CN109474988A - Location processing method, device, computer-readable medium and electronic equipment - Google Patents

Location processing method, device, computer-readable medium and electronic equipment Download PDF

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Publication number
CN109474988A
CN109474988A CN201910019714.XA CN201910019714A CN109474988A CN 109474988 A CN109474988 A CN 109474988A CN 201910019714 A CN201910019714 A CN 201910019714A CN 109474988 A CN109474988 A CN 109474988A
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CN
China
Prior art keywords
equipment
location
positioning
positioning result
tasks
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Granted
Application number
CN201910019714.XA
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Chinese (zh)
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CN109474988B (en
Inventor
刘恒进
俞帆
俞一帆
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Tencent Technology Shenzhen Co Ltd
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Tencent Technology Shenzhen Co Ltd
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Priority to CN201910019714.XA priority Critical patent/CN109474988B/en
Publication of CN109474988A publication Critical patent/CN109474988A/en
Application granted granted Critical
Publication of CN109474988B publication Critical patent/CN109474988B/en
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Classifications

    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04WWIRELESS COMMUNICATION NETWORKS
    • H04W64/00Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04WWIRELESS COMMUNICATION NETWORKS
    • H04W64/00Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H04W64/006Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04LTRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00Network arrangements or protocols for supporting network services or applications
    • H04L67/50Network services
    • H04L67/52Network services specially adapted for the location of the user terminal
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04WWIRELESS COMMUNICATION NETWORKS
    • H04W4/00Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02Services making use of location information
    • H04W4/023Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04WWIRELESS COMMUNICATION NETWORKS
    • H04W4/00Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02Services making use of location information
    • H04W4/029Location-based management or tracking services

Abstract

The embodiment provides a kind of location processing method, device, computer-readable medium and electronic equipments.The location processing method comprises determining that the first equipment to be positioned first location tasks to be treated, and the second equipment the second location tasks to be treated for assisting first equipment to be positioned;According to first location tasks and second location tasks, corresponding first location data of the first location tasks and corresponding second location data of second location tasks are obtained;The first positioning result of first equipment is obtained based on first location data, second location data is sent to second equipment, the second positioning result of first equipment is obtained according to second location data for second equipment, to determine the actual location result of first equipment by first positioning result and second positioning result.Location efficiency can be improved in the technical solution of the embodiment of the present invention, while reducing positioning time delay.

Description

Location processing method, device, computer-readable medium and electronic equipment
Technical field
The present invention relates to computer and fields of communication technology, in particular to a kind of location processing method, device, meter Calculation machine readable medium and electronic equipment.
Background technique
Fusion positioning is to obtain the technology of more accurate positioning result, the relevant technologies by comprehensive multiple positioning modes The fusion positioning of middle proposition is that the corresponding measurement data of various positioning methods gathers to handle, such as positioning terminal It will be observed that all measurement data be uploaded to network side, calculation processing is carried out by network side, this mode will increase network side Processing load, and then cause location efficiency lower and position time delay it is larger.
Summary of the invention
The embodiment provides a kind of location processing method, device, computer-readable medium and electronic equipment, into And location efficiency can be improved at least to a certain extent, while reducing positioning time delay.
Other characteristics and advantages of the invention will be apparent from by the following detailed description, or partially by the present invention Practice and acquistion.
According to an aspect of an embodiment of the present invention, a kind of location processing method is provided, comprising: determine to be positioned One equipment the first location tasks to be treated, and the second equipment for assisting first equipment to be positioned are to be treated Second location tasks;According to first location tasks and second location tasks, it is corresponding to obtain first location tasks The first location data and corresponding second location data of second location tasks;Institute is obtained based on first location data Second location data is sent to second equipment, for second equipment by the first positioning result for stating the first equipment The second positioning result of first equipment is obtained according to second location data, to pass through first positioning result and institute State the actual location result that the second positioning result determines first equipment.
According to an aspect of an embodiment of the present invention, provide a kind of location processing method, comprising: determine need assist to Second location tasks of the first equipment processing of positioning, wherein first equipment needs to handle the first location tasks;Obtain institute State the corresponding location data of second location tasks that the first equipment reports;Based on the corresponding positioning of second location tasks Data determine the second positioning result of first equipment, with by second positioning result and first equipment according to institute State the actual location result that the first positioning result that the first location tasks determine calculates first equipment.
According to an aspect of an embodiment of the present invention, a kind of positioning treatment apparatus is provided, comprising: determination unit is used for Determine the first equipment to be positioned first location tasks to be treated, and assist that first equipment positioned second Equipment the second location tasks to be treated;Acquiring unit, for being appointed according to first location tasks and second positioning Business obtains corresponding first location data of the first location tasks and the corresponding second positioning number of second location tasks According to;Processing unit, for obtaining the first positioning result of first equipment based on first location data, by described second Location data is sent to second equipment, obtains first equipment according to second location data for second equipment The second positioning result, to determine the reality of first equipment by first positioning result and second positioning result Positioning result.
In some embodiments of the invention, aforementioned schemes are based on, the determination unit is configured that be set according to described first Environment locating for standby stationkeeping ability, and/or first equipment, and/or the stationkeeping ability of second equipment, determine described in First equipment the first location tasks to be treated and second equipment the second location tasks to be treated.
In some embodiments of the invention, aforementioned schemes, the positioning treatment apparatus are based on further include: send single Member, first equipment the first location tasks to be treated and/or second equipment for will determine are to be treated Second location tasks are sent to second equipment.
In some embodiments of the invention, aforementioned schemes are based on, the determination unit is configured that first equipment Stationkeeping ability and/or first equipment locating for environment be sent to second equipment so that second equipment determine First equipment, first location tasks to be treated and second equipment the second location tasks to be treated;Receive institute The notification message for stating the transmission of the second equipment determines that first equipment the first positioning to be treated is appointed according to the notification message Business and second equipment the second location tasks to be treated.
In some embodiments of the invention, aforementioned schemes are based on, the processing unit is configured that reception described second is set Second positioning result of standby feedback;Fusion treatment is carried out to first positioning result and second positioning result, is obtained To the actual location result of first equipment.
In some embodiments of the invention, aforementioned schemes are based on, the processing unit, which is configured that, determines that described first is fixed The position fusion weight of result and the fusion weight of second positioning result;According to the fusion weight of first positioning result and The fusion weight of second positioning result carries out fusion treatment to first positioning result and second positioning result.
In some embodiments of the invention, aforementioned schemes are based on, the processing unit is configured that according to scheduled weight It ratio, and/or is set according to the confidence level of first location data and second location data, and/or according to described first Standby locating environment, determines the fusion weight of first positioning result and the fusion weight of second positioning result;Or it connects Receive the instruction message that second equipment is sent, according to the instruction message determine first positioning result fusion weight and The fusion weight of second positioning result.
In some embodiments of the invention, aforementioned schemes are based on, the processing unit is configured that be positioned described first As a result be sent to second equipment so that second equipment to first positioning result and second positioning result into Row fusion treatment obtains the actual location result of first equipment;Or first positioning result is sent to third equipment, So that the third equipment to first positioning result and second positioning result got from second equipment into Row fusion treatment obtains the actual location result of first equipment.
In some embodiments of the invention, aforementioned schemes are based on, the acquiring unit is configured that fixed according to described first Position/task and second location tasks are acquired respectively for executing first location tasks and second location tasks Location data, to obtain first location data and second location data.
According to an aspect of an embodiment of the present invention, a kind of positioning treatment apparatus is provided, comprising: determination unit is used for Determine the second location tasks for needing that the first equipment to be positioned is assisted to handle, wherein first equipment needs to handle first Location tasks;Acquiring unit, the corresponding location data of second location tasks reported for obtaining first equipment;Place Unit is managed, for determining the second positioning result of first equipment based on the corresponding location data of second location tasks, In terms of the first positioning result determined by second positioning result and first equipment according to first location tasks Calculate the actual location result of first equipment.
In some embodiments of the invention, aforementioned schemes are based on, the determination unit is also used to fixed based on described first Position/task and second location tasks determine the fusion weight of first positioning result and melting for second positioning result Close weight;
The processing unit, which is configured that, sends the fusion power for being used to indicate first positioning result to first equipment The instruction message of the fusion weight of weight and second positioning result so that first equipment to first positioning result and Second positioning result carries out fusion treatment and obtains the actual location result;Or the fusion according to first positioning result The fusion weight of weight and second positioning result, to second positioning result and from described in first equipment acquisition First positioning result carries out fusion treatment and obtains the actual location result.
According to an aspect of an embodiment of the present invention, a kind of computer-readable medium is provided, computer is stored thereon with Program realizes such as above-mentioned location processing method as described in the examples when the computer program is executed by processor.
According to an aspect of an embodiment of the present invention, a kind of electronic equipment is provided, comprising: one or more processors; Storage device, for storing one or more programs, when one or more of programs are held by one or more of processors When row, so that one or more of processors realize such as above-mentioned location processing method as described in the examples.
In the technical solution provided by some embodiments of the present invention, need to locate by determination the first equipment to be positioned First location tasks of reason and the second equipment the second location tasks to be treated for assisting the first equipment to be positioned, and respectively Corresponding first location data of the first location tasks and corresponding second location data of the second location tasks are obtained, to be based on first The first positioning result that location data obtains and the second equipment determine according to the second positioning result that the second location data obtains The actual location of one equipment is as a result, make it possible to split whole location tasks, and by the first equipment and the second equipment Execution part location tasks respectively are finally realized fusion positioning according to the positioning result of the first equipment and the second equipment, are realized To the reasonable disposition of the resource of the resource and the second equipment of the first equipment, avoids and a variety of location datas are handled by single equipment The problem for causing processing load larger to carry out fusion positioning, improves the efficiency of fusion positioning, while it is fixed to reduce fusion The time delay of position.
It should be understood that above general description and following detailed description be only it is exemplary and explanatory, not It can the limitation present invention.
Detailed description of the invention
The drawings herein are incorporated into the specification and forms part of this specification, and shows and meets implementation of the invention Example, and be used to explain the principle of the present invention together with specification.It should be evident that the accompanying drawings in the following description is only the present invention Some embodiments for those of ordinary skill in the art without creative efforts, can also basis These attached drawings obtain other attached drawings.In the accompanying drawings:
Fig. 1 is shown can be using the schematic diagram of the exemplary system architecture of the technical solution of the embodiment of the present invention;
Fig. 2 diagrammatically illustrates the flow chart of location processing method according to an embodiment of the invention;
Fig. 3 diagrammatically illustrates according to an embodiment of the invention by the first positioning result and the second positioning result Determine the flow chart of the actual location result of the first equipment;
Fig. 4 diagrammatically illustrates the flow chart of location processing method according to an embodiment of the invention;
Fig. 5 diagrammatically illustrates the flow chart of terminal positioning processing method according to an embodiment of the invention;
Fig. 6 diagrammatically illustrates the flow chart of terminal positioning processing method according to an embodiment of the invention;
Fig. 7 diagrammatically illustrates the flow chart of terminal positioning processing method according to an embodiment of the invention;
Fig. 8 diagrammatically illustrates the flow chart of terminal positioning processing method according to an embodiment of the invention;
Fig. 9 diagrammatically illustrates the flow chart of terminal positioning processing method according to an embodiment of the invention;
Figure 10 diagrammatically illustrates the flow chart of terminal positioning processing method according to an embodiment of the invention;
Figure 11 diagrammatically illustrates the flow chart of terminal positioning processing method according to an embodiment of the invention;
Figure 12 diagrammatically illustrates the flow chart of terminal positioning processing method according to an embodiment of the invention;
Figure 13 diagrammatically illustrates the block diagram of positioning treatment apparatus according to an embodiment of the invention;
Figure 14 diagrammatically illustrates the block diagram of positioning treatment apparatus according to an embodiment of the invention;
Figure 15 shows the structural schematic diagram for being suitable for the computer system for the electronic equipment for being used to realize the embodiment of the present invention.
Specific embodiment
Example embodiment is described more fully with reference to the drawings.However, example embodiment can be with a variety of shapes Formula is implemented, and is not understood as limited to example set forth herein;On the contrary, thesing embodiments are provided so that the present invention will more Fully and completely, and by the design of example embodiment comprehensively it is communicated to those skilled in the art.
In addition, described feature, structure or characteristic can be incorporated in one or more implementations in any suitable manner In example.In the following description, many details are provided to provide and fully understand to the embodiment of the present invention.However, It will be appreciated by persons skilled in the art that technical solution of the present invention can be practiced without one or more in specific detail, Or it can be using other methods, constituent element, device, step etc..In other cases, it is not shown in detail or describes known side Method, device, realization or operation are to avoid fuzzy each aspect of the present invention.
Block diagram shown in the drawings is only functional entity, not necessarily must be corresponding with physically separate entity. I.e., it is possible to realize these functional entitys using software form, or realized in one or more hardware modules or integrated circuit These functional entitys, or these functional entitys are realized in heterogeneous networks and/or processor device and/or microcontroller device.
Flow chart shown in the drawings is merely illustrative, it is not necessary to including all content and operation/step, It is not required to execute by described sequence.For example, some operation/steps can also decompose, and some operation/steps can close And or part merge, therefore the sequence actually executed is possible to change according to the actual situation.
Fig. 1 is shown can be using the schematic diagram of the exemplary system architecture of the technical solution of the embodiment of the present invention.
As shown in Figure 1, system architecture may include vehicle termination 101, network location server 103, and whole to vehicle End 101 and network location server 103 provide network in order to which vehicle termination 101 is communicated with network location server 103 Base station equipment 102.Wherein, base station equipment 102 and network location server 103 can pass through wired communications links or channel radio Letter link etc. is attached;Vehicle termination 101 generallys use wireless communication link and is attached with base station equipment 102.
It should be understood that the number of vehicle termination 101, base station equipment 102 and network location server 103 shown in Fig. 1 It is only schematical.According to needs are realized, it is fixed to can have any number of vehicle termination 101, base station equipment 102 and network Position server 103.
In one embodiment of the invention, fusion location tasks can be divided into vehicle termination 101 and needed by vehicle termination 101 First location tasks and network location server 103 to be processed second location tasks to be treated.Such as vehicle termination 101 execute bluetooth location tasks and Wi-Fi location tasks, and network location server 103 executes RTK (Real-time Kinematic, in real time dynamically) location tasks.Wherein, vehicle termination 101 is determining that network location server 103 is to be treated After second location tasks, which can be notified to network location server 103, in order to network positions clothes Business device 103 executes corresponding location tasks.
Vehicle termination 101 can measure the first positioning after division obtains the first location tasks and the second location tasks Corresponding first location data of task and corresponding second location data of the second location tasks, then according to first location data Obtain the first positioning result of vehicle termination 101.The second location data is sent to network location server 103, network simultaneously Location-server 103 determines the second positioning result of vehicle termination 101 based on second location data, then ties the second positioning Fruit returns to vehicle termination 101, and then vehicle termination 101 can merge first positioning result and the second positioning result To obtain the final actual location result of vehicle termination 101.
Optionally, in one embodiment of the invention, vehicle termination 101 is to obtain first according to the first location data fixed After the result of position, which can be sent to network location server 103, and then in network location server After 103 determine the second positioning result of vehicle termination 101 based on the second location data, by network location server 103 to One positioning result and the second positioning result carry out fusion treatment.
Optionally, in one embodiment of the invention, positioning can also will be merged by network location server 103 to appoint Business is divided into first location tasks to be treated of vehicle termination 101 and network location server 103 to be treated second is fixed Then position/task notifies the first location tasks obtained after division and the second location tasks to vehicle termination 101.
As it can be seen that the technical solution of the embodiment of the present invention can split whole location tasks, and by multiple equipment Execution part location tasks respectively are finally realized fusion positioning according to the positioning result of multiple equipment, are avoided by single Equipment handles a variety of location datas carrying out fusion positioning and leads to handle the larger problem of load, improves the effect of fusion positioning Rate, while reducing the time delay of fusion positioning.
The realization details of the technical solution of the embodiment of the present invention is described in detail below:
Fig. 2 diagrammatically illustrates the flow chart of location processing method according to an embodiment of the invention, at the positioning Reason method can be executed by equipment to be positioned, which can be vehicle termination 101 etc. shown in Fig. 1.Reference Shown in Fig. 2, which includes at least step S210 to step S230, is described in detail as follows:
In step S210, the first equipment to be positioned first location tasks to be treated are determined, and described in assistance The second equipment that first equipment is positioned the second location tasks to be treated.
In one embodiment of the invention, the first equipment to be positioned can independently determine that the first above-mentioned positioning is appointed Business and the second equipment the second location tasks to be treated.Such as first equipment can be according to itself stationkeeping ability, locating Environment, the second equipment stationkeeping ability determine above-mentioned the first location tasks and the second location tasks.
Specifically, it is assumed that blue-tooth device, Wi-Fi (Wireless Fidelity, Wireless Fidelity) are installed in the first equipment Device, RTK device, GPS (Global Positioning System, global positioning system) device etc., that first equipment of explanation It is able to carry out bluetooth positioning, GPS positioning, and can be observed by Wi-Fi device sensing Wi-Fi signal and by RTK device Satellite-signal.If environment locating for the first equipment does not influence the observation of each signal, and the second equipment also has fingerprint location And the ability of RTK positioning, then the first equipment can determine that the first location tasks are bluetooth location tasks and GPS positioning task, Second location tasks are RTK location tasks and fingerprint location task.
It should be noted that RTK positioning need to know the satellite-signal, base station that base station observes location information and The satellite-signal that RTK device in equipment to be positioned observes, then observes according to the location information of base station and base station Satellite-signal calculates difference information, and then the satellite letter observed based on the RTK device on the difference information and equipment to be positioned Number calculate the positioning coordinate of equipment to be positioned." fingerprint " in fingerprint location can be some information or signal a feature or Multiple features (most commonly signal strength).Such as known to certain positions and fixed sending device sends signal or letter Breath, equipment to be positioned receive the signal or information of sending device transmission, and then can be according to the signal or information received Feature (such as signal strength) estimates the positional relationship between equipment and sending device to be positioned, and determines to be positioned set with this Standby position.
With continued reference to above-mentioned example, if environment locating for the first equipment causes the first equipment that can not observe GPS signal Or first equipment present position GPS signal it is poor, then the first location tasks can be bluetooth location tasks, the second positioning Task can be fingerprint location task and RTK location tasks.
Optionally, if the second equipment does not have the ability of fingerprint location, such as without storage fingerprint base, then first is fixed Position/task can be bluetooth location tasks and GPS positioning task, and the second location tasks are RTK location tasks.
In one embodiment of the invention, the first equipment can also determine above-mentioned according only to the stationkeeping ability of itself First location tasks and the second location tasks, such case is suitable for the second equipment, and there is stronger stationkeeping ability (for example to support Most or whole positioning methods), and environment locating for the first equipment is the environment for being capable of providing various signal measurements, So that the first equipment is not necessarily to consider the environment locating for it.
In one embodiment of the invention, the first equipment can also be determined according only to the stationkeeping ability of the second equipment The first location tasks and the second location tasks stated, such case be suitable for the first equipment have stronger stationkeeping ability (such as Support most or whole positioning methods), and environment locating for the first equipment is capable of providing various signal measurements Environment, so that the first equipment is not necessarily to consider the environment locating for it.
In one embodiment of the invention, the first equipment can also be according only to the positioning energy of the first equipment and the second equipment Power determines above-mentioned the first location tasks and the second location tasks, and such case is suitable for the first equipment and the second equipment has There is stronger stationkeeping ability (for example supporting most or whole positioning methods), but needs the first equipment according to locating Which location tasks environment is determined to execute.
Certainly, in other embodiments of the invention, the first equipment can also stationkeeping ability, locating ring according to itself Border, the second equipment stationkeeping ability in any two determine above-mentioned the first location tasks and the second location tasks.
In one embodiment of the invention, when the first equipment determines the first equipment the first location tasks to be treated And second after equipment the second location tasks to be treated, the second equipment the second location tasks to be treated can be sent To the second equipment, in order to which the second equipment executes second location tasks;Certain first equipment can also will determine first Location tasks and the second location tasks are all sent to the second equipment;Or first equipment the first location tasks can be sent to Two equipment, such second equipment can know which location tasks is not required to oneself processing, and then handle oneself and can locate The location tasks of reason determine that oneself location tasks to be treated, such as the second equipment are set with first according to prior agreement Standby agreement in advance can only handle location tasks 1, location tasks 2 and location tasks 3, then if the first equipment determines that the first positioning is appointed It is engaged in as after location tasks 1, which is sent to the second equipment, the second equipment, that is, knowable second location tasks It is location tasks 2 and location tasks 3.
In another embodiment of the present invention, the first equipment can be located ability and/or the environment hair locating for it The second equipment is given, in order to which the second equipment determines above-mentioned first location tasks and the second location tasks.When the second equipment is true After making the first location tasks and the second location tasks, determined can be notified to the first equipment dispatch order message One location tasks and the second location tasks.
Optionally, the first equipment, can be directly by locating environment when the environment locating for it is sent to the second equipment Situation is explicitly sent to the second equipment, for example, directly by environment that the first equipment is presently in the presence or absence of block (such as whether In tunnel), the observation for whether influencing location data etc. be sent to the second equipment.Certainly, the first equipment can also will be locating Ambient conditions be implicitly sent to the second equipment, one way in which can be it will be observed that signal quality directly issue the Two equipment, in order to the second equipment according to the signal quality determine the first equipment locating for environment;Another way can be by First equipment is presently in the signal that position can observe and/or the signal that cannot observe be sent to the second equipment (can be with Signal identification information is directly transmitted, the signal value measured can also be sent), in order to which the second equipment determines that terminal first is set Standby locating environment.
Wherein, the second equipment determines that the process of the first location tasks and the second location tasks is similar to the first equipment and determines the The process of one location tasks and the second location tasks, repeats no more.
With continued reference to shown in Fig. 2, in step S220, according to first location tasks and second location tasks, Obtain corresponding first location data of first location tasks and corresponding second location data of second location tasks.
In one embodiment of the invention, it can be acquired according to the first location tasks for executing the first location tasks Location data, to obtain the first location data, and according to the acquisition of the second location tasks for executing the positioning of the second location tasks Data, to obtain the second location data.If being bluetooth location tasks and GPS positioning task than the first location tasks, second is fixed Position/task is RTK location tasks and fingerprint location task, then the first location data may include the bluetooth of Bluetooth beacon equipment Signal, GPS satellite signal etc., the second location data may include the satellite-signal that observes of the RTK device in the first equipment and The Wi-Fi signal information etc. that first equipment observes.
With continued reference to shown in Fig. 2, in step S230, the of first equipment is obtained based on first location data One positioning is fixed according to described second for second equipment as a result, second location data is sent to second equipment Position data obtain the second positioning result of first equipment, to pass through first positioning result and second positioning result Determine the actual location result of first equipment.
In one embodiment of the invention, as shown in figure 3, determining by the first positioning result and the second positioning result The process of the actual location result of one equipment, may include steps of:
Step S310 receives second positioning result of the second equipment feedback.
Step S320 carries out fusion treatment to first positioning result and second positioning result, obtains described the The actual location result of one equipment.
The technical solution of embodiment illustrated in fig. 3 is by the first equipment come to the first positioning result and the progress of the second positioning result Fusion treatment.It is alternatively possible to using kalman (Kalman) filtering algorithm come to the first positioning result and the second positioning result Carry out fusion treatment.
In one embodiment of the invention, to the first positioning result and the second positioning result carry out fusion treatment it Before, it can also determine the fusion weight of the first positioning result and the fusion weight of the second positioning result, it is then first fixed according to this The position fusion weight of result and the fusion weight of the second positioning result, merge the first positioning result and the second positioning result Processing.Since fusion weight has reacted the reliability of positioning result, by according to the fusion weight of the first positioning result and The fusion weight of second positioning result carries out fusion treatment, makes it possible to based on the first positioning result and the second positioning result Reliability is determined in fusion treatment to the degree of dependence of the first positioning result and the second positioning result, and then is conducive to improve The accuracy of positioning result.
In one embodiment of the invention, can according to scheduled weight proportion, and/or according to the first location data and The confidence level of second location data, and/or the environment according to locating for the first equipment, determine the first positioning result fusion weight and The fusion weight of second positioning result.
For example, if the weight proportion between scheduled first positioning result and the second positioning result is 4:6, then merging The fusion weight of the first positioning result can be set as to 0.4 when processing, the fusion weight of the second positioning result is set as 0.6.
For another example, if the confidence level of the first location data is greater than the confidence level of the second location data, then the first positioning result Confidence level be higher than the confidence level of the second positioning result, therefore the fusion weight of the first positioning result can be set as to 0.6, will The fusion weight of second positioning result is set as 0.4.
For another example, if environment locating for the first equipment causes the GPS signal observed poor, but the Wi-Fi letter observed It is number more excellent, if that the first positioning result contain GPS positioning as a result, the second positioning result contain fingerprint location as a result, The fusion weight of first positioning result can be so set smaller than to the fusion weight of the second positioning result.
It should be noted that when the confidence level according to scheduled weight proportion, the first location data and the second location data The fusion weight and second positioning result of the first positioning result are determined with the Multiple factors in environment locating for the first equipment When merging weight, it may be considered that the significance level of this Multiple factors, and determined finally based on the significance level of this Multiple factors Fusion weight.
In another embodiment of the present invention, the fusion power of the fusion weight of the first positioning result and the second positioning result Weight can also be determined by the second equipment, and then the first equipment can receive the instruction message of the second equipment transmission, should with basis Instruction message determines the fusion weight of the first positioning result and the fusion weight of the second positioning result.Wherein, the second equipment determines The process of the fusion weight of the fusion weight and the second positioning result of first positioning result is similar to the first equipment and determines that first is fixed The process of the fusion weight of the fusion weight and the second positioning result of position result, repeats no more.
In another embodiment of the present invention, the first positioning result can also be sent to the second equipment by the first equipment, The reality that such second equipment can obtain the first equipment to the first positioning result and the second positioning result progress fusion treatment is fixed Position result.Wherein, the second equipment is similar to the first equipment to the to the fusion process of the first positioning result and the second positioning result The fusion process of one positioning result and the second positioning result, repeats no more.
In addition, in another embodiment of the present invention, the first positioning result can be sent to third and set by the first equipment Standby, the second positioning result can be also sent to third equipment by the second equipment, and such third equipment can be to the first positioning result Fusion treatment, which is carried out, with the second positioning result obtains the actual location result of the first equipment.Wherein, third equipment is positioned to first As a result fusion of first equipment to the first positioning result and the second positioning result is similar to the fusion process of the second positioning result Process repeats no more.
Fig. 4 diagrammatically illustrates the flow chart of location processing method according to an embodiment of the invention, at the positioning Equipment (the second equipment as in the preceding embodiment) Lai Zhihang that reason method can be positioned by assistance equipment to be positioned, The equipment to be positioned can be network location server 103 etc. shown in Fig. 1.Referring to shown in Fig. 4, the location processing method is extremely Less include step S410 to step S430, be described in detail as follows:
In step S410, the second location tasks for needing that the first equipment to be positioned is assisted to handle are determined, wherein described First equipment needs to handle the first location tasks.
In one embodiment of the invention, it can determine that the first location tasks and the second positioning are appointed by the first equipment Business can also determine the first location tasks and the second location tasks by the second equipment for assisting the first equipment to be positioned, have Body determination process can refer to the technical solution of previous embodiment.
In the step s 420, the corresponding location data of second location tasks that first equipment reports is obtained.
In step S430, the second of first equipment is determined based on the corresponding location data of second location tasks Positioning result, to be determined by second positioning result and first equipment according to first that first location tasks determine Position result calculates the actual location result of first equipment.
As in the foregoing embodiment, fusion can be carried out to the first positioning result and the second positioning result by the first equipment Reason is to obtain the actual location result of the first equipment;Can also by the second equipment to the first positioning result and the second positioning result into Row fusion treatment is to obtain the actual location result of the first equipment;The first positioning result and second can also be determined by third equipment Position result carries out fusion treatment to obtain the actual location result of the first equipment.Skill of the specific fusion process referring to above-described embodiment Art scheme, repeats no more.
The technical solution of the embodiment of the present invention makes it possible to split whole location tasks, and by the first equipment and Second equipment distinguishes execution part location tasks, finally realizes that fusion is fixed according to the positioning result of the first equipment and the second equipment Position, realize the reasonable disposition of the resource to the resource and the second equipment of the first equipment, avoid handled by single equipment it is a variety of Location data leads to handle the larger problem of load to carry out fusion positioning, improves the efficiency of fusion positioning, reduces simultaneously The time delay of fusion positioning.
Below using the first equipment as terminal, the second equipment is for cloud server to the localization process of the embodiment of the present invention The realization details of scheme is described in detail:
As shown in figure 5, terminal positioning processing method according to an embodiment of the invention, includes the following steps:
Step S501, terminal split location tasks, with the determining positioning calculation task carried out in terminal and in cloud The positioning calculation task for holding server to carry out.
Step S502, terminal reporting measurement data and location tasks split situation to cloud server.Wherein, terminal can be with The relevant measurement data of the positioning calculation task for needing to carry out to server is only reported to cloud server, location tasks are split Situation includes the positioning calculation task carried out in terminal and the positioning calculation task of server progress beyond the clouds, in this way can be in order to Server splits situation according to location tasks to determine the fusion weight of positioning result.
In one embodiment of the invention, terminal is splitting feelings to cloud server reporting measurement data and location tasks The identification information (such as id information) of terminal can be added when condition, in order to which cloud server distinguishes.Meanwhile terminal to When cloud server reports location tasks to split situation, both can directly it indicate in the positioning calculation task of terminal progress and in cloud The positioning calculation task carried out is held, can also indicate that the identification information of the positioning calculation task carried out in terminal and is beyond the clouds carried out Positioning calculation task identification information.
In one embodiment of the invention, terminal, can be according to measurement data after splitting to location tasks The positioning calculation task carried out in terminal is executed, the first positioning result is obtained.
Step S503, the measurement data and location tasks that server is reported according to terminal split situation execute server into Capable positioning calculation task, obtains the second positioning result.
Step S504, server return to the fusion weight of the second positioning result and positioning result to terminal.Wherein, fusion power The determination method of weight is referred to the technical solution of the above embodiment of the present invention.
Step S505, terminal carry out fusion treatment to the first positioning result and the second positioning result according to fusion weight, obtain To final positioning result.
In one embodiment of the invention, terminal can be based on the positioning knot after obtaining final positioning result Fruit executes corresponding task, for example is navigated, automatic Pilot, display position etc..Certainly, terminal can also will obtain Final positioning result is reported to server.
In a concrete application scene of the invention, for example determination will be blue after splitting to location tasks for terminal Tooth positioning (mark of the location tasks can be 0) stays in terminal side and carries out, and the Wi-Fi fingerprint location (mark of the location tasks Know can 1) to be placed on server side progress, then terminal can report location tasks to split the instruction information of situation to server, And the measurement data of Wi-Fi is sent to server.Server is completed fingerprint in the Wi-Fi measurement data reported according to terminal and is determined After position resolves, fingerprint location result and fusion weight are sent to terminal.Terminal side positions to obtain bluetooth positioning according to bluetooth As a result, then fingerprint location result and bluetooth positioning result are merged according to fusion weight, to obtain the final positioning of terminal As a result.
Terminal positioning processing method shown in fig. 5 is the fractionation of location tasks to be carried out by terminal, and carry out positioning result Fusion treatment, and server is needed to determine fusion weight.
As shown in fig. 6, terminal positioning processing method according to an embodiment of the invention, includes the following steps:
Step S601, terminal split location tasks, with the determining positioning calculation task carried out in terminal and in cloud The positioning calculation task for holding server to carry out.
Step S602, terminal reporting measurement data and location tasks split situation to cloud server.Wherein, terminal can be with The relevant measurement data of the positioning calculation task for needing to carry out to server is only reported to cloud server, location tasks are split Situation includes the positioning calculation task carried out in terminal and the positioning calculation task of server progress beyond the clouds, in this way can be in order to Server splits situation according to location tasks to determine the fusion weight of positioning result.
In one embodiment of the invention, terminal is splitting feelings to cloud server reporting measurement data and location tasks The identification information (such as id information) of terminal can be added when condition, in order to which cloud server distinguishes.Meanwhile terminal to When cloud server reports location tasks to split situation, both can directly it indicate in the positioning calculation task of terminal progress and in cloud The positioning calculation task carried out is held, can also indicate that the identification information of the positioning calculation task carried out in terminal and is beyond the clouds carried out Positioning calculation task identification information.
In one embodiment of the invention, terminal, can be according to measurement data after splitting to location tasks The positioning calculation task carried out in terminal is executed, the first positioning result is obtained.
Step S603, the measurement data and location tasks that server is reported according to terminal split situation execute server into Capable positioning calculation task, obtains the second positioning result.
Step S604, terminal to server return to the first positioning result.
Step S605, server merge the first positioning result and the second positioning result according to determining fusion weight Processing, obtains final positioning result.Wherein, the determination method for merging weight is referred to the technology of the above embodiment of the present invention Scheme.
In one embodiment of the invention, server can tie the positioning after obtaining final positioning result Fruit returns to terminal, executes corresponding task in order to which terminal is based on the positioning result, for example navigated, automatic Pilot, shown Show position etc..Certainly, server can also carry out Data Analysis Services according to the final positioning result, for example analyze each The running track etc. of terminal.
In a concrete application scene of the invention, for example determination will be blue after splitting to location tasks for terminal Tooth positioning (mark of the location tasks can be 0) stays in terminal side and carries out, and the Wi-Fi fingerprint location (mark of the location tasks Know can 1) to be placed on server side progress, then terminal can report location tasks to split the instruction information of situation to server, And the measurement data of Wi-Fi is sent to server.Terminal according to bluetooth after positioning to obtain bluetooth positioning result, by bluetooth Positioning result is reported to server, and server is weighed after completing Wi-Fi fingerprint location and obtaining fingerprint location result according to fusion Fusion treatment is carried out to fingerprint location result and bluetooth positioning result again, to obtain the final positioning result of terminal.
Terminal positioning processing method shown in fig. 6 is the fractionation of location tasks to be carried out by terminal, and determined by server It merges weight and carries out the fusion treatment of positioning result.
As shown in fig. 7, terminal positioning processing method according to an embodiment of the invention, includes the following steps:
Step S701, terminal split location tasks, with the determining positioning calculation task carried out in terminal and in cloud The positioning calculation task for holding server to carry out.
Step S702, terminal reporting measurement data and location tasks split situation to cloud server.Wherein, terminal can be with The relevant measurement data of the positioning calculation task for needing to carry out to server is only reported to cloud server;Location tasks are split Situation include terminal carry out positioning calculation task and beyond the clouds server progress positioning calculation task, can also only include The positioning calculation task dispatching that server carries out beyond the clouds.
In one embodiment of the invention, terminal is splitting feelings to cloud server reporting measurement data and location tasks The identification information (such as id information) of terminal can be added when condition, in order to which cloud server distinguishes.Meanwhile terminal to When cloud server reports location tasks to split situation, both can directly it indicate in the positioning calculation task of terminal progress and in cloud The positioning calculation task carried out is held, can also indicate that the identification information of the positioning calculation task carried out in terminal and is beyond the clouds carried out Positioning calculation task identification information.
In one embodiment of the invention, terminal, can be according to measurement data after splitting to location tasks The positioning calculation task carried out in terminal is executed, the first positioning result is obtained.Meanwhile being appointed according to the positioning calculation carried out in terminal Business and the positioning calculation task carried out beyond the clouds determine the fusion weight of positioning result, wherein the determination method for merging weight can With the technical solution referring to the above embodiment of the present invention.
Step S703, the measurement data and location tasks that server is reported according to terminal split situation execute server into Capable positioning calculation task, obtains the second positioning result.
Step S704, server return to the second positioning result to terminal.
Step S705, terminal carry out fusion treatment to the first positioning result and the second positioning result according to fusion weight, obtain To final positioning result.
In one embodiment of the invention, terminal can be based on the positioning knot after obtaining final positioning result Fruit executes corresponding task, for example is navigated, automatic Pilot, display position etc..Certainly, terminal can also will obtain Final positioning result is reported to server.
In a concrete application scene of the invention, for example determination will be blue after splitting to location tasks for terminal Tooth positioning (mark of the location tasks can be 0) stays in terminal side and carries out, and the Wi-Fi fingerprint location (mark of the location tasks Know can 1) to be placed on server side progress, then terminal can report location tasks to split the instruction information of situation to server, And the measurement data of Wi-Fi is sent to server, while terminal determines fusion weight.Server is reported according to terminal After Wi-Fi measurement data completes fingerprint location resolving, fingerprint location result is sent to terminal.Terminal side is positioned according to bluetooth Bluetooth positioning result is obtained, fingerprint location result and bluetooth positioning result are then merged according to fusion weight, to obtain end The final positioning result at end.
Terminal positioning processing method shown in Fig. 7 be by terminal carry out location tasks fractionation, merge weight determination and The fusion treatment of final positioning result.
As shown in figure 8, terminal positioning processing method according to an embodiment of the invention, includes the following steps:
Step S801, terminal split location tasks, with the determining positioning calculation task carried out in terminal and in cloud The positioning calculation task for holding server to carry out.
Step S802, terminal reporting measurement data and location tasks split situation to cloud server.Wherein, terminal can be with The relevant measurement data of the positioning calculation task for needing to carry out to server is only reported to cloud server;Location tasks are split Situation include terminal carry out positioning calculation task and beyond the clouds server progress positioning calculation task;Can also only include The positioning calculation task that server carries out beyond the clouds.
In one embodiment of the invention, terminal is splitting feelings to cloud server reporting measurement data and location tasks The identification information (such as id information) of terminal can be added when condition, in order to which cloud server distinguishes.Meanwhile terminal to When cloud server reports location tasks to split situation, both can directly it indicate in the positioning calculation task of terminal progress and in cloud The positioning calculation task carried out is held, can also indicate that the identification information of the positioning calculation task carried out in terminal and is beyond the clouds carried out Positioning calculation task identification information.
In one embodiment of the invention, terminal, can be according to measurement data after splitting to location tasks The positioning calculation task carried out in terminal is executed, the first positioning result is obtained.Meanwhile being appointed according to the positioning calculation carried out in terminal Business and the positioning calculation task carried out beyond the clouds determine the fusion weight of positioning result, wherein the determination method for merging weight can With the technical solution referring to the above embodiment of the present invention.
Step S803, the measurement data and location tasks that server is reported according to terminal split situation execute server into Capable positioning calculation task, obtains the second positioning result.
Step S804, the fusion weight that terminal to server returns to the first positioning result and determines.
Step S805, server carry out fusion treatment to the first positioning result and the second positioning result according to fusion weight, Obtain final positioning result.
In one embodiment of the invention, server can tie the positioning after obtaining final positioning result Fruit returns to terminal, executes corresponding task in order to which terminal is based on the positioning result, for example navigated, automatic Pilot, shown Show position etc..Certainly, server can also carry out Data Analysis Services according to the final positioning result, for example analyze each The running track etc. of terminal.
In a concrete application scene of the invention, for example determination will be blue after splitting to location tasks for terminal Tooth positioning (mark of the location tasks can be 0) stays in terminal side and carries out, and the Wi-Fi fingerprint location (mark of the location tasks Know can 1) to be placed on server side progress, then terminal can report location tasks to split the instruction information of situation to server, And the measurement data of Wi-Fi is sent to server, while terminal determines fusion weight.Terminal is positioning to obtain according to bluetooth After bluetooth positioning result, bluetooth positioning result and the fusion weight determined are reported to server, server completes Wi-Fi After fingerprint location obtains fingerprint location result, fingerprint location result and bluetooth positioning result are merged according to fusion weight Processing, to obtain the final positioning result of terminal.
Terminal positioning processing method shown in Fig. 8 is the determination of the fractionation and fusion weight by terminal progress location tasks, And the fusion treatment of positioning result is carried out by server.
As shown in figure 9, terminal positioning processing method according to an embodiment of the invention, includes the following steps:
Step S901, terminal report stationkeeping ability to be indicated to cloud server, complete positioning in order to cloud server and appoint The fractionation of business.Certainly, locating environment can also be reported to cloud server by terminal, in order to which cloud server is being determined Position/task is referred to when splitting.
In one embodiment of the invention, on terminal can be added when reporting stationkeeping ability to indicate to cloud server The identification information of terminal, in order to which cloud server distinguishes.
Step S902, server split location tasks, with determine the positioning calculation task carried out in terminal and The positioning calculation task that cloud server carries out, and determine the fusion weight of positioning result.Wherein, the determination method of weight is merged It is referred to the technical solution of the above embodiment of the present invention.
Step S903, server split situation and fusion weight to terminal instruction location tasks.
In one embodiment of the invention, it may include appointing in the positioning calculation that terminal carries out that location tasks, which split situation, The positioning calculation task that business and beyond the clouds server carry out;It can also only include the positioning calculation task carried out in terminal.Wherein, Server to terminal instruction location tasks split situation when, both can directly indicate terminal carry out positioning calculation task and Cloud carry out positioning calculation task, can also indicate that terminal carry out positioning calculation task identification information and beyond the clouds into The identification information of capable positioning calculation task.
Step S904, terminal side carries out location data measurement, and carries out terminal side and position to obtain the first positioning result.
Step S905, terminal reporting measurement data are to cloud server.Wherein, terminal can only by with server need into The capable relevant measurement data of positioning calculation task is reported to cloud server.
In one embodiment of the invention, terminal can add upper terminal when to cloud server reporting measurement data Identification information, in order to which cloud server distinguishes.
Step S906, the measurement data that server is reported according to terminal execute the positioning calculation task carried out in server, Obtain the second positioning result.
Step S907, server return to the second positioning result to terminal.
Step S908, terminal carry out fusion treatment to the first positioning result and the second positioning result according to fusion weight, obtain To final positioning result.
In one embodiment of the invention, terminal can be based on the positioning knot after obtaining final positioning result Fruit executes corresponding task, for example is navigated, automatic Pilot, display position etc..Certainly, terminal can also will obtain Final positioning result is reported to server.
In a concrete application scene of the invention, for example determination will after splitting to location tasks for server Bluetooth positioning (mark of the location tasks can be 0) stays in terminal side progress, and Wi-Fi fingerprint location (location tasks 1) mark can be to be placed on server side progress, then the fusion weight that location tasks can be split situation and determined by server side It notifies to terminal, and then terminal positions to obtain bluetooth positioning result according to bluetooth, and the measurement data of Wi-Fi is sent to service Device.Server is completed fingerprint location according to the Wi-Fi measurement data that terminal reports and is resolved, and fingerprint location result is sent to end End, then terminal merges fingerprint location result and bluetooth positioning result according to fusion weight, to obtain the final fixed of terminal Position result.
Terminal positioning processing method shown in Fig. 9 is to carry out the fractionation of location tasks by server and merge weight really It is fixed, and the fusion treatment of positioning result is carried out by terminal.
As shown in Figure 10, terminal positioning processing method according to an embodiment of the invention, includes the following steps:
Step S1001, terminal report stationkeeping ability to be indicated to cloud server, complete positioning in order to cloud server and appoint The fractionation of business.Certainly, locating environment can also be reported to cloud server by terminal, in order to which cloud server is being determined Position/task is referred to when splitting.
In one embodiment of the invention, on terminal can be added when reporting stationkeeping ability to indicate to cloud server The identification information of terminal, in order to which cloud server distinguishes.
Step S1002, server split location tasks, with determine the positioning calculation task carried out in terminal and The positioning calculation task that cloud server carries out, and determine the fusion weight of positioning result.Wherein, the determination method of weight is merged It is referred to the technical solution of the above embodiment of the present invention.
Step S1003, server split situation to terminal instruction location tasks.
In one embodiment of the invention, it may include appointing in the positioning calculation that terminal carries out that location tasks, which split situation, The positioning calculation task that business and beyond the clouds server carry out;It can also only include the positioning calculation task carried out in terminal.Wherein, Server to terminal instruction location tasks split situation when, both can directly indicate terminal carry out positioning calculation task and Cloud carry out positioning calculation task, can also indicate that terminal carry out positioning calculation task identification information and beyond the clouds into The identification information of capable positioning calculation task.
Step S1004, terminal side carries out location data measurement, and carries out terminal side and position to obtain the first positioning result.
Step S1005, terminal reporting measurement data and the first positioning result are to cloud server.Wherein, terminal can be only The relevant measurement data of the positioning calculation task for needing to carry out to server is reported to cloud server.
In one embodiment of the invention, terminal can add upper terminal when to cloud server reporting measurement data Identification information, in order to which cloud server distinguishes.
Step S1006, the measurement data that server is reported according to terminal execute the positioning calculation task carried out in server, The second positioning result is obtained, and fusion treatment is carried out to the first positioning result and the second positioning result according to fusion weight, is obtained Final positioning result.
In one embodiment of the invention, server can tie the positioning after obtaining final positioning result Fruit returns to terminal, executes corresponding task in order to which terminal is based on the positioning result, for example navigated, automatic Pilot, shown Show position etc..Certainly, server can also carry out Data Analysis Services according to the final positioning result, for example analyze each The running track etc. of terminal.
In a concrete application scene of the invention, for example determination will after splitting to location tasks for server Bluetooth positioning (mark of the location tasks can be 0) stays in terminal side progress, and Wi-Fi fingerprint location (location tasks 1) mark can be to be placed on server side progress, while determining fusion weight, and then location tasks are split feelings by server side Condition notifies that, to terminal, terminal positions to obtain bluetooth positioning result according to bluetooth, and the measurement data of Wi-Fi and bluetooth positioning are tied Fruit is sent to server.Server is completed fingerprint location according to the Wi-Fi measurement data that terminal reports and is resolved, and fingerprint location is obtained As a result, then fingerprint location result and bluetooth positioning result are merged according to fusion weight, to obtain the final positioning of terminal As a result.
Terminal positioning processing method shown in Fig. 10 is to carry out the fractionation of location tasks by server and merge weight really Fixed and positioning result fusion treatment.
As shown in figure 11, terminal positioning processing method according to an embodiment of the invention, includes the following steps:
Step S1101, terminal report stationkeeping ability to be indicated to cloud server, complete positioning in order to cloud server and appoint The fractionation of business.Certainly, locating environment can also be reported to cloud server by terminal, in order to which cloud server is being determined Position/task is referred to when splitting.
In one embodiment of the invention, on terminal can be added when reporting stationkeeping ability to indicate to cloud server The identification information of terminal, in order to which cloud server distinguishes.
Step S1102, server split location tasks, with determine the positioning calculation task carried out in terminal and The positioning calculation task that cloud server carries out.
Step S1103, server split situation to terminal instruction location tasks.
In one embodiment of the invention, it may include appointing in the positioning calculation that terminal carries out that location tasks, which split situation, The positioning calculation task that business and beyond the clouds server carry out, in order to which terminal determines therefrom that the fusion weight of positioning result.Wherein, Server to terminal instruction location tasks split situation when, both can directly indicate terminal carry out positioning calculation task and Cloud carry out positioning calculation task, can also indicate that terminal carry out positioning calculation task identification information and beyond the clouds into The identification information of capable positioning calculation task.
Step S1104, terminal side carries out location data measurement, and carries out terminal side and position to obtain the first positioning result, together When can determine the fusion weight of positioning result.Wherein, the determination method for merging weight is referred to the above embodiment of the present invention Technical solution
Step S1105, terminal reporting measurement data are to cloud server.Wherein, terminal will only can be needed with server The relevant measurement data of positioning calculation task of progress is reported to cloud server.
In one embodiment of the invention, terminal can add upper terminal when to cloud server reporting measurement data Identification information, in order to which cloud server distinguishes.
Step S1106, the measurement data that server is reported according to terminal execute the positioning calculation task carried out in server, Obtain the second positioning result.
Step S1107, server return to the second positioning result to terminal.
Step S1108, terminal carry out fusion treatment to the first positioning result and the second positioning result according to fusion weight, obtain To final positioning result.
In one embodiment of the invention, terminal can be based on the positioning knot after obtaining final positioning result Fruit executes corresponding task, for example is navigated, automatic Pilot, display position etc..Certainly, terminal can also will obtain Final positioning result is reported to server.
In a concrete application scene of the invention, for example determination will after splitting to location tasks for server Bluetooth positioning (mark of the location tasks can be 0) stays in terminal side progress, and Wi-Fi fingerprint location (location tasks Mark can be notified to terminal, in turn 1) to be placed on server side progress then location tasks can be split situation by server side Terminal can determine whether out to merge weight, then be positioned to obtain bluetooth positioning result according to bluetooth, and the measurement data of Wi-Fi is sent To server.Server is completed fingerprint location according to the Wi-Fi measurement data that terminal reports and is resolved, and fingerprint location result is sent out Terminal is given, then terminal merges fingerprint location result and bluetooth positioning result according to fusion weight, to obtain terminal Final positioning result.
Terminal positioning processing method shown in Figure 11 is the fractionation of location tasks to be carried out by server, and melted by terminal Close the determination of weight and the fusion treatment of positioning result.
As shown in figure 12, terminal positioning processing method according to an embodiment of the invention, includes the following steps:
Step S1201, terminal report stationkeeping ability to be indicated to cloud server, complete positioning in order to cloud server and appoint The fractionation of business.Certainly, locating environment can also be reported to cloud server by terminal, in order to which cloud server is being determined Position/task is referred to when splitting.
In one embodiment of the invention, on terminal can be added when reporting stationkeeping ability to indicate to cloud server The identification information of terminal, in order to which cloud server distinguishes.
Step S1202, server split location tasks, with determine the positioning calculation task carried out in terminal and The positioning calculation task that cloud server carries out.
Step S1203, server split situation to terminal instruction location tasks.
In one embodiment of the invention, it may include appointing in the positioning calculation that terminal carries out that location tasks, which split situation, The positioning calculation task that business and beyond the clouds server carry out, in order to which terminal determines therefrom that the fusion weight of positioning result.Wherein, Server to terminal instruction location tasks split situation when, both can directly indicate terminal carry out positioning calculation task and Cloud carry out positioning calculation task, can also indicate that terminal carry out positioning calculation task identification information and beyond the clouds into The identification information of capable positioning calculation task.
Step S1204, terminal side carries out location data measurement, and carries out terminal side and position to obtain the first positioning result, together When can determine the fusion weight of positioning result.Wherein, the determination method for merging weight is referred to the above embodiment of the present invention Technical solution
Step S1205, terminal reporting measurement data, the first positioning result and the fusion weight of determination are to cloud server. Wherein, the relevant measurement data of the positioning calculation task for needing to carry out to server only can be reported to cloud service by terminal Device.
In one embodiment of the invention, terminal can add upper terminal when to cloud server reporting measurement data Identification information, in order to which cloud server distinguishes.
Step S1206, the measurement data that server is reported according to terminal execute the positioning calculation task carried out in server, The second positioning result is obtained, and fusion treatment is carried out to the first positioning result and the second positioning result according to fusion weight, is obtained Final positioning result.
In one embodiment of the invention, server can tie the positioning after obtaining final positioning result Fruit returns to terminal, executes corresponding task in order to which terminal is based on the positioning result, for example navigated, automatic Pilot, shown Show position etc..Certainly, server can also carry out Data Analysis Services according to the final positioning result, for example analyze each The running track etc. of terminal.
In a concrete application scene of the invention, for example determination will after splitting to location tasks for server Bluetooth positioning (mark of the location tasks can be 0) stays in terminal side progress, and Wi-Fi fingerprint location (location tasks 1) mark can be to be placed on server side progress, and then server side notifies location tasks fractionation situation to terminal.Terminal root Situation is split according to location tasks and determines fusion weight, and is positioned to obtain bluetooth positioning result according to bluetooth, and then by Wi-Fi's The fusion weight of measurement data, bluetooth positioning result and determination is sent to server.Server is surveyed according to the Wi-Fi that terminal reports Measure data complete fingerprint location resolve, obtain fingerprint location as a result, then according to fusion weight come merge fingerprint location result and Bluetooth positioning result, to obtain the final positioning result of terminal.
Terminal positioning processing method shown in Figure 12 is to carry out the fractionation of location tasks and melting for positioning result by server Conjunction processing, and fusion weight is determined by terminal.
Whole fusion can be positioned and be separated by the technical solution of present invention, and a part is carried on terminal side It completes, another part is carried on cloud server completion, and this mode realizes the reasonable disposition of terminal and cloud resource, positions Time delay is lower more efficient.It should be noted that in other embodiments of the invention, can also by terminal and cloud server it Outer other equipment carry out the fusion treatment of the fractionation and/or positioning result of location tasks, need the terminal and cloud to take at this time Business device gives relevant data information transfer to other equipment.If than the fractionation for carrying out location tasks by other equipment, then It needs terminal to be located ability and/or locating Ambient Transfer to the equipment, and ability is located by cloud server and is passed It is defeated by the equipment;If merging positioning result by other equipment again, then terminal and cloud server is needed respectively to tie positioning Fruit is transferred to the equipment, and the equipment needs to get fusion weight, then carries out the fusion treatment of positioning result.
The device of the invention embodiment introduced below, can be used for executing the localization process side in the above embodiment of the present invention Method.For undisclosed details in apparatus of the present invention embodiment, the embodiment of the above-mentioned location processing method of the present invention is please referred to.
Figure 13 diagrammatically illustrates the block diagram of positioning treatment apparatus according to an embodiment of the invention.
Referring to Fig.1 shown in 3, positioning treatment apparatus 1300 according to an embodiment of the invention, comprising: determination unit 1302, acquiring unit 1304 and processing unit 1306.
Wherein it is determined that unit 1302 is used to determine the first equipment to be positioned first location tasks to be treated, and The second equipment for assisting first equipment to be positioned the second location tasks to be treated;Acquiring unit 1304 is used for basis First location tasks and second location tasks obtain corresponding first location data of first location tasks and institute State corresponding second location data of the second location tasks;Processing unit 1306 is used to obtain based on first location data described Second location data is sent to second equipment, for the second equipment root by the first positioning result of the first equipment The second positioning result of first equipment is obtained according to second location data, to pass through first positioning result and described Second positioning result determines the actual location result of first equipment.
In one embodiment of the invention, determination unit 1302 be configured that the stationkeeping ability according to first equipment, And/or the stationkeeping ability of environment locating for first equipment, and/or second equipment, determine the first equipment needs The first location tasks and second equipment the second location tasks to be treated of processing.
In one embodiment of the invention, the positioning treatment apparatus 1300 further include: transmission unit, being used for will be true Fixed first equipment the first location tasks to be treated and/or second equipment the second location tasks to be treated It is sent to second equipment.
In one embodiment of the invention, determination unit 1302 be configured that by the stationkeeping ability of first equipment and/ Or environment locating for first equipment is sent to second equipment, so that second equipment determines that first equipment needs First location tasks to be processed and second equipment the second location tasks to be treated;Second equipment is received to send Notification message, first equipment the first location tasks to be treated are determined according to the notification message and described second are set Standby second location tasks to be treated.
In one embodiment of the invention, processing unit 1306, which is configured that, receives the described of the second equipment feedback Second positioning result;Fusion treatment is carried out to first positioning result and second positioning result, described first is obtained and sets Standby actual location result.
In one embodiment of the invention, processing unit 1306 is configured that the fusion for determining first positioning result The fusion weight of weight and second positioning result;According to the fusion weight of first positioning result and second positioning As a result fusion weight carries out fusion treatment to first positioning result and second positioning result.
In one embodiment of the invention, processing unit 1306 is configured that according to scheduled weight proportion, and/or root According to the confidence level, and/or the environment according to locating for first equipment of first location data and second location data, Determine the fusion weight of first positioning result and the fusion weight of second positioning result;Or receive second equipment The instruction message of transmission determines that the fusion weight of first positioning result and second positioning are tied according to the instruction message The fusion weight of fruit.
In one embodiment of the invention, processing unit 1306, which is configured that, is sent to institute for first positioning result The second equipment is stated, is obtained so that second equipment carries out fusion treatment to first positioning result and second positioning result To the actual location result of first equipment;Or first positioning result is sent to third equipment, so that the third Equipment carries out fusion treatment to first positioning result and second positioning result got from second equipment and obtains To the actual location result of first equipment.
In one embodiment of the invention, the acquiring unit 1304 be configured that according to first location tasks and Second location tasks acquire the positioning number for executing first location tasks and second location tasks respectively According to obtain first location data and second location data.
Figure 14 diagrammatically illustrates the block diagram of positioning treatment apparatus according to an embodiment of the invention.
Referring to Fig.1 shown in 4, positioning treatment apparatus 1400 according to an embodiment of the invention, comprising: determination unit 1402, acquiring unit 1404 and processing unit 1406.
Wherein it is determined that unit 1402 is used to determine the second location tasks for needing that the first equipment to be positioned is assisted to handle, Wherein, first equipment needs to handle the first location tasks;Acquiring unit 1404 is for obtaining what first equipment reported The corresponding location data of second location tasks;Processing unit 1406 is used to be based on the corresponding positioning of second location tasks Data determine the second positioning result of first equipment, with by second positioning result and first equipment according to institute State the actual location result that the first positioning result that the first location tasks determine calculates first equipment.
In one embodiment of the invention, determination unit 1402 is also used to based on first location tasks and described the Two location tasks determine the fusion weight of first positioning result and the fusion weight of second positioning result;
The processing unit 1406, which is configured that first equipment transmission, is used to indicate melting for first positioning result The instruction message of the fusion weight of weight and second positioning result is closed, so that first equipment ties first positioning Fruit and second positioning result carry out fusion treatment and obtain the actual location result;Or according to first positioning result The fusion weight for merging weight and second positioning result is obtained to second positioning result and from first equipment First positioning result carries out fusion treatment and obtains the actual location result.
Figure 15 shows the structural schematic diagram for being suitable for the computer system for the electronic equipment for being used to realize the embodiment of the present invention.
It should be noted that the computer system 1500 of the electronic equipment shown in Figure 15 is only an example, it should not be to this The function and use scope of inventive embodiments bring any restrictions.
As shown in figure 15, computer system 1500 include central processing unit (Central Processing Unit, CPU) 1501, it can be according to the program being stored in read-only memory (Read-Only Memory, ROM) 1502 or from depositing It stores up the program that part 1508 is loaded into random access storage device (Random Access Memory, RAM) 1503 and executes each Kind movement appropriate and processing.In RAM 1503, it is also stored with various programs and data needed for system operatio.CPU 1501, ROM 1502 and RAM 1503 is connected with each other by bus 1504.Input/output (Input/Output, I/O) interface 1505 are also connected to bus 1504.
I/O interface 1505 is connected to lower component: the importation 1506 including keyboard, mouse etc.;Including such as cathode Ray tube (Cathode Ray Tube, CRT), liquid crystal display (Liquid Crystal Display, LCD) etc. and loudspeaking The output par, c 1507 of device etc.;Storage section 1508 including hard disk etc.;And including such as LAN (Local Area Network, local area network) card, modem etc. network interface card communications portion 1509.Communications portion 1509 is via such as The network of internet executes communication process.Driver 1510 is also connected to I/O interface 1505 as needed.Detachable media 1511, such as disk, CD, magneto-optic disk, semiconductor memory etc., are mounted on as needed on driver 1510, in order to It is mounted into storage section 1508 as needed from the computer program read thereon.
Particularly, according to an embodiment of the invention, may be implemented as computer below with reference to the process of flow chart description Software program.For example, the embodiment of the present invention includes a kind of computer program product comprising be carried on computer-readable medium On computer program, which includes the program code for method shown in execution flow chart.In such reality It applies in example, which can be downloaded and installed from network by communications portion 1509, and/or from detachable media 1511 are mounted.When the computer program is executed by central processing unit (CPU) 1501, executes in the system of the application and limit Various functions.
It should be noted that computer-readable medium shown in the embodiment of the present invention can be computer-readable signal media Or computer readable storage medium either the two any combination.Computer readable storage medium for example can be with System, device or the device of --- but being not limited to --- electricity, magnetic, optical, electromagnetic, infrared ray or semiconductor, or it is any more than Combination.The more specific example of computer readable storage medium can include but is not limited to: have one or more conducting wires Electrical connection, portable computer diskette, hard disk, random access storage device (RAM), read-only memory (ROM), erasable type are programmable Read-only memory (Erasable Programmable Read Only Memory, EPROM), flash memory, optical fiber, Portable, compact Disk read-only memory (Compact Disc Read-Only Memory, CD-ROM), light storage device, magnetic memory device or The above-mentioned any appropriate combination of person.In the present invention, computer readable storage medium can be it is any include or storage program Tangible medium, which can be commanded execution system, device or device use or in connection.And in this hair In bright, computer-readable signal media may include in a base band or as carrier wave a part propagate data-signal, In carry computer-readable program code.The data-signal of this propagation can take various forms, including but not limited to Electromagnetic signal, optical signal or above-mentioned any appropriate combination.Computer-readable signal media can also be computer-readable Any computer-readable medium other than storage medium, the computer-readable medium can send, propagate or transmit for by Instruction execution system, device or device use or program in connection.The journey for including on computer-readable medium Sequence code can transmit with any suitable medium, including but not limited to: wireless, wired etc. or above-mentioned is any appropriate Combination.
Flow chart and block diagram in attached drawing are illustrated according to the system of various embodiments of the invention, method and computer journey The architecture, function and operation in the cards of sequence product.In this regard, each box in flowchart or block diagram can generation A part of one module, program segment or code of table, a part of above-mentioned module, program segment or code include one or more Executable instruction for implementing the specified logical function.It should also be noted that in some implementations as replacements, institute in box The function of mark can also occur in a different order than that indicated in the drawings.For example, two boxes succeedingly indicated are practical On can be basically executed in parallel, they can also be executed in the opposite order sometimes, and this depends on the function involved.Also it wants It is noted that the combination of each box in block diagram or flow chart and the box in block diagram or flow chart, can use and execute rule The dedicated hardware based systems of fixed functions or operations is realized, or can use the group of specialized hardware and computer instruction It closes to realize.
Being described in unit involved in the embodiment of the present invention can be realized by way of software, can also be by hard The mode of part realizes that described unit also can be set in the processor.Wherein, the title of these units is in certain situation Under do not constitute restriction to the unit itself.
As on the other hand, present invention also provides a kind of computer-readable medium, which be can be Included in electronic equipment described in above-described embodiment;It is also possible to individualism, and without in the supplying electronic equipment. Above-mentioned computer-readable medium carries one or more program, when the electronics is set by one for said one or multiple programs When standby execution, so that the electronic equipment realizes method described in above-described embodiment.
It should be noted that although being referred to several modules or list for acting the equipment executed in the above detailed description Member, but this division is not enforceable.In fact, embodiment according to the present invention, it is above-described two or more Module or the feature and function of unit can embody in a module or unit.Conversely, an above-described mould The feature and function of block or unit can be to be embodied by multiple modules or unit with further division.
Through the above description of the embodiments, those skilled in the art is it can be readily appreciated that example described herein is implemented Mode can also be realized by software realization in such a way that software is in conjunction with necessary hardware.Therefore, according to the present invention The technical solution of embodiment can be embodied in the form of software products, which can store non-volatile at one Property storage medium (can be CD-ROM, USB flash disk, mobile hard disk etc.) in or network on, including some instructions are so that a calculating Equipment (can be personal computer, server, touch control terminal or network equipment etc.) executes embodiment according to the present invention Method.
Those skilled in the art after considering the specification and implementing the invention disclosed here, will readily occur to of the invention its Its embodiment.This application is intended to cover any variations, uses, or adaptations of the invention, these modifications, purposes or Person's adaptive change follows general principle of the invention and including the undocumented common knowledge in the art of the present invention Or conventional techniques.
It should be understood that the present invention is not limited to the precise structure already described above and shown in the accompanying drawings, and And various modifications and changes may be made without departing from the scope thereof.The scope of the present invention is limited only by the attached claims.

Claims (15)

1. a kind of location processing method characterized by comprising
It determines the first equipment to be positioned first location tasks to be treated, and first equipment is assisted to be positioned Second equipment the second location tasks to be treated;
According to first location tasks and second location tasks, corresponding first positioning of first location tasks is obtained Data and corresponding second location data of second location tasks;
The first positioning result of first equipment is obtained based on first location data, second location data is sent To second equipment, tied for second equipment according to the second positioning that second location data obtains first equipment Fruit, to determine the actual location result of first equipment by first positioning result and second positioning result.
2. location processing method according to claim 1, which is characterized in that determine that the first equipment to be positioned needs to handle The first location tasks, and the second equipment the second location tasks to be treated for assisting first equipment to be positioned, Include:
According to environment locating for the stationkeeping ability of first equipment, and/or first equipment, and/or second equipment Stationkeeping ability, determine first equipment the first location tasks to be treated and second equipment to be treated second Location tasks.
3. location processing method according to claim 2, which is characterized in that further include:
By determining first equipment the first location tasks to be treated and/or second equipment to be treated second Location tasks are sent to second equipment.
4. location processing method according to claim 1, which is characterized in that determine that the first equipment to be positioned needs to handle The first location tasks, and the second equipment the second location tasks to be treated for assisting first equipment to be positioned, Include:
Environment locating for the stationkeeping ability of first equipment and/or first equipment is sent to second equipment, with Second equipment is set to determine that first equipment the first location tasks to be treated and second equipment are to be treated Second location tasks;
The notification message that second equipment is sent is received, determines that first equipment is to be treated according to the notification message First location tasks and second equipment the second location tasks to be treated.
5. location processing method according to claim 1, which is characterized in that pass through first positioning result and described Two positioning results determine the actual location result of first equipment, comprising:
Receive second positioning result of the second equipment feedback;
Fusion treatment is carried out to first positioning result and second positioning result, the reality for obtaining first equipment is fixed Position result.
6. location processing method according to claim 5, which is characterized in that first positioning result and described second Positioning result carries out fusion treatment, comprising:
Determine the fusion weight of first positioning result and the fusion weight of second positioning result;
According to the fusion weight of the fusion weight of first positioning result and second positioning result, to first positioning As a result fusion treatment is carried out with second positioning result.
7. location processing method according to claim 6, which is characterized in that determine the fusion power of first positioning result The fusion weight of weight and second positioning result, comprising:
According to scheduled weight proportion, and/or according to the confidence level of first location data and second location data, And/or the environment according to locating for first equipment, determine the fusion weight and second positioning of first positioning result As a result fusion weight;Or
The instruction message that second equipment is sent is received, the fusion of first positioning result is determined according to the instruction message The fusion weight of weight and second positioning result.
8. location processing method according to claim 1, which is characterized in that pass through first positioning result and described Two positioning results determine the actual location result of first equipment, comprising:
First positioning result is sent to second equipment so that second equipment to first positioning result and Second positioning result carries out fusion treatment and obtains the actual location result of first equipment;Or
First positioning result is sent to third equipment, so that the third equipment is to first positioning result and from institute It states second positioning result progress fusion treatment that the second equipment is got and obtains the actual location result of first equipment.
9. location processing method according to any one of claim 1 to 8, which is characterized in that according to first positioning Task and second location tasks, obtain corresponding first location data of first location tasks and second positioning is appointed It is engaged in corresponding second location data, comprising:
According to first location tasks and second location tasks, acquire respectively for execute first location tasks and The location data of second location tasks, to obtain first location data and second location data.
10. a kind of location processing method characterized by comprising
Determine the second location tasks for needing that the first equipment to be positioned is assisted to handle, wherein first equipment needs to handle First location tasks;
Obtain the corresponding location data of second location tasks that first equipment reports;
Determine the second positioning result of first equipment, based on the corresponding location data of second location tasks to pass through It states the second positioning result and first equipment and calculates described the according to the first positioning result that first location tasks determine The actual location result of one equipment.
11. location processing method according to claim 10, which is characterized in that further include: appointed based on first positioning Business and second location tasks determine the fusion weight of first positioning result and the fusion power of second positioning result Weight;
The first positioning result determined by second positioning result and first equipment according to first location tasks Calculate the actual location result of first equipment, comprising:
The fusion weight and second positioning result for being used to indicate first positioning result are sent to first equipment The instruction message for merging weight, so that first equipment melts first positioning result and second positioning result Conjunction handles to obtain the actual location result;Or
According to the fusion weight of the fusion weight of first positioning result and second positioning result, to second positioning As a result first positioning result and from first equipment obtained carries out fusion treatment and obtains the actual location result.
12. a kind of positioning treatment apparatus characterized by comprising
Determination unit, for determining the first equipment to be positioned first location tasks to be treated, and assistance described first The second equipment that equipment is positioned the second location tasks to be treated;
Acquiring unit, for obtaining first location tasks according to first location tasks and second location tasks Corresponding first location data and corresponding second location data of second location tasks;
Processing unit, for obtaining the first positioning result of first equipment based on first location data, by described Two location datas are sent to second equipment, obtain described first according to second location data for second equipment and set The second standby positioning result, to determine the reality of first equipment by first positioning result and second positioning result Border positioning result.
13. a kind of positioning treatment apparatus characterized by comprising
Determination unit, for determining the second location tasks for needing that the first equipment to be positioned is assisted to handle, wherein described first Equipment needs to handle the first location tasks;
Acquiring unit, the corresponding location data of second location tasks reported for obtaining first equipment;
Processing unit, for determining the second positioning of first equipment based on the corresponding location data of second location tasks As a result, to be tied by second positioning result and first equipment according to the first positioning that first location tasks determine Fruit calculates the actual location result of first equipment.
14. a kind of computer-readable medium, is stored thereon with computer program, which is characterized in that the computer program is located Reason device realizes location processing method as claimed in any one of claims 1-9 wherein when executing, or realizes such as claim 10 or 11 The location processing method.
15. a kind of electronic equipment characterized by comprising
One or more processors;
Storage device, for storing one or more programs, when one or more of programs are by one or more of processing When device executes, so that one or more of processors realize localization process side as claimed in any one of claims 1-9 wherein Method, or realize location processing method as described in claim 10 or 11.
CN201910019714.XA 2019-01-09 2019-01-09 Positioning processing method and device, computer readable medium and electronic equipment Active CN109474988B (en)

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