CN109474988B

CN109474988B - Positioning processing method and device, computer readable medium and electronic equipment

Info

Publication number: CN109474988B
Application number: CN201910019714.XA
Authority: CN
Inventors: 刘恒进; 俞一帆
Original assignee: Tencent Technology Shenzhen Co Ltd
Current assignee: Tencent Technology Shenzhen Co Ltd
Priority date: 2019-01-09
Filing date: 2019-01-09
Publication date: 2021-01-08
Anticipated expiration: 2039-01-09
Also published as: CN109474988A

Abstract

The embodiment of the invention provides a positioning processing method and device, a computer readable medium and electronic equipment. The positioning processing method comprises the following steps: determining a first positioning task to be processed by a first device to be positioned and a second positioning task to be processed by a second device for assisting the first device to position; acquiring first positioning data corresponding to the first positioning task and second positioning data corresponding to the second positioning task according to the first positioning task and the second positioning task; and obtaining a first positioning result of the first equipment based on the first positioning data, and sending the second positioning data to the second equipment, so that the second equipment can obtain a second positioning result of the first equipment according to the second positioning data, and the actual positioning result of the first equipment can be determined according to the first positioning result and the second positioning result. The technical scheme of the embodiment of the invention can improve the positioning efficiency and reduce the positioning time delay.

Description

Positioning processing method and device, computer readable medium and electronic equipment

Technical Field

The present invention relates to the field of computer and communication technologies, and in particular, to a positioning processing method and apparatus, a computer readable medium, and an electronic device.

Background

The fusion positioning is a technology for obtaining a more accurate positioning result by integrating multiple positioning modes, and the fusion positioning proposed in the related art is to collect and process measurement data corresponding to various positioning modes, for example, a positioning terminal uploads all observed measurement data to a network side, and the network side performs calculation processing, so that the processing load of the network side is increased, and further, the positioning efficiency is low and the positioning delay is large.

Disclosure of Invention

Embodiments of the present invention provide a positioning processing method and apparatus, a computer-readable medium, and an electronic device, so that positioning efficiency can be improved at least to a certain extent, and positioning delay is reduced.

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

According to an aspect of an embodiment of the present invention, there is provided a positioning processing method, including: determining a first positioning task to be processed by a first device to be positioned and a second positioning task to be processed by a second device for assisting the first device to position; acquiring first positioning data corresponding to the first positioning task and second positioning data corresponding to the second positioning task according to the first positioning task and the second positioning task; and obtaining a first positioning result of the first equipment based on the first positioning data, and sending the second positioning data to the second equipment, so that the second equipment can obtain a second positioning result of the first equipment according to the second positioning data, and the actual positioning result of the first equipment can be determined according to the first positioning result and the second positioning result.

According to an aspect of an embodiment of the present invention, there is provided a positioning processing method, including: determining a second positioning task needing to assist a first device to be positioned to process, wherein the first device needs to process the first positioning task; acquiring positioning data corresponding to the second positioning task reported by the first equipment; and determining a second positioning result of the first equipment based on the positioning data corresponding to the second positioning task, so as to calculate an actual positioning result of the first equipment according to the first positioning result determined by the first positioning task through the second positioning result and the first equipment.

According to an aspect of an embodiment of the present invention, there is provided a positioning processing apparatus including: a determining unit, configured to determine a first positioning task that needs to be processed by a first device to be positioned, and a second positioning task that needs to be processed by a second device that assists the first device in positioning; an obtaining unit, configured to obtain, according to the first positioning task and the second positioning task, first positioning data corresponding to the first positioning task and second positioning data corresponding to the second positioning task; and the processing unit is used for obtaining a first positioning result of the first equipment based on the first positioning data, sending the second positioning data to the second equipment, so that the second equipment can obtain a second positioning result of the first equipment according to the second positioning data, and determining an actual positioning result of the first equipment according to the first positioning result and the second positioning result.

In some embodiments of the present invention, based on the foregoing scheme, the determining unit is configured to: and determining a first positioning task required to be processed by the first equipment and a second positioning task required to be processed by the second equipment according to the positioning capability of the first equipment, and/or the environment where the first equipment is located, and/or the positioning capability of the second equipment.

In some embodiments of the present invention, based on the foregoing solution, the positioning processing apparatus further includes: a sending unit, configured to send the determined first positioning task that the first device needs to process and/or the determined second positioning task that the second device needs to process to the second device.

In some embodiments of the present invention, based on the foregoing scheme, the determining unit is configured to: sending the positioning capability of the first equipment and/or the environment where the first equipment is located to the second equipment, so that the second equipment determines a first positioning task which needs to be processed by the first equipment and a second positioning task which needs to be processed by the second equipment; and receiving a notification message sent by the second equipment, and determining a first positioning task required to be processed by the first equipment and a second positioning task required to be processed by the second equipment according to the notification message.

In some embodiments of the present invention, based on the foregoing solution, the processing unit is configured to: receiving the second positioning result fed back by the second device; and fusing the first positioning result and the second positioning result to obtain an actual positioning result of the first equipment.

In some embodiments of the present invention, based on the foregoing solution, the processing unit is configured to: determining a fusion weight of the first positioning result and a fusion weight of the second positioning result; and performing fusion processing on the first positioning result and the second positioning result according to the fusion weight of the first positioning result and the fusion weight of the second positioning result.

In some embodiments of the present invention, based on the foregoing solution, the processing unit is configured to: determining a fusion weight of the first positioning result and a fusion weight of the second positioning result according to a preset weight proportion, and/or according to confidence degrees of the first positioning data and the second positioning data, and/or according to an environment where the first device is located; or receiving an indication message sent by the second device, and determining the fusion weight of the first positioning result and the fusion weight of the second positioning result according to the indication message.

In some embodiments of the present invention, based on the foregoing solution, the processing unit is configured to: sending the first positioning result to the second equipment so that the second equipment performs fusion processing on the first positioning result and the second positioning result to obtain an actual positioning result of the first equipment; or sending the first positioning result to third equipment so that the third equipment performs fusion processing on the first positioning result and the second positioning result obtained from the second equipment to obtain an actual positioning result of the first equipment.

In some embodiments of the present invention, based on the foregoing scheme, the obtaining unit is configured to: and respectively acquiring positioning data for executing the first positioning task and the second positioning task according to the first positioning task and the second positioning task so as to obtain the first positioning data and the second positioning data.

According to an aspect of an embodiment of the present invention, there is provided a positioning processing apparatus including: the positioning device comprises a determining unit, a processing unit and a processing unit, wherein the determining unit is used for determining a second positioning task which needs to assist a first device to be positioned to process, and the first device needs to process the first positioning task; an obtaining unit, configured to obtain positioning data corresponding to the second positioning task reported by the first device; and the processing unit is used for determining a second positioning result of the first equipment based on the positioning data corresponding to the second positioning task, so as to calculate an actual positioning result of the first equipment according to the first positioning result determined by the first positioning task through the second positioning result and the first equipment.

In some embodiments of the present invention, based on the foregoing solution, the determining unit is further configured to determine a fusion weight of the first positioning result and a fusion weight of the second positioning result based on the first positioning task and the second positioning task;

the processing unit is configured to: sending an indication message for indicating the fusion weight of the first positioning result and the fusion weight of the second positioning result to the first device, so that the first device performs fusion processing on the first positioning result and the second positioning result to obtain the actual positioning result; or according to the fusion weight of the first positioning result and the fusion weight of the second positioning result, performing fusion processing on the second positioning result and the first positioning result obtained from the first device to obtain the actual positioning result.

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

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

In the technical solutions provided in some embodiments of the present invention, by determining a first positioning task to be processed by a first device to be positioned and a second positioning task to be processed by a second device for assisting the first device in positioning, and respectively obtaining first positioning data corresponding to the first positioning task and second positioning data corresponding to the second positioning task, and determining an actual positioning result of the first device according to a first positioning result obtained based on the first positioning data and a second positioning result obtained by the second device according to the second positioning data, the entire positioning task can be split, and a part of positioning tasks are respectively executed by the first device and the second device, and finally fusion positioning is implemented according to the positioning results of the first device and the second device, so that reasonable configuration of resources of the first device and resources of the second device is implemented, and a problem of a large processing load caused by a single device processing multiple positioning data to perform fusion positioning is avoided, the efficiency of fusion positioning is improved, and the time delay of fusion positioning is reduced.

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

Drawings

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

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

FIG. 2 schematically shows a flow diagram of a positioning processing method according to an embodiment of the invention;

FIG. 3 schematically shows a flow chart for determining an actual positioning result of a first device from a first positioning result and a second positioning result according to an embodiment of the invention;

FIG. 4 schematically shows a flow diagram of a positioning processing method according to an embodiment of the invention;

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

fig. 6 schematically shows a flow chart of a terminal location processing method according to an embodiment of the present invention;

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

fig. 8 schematically shows a flow chart of a terminal location processing method according to an embodiment of the present invention;

fig. 9 schematically shows a flow chart of a terminal location processing method according to an embodiment of the present invention;

fig. 10 schematically shows a flow chart of a terminal location processing method according to an embodiment of the present invention;

fig. 11 schematically shows a flow chart of a terminal location processing method according to an embodiment of the present invention;

fig. 12 schematically shows a flow chart of a terminal location processing method according to an embodiment of the present invention;

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

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

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

Detailed Description

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

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

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

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

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

As shown in fig. 1, the system architecture may include a vehicle terminal 101, a network location server 103, and a base station device 102 that provides a network to the vehicle terminal 101 and the network location server 103 to facilitate the vehicle terminal 101 to communicate with the network location server 103. The base station device 102 and the network positioning server 103 may be connected by a wired communication link or a wireless communication link; the vehicle terminal 101 is typically connected to the base station apparatus 102 using a wireless communication link.

It should be understood that the number of vehicle terminals 101, base station devices 102 and network location servers 103 shown in fig. 1 is merely illustrative. There may be any number of vehicle terminals 101, base station devices 102, and network location servers 103, as desired for implementation.

In one embodiment of the present invention, the vehicle terminal 101 may divide the converged positioning task into a first positioning task that the vehicle terminal 101 needs to process and a second positioning task that the network positioning server 103 needs to process. For example, the vehicle terminal 101 performs a bluetooth positioning task and a Wi-Fi positioning task, and the network positioning server 103 performs an RTK (Real-time kinematic) positioning task. After determining the second positioning task that the network positioning server 103 needs to process, the vehicle terminal 101 may notify the network positioning server 103 of the second positioning task, so that the network positioning server 103 performs the corresponding positioning task.

After the vehicle terminal 101 divides the first positioning task and the second positioning task, it may measure first positioning data corresponding to the first positioning task and second positioning data corresponding to the second positioning task, and then obtain a first positioning result of the vehicle terminal 101 according to the first positioning data. Meanwhile, the second positioning data is sent to the network positioning server 103, the network positioning server 103 determines a second positioning result of the vehicle terminal 101 based on the second positioning data, and then the second positioning result is returned to the vehicle terminal 101, so that the vehicle terminal 101 can fuse the first positioning result and the second positioning result to obtain a final actual positioning result of the vehicle terminal 101.

Optionally, in an embodiment of the present invention, after obtaining the first positioning result according to the first positioning data, the vehicle terminal 101 may send the first positioning result to the network positioning server 103, and further, after the network positioning server 103 determines the second positioning result of the vehicle terminal 101 based on the second positioning data, the network positioning server 103 performs a fusion process on the first positioning result and the second positioning result.

Optionally, in an embodiment of the present invention, the network positioning server 103 may also divide the fusion positioning task into a first positioning task that needs to be processed by the vehicle terminal 101 and a second positioning task that needs to be processed by the network positioning server 103, and then notify the vehicle terminal 101 of the first positioning task and the second positioning task obtained after the division.

Therefore, the technical scheme of the embodiment of the invention can split the whole positioning task, the plurality of devices respectively execute part of the positioning tasks, and finally realize the fusion positioning according to the positioning results of the plurality of devices, thereby avoiding the problem of large processing load caused by the fusion positioning performed by processing a plurality of positioning data by a single device, improving the efficiency of the fusion positioning and simultaneously reducing the time delay of the fusion positioning.

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

fig. 2 schematically shows a flowchart of a positioning processing method according to an embodiment of the present invention, which may be performed by a device to be positioned, which may be the vehicle terminal 101 shown in fig. 1 or the like. Referring to fig. 2, the positioning processing method at least includes steps S210 to S230, which are described in detail as follows:

in step S210, a first positioning task that needs to be processed by a first device to be positioned and a second positioning task that needs to be processed by a second device that assists the first device in positioning are determined.

In one embodiment of the invention, the first device to be positioned may autonomously determine the first positioning task and the second positioning task that the second device needs to process. For example, the first device may determine the first positioning task and the second positioning task according to its own positioning capability, the environment where the first device is located, and the positioning capability of the second device.

Specifically, it is assumed that a bluetooth device, a Wi-Fi (Wireless Fidelity) device, an RTK device, a GPS (Global Positioning System) device, and the like are installed on the first device, and it is explained that the first device is capable of performing bluetooth Positioning and GPS Positioning, and is capable of sensing a Wi-Fi signal by the Wi-Fi device and observing a satellite signal by the RTK device. If the environment where the first device is located does not affect the observation of each signal, and the second device also has the fingerprint positioning and RTK positioning capabilities, the first device can determine that the first positioning task is a Bluetooth positioning task and a GPS positioning task, and the second positioning task is an RTK positioning task and a fingerprint positioning task.

It should be noted that the RTK positioning needs to acquire a satellite signal observed by the reference station, position information of the reference station, and a satellite signal observed by an RTK device on the device to be positioned, then calculate differential information according to the position information of the reference station and the satellite signal observed by the reference station, and further calculate the positioning coordinates of the device to be positioned based on the differential information and the satellite signal observed by the RTK device on the device to be positioned. A "fingerprint" in fingerprint localization may be a feature or features (most commonly signal strength) of some information or signal. For example, some sending devices with known and fixed positions send signals or information, the device to be positioned receives the signals or information sent by the sending device, and then the position relationship between the device to be positioned and the sending device can be estimated according to the characteristics (such as signal strength) of the received signals or information, so as to determine the position of the device to be positioned.

Continuing with the above example, if the environment in which the first device is located results in the first device not observing a GPS signal or the first device being located with a poor GPS signal, then the first positioning task may be a bluetooth positioning task and the second positioning task may be a fingerprint positioning task and an RTK positioning task.

Alternatively, if the second device does not have the capability of fingerprint positioning, such as no stored fingerprint library, then the first positioning task may be a bluetooth positioning task and a GPS positioning task and the second positioning task is an RTK positioning task.

In an embodiment of the present invention, the first device may also determine the first positioning task and the second positioning task based on its own positioning capability, which is suitable for the case that the second device has a stronger positioning capability (for example, supports most or all positioning modes), and the environment in which the first device is located is an environment capable of providing various signal measurements, so that the first device does not need to consider the environment in which it is located.

In an embodiment of the present invention, the first device may also determine the first positioning task and the second positioning task only according to the positioning capability of the second device, which is suitable for the case that the first device has a strong positioning capability (such as supporting most or all positioning modes), and the environment in which the first device is located is an environment capable of providing various signal measurements, so that the first device does not need to consider the environment in which it is located.

In an embodiment of the present invention, the first device may also determine the first positioning task and the second positioning task only according to the positioning capabilities of the first device and the second device, which is suitable for the case that both the first device and the second device have stronger positioning capabilities (such as supporting most or all positioning modes), but the first device is required to determine which positioning tasks can be performed according to the environment where the first device is located.

Of course, in other embodiments of the present invention, the first device may determine the first positioning task and the second positioning task according to any two of its own positioning capability, its environment, and the positioning capability of the second device.

In an embodiment of the present invention, after the first device determines that the first positioning task needs to be processed by the first device and the second positioning task needs to be processed by the second device, the second positioning task that the second device needs to process may be sent to the second device, so that the second device executes the second positioning task; of course, the first device may also send both the determined first positioning task and the determined second positioning task to the second device; or the first device may send the first positioning task to the second device, so that the second device may know which positioning tasks do not need to be processed by itself, and then process the positioning tasks that can be processed by itself or determine the positioning tasks that need to be processed by itself according to a prior agreement, for example, the second device and the first device agree in advance to only process positioning task 1, positioning task 2, and positioning task 3, and then, if the first device determines that the first positioning task is positioning task 1, the first positioning task is sent to the second device, and the second device may know that the second positioning task is positioning task 2 and positioning task 3.

In another embodiment of the present invention, the first device may send its positioning capability and/or its environment to the second device, so that the second device can determine the first positioning task and the second positioning task. After the second device determines the first positioning task and the second positioning task, a notification message may be sent to the first device to notify the determined first positioning task and second positioning task.

Optionally, when the first device sends the environment where the first device is located to the second device, the environment where the first device is located may be directly sent to the second device explicitly, for example, whether the environment where the first device is currently located has an occlusion (e.g., whether the first device is in a tunnel), whether the first device affects the observation of the positioning data, and the like are directly sent to the second device. Of course, the first device may also implicitly send the environment condition to the second device, where one way may be to directly send the observed signal quality to the second device, so that the second device determines the environment where the first device is located according to the signal quality; another way may be to send a signal that can be observed and/or a signal that cannot be observed at the current location of the first device to the second device (which may send signal identification information directly or may send a measured signal value), so that the second device may determine the environment in which the first device of the terminal is located.

The process of determining the first positioning task and the second positioning task by the second device is similar to the process of determining the first positioning task and the second positioning task by the first device, and is not described again.

Referring to fig. 2, in step S220, according to the first positioning task and the second positioning task, first positioning data corresponding to the first positioning task and second positioning data corresponding to the second positioning task are obtained.

In an embodiment of the present invention, the positioning data for executing the first positioning task may be collected according to the first positioning task to obtain the first positioning data, and the positioning data for executing the second positioning task may be collected according to the second positioning task to obtain the second positioning data. For example, if the first positioning task is a bluetooth positioning task and a GPS positioning task, and the second positioning task is an RTK positioning task and a fingerprint positioning task, the first positioning data may include bluetooth signals, GPS satellite signals, etc. of the bluetooth beacon device, and the second positioning data may include satellite signals observed by an RTK device on the first device and Wi-Fi signal information observed by the first device, etc.

Continuing to refer to fig. 2, in step S230, a first positioning result of the first device is obtained based on the first positioning data, and the second positioning data is sent to the second device, so that the second device obtains a second positioning result of the first device according to the second positioning data, so as to determine an actual positioning result of the first device according to the first positioning result and the second positioning result.

In an embodiment of the present invention, as shown in fig. 3, the process of determining the actual positioning result of the first device according to the first positioning result and the second positioning result may include the following steps:

step S310, receiving the second positioning result fed back by the second device.

Step S320, performing fusion processing on the first positioning result and the second positioning result to obtain an actual positioning result of the first device.

The technical solution of the embodiment shown in fig. 3 is that the first device performs fusion processing on the first positioning result and the second positioning result. Alternatively, a kalman filter algorithm may be used to fuse the first positioning result and the second positioning result.

In an embodiment of the present invention, before the fusion processing is performed on the first positioning result and the second positioning result, a fusion weight of the first positioning result and a fusion weight of the second positioning result may be determined, and then the fusion processing is performed on the first positioning result and the second positioning result according to the fusion weight of the first positioning result and the fusion weight of the second positioning result. Because the fusion weight reflects the reliability of the positioning result, the fusion processing is performed according to the fusion weight of the first positioning result and the fusion weight of the second positioning result, so that the degree of dependence on the first positioning result and the second positioning result during the fusion processing can be determined based on the reliability of the first positioning result and the second positioning result, and the accuracy of the positioning result can be improved.

In an embodiment of the invention, the fusion weight of the first positioning result and the fusion weight of the second positioning result may be determined according to a predetermined weight ratio, and/or according to the confidence degrees of the first positioning data and the second positioning data, and/or according to the environment in which the first device is located.

For example, if the predetermined weight ratio between the first positioning result and the second positioning result is 4:6, the fusion weight of the first positioning result may be set to 0.4 and the fusion weight of the second positioning result may be set to 0.6 during the fusion process.

For another example, if the confidence of the first positioning data is greater than the confidence of the second positioning data, the confidence of the first positioning result is higher than the confidence of the second positioning result, so the fusion weight of the first positioning result may be set to 0.6, and the fusion weight of the second positioning result may be set to 0.4.

For another example, if the environment in which the first device is located causes poor observed GPS signals but good observed Wi-Fi signals, the fusion weight of the first positioning result may be set to be smaller than the fusion weight of the second positioning result if the first positioning result includes a GPS positioning result and the second positioning result includes a fingerprint positioning result.

It should be noted that, when determining the fusion weight of the first positioning result and the fusion weight of the second positioning result according to the predetermined weight ratio, the confidence degrees of the first positioning data and the second positioning data, and a plurality of factors in the environment where the first device is located, the importance degrees of the plurality of factors may be considered, and the final fusion weight may be determined based on the importance degrees of the plurality of factors.

In another embodiment of the present invention, the fusion weight of the first positioning result and the fusion weight of the second positioning result may also be determined by the second device, and the first device may receive an indication message sent by the second device, so as to determine the fusion weight of the first positioning result and the fusion weight of the second positioning result according to the indication message. The process of determining the fusion weight of the first positioning result and the fusion weight of the second positioning result by the second device is similar to the process of determining the fusion weight of the first positioning result and the fusion weight of the second positioning result by the first device, and is not repeated.

In another embodiment of the present invention, the first device may also send the first positioning result to the second device, so that the second device may perform fusion processing on the first positioning result and the second positioning result to obtain the actual positioning result of the first device. The process of fusing the first positioning result and the second positioning result by the second device is similar to the process of fusing the first positioning result and the second positioning result by the first device, and is not repeated.

In addition, in another embodiment of the present invention, the first device may send the first positioning result to the third device, and the second device may also send the second positioning result to the third device, so that the third device may perform fusion processing on the first positioning result and the second positioning result to obtain an actual positioning result of the first device. The process of fusing the first positioning result and the second positioning result by the third device is similar to the process of fusing the first positioning result and the second positioning result by the first device, and is not repeated.

Fig. 4 schematically shows a flowchart of a positioning processing method according to an embodiment of the present invention, which may be performed by a device (such as the second device described in the foregoing embodiment) that assists a device to be positioned in positioning, which may be the network positioning server 103 shown in fig. 1 or the like. Referring to fig. 4, the positioning processing method at least includes steps S410 to S430, which are described in detail as follows:

in step S410, a second positioning task that needs to assist a first device to be positioned to process is determined, where the first device needs to process the first positioning task.

In an embodiment of the present invention, the first positioning task and the second positioning task may be determined by a first device, or the first positioning task and the second positioning task may be determined by a second device that assists the first device in positioning.

In step S420, the positioning data corresponding to the second positioning task reported by the first device is obtained.

In step S430, a second positioning result of the first device is determined based on the positioning data corresponding to the second positioning task, so as to calculate an actual positioning result of the first device according to the first positioning result determined by the first positioning task through the second positioning result and the first device.

As described in the foregoing embodiment, the first device may perform fusion processing on the first positioning result and the second positioning result to obtain an actual positioning result of the first device; the second device can also perform fusion processing on the first positioning result and the second positioning result to obtain an actual positioning result of the first device; the third device may also perform fusion processing on the first positioning result and the second positioning result to obtain an actual positioning result of the first device. For the specific fusion process, reference is made to the technical solutions of the above embodiments, which are not described in detail.

The technical scheme of the embodiment of the invention can split the whole positioning task, and the first device and the second device respectively execute part of the positioning task, and finally realize the fusion positioning according to the positioning results of the first device and the second device, thereby realizing the reasonable configuration of the resources of the first device and the resources of the second device, avoiding the problem of larger processing load caused by the fusion positioning by processing a plurality of positioning data by a single device, improving the efficiency of the fusion positioning, and simultaneously reducing the time delay of the fusion positioning.

The implementation details of the positioning processing scheme according to the embodiment of the present invention are described in detail below by taking the first device as a terminal and the second device as a cloud server as an example:

as shown in fig. 5, the terminal location processing method according to an embodiment of the present invention includes the following steps:

step S501, the terminal splits the positioning task to determine the positioning calculation task performed at the terminal and the positioning calculation task performed at the cloud server.

Step S502, the terminal reports the measurement data and the positioning task splitting condition to the cloud server. The terminal can only report the measurement data related to the positioning resolving task required to be carried out by the server to the cloud server, the positioning task splitting condition comprises the positioning resolving task carried out at the terminal and the positioning resolving task carried out at the cloud server, and therefore the server can determine the fusion weight of the positioning result according to the positioning task splitting condition conveniently.

In an embodiment of the present invention, when reporting the measurement data and the split condition of the positioning task to the cloud server, the terminal may add identification information (for example, ID information) of the terminal, so as to facilitate the cloud server to distinguish. Meanwhile, when the terminal reports the splitting condition of the positioning task to the cloud server, the positioning calculation task performed at the terminal and the positioning calculation task performed at the cloud can be directly indicated, and identification information of the positioning calculation task performed at the terminal and identification information of the positioning calculation task performed at the cloud can also be indicated.

In an embodiment of the present invention, after the terminal splits the positioning task, the terminal may execute a positioning calculation task performed at the terminal according to the measurement data to obtain a first positioning result.

And step S503, the server executes a positioning resolving task performed in the server according to the measurement data reported by the terminal and the positioning task splitting condition, and a second positioning result is obtained.

Step S504, the server returns the second positioning result and the fusion weight of the positioning result to the terminal. The method for determining the fusion weight may refer to the technical solutions of the above embodiments of the present invention.

And step S505, the terminal performs fusion processing on the first positioning result and the second positioning result according to the fusion weight to obtain a final positioning result.

In an embodiment of the present invention, after obtaining the final positioning result, the terminal may perform corresponding tasks, such as navigating, automatically driving, displaying the location, and the like, based on the positioning result. Of course, the terminal may also report the obtained final positioning result to the server.

In a specific application scenario of the present invention, for example, after splitting a positioning task, a terminal determines to leave bluetooth positioning (the identifier of the positioning task may be 0) on a terminal side for performing, and Wi-Fi fingerprint positioning (the identifier of the positioning task may be 1) is performed on a server side, then the terminal reports indication information of the splitting condition of the positioning task to the server, and sends Wi-Fi measurement data to the server. And after finishing fingerprint positioning calculation according to the Wi-Fi measurement data reported by the terminal, the server sends the fingerprint positioning result and the fusion weight to the terminal. And the terminal side obtains a Bluetooth positioning result according to the Bluetooth positioning, and then fuses the fingerprint positioning result and the Bluetooth positioning result according to the fusion weight so as to obtain a final positioning result of the terminal.

In the terminal location processing method shown in fig. 5, the terminal splits the location task and performs fusion processing of the location result, and a server is required to determine the fusion weight.

As shown in fig. 6, the terminal location processing method according to an embodiment of the present invention includes the following steps:

step S601, the terminal splits the positioning task to determine a positioning calculation task performed at the terminal and a positioning calculation task performed at the cloud server.

Step S602, the terminal reports the measurement data and the positioning task splitting condition to the cloud server. The terminal can only report the measurement data related to the positioning resolving task required to be carried out by the server to the cloud server, the positioning task splitting condition comprises the positioning resolving task carried out at the terminal and the positioning resolving task carried out at the cloud server, and therefore the server can determine the fusion weight of the positioning result according to the positioning task splitting condition conveniently.

And step S603, the server executes a positioning resolving task performed in the server according to the measurement data reported by the terminal and the positioning task splitting condition to obtain a second positioning result.

In step S604, the terminal returns the first positioning result to the server.

And step S605, the server performs fusion processing on the first positioning result and the second positioning result according to the determined fusion weight to obtain a final positioning result. The method for determining the fusion weight may refer to the technical solutions of the above embodiments of the present invention.

In an embodiment of the present invention, after obtaining the final positioning result, the server may return the positioning result to the terminal, so that the terminal performs corresponding tasks based on the positioning result, such as navigating, automatically driving, displaying the location, and the like. Of course, the server may also perform data analysis processing according to the final positioning result, such as analyzing the movement track of each terminal.

In a specific application scenario of the present invention, for example, after splitting a positioning task, a terminal determines to leave bluetooth positioning (the identifier of the positioning task may be 0) on a terminal side for performing, and Wi-Fi fingerprint positioning (the identifier of the positioning task may be 1) is performed on a server side, then the terminal reports indication information of the splitting condition of the positioning task to the server, and sends Wi-Fi measurement data to the server. And after the terminal obtains a Bluetooth positioning result according to Bluetooth positioning, reporting the Bluetooth positioning result to the server, and fusing the fingerprint positioning result and the Bluetooth positioning result according to the fusion weight after the server finishes Wi-Fi fingerprint positioning to obtain a fingerprint positioning result, thereby obtaining a final positioning result of the terminal.

In the terminal positioning processing method shown in fig. 6, the terminal splits the positioning task, and the server determines the fusion weight and performs fusion processing of the positioning result.

As shown in fig. 7, the terminal location processing method according to an embodiment of the present invention includes the following steps:

step S701, the terminal splits the positioning task to determine a positioning calculation task performed at the terminal and a positioning calculation task performed at the cloud server.

Step S702, the terminal reports the measurement data and the positioning task splitting condition to the cloud server. The terminal can report the measurement data related to the positioning calculation task required by the server to the cloud server; the positioning task splitting condition comprises a positioning resolving task performed at the terminal and a positioning resolving task performed at the cloud server, and can also only comprise the positioning resolving task performed at the cloud server and the like.

In an embodiment of the present invention, after the terminal splits the positioning task, the terminal may execute a positioning calculation task performed at the terminal according to the measurement data to obtain a first positioning result. Meanwhile, the fusion weight of the positioning result is determined according to the positioning calculation task performed at the terminal and the positioning calculation task performed at the cloud, wherein the determination method of the fusion weight can refer to the technical scheme of the embodiment of the invention.

And step S703, the server executes a positioning calculation task performed in the server according to the measurement data reported by the terminal and the positioning task splitting condition, so as to obtain a second positioning result.

Step S704, the server returns the second positioning result to the terminal.

Step S705, the terminal carries out fusion processing on the first positioning result and the second positioning result according to the fusion weight to obtain a final positioning result.

In a specific application scenario of the present invention, for example, after splitting a positioning task, a terminal determines that bluetooth positioning (an identifier of the positioning task may be 0) is left at a terminal side, and Wi-Fi fingerprint positioning (an identifier of the positioning task may be 1) is performed at a server side, then the terminal reports indication information of the splitting condition of the positioning task to the server, and sends Wi-Fi measurement data to the server, and the terminal determines fusion weight. And after finishing fingerprint positioning calculation according to the Wi-Fi measurement data reported by the terminal, the server sends a fingerprint positioning result to the terminal. And the terminal side obtains a Bluetooth positioning result according to the Bluetooth positioning, and then fuses the fingerprint positioning result and the Bluetooth positioning result according to the fusion weight so as to obtain a final positioning result of the terminal.

The terminal positioning processing method shown in fig. 7 is to perform splitting of the positioning task, determination of the fusion weight, and fusion processing of the final positioning result by the terminal.

As shown in fig. 8, the terminal location processing method according to an embodiment of the present invention includes the following steps:

step S801, the terminal splits the positioning task to determine a positioning calculation task performed at the terminal and a positioning calculation task performed at the cloud server.

Step S802, the terminal reports the measurement data and the positioning task splitting condition to the cloud server. The terminal can report the measurement data related to the positioning calculation task required by the server to the cloud server; the positioning task splitting condition comprises a positioning resolving task performed at the terminal and a positioning resolving task performed at the cloud server; or only the positioning calculation task performed in the cloud server.

And step S803, the server executes a positioning resolving task performed at the server according to the measurement data reported by the terminal and the positioning task splitting condition, and a second positioning result is obtained.

And step S804, the terminal returns the first positioning result and the determined fusion weight to the server.

And step S805, the server performs fusion processing on the first positioning result and the second positioning result according to the fusion weight to obtain a final positioning result.

In a specific application scenario of the present invention, for example, after splitting a positioning task, a terminal determines that bluetooth positioning (an identifier of the positioning task may be 0) is left at a terminal side, and Wi-Fi fingerprint positioning (an identifier of the positioning task may be 1) is performed at a server side, then the terminal reports indication information of the splitting condition of the positioning task to the server, and sends Wi-Fi measurement data to the server, and the terminal determines fusion weight. After the terminal obtains a Bluetooth positioning result according to Bluetooth positioning, the terminal reports the Bluetooth positioning result and the determined fusion weight to the server, and after the server finishes Wi-Fi fingerprint positioning to obtain a fingerprint positioning result, the server performs fusion processing on the fingerprint positioning result and the Bluetooth positioning result according to the fusion weight, so that a final positioning result of the terminal is obtained.

In the terminal positioning processing method shown in fig. 8, the terminal performs splitting of the positioning task and determination of the fusion weight, and the server performs fusion processing of the positioning result.

As shown in fig. 9, the terminal location processing method according to an embodiment of the present invention includes the following steps:

in step S901, the terminal reports a positioning capability indication to the cloud server, so that the cloud server completes splitting of a positioning task. Certainly, the terminal can also report the environment to the cloud server, so that the cloud server can refer to the location task when splitting the location task.

In an embodiment of the present invention, when reporting the positioning capability indication to the cloud server, the terminal may add identification information of the terminal, so as to facilitate distinguishing by the cloud server.

Step S902, the server splits the positioning task to determine the positioning calculation task performed at the terminal and the positioning calculation task performed at the cloud server, and determines the fusion weight of the positioning result. The method for determining the fusion weight may refer to the technical solutions of the above embodiments of the present invention.

Step S903, the server indicates the splitting condition and the fusion weight of the positioning task to the terminal.

In an embodiment of the present invention, the positioning task splitting condition may include a positioning calculation task performed at the terminal and a positioning calculation task performed at the cloud server; it is also possible to include only the positioning solution task performed at the terminal. When the server indicates the splitting condition of the positioning task to the terminal, the server can directly indicate the positioning resolving task performed at the terminal and the positioning resolving task performed at the cloud terminal, and can also indicate the identification information of the positioning resolving task performed at the terminal and the identification information of the positioning resolving task performed at the cloud terminal.

Step S904, the terminal side performs positioning data measurement, and performs positioning at the terminal side to obtain a first positioning result.

Step S905, the terminal reports the measurement data to the cloud server. The terminal can only report the measurement data related to the positioning calculation task required by the server to the cloud server.

In an embodiment of the present invention, when reporting the measurement data to the cloud server, the terminal may add identification information of the terminal, so as to facilitate the cloud server to distinguish.

And step S906, the server executes a positioning calculation task performed on the server according to the measurement data reported by the terminal to obtain a second positioning result.

In step S907, the server returns the second positioning result to the terminal.

Step S908, the terminal performs fusion processing on the first positioning result and the second positioning result according to the fusion weight to obtain a final positioning result.

In a specific application scenario of the present invention, for example, after splitting a positioning task, a server determines that bluetooth positioning (the identifier of the positioning task may be 0) is left at a terminal side for performing, and Wi-Fi fingerprint positioning (the identifier of the positioning task may be 1) is placed at a server side for performing, then the server side notifies the terminal of the splitting condition of the positioning task and the determined fusion weight, and then the terminal obtains a bluetooth positioning result according to the bluetooth positioning and sends Wi-Fi measurement data to the server. The server completes fingerprint positioning calculation according to Wi-Fi measurement data reported by the terminal, sends a fingerprint positioning result to the terminal, and then the terminal fuses the fingerprint positioning result and the Bluetooth positioning result according to the fusion weight, so that the final positioning result of the terminal is obtained.

In the terminal positioning processing method shown in fig. 9, the server performs splitting of the positioning task and determination of the fusion weight, and the terminal performs fusion processing of the positioning result.

As shown in fig. 10, the terminal location processing method according to an embodiment of the present invention includes the following steps:

step S1001, the terminal reports the positioning capacity indication to the cloud server so that the cloud server can complete the splitting of the positioning task. Certainly, the terminal can also report the environment to the cloud server, so that the cloud server can refer to the location task when splitting the location task.

Step S1002, the server splits the positioning task to determine the positioning calculation task performed at the terminal and the positioning calculation task performed at the cloud server, and determines the fusion weight of the positioning result. The method for determining the fusion weight may refer to the technical solutions of the above embodiments of the present invention.

Step S1003, the server indicates the splitting condition of the positioning task to the terminal.

Step S1004, the terminal side performs positioning data measurement, and performs terminal side positioning to obtain a first positioning result.

Step S1005, the terminal reports the measurement data and the first positioning result to the cloud server. The terminal can only report the measurement data related to the positioning calculation task required by the server to the cloud server.

And step S1006, the server executes a positioning calculation task performed on the server according to the measurement data reported by the terminal to obtain a second positioning result, and performs fusion processing on the first positioning result and the second positioning result according to the fusion weight to obtain a final positioning result.

In a specific application scenario of the present invention, for example, after splitting a positioning task, a server determines that bluetooth positioning (the identifier of the positioning task may be 0) is left at a terminal side for performing, and Wi-Fi fingerprint positioning (the identifier of the positioning task may be 1) is placed at a server side for performing, and determines a fusion weight at the same time, and then the server side notifies the terminal of the splitting condition of the positioning task, and the terminal obtains a bluetooth positioning result according to the bluetooth positioning and sends Wi-Fi measurement data and the bluetooth positioning result to the server. The server completes fingerprint positioning calculation according to Wi-Fi measurement data reported by the terminal to obtain a fingerprint positioning result, and then fuses the fingerprint positioning result and the Bluetooth positioning result according to the fusion weight to obtain a final positioning result of the terminal.

The terminal location processing method shown in fig. 10 is a method in which the server performs splitting of a location task, determination of fusion weight, and fusion processing of a location result.

As shown in fig. 11, the terminal location processing method according to an embodiment of the present invention includes the following steps:

in step S1101, the terminal reports the positioning capability indication to the cloud server, so that the cloud server completes the splitting of the positioning task. Certainly, the terminal can also report the environment to the cloud server, so that the cloud server can refer to the location task when splitting the location task.

Step S1102, the server splits the positioning task to determine a positioning calculation task performed at the terminal and a positioning calculation task performed at the cloud server.

Step S1103, the server indicates the positioning task splitting status to the terminal.

In an embodiment of the present invention, the positioning task splitting condition may include a positioning calculation task performed at the terminal and a positioning calculation task performed at the cloud server, so that the terminal determines the fusion weight of the positioning result according to the positioning calculation task. When the server indicates the splitting condition of the positioning task to the terminal, the server can directly indicate the positioning resolving task performed at the terminal and the positioning resolving task performed at the cloud terminal, and can also indicate the identification information of the positioning resolving task performed at the terminal and the identification information of the positioning resolving task performed at the cloud terminal.

In step S1104, the terminal performs positioning data measurement, performs positioning on the terminal side to obtain a first positioning result, and determines a fusion weight of the positioning result. The method for determining the fusion weight may refer to the technical solutions of the above embodiments of the present invention

Step S1105, the terminal reports the measured data to the cloud server. The terminal can only report the measurement data related to the positioning calculation task required by the server to the cloud server.

Step S1106, the server executes a positioning calculation task performed at the server according to the measurement data reported by the terminal, so as to obtain a second positioning result.

Step S1107, the server returns the second positioning result to the terminal.

And step S1108, the terminal performs fusion processing on the first positioning result and the second positioning result according to the fusion weight to obtain a final positioning result.

In a specific application scenario of the present invention, for example, after splitting a positioning task, a server determines that bluetooth positioning (an identifier of the positioning task may be 0) is left at a terminal side for performing, and Wi-Fi fingerprint positioning (an identifier of the positioning task may be 1) is placed at a server side for performing, then the server side notifies the terminal of the splitting condition of the positioning task, and the terminal determines a fusion weight, and then obtains a bluetooth positioning result according to the bluetooth positioning, and sends Wi-Fi measurement data to the server. The server completes fingerprint positioning calculation according to Wi-Fi measurement data reported by the terminal, sends a fingerprint positioning result to the terminal, and then the terminal fuses the fingerprint positioning result and the Bluetooth positioning result according to the fusion weight, so that the final positioning result of the terminal is obtained.

In the terminal location processing method shown in fig. 11, the server splits the location task, and the terminal determines the fusion weight and fuses the location result.

As shown in fig. 12, the terminal location processing method according to an embodiment of the present invention includes the following steps:

step S1201, the terminal reports the positioning capacity indication to the cloud server so that the cloud server can complete the splitting of the positioning task. Certainly, the terminal can also report the environment to the cloud server, so that the cloud server can refer to the location task when splitting the location task.

Step S1202, the server splits the positioning task to determine a positioning calculation task performed at the terminal and a positioning calculation task performed at the cloud server.

In step S1203, the server indicates the splitting condition of the positioning task to the terminal.

Step S1204, the terminal side measures the positioning data, and performs positioning at the terminal side to obtain a first positioning result, and at the same time, determines the fusion weight of the positioning results. The method for determining the fusion weight may refer to the technical solutions of the above embodiments of the present invention

And step S1205, the terminal reports the measurement data, the first positioning result and the determined fusion weight to the cloud server. The terminal can only report the measurement data related to the positioning calculation task required by the server to the cloud server.

And step S1206, the server executes a positioning calculation task performed on the server according to the measurement data reported by the terminal to obtain a second positioning result, and performs fusion processing on the first positioning result and the second positioning result according to the fusion weight to obtain a final positioning result.

In a specific application scenario of the present invention, for example, after splitting the positioning task, the server determines to leave bluetooth positioning (the identifier of the positioning task may be 0) on the terminal side, and Wi-Fi fingerprint positioning (the identifier of the positioning task may be 1) is performed on the server side, and then the server side notifies the terminal of the splitting condition of the positioning task. And the terminal determines the fusion weight according to the splitting condition of the positioning task, obtains a Bluetooth positioning result according to the Bluetooth positioning, and then retransmits the measured data of the Wi-Fi, the Bluetooth positioning result and the determined fusion weight to the server. The server completes fingerprint positioning calculation according to Wi-Fi measurement data reported by the terminal to obtain a fingerprint positioning result, and then fuses the fingerprint positioning result and the Bluetooth positioning result according to the fusion weight to obtain a final positioning result of the terminal.

In the terminal location processing method shown in fig. 12, the server performs splitting of the location task and fusion processing of the location result, and the terminal determines the fusion weight.

According to the technical scheme of the embodiment of the invention, the whole fusion positioning can be separated, one part of the load is completed at the terminal side, and the other part of the load is completed at the cloud server, so that the reasonable configuration of the terminal and the cloud resources is realized, and the positioning time delay is lower and more efficient. It should be noted that, in other embodiments of the present invention, other devices besides the terminal and the cloud server may also perform the splitting of the positioning task and/or the fusion processing of the positioning result, and at this time, the terminal and the cloud server need to transmit the relevant data information to the other devices. For example, if the other device splits the positioning task, the terminal needs to transmit the positioning capability and/or the environment of the terminal to the device, and the cloud server transmits the positioning capability to the device; if the positioning result is fused by other equipment, the terminal and the cloud server are required to transmit the positioning result to the equipment respectively, and the equipment needs to acquire the fusion weight and then performs fusion processing on the positioning result.

The following describes embodiments of the apparatus of the present invention, which can be used to perform the positioning processing method in the above embodiments of the present invention. For details that are not disclosed in the embodiments of the apparatus of the present invention, refer to the embodiments of the positioning processing method of the present invention.

Fig. 13 schematically shows a block diagram of a positioning processing device according to an embodiment of the present invention.

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

The determining unit 1302 is configured to determine a first positioning task that needs to be processed by a first device to be positioned, and a second positioning task that needs to be processed by a second device that assists the first device in positioning; the obtaining unit 1304 is configured to obtain, according to the first positioning task and the second positioning task, first positioning data corresponding to the first positioning task and second positioning data corresponding to the second positioning task; the processing unit 1306 is configured to obtain a first positioning result of the first device based on the first positioning data, and send the second positioning data to the second device, so that the second device obtains a second positioning result of the first device according to the second positioning data, so as to determine an actual positioning result of the first device according to the first positioning result and the second positioning result.

In one embodiment of the present invention, the determining unit 1302 is configured to: and determining a first positioning task required to be processed by the first equipment and a second positioning task required to be processed by the second equipment according to the positioning capability of the first equipment, and/or the environment where the first equipment is located, and/or the positioning capability of the second equipment.

In an embodiment of the present invention, the positioning processing apparatus 1300 further includes: a sending unit, configured to send the determined first positioning task that the first device needs to process and/or the determined second positioning task that the second device needs to process to the second device.

In one embodiment of the present invention, the determining unit 1302 is configured to: sending the positioning capability of the first equipment and/or the environment where the first equipment is located to the second equipment, so that the second equipment determines a first positioning task which needs to be processed by the first equipment and a second positioning task which needs to be processed by the second equipment; and receiving a notification message sent by the second equipment, and determining a first positioning task required to be processed by the first equipment and a second positioning task required to be processed by the second equipment according to the notification message.

In one embodiment of the invention, the processing unit 1306 is configured to: receiving the second positioning result fed back by the second device; and fusing the first positioning result and the second positioning result to obtain an actual positioning result of the first equipment.

In one embodiment of the invention, the processing unit 1306 is configured to: determining a fusion weight of the first positioning result and a fusion weight of the second positioning result; and performing fusion processing on the first positioning result and the second positioning result according to the fusion weight of the first positioning result and the fusion weight of the second positioning result.

In one embodiment of the invention, the processing unit 1306 is configured to: determining a fusion weight of the first positioning result and a fusion weight of the second positioning result according to a preset weight proportion, and/or according to confidence degrees of the first positioning data and the second positioning data, and/or according to an environment where the first device is located; or receiving an indication message sent by the second device, and determining the fusion weight of the first positioning result and the fusion weight of the second positioning result according to the indication message.

In one embodiment of the invention, the processing unit 1306 is configured to: sending the first positioning result to the second equipment so that the second equipment performs fusion processing on the first positioning result and the second positioning result to obtain an actual positioning result of the first equipment; or sending the first positioning result to third equipment so that the third equipment performs fusion processing on the first positioning result and the second positioning result obtained from the second equipment to obtain an actual positioning result of the first equipment.

In an embodiment of the present invention, the obtaining unit 1304 is configured to: and respectively acquiring positioning data for executing the first positioning task and the second positioning task according to the first positioning task and the second positioning task so as to obtain the first positioning data and the second positioning data.

Fig. 14 schematically shows a block diagram of a positioning processing device according to an embodiment of the present invention.

Referring to fig. 14, a positioning processing apparatus 1400 according to an embodiment of the present invention includes: a determining unit 1402, an obtaining unit 1404, and a processing unit 1406.

The determining unit 1402 is configured to determine a second positioning task that needs to assist a first device to be positioned to process, where the first device needs to process the first positioning task; the obtaining unit 1404 is configured to obtain positioning data corresponding to the second positioning task reported by the first device; the processing unit 1406 is configured to determine a second positioning result of the first device based on the positioning data corresponding to the second positioning task, so as to calculate an actual positioning result of the first device according to the first positioning result determined by the first positioning task through the second positioning result and the first device.

In an embodiment of the present invention, the determining unit 1402 is further configured to determine a fusion weight of the first positioning result and a fusion weight of the second positioning result based on the first positioning task and the second positioning task;

the processing unit 1406 is configured to: sending an indication message for indicating the fusion weight of the first positioning result and the fusion weight of the second positioning result to the first device, so that the first device performs fusion processing on the first positioning result and the second positioning result to obtain the actual positioning result; or according to the fusion weight of the first positioning result and the fusion weight of the second positioning result, performing fusion processing on the second positioning result and the first positioning result obtained from the first device to obtain the actual positioning result.

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

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

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

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

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

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

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

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

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

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

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

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

Claims

1. A method of location processing, comprising:

determining a first positioning task to be processed by a first device to be positioned and a second positioning task to be processed by a second device for assisting the first device in positioning, wherein the first positioning task and the second positioning task are obtained by splitting a fusion positioning task, and the first positioning task and the second positioning task are tasks for positioning in different positioning modes;

acquiring first positioning data corresponding to the first positioning task and second positioning data corresponding to the second positioning task according to the first positioning task and the second positioning task;

and obtaining a first positioning result of the first equipment based on the first positioning data, and sending the second positioning data to the second equipment, so that the second equipment can obtain a second positioning result of the first equipment according to the second positioning data, and the actual positioning result of the first equipment can be determined according to the first positioning result and the second positioning result.

2. The method according to claim 1, wherein determining a first positioning task that needs to be processed by a first device to be positioned and a second positioning task that needs to be processed by a second device that assists the first device in positioning comprises:

and determining a first positioning task required to be processed by the first equipment and a second positioning task required to be processed by the second equipment according to the positioning capability of the first equipment, and/or the environment where the first equipment is located, and/or the positioning capability of the second equipment.

3. The positioning processing method according to claim 2, further comprising:

and sending the determined first positioning task which needs to be processed by the first equipment and/or the determined second positioning task which needs to be processed by the second equipment to the second equipment.

4. The method according to claim 1, wherein determining a first positioning task that needs to be processed by a first device to be positioned and a second positioning task that needs to be processed by a second device that assists the first device in positioning comprises:

sending the positioning capability of the first equipment and/or the environment where the first equipment is located to the second equipment, so that the second equipment determines a first positioning task which needs to be processed by the first equipment and a second positioning task which needs to be processed by the second equipment;

and receiving a notification message sent by the second equipment, and determining a first positioning task required to be processed by the first equipment and a second positioning task required to be processed by the second equipment according to the notification message.

5. The method according to claim 1, wherein determining the actual positioning result of the first device from the first positioning result and the second positioning result comprises:

receiving the second positioning result fed back by the second device;

and fusing the first positioning result and the second positioning result to obtain an actual positioning result of the first equipment.

6. The positioning processing method according to claim 5, wherein performing fusion processing on the first positioning result and the second positioning result includes:

determining a fusion weight of the first positioning result and a fusion weight of the second positioning result;

and performing fusion processing on the first positioning result and the second positioning result according to the fusion weight of the first positioning result and the fusion weight of the second positioning result.

7. The method of claim 6, wherein determining the fusion weight of the first positioning result and the fusion weight of the second positioning result comprises:

determining a fusion weight of the first positioning result and a fusion weight of the second positioning result according to a preset weight proportion, and/or according to confidence degrees of the first positioning data and the second positioning data, and/or according to an environment where the first device is located; or

And receiving an indication message sent by the second device, and determining the fusion weight of the first positioning result and the fusion weight of the second positioning result according to the indication message.

8. The method according to claim 1, wherein determining the actual positioning result of the first device from the first positioning result and the second positioning result comprises:

sending the first positioning result to the second equipment so that the second equipment performs fusion processing on the first positioning result and the second positioning result to obtain an actual positioning result of the first equipment; or

And sending the first positioning result to third equipment so that the third equipment performs fusion processing on the first positioning result and the second positioning result obtained from the second equipment to obtain an actual positioning result of the first equipment.

9. The method according to any one of claims 1 to 8, wherein acquiring, according to the first positioning task and the second positioning task, first positioning data corresponding to the first positioning task and second positioning data corresponding to the second positioning task includes:

and respectively acquiring positioning data for executing the first positioning task and the second positioning task according to the first positioning task and the second positioning task so as to obtain the first positioning data and the second positioning data.

10. A method of location processing, comprising:

determining a second positioning task needing to assist a first device to be positioned to process, wherein the first device needs to process a first positioning task, the first positioning task and the second positioning task are obtained by splitting a fusion positioning task, and the first positioning task and the second positioning task are tasks positioned in different positioning modes;

acquiring positioning data corresponding to the second positioning task reported by the first equipment;

and determining a second positioning result of the first equipment based on the positioning data corresponding to the second positioning task, so as to calculate an actual positioning result of the first equipment according to the first positioning result determined by the first positioning task through the second positioning result and the first equipment.

11. The positioning processing method according to claim 10, further comprising: determining a fusion weight of the first positioning result and a fusion weight of the second positioning result based on the first positioning task and the second positioning task;

calculating an actual positioning result of the first device according to the second positioning result and a first positioning result determined by the first device according to the first positioning task, including:

sending an indication message for indicating the fusion weight of the first positioning result and the fusion weight of the second positioning result to the first device, so that the first device performs fusion processing on the first positioning result and the second positioning result to obtain the actual positioning result; or

And according to the fusion weight of the first positioning result and the fusion weight of the second positioning result, carrying out fusion processing on the second positioning result and the first positioning result obtained from the first equipment to obtain the actual positioning result.

12. A positioning processing apparatus, comprising:

a determining unit, configured to determine a first positioning task that needs to be processed by a first device to be positioned, and a second positioning task that needs to be processed by a second device that assists the first device in positioning, where the first positioning task and the second positioning task are obtained by splitting a fusion positioning task, and the first positioning task and the second positioning task are tasks that are positioned in different positioning manners;

an obtaining unit, configured to obtain, according to the first positioning task and the second positioning task, first positioning data corresponding to the first positioning task and second positioning data corresponding to the second positioning task;

and the processing unit is used for obtaining a first positioning result of the first equipment based on the first positioning data, sending the second positioning data to the second equipment, so that the second equipment can obtain a second positioning result of the first equipment according to the second positioning data, and determining an actual positioning result of the first equipment according to the first positioning result and the second positioning result.

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

14. The location processing device of claim 13, further comprising:

a sending unit, configured to send the determined first positioning task that the first device needs to process and/or the determined second positioning task that the second device needs to process to the second device.

15. The positioning processing apparatus according to claim 12, wherein the determination unit is configured to:

16. The positioning processing device of claim 12, wherein the processing unit is configured to:

receiving the second positioning result fed back by the second device;

17. The positioning processing device of claim 16, wherein the processing unit is configured to:

18. The positioning processing device of claim 17, wherein the processing unit is configured to:

19. The positioning processing device of claim 12, wherein the processing unit is configured to:

20. The positioning processing apparatus according to any one of claims 12 to 19, wherein the acquisition unit is configured to:

21. A positioning processing apparatus, comprising:

the device comprises a determining unit, a processing unit and a processing unit, wherein the determining unit is used for determining a second positioning task which needs to assist a first device to be positioned to process, the first positioning task and the second positioning task are obtained by splitting a fusion positioning task, and the first positioning task and the second positioning task are tasks which are positioned in different positioning modes;

an obtaining unit, configured to obtain positioning data corresponding to the second positioning task reported by the first device;

and the processing unit is used for determining a second positioning result of the first equipment based on the positioning data corresponding to the second positioning task, so as to calculate an actual positioning result of the first equipment according to the first positioning result determined by the first positioning task through the second positioning result and the first equipment.

22. The location processing apparatus of claim 21, wherein the determination unit is further configured to: determining a fusion weight of the first positioning result and a fusion weight of the second positioning result based on the first positioning task and the second positioning task;

23. A computer-readable medium, on which a computer program is stored, which, when being executed by a processor, carries out a positioning processing method according to one of claims 1 to 9, or carries out a positioning processing method according to claim 10 or 11.

24. An electronic device, comprising:

one or more processors;

storage means for storing one or more programs which, when executed by the one or more processors, cause the one or more processors to implement the positioning processing method according to any one of claims 1 to 9, or to implement the positioning processing method according to claim 10 or 11.