication section 1509 performs communication processing via a network such as the internet. A drive 1510 is also connected to the I/O interface 1505 as needed. A removable medium 1511 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 1510 as necessary, so that a computer program read out therefrom is mounted into the storage section 1508 as necessary.

In particular, according to an embodiment of the present invention, the processes described below with reference to the flowcharts may be implemented as computer software programs. For example, embodiments of the invention include a computer program product comprising a computer program embodied on a computer-readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network through the communication section 1509, and/or installed from the removable medium 1511. When the computer program is executed by a Central Processing Unit (CPU)1501, various functions defined in the system of the present application are executed.

It should be noted that the computer readable medium shown in the embodiment of the present invention may be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a Read-Only Memory (ROM), an Erasable Programmable Read-Only Memory (EPROM), a flash Memory, an optical fiber, a portable Compact Disc Read-Only Memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present invention, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present invention, however, a computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the foregoing.

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The units described in the embodiments of the present invention may be implemented by software, or may be implemented by hardware, and the described units may also be disposed in a processor. Wherein the names of the elements do not in some way constitute a limitation on the elements themselves.

As another aspect, the present application also provides a computer-readable medium, which may be contained in the electronic device described in the above embodiments; or may exist separately without being assembled into the electronic device. The computer readable medium carries one or more programs which, when executed by an electronic device, cause the electronic device to implement the method described in the above embodiments.

It should be noted that although in the above detailed description several modules or units of the device for action execution are mentioned, such a division is not mandatory. Indeed, the features and functionality of two or more modules or units described above may be embodied in one module or unit, according to embodiments of the invention. Conversely, the features and functions of one module or unit described above may be further divided into embodiments by a plurality of modules or units.

Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein may be implemented by software, or by software in combination with necessary hardware. Therefore, the technical solution according to the embodiment of the present invention can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a usb disk, a removable hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which can be a personal computer, a server, a touch terminal, or a network device, etc.) to execute the method according to the embodiment of the present invention.

Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains.

It will be understood that the invention is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the invention is limited only by the appended claims.

Claims

1. A terminal positioning processing method is characterized by comprising the following steps:

acquiring a network side positioning result aiming at a terminal, and error indexes of a historical network side positioning result and an actual positioning result of the terminal;

determining a target parameter for calculating a confidence index of the network side positioning result according to the network side positioning result, wherein the target parameter is used for indicating the influence condition of the area where the terminal is located on the network positioning precision;

calculating the confidence index according to the target parameter and the error index;

and sending the network side positioning result and the confidence index to the terminal so that the terminal performs positioning based on the network side positioning result and the confidence index.

2. The method for processing terminal location according to claim 1, wherein obtaining the network-side location result for the terminal includes:

acquiring at least one positioning data for network positioning of the terminal;

calculating at least one positioning result for the terminal according to the at least one positioning data;

and performing fusion processing on the at least one positioning result to obtain a network side positioning result of the terminal.

3. The method according to claim 2, wherein calculating at least one positioning result for the terminal according to the at least one positioning data comprises:

calculating a first positioning result aiming at the terminal according to differential information of a satellite signal fed back by a real-time dynamic RTK reference station and a satellite signal observed quantity fed back by the terminal; and/or

Determining a second positioning result of the terminal according to the information of the terminal collected by the road side unit, or receiving the second positioning result determined by the road side unit according to the collected information of the terminal; and/or

And acquiring a beacon signal received by a signal receiver which is installed on the terminal and used for fingerprint positioning, and determining a third positioning result of the terminal according to the beacon signal.

4. The method according to claim 1, wherein determining the target parameter for calculating the confidence index according to the network-side positioning result comprises:

determining the area where the terminal is located according to the network side positioning result;

and determining the target parameter corresponding to the area where the terminal is located based on the corresponding relation between the area and the target parameter.

5. The terminal location processing method according to claim 1, wherein calculating the confidence index according to the target parameter and the error indicator comprises:

normalizing the error index to obtain an index value after normalization;

and calculating the product of the target parameter and the index value after the normalization processing to obtain the confidence index.

6. The terminal location processing method according to any one of claims 1 to 5, wherein the terminal includes a vehicle communication terminal;

sending the network side positioning result and the confidence index to the terminal, including:

generating a vehicle communication message containing the network side positioning result, wherein a designated field in the vehicle communication message is used for indicating a confidence index of the network side positioning result;

and sending the vehicle communication message to the vehicle communication terminal.

7. A terminal positioning processing method is characterized by comprising the following steps:

receiving a network side positioning result sent by a network positioning server and a confidence index of the network side positioning result, wherein the confidence index is obtained by calculation according to a target parameter and error indexes of a historical network side positioning result and an actual positioning result of a terminal, and the target parameter is determined according to the network side positioning result and is used for indicating the influence condition of an area where the terminal is located on network positioning precision;

and positioning according to the network side positioning result and the confidence index.

8. The method according to claim 7, wherein performing positioning processing according to the network-side positioning result and the confidence index comprises:

determining the weight of the network side positioning result and the weight of the terminal side positioning result obtained by positioning equipment installed on the terminal according to the confidence index;

and fusing the network side positioning result and the terminal side positioning result based on the weight of the network side positioning result and the weight of the terminal side positioning result to obtain the actual positioning result of the terminal.

9. The method according to claim 7, wherein performing positioning processing according to the network-side positioning result and the confidence index comprises:

if the confidence index is greater than or equal to a first threshold, taking the network side positioning result as the actual positioning result of the terminal; or

If the confidence index is larger than or equal to a second threshold, fusing the positioning result of the network side and the positioning result of the inertial measurement unit on the terminal to obtain the actual positioning result of the terminal; or

And if the confidence index is smaller than or equal to a third threshold, fusing the positioning result of the network side, the positioning result of the inertial measurement unit on the terminal and the positioning result of the sensor point cloud on the terminal to obtain the actual positioning result of the terminal.

10. The terminal positioning processing method according to claim 9, wherein the fusing of the network-side positioning result, the positioning result of the inertial measurement unit on the terminal, and the positioning result of the sensor point cloud on the terminal includes:

fusing the network side positioning result and the positioning result of the inertial measurement unit to obtain a corrected network side positioning result;

and fusing the corrected network side positioning result and the positioning result of the sensor point cloud in a preset range, wherein the confidence index and the preset range form an inverse correlation relationship.

11. The terminal positioning processing method according to any one of claims 7 to 10, wherein after performing positioning processing according to the network-side positioning result and the confidence index, the terminal positioning processing method further comprises:

calculating error indexes of the actual positioning result and the network side positioning result according to the actual positioning result of the terminal and the network side positioning result, and feeding back the error indexes of the actual positioning result and the network side positioning result to the network positioning server; or

And feeding back the actual positioning result of the terminal to the network positioning server so that the network positioning server can calculate the error index of the actual positioning result and the network side positioning result.

12. A terminal positioning processing apparatus, comprising:

the device comprises an acquisition unit, a processing unit and a processing unit, wherein the acquisition unit is used for acquiring a network side positioning result aiming at a terminal and error indexes of a historical network side positioning result and an actual positioning result of the terminal;

the calculation unit is used for determining a target parameter for calculating a confidence index of the network side positioning result according to the network side positioning result, wherein the target parameter is used for indicating the influence condition of the area where the terminal is located on the network positioning precision, and the confidence index is calculated according to the target parameter and the error index;

and the sending unit is used for sending the network side positioning result and the confidence index to the terminal so that the terminal can perform positioning based on the network side positioning result and the confidence index.

13. The terminal positioning processing apparatus according to claim 12, wherein the obtaining unit is configured to:

14. The terminal positioning processing apparatus according to claim 13, wherein the obtaining unit is configured to:

15. The terminal location processing apparatus according to claim 12, wherein the computing unit is configured to:

16. The terminal location processing apparatus according to claim 12, wherein the computing unit is configured to:

normalizing the error index to obtain an index value after normalization;

17. The terminal location processing device according to any one of claims 12 to 16, wherein the terminal includes a vehicle communication terminal;

the transmitting unit is configured to:

18. A terminal positioning processing apparatus, comprising:

the system comprises a receiving unit, a processing unit and a processing unit, wherein the receiving unit is used for receiving a network side positioning result sent by a network positioning server and a confidence index of the network side positioning result, the confidence index is obtained by calculation according to a target parameter and an error index of a historical network side positioning result and an actual positioning result of a terminal, and the target parameter is determined according to the network side positioning result and is used for indicating the influence condition of an area where the terminal is located on network positioning precision;

and the processing unit is used for carrying out positioning processing according to the network side positioning result and the confidence index.

19. The terminal positioning processing apparatus according to claim 18, wherein the processing unit is configured to:

20. The terminal positioning processing apparatus according to claim 18, wherein the processing unit is configured to:

21. The device according to claim 20, wherein the process of fusing the network-side positioning result, the positioning result of the inertial measurement unit on the terminal, and the positioning result of the sensor point cloud on the terminal by the processing unit includes:

22. The terminal location processing device according to any one of claims 18 to 21, wherein the terminal location processing device further comprises:

a feedback unit, configured to calculate an error indicator between the actual positioning result and the network side positioning result according to the actual positioning result of the terminal and the network side positioning result, and feed back the error indicator between the actual positioning result and the network side positioning result to the network positioning server; or feeding back the actual positioning result of the terminal to the network positioning server, so that the network positioning server can calculate the error index of the actual positioning result and the network side positioning result.

23. An electronic device, comprising:

one or more processors;

storage means for storing one or more programs which, when executed by the one or more processors, cause the one or more processors to implement the terminal location processing method of any one of claims 1 to 6, or the terminal location processing method of any one of claims 7 to 11.

24. A computer-readable medium, on which a computer program is stored, which, when being executed by a processor, carries out a terminal location processing method according to any one of claims 1 to 6, or carries out a terminal location processing method according to any one of claims 7 to 11.