CN110430534A - A kind of positioning selection method, device, electronic equipment and storage medium - Google Patents
A kind of positioning selection method, device, electronic equipment and storage medium Download PDFInfo
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- CN110430534A CN110430534A CN201910868483.XA CN201910868483A CN110430534A CN 110430534 A CN110430534 A CN 110430534A CN 201910868483 A CN201910868483 A CN 201910868483A CN 110430534 A CN110430534 A CN 110430534A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/38—Services specially adapted for particular environments, situations or purposes for collecting sensor information
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
Abstract
The application provides a kind of positioning selection method, device, electronic equipment and storage medium, which comprises obtains the first kind location information and the second class location information of terminal device within a preset period of time；The first kind location information and the corresponding degree of fluctuation of the second class location information in the preset time period are sought, the degree of fluctuation is used to characterize the accuracy of positioning；The first kind location information and the second class location information are handled according to the degree of fluctuation, obtain targeting information.The embodiment of the present application is by obtaining degree of fluctuation of the different types of location information of terminal device within the same period, with setting accuracy of clearly different types of location information within the same period, thus, targeting information can be determined according to degree of fluctuation, so that terminal device can also be accurately positioned in different environments.
Description
Technical field
This application involves running fix field is arrived, in particular to a kind of positioning selection method, device, electronic equipment
And storage medium.
Background technique
With the fast development of science and technology, terminal be located in all trades and professions using more and more extensive.Such as
Automobile, robot, mobile phone etc. are positioned, complete subsequent path planning, independent navigation etc. further according to obtained position
Complex task.Be accurately positioned the current research hotspot of research significance with higher and China to terminal as a result,.
In the process of moving due to terminal, it usually may require that the switching for carrying out environment, utilizing traditional positioning as a result,
When method is positioned, due to the different difference of environment, there can be positioning and not know, the not high problem of positioning accuracy.
Summary of the invention
The embodiment of the present application is designed to provide a kind of positioning selection method, device, electronic equipment and storage medium, with
The problem of improving traditional localization method difference different due to environment, leading to position inaccurate.
In a first aspect, the embodiment of the present application provides a kind of positioning selection method, comprising: obtain terminal device when default
Between first kind location information and the second class location information in section；Seek the first kind positioning in the preset time period
Information and the corresponding degree of fluctuation of the second class location information, the degree of fluctuation are used to characterize the accuracy of positioning；
The first kind location information and the second class location information are handled according to the degree of fluctuation, obtain target positioning
Information.
The embodiment of the present application passes through degree of fluctuation of the different types of location information of terminal device within the same period, with
Setting accuracy of different types of location information within the same period is specified, thus, it is possible to determine according to degree of fluctuation
Targeting information out, so that terminal device can also be accurately positioned in different environments.
Further, the first kind location information sought in the preset time period and second class are fixed
The corresponding degree of fluctuation of position information, comprising: seek the multiple first kind location informations pair acquired in the preset time period
The variance and the corresponding variance of multiple second class location informations answered.
The embodiment of the present application by obtain preset time period in same type of multiple location informations, seek it is multiple same
The corresponding variance of the location information of type, the degree of fluctuation of the location information of the type is characterized with this, so as to subsequent to difference
The location information of type is handled.
Further, it is described according to the degree of fluctuation to the first kind location information and the second class location information
It is handled, obtains targeting information, comprising: by the variance of the first kind location information and the second class location information
Variance be compared respectively with preset standard variance；It will be right in the first kind location information and the second class location information
The variance answered is less than one of the preset standard variance as the targeting information.
The embodiment of the present application by according to the variance of the variance of first kind location information and the second class location information respectively with
The comparison result of preset standard variance, to determine one as targeting information, as a result, according to obtained target positioning letter
Breath can accurately learn the position of terminal device.
Further, described to be less than corresponding variance in the first kind location information and the second class location information
One of the preset standard variance is used as the targeting information, comprising: if the variance of the first kind location information and
The variance of the second class location information is respectively less than the preset standard variance, then the variance of the first kind location information
With the variance size of the second class location information, it is right in the first kind location information and the second class location information to determine
The variance answered the smallest one is targeting information.
The embodiment of the present application is respectively less than pre- bidding in the variance of first kind location information and the variance of the second class location information
When quasi- variance, by comparing the corresponding variance size of two kinds of location informations, determine that variance is the smallest for targeting information, by
This, the position of terminal device more can be accurately learnt according to optimal targeting information.
Further, it is described according to the degree of fluctuation to the first kind location information and the second class location information
It is handled, obtains targeting information, comprising: according to the variance of the first kind location information and second class positioning letter
The variance of breath determines the first kind location information and the corresponding weight of the second class location information；According to described
The weight of the weight of a kind of location information and the second class location information carries out first kind location information and the second class location information
Weighting processing, obtains the targeting information.
The embodiment of the present application utilizes variance, seeks first kind location information and the corresponding weight of the second class location information, with
Processing is weighted to first kind location information and the second class location information, has obtained being influenced by a variety of location informations as a result,
Targeting information more accurately terminal device can also be positioned in different environment.
Further, the first kind location information and the positioning of the second class in the acquisition terminal device within a preset period of time
Before information, the method also includes: it obtains in the terminal device when the used default category location information of prelocalization；It is described
Default category location information is one of first kind location information and the second class location information；If the preset time period it
The degree of fluctuation of the default category location information obtained in the period of preceding setting duration is more than predeterminable level, then executes and " obtain
The step of first kind location information and the second class location information of terminal device within a preset period of time ".
The embodiment of the present application is greater than default by the initial positioning information of acquisition terminal device in advance in initial positioning information
When fluctuation range, shows that the positioning of terminal device at this time is not accurate enough, need replacing localization method, thus obtain the first kind again
Location information and the second class location information, can be accurately positioned terminal device so as to subsequent.
Further, the first kind location information is obtained by laser radar sensor measurement；Second class
Location information is the positioning number measured by differential satellite navigator fix sensor, inertia measurement sensor and speedometer sensor
It is obtained according to fusion.
The embodiment of the present application obtains first kind location information by that can measure using laser radar sensor, by will be poor
The location data of satellite navigation and positioning sensor, inertia measurement sensor and speedometer sensor measurement is divided to carry out fusion treatment,
Available corresponding second class location information, measures to obtain different types of positioning as a result, by multiple sensors
Information, to prevent terminal device can not be accurately positioned in a kind of different sensors of environment.
Second aspect, the embodiment of the present application provide a kind of regioselective device, comprising: module are obtained, for obtaining end
The first kind location information and the second class location information of end equipment within a preset period of time；Processing module, for seeking described
The first kind location information and the corresponding degree of fluctuation of the second class location information in preset time period, the wave
Traverse degree is used to characterize the accuracy of positioning；Control module is used for according to the degree of fluctuation to the first kind location information
It is handled with the second class location information, obtains targeting information.
The third aspect, the embodiment of the present application provide a kind of electronic equipment, comprising: processor, memory and bus,
In, the processor and the memory complete mutual communication by the bus；The memory is stored with can be by institute
The program instruction of processor execution is stated, the processor calls described program instruction to be able to carry out such as above-mentioned method.
Fourth aspect, the embodiment of the present application provide a kind of non-transient computer readable storage medium, the non-transient meter
Calculation machine readable storage medium storing program for executing stores computer instruction, and the computer instruction makes the computer execute such as above-mentioned method.
Other feature and advantage of the application will be illustrated in subsequent specification, also, partly be become from specification
It is clear that by implementing the embodiment of the present application understanding.The purpose of the application and other advantages can be by written theorys
Specifically noted structure is achieved and obtained in bright book, claims and attached drawing.
Detailed description of the invention
Technical solution in ord to more clearly illustrate embodiments of the present application will make below to required in the embodiment of the present application
Attached drawing is briefly described, it should be understood that the following drawings illustrates only some embodiments of the application, therefore should not be seen
Work is the restriction to range, for those of ordinary skill in the art, without creative efforts, can be with
Other relevant attached drawings are obtained according to these attached drawings.
Fig. 1 is a kind of flow diagram of positioning selection method provided by the embodiments of the present application；
Fig. 2 is the flow diagram of another positioning selection method provided by the embodiments of the present application；
Fig. 3 is a kind of structural schematic diagram of regioselective device provided by the embodiments of the present application；
Fig. 4 is a kind of structural block diagram that can be applied to the electronic equipment in the embodiment of the present application.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application is described.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.Meanwhile the application's
In description, term " first ", " second " etc. are only used for distinguishing description, are not understood to indicate or imply relative importance.
Fig. 1 is a kind of flow diagram of positioning selection method provided by the embodiments of the present application, and the embodiment of the present application provides
A kind of positioning selection method, comprising:
Step 110: obtaining the first kind location information and the second class location information of terminal device within a preset period of time.
Since traditional localization method generally positions terminal device using a type of localization method, still,
Since terminal device is often because mobile, locating environment is caused to change.And localization method also usually can be because of environment
Variation causes the accuracy of positioning to change.For example, interior is mainly since multi-panel wall can weaken use compared to outdoor
In the signal of positioning；Compared to interior, outdoor mainly due to landform is different and light changes, causes positioning to exist
Difficulty, therefore, same localization method is inconsistent for the positional accuracy of the environment of indoor and outdoor.The embodiment of the present application is logical as a result,
A plurality of types of location informations that different positioning methods is come while obtaining terminal device are crossed, to believe from a plurality of types of positioning
In breath, obtain positioning accurate targeting information.
It is worth noting that obtaining a plurality of types of positioning letters to get accurate targeting information
When breath, such multiple location informations in preset time period can be obtained for every a kind of location information.For example, for the
A kind of location information, the multiple first kind location informations of available terminal device within a preset period of time.It similarly, can be simultaneously
Obtain the multiple second class location informations of terminal device within a preset period of time.As a result, so as to subsequent to different types of fixed
Position information is handled, and targeting information is obtained.
It should also be noted that, when obtaining different types of location information of terminal device, it can be according to same frequency
Carry out while obtaining different types of location information, for example, first kind positioning letter can be will acquire when terminal device is robot
The set of frequency of breath is 50Hz, and the set of frequency that will acquire the second class location information is 50Hz, thus, it is possible to get machine simultaneously
The first kind location information of device people and the second class location information；It is different types of fixed first to obtain according to different frequencies
Position information, is later filtered location information, then choose synchronous location information.Obtain the tool of different types of location information
Body frequency can be adjusted according to actual needs.The first kind location information and the second class location information obtained every time as a result,
It can indicate the position of the terminal device of synchronization.Meanwhile the type of the location information of acquisition does not limit, and can not only wrap
First kind location information and the second class location information are included, can also include third class location information.The specific type of location information
Quantity does not limit, and can be selected according to the actual situation.
Wherein, terminal device can for robot, running fix station, PC (personal computer, PC),
Tablet computer, smart phone, personal digital assistant (personal digital assistant, PDA), wearable device etc.,
The type of specific terminal device can be selected according to actual location requirement.
Step 120: seeking the first kind location information and second class positioning letter in the preset time period
Corresponding degree of fluctuation is ceased, the degree of fluctuation is used to characterize the accuracy of positioning.
Due to that can not determine the position of terminal device, also just can not when getting the corresponding location information of terminal device
Determine that the location information of which type is most accurate.The embodiment of the present application can be by seeking different types of location information as a result,
The corresponding degree of fluctuation in same preset time period, according to the fluctuation situation of positioning, whether to indicate corresponding localization method
It is able to carry out accurate positionin.
It is worth noting that leading to the situation for location information inaccuracy occur, it is frequently due to corresponding localization method not
Be suitble to measure in the present context, positioning signal is easy fluctuation, cause to obtain whithin a period of time the difference of location information compared with
Greatly, i.e., larger fluctuation occurs for location information.The corresponding degree of fluctuation of location information in preset time period as a result, can characterize this
The order of accuarcy of the location information positioning of type.Thus, it is possible to be come by the corresponding degree of fluctuation of same period location information
Judge whether the localization method of the type is able to carry out accurate positionin.
Step 130: the first kind location information and the second class location information being carried out according to the degree of fluctuation
Processing, obtains targeting information.
After learning the accuracy of different types of location information according to fluctuation situation, in order to determine positioning compared with subject to
True targeting information, the embodiment of the present application can be handled different types of location information, so that obtained target
Location information adapts to the environment where present terminal equipment, hereby it is achieved that carrying out more accurately positioning to terminal device.
On the basis of the above embodiments, step 120 includes: the multiple first kind for seeking acquiring in the preset time period
The corresponding variance of location information and the corresponding variance of multiple second class location informations.
In the optional implementation process of the application, corresponding fluctuation feelings of different types of location information in order to obtain
Condition, can be by seeking in preset time period, the corresponding variance of multiple same type of location informations, then obtains different types of
The respective corresponding variance within a preset period of time of location information.It, can as a result, according to the different corresponding variances of location information is calculated
More to quickly determine first kind location information and the corresponding degree of fluctuation of the second class location information, so as to subsequent to the first kind
Location information and the second class location information are handled.
It is worth noting that variance (sample variance) is square of the difference of the average of each sample value and all sample values
The average of value is the measurement of the dispersion degree when probability theory and statistical variance measure stochastic variable or one group of data.In as a result,
In the embodiment of the present application, same kind of multiple positioning letters within a preset period of time can be characterized by the variance size acquired
The degree of fluctuation of breath, variance is bigger, then the degree of fluctuation of multiple location informations is bigger in preset time period, corresponding location information
It is more inaccurate；Variance is smaller, then the degree of fluctuation of multiple location informations is smaller in preset time period, and corresponding location information is more quasi-
Really.
It should also be noted that, there are many ways to characterizing the degree of fluctuation in multiple location information preset time periods, it can
It to be indicated by variance, can also be indicated, can also be indicated by very poor with covariance, indicate fixed
There are many modes of the degree of fluctuation of position information, and mode does not limit, and can be adjusted according to actual location demand.
Fig. 2 is the flow diagram of another positioning selection method provided by the embodiments of the present application, as a kind of embodiment party
Formula, step 130, comprising:
Step 210: respectively and in advance by the variance of the variance of the first kind location information and the second class location information
If standard variance is compared.
Step 220: corresponding variance in the first kind location information and the second class location information being less than described
One of preset standard variance is used as the targeting information.
It in the present embodiment, can be by setting a standard variance, to indicate in order to determine targeting information
The standard of the positioning accuracy of location information.As a result, by the corresponding variance of different types of location information and preset standard variance
It is compared, whether the location information of available corresponding type meets the standard of location information accuracy, fixed to determine
The accurate targeting information in position, so that the subsequent position that can use the clear terminal device of targeting information.
For example, if the variance of first kind location information is greater than the preset standard variance, then it is assumed that first kind positioning
The fluctuation situation of information within a preset period of time is larger, can not relatively accurately be positioned, be unsatisfactory for positioning accuracy
Standard.If the variance of first kind location information is less than the preset standard variance, then it is assumed that first kind location information is when default
Between fluctuation situation in section it is smaller, can relatively accurately be positioned, meet the standard of positioning accuracy.
It is worth noting that for step 220, due to there are many modes that compare.It can be first by first kind location information
Variance and preset standard variance be compared, can be with if the variance of first kind location information is less than preset standard variance
It does not need to compare the size between the variance and preset standard variance of the second class location information again, directly the first kind is positioned and is believed
Breath is used as targeting information.If the variance of the first location information is greater than preset standard variance, it is fixed that the second class can be compared
Size between the variance and preset standard variance of position information, if the variance of the second class location information is less than preset standard variance,
Then using the second class location information as targeting information.
Meanwhile if the variance of the corresponding variance of first kind location information and the second class location information is all larger than preset standard
Variance then shows that first kind location information and the second class location information are all unsatisfactory for the standard of positioning accuracy, can export " nothing
Method is accurately positioned " result.
As another embodiment, the variance of first kind location information and preset standard variance can also be carried out simultaneously
Compare, if the variance of first kind location information is less than preset standard variance, and the variance of the second class location information is greater than pre- bidding
Quasi- variance, then can be using first kind location information as targeting information.If the variance of first kind location information is greater than default
Standard variance, and the variance of the second class location information is less than preset standard variance, then it can be using the second class location information as mesh
Mark location information.If the variance of the corresponding variance of first kind location information and the second class location information is all larger than preset standard side
Difference then shows that first kind location information and the second class location information are all unsatisfactory for the standard of positioning accuracy, and can export " can not
Be accurately positioned " result.If the variance of the variance of the first kind location information and the second class location information is small
In the preset standard variance, then the variance of the variance of the first kind location information and the second class location information is big
It is small, determine that corresponding variance the smallest one positions in the first kind location information and the second class location information for target
Information.Thus, it is possible to optimal targeting information be determined, relatively accurately to be positioned to terminal device.
It may be mentioned that the purpose of setting preset standard variance, is to indicate the mark of the positioning accuracy of location information
It is quasi-.Preset standard variance can be obtained by preparatory survey calculation, can also be by manually being set, also, inhomogeneity
The corresponding preset standard variance of the location information of type may be the same or different, and the size of specific preset standard variance is not
It limits, can be adjusted according to actual needs.
It should also be noted that, by comparing the mode of variance, from first kind location information and the second class location information
Middle to select there are many a modes as targeting information, concrete implementation mode does not limit, can be according to actual fixed
Position demand is adjusted.
On the basis of the above embodiments, with continued reference to Fig. 2, as another embodiment, step 130, comprising:
Step 230: according to the variance of the variance of the first kind location information and the second class location information, determining institute
State first kind location information and the corresponding weight of the second class location information.
Step 240: fixed to the first kind according to the weight of the weight of the first kind location information and the second class location information
Position information and the second class location information are weighted processing, obtain the targeting information.
It, can also be by being believed according to different types of positioning in order to determine targeting information in this implementation process
Corresponding variance is ceased, determines the corresponding weight of location information respectively, then place is weighted to different types of location information
Reason, to obtain targeting information, the targeting information obtained as a result, by reference to a variety of different types of location informations,
It can be more accurately to terminal device into positioning.
On the basis of the above embodiments, prior to step 110, the method also includes: obtain in the terminal device
When the used default category location information of prelocalization；The default category location information is that first kind location information and the second class are fixed
One of position information；If setting the default category location information obtained in the period of duration before the preset time period
Degree of fluctuation be more than predeterminable level, then execute and " obtain terminal device first kind location information within a preset period of time and the
The step of two class location informations ".
It, can be in order to guarantee terminal device can be accurately positioned in different environment in this implementation process
Different types of location information is obtained in real time, and in real time according to the corresponding fluctuation situation of different types of location information, to determine
Accurate targeting information is positioned out, so that subsequent be accurately positioned terminal device.It can not also obtain in real time
Different types of location information, the default category that can be obtained in terminal device handoff environment or current positioning method are determined
When the information inaccuracy of position, a plurality of types of location informations just are obtained using multiple positioning modes are corresponding, to realize to terminal device
Accurate positionin.
It is worth noting that the default type location information used by prelocalization, can believe for a plurality of types of positioning
One of breath.Within the period of setting duration, which is more than predeterminable level,
It then may indicate that when prelocalization is not accurate enough, need to determine that one kind switches over from a plurality of types of location informations.As a result,
It, can when discovery is within the period of setting duration, which is more than predeterminable level
To execute step 110, to obtain positioning more accurate targeting information.
Wherein, the period that duration is set before the preset time period refers to and " is obtaining terminal device when default
Between first kind location information and the second class location information in section " before a setting duration period, set duration
The specific duration of period does not limit, and can be selected according to actual needs.Meanwhile targeting information has been obtained above-mentioned
It later, can be using targeting information as default type location information, so as to subsequent to the accurate of default type location information
Property is monitored.
Based on any of the above embodiments, the first kind location information is to be measured by laser radar sensor
It arrives；The second class location information is to be passed by differential satellite navigator fix sensor, inertia measurement sensor and odometer
What the location data of sensor measurement merged.
In this implementation process, it is contemplated that in varying environment, the positioning accuracy of different positioning methods is different.For room
Interior positioning mainly has the positioning methods such as WIFI, bluetooth, infrared.Wherein, WIFI location technology orientation range is within hundreds of meters, and
And the penetrability of such wireless transmission method is preferably suitable for more complicated indoor environment, but is switched on when in use
WIFI, and the AP deployed with devices that continues need for of WIFI positioning is relatively gathered, construction is more difficult, and positioning accuracy is in meter level,
It is insufficient for location requirement.Bluetooth short distance transmission precision is higher, cost is relatively low and transmission power consumption is lower, but penetrability, anti-
Interference is weaker, and transmission range is shorter.Infrared ray indoor positioning can only realize high-precision positioning under relatively simple environment,
If it is more to transmit intermediate obstacles, positioning accuracy can sharp fall.
And mainly there are laser SLAM, vision SLAM, differential satellite navigator fix sensor/inertia for outdoor positioning technology
The location technologies such as measurement sensor/speedometer sensor integrated positioning (GNSS/IMU/Odom).Wherein, laser SLAM is by surrounding
Environmental restrictions, unstable in the environment of strong light direct beam, the positioning when ambient enviroment dynamic barrier is more will appear problem,
It builds figure there are more difficult in geometry environment, build the disadvantages of figure needs winding to detect.Vision SLAM, which then will appear in illumination variation, to be built
Figure problem, texture-free environment (such as clean and tidy white metope) and the especially weak environment of illumination build figure orientation problem.Meanwhile depending on
Feel slam there is also it is higher to computer configuration requirement, the disadvantages of absolute fix information, can not be provided.The combination of GNSS/IMU/Odom
Navigator fix can make up single-sensor bring positioning defect, but for indoor GNSS signal long-time losing lock, group
It closes positioning accuracy and is still unable to satisfy location navigation.
The embodiment of the present application is using differential satellite navigator fix sensor/inertia measurement sensor/odometer sensing as a result,
The integrated navigation technology and laser radar location technology of device (GNSS/IMU/Odom) carry out terminal device to realize jointly
Positioning, thus, it is possible to which indoor positioning and NDT algorithm can not be carried out in free environments for a long time by improving GNSS/IMU/Odom
Not the problem of positioning accuracy not can guarantee.
It should be noted that differential satellite navigator fix sensor/inertia measurement sensor/odometer is passed in order to realize
The integrated navigation technology and laser radar location technology of sensor (GNSS/IMU/Odom) determine terminal device to realize jointly
Position.It is possible, firstly, to address is selected to establish satellite navigation and positioning base station (base station GMSS), and the GPS antenna of the base station GNSS is installed
Position needs open, unobstructed, installation vertically upward, surrounding without powerful device.It again will be between terminal device and the base station GNSS
Communication configuration is carried out, the GNSS movement station on terminal device is allowed to carry out difference correction.For example, when terminal device is machine
When people, communication configuration can be carried out with the base station GNSS using NTRIP configuration, the base station GNSS can configure ntrip server, ip,
Port, mount point, meanwhile, robotic end can configure ip, port, base station mount point.To realize robotic end and GNSS base
The connection stood, subsequent base stations can send differential signal to robotic end, form differential GPS, determined with improving robotic end
Position precision.
Secondly, multiple sensors can be provided in the inside of robotic end, comprising: differential satellite navigator fix sensor
(GNSS sensor), inertia measurement sensor (IMU sensor), speedometer sensor (Odom sensor) and laser radar sensing
Device, to obtain a variety of different types of location informations.Robotic end can send different to robot operating system (ROS system)
The location data building laser map of four kinds of sensors then can be used in the location data that sensor measurement obtains, ROS system, i.e.,
Cartographer map.
Furthermore ROS system can use normal distribution conversion NDT algorithm, determine the laser radar sensor transmission
Position data carry out matching positioning with the laser map pre-established, obtain the first kind location information.
Meanwhile ROS system can pass differential satellite navigator fix sensor, inertia measurement by Kalman filter model
Three kinds of location datas that sensor, speedometer sensor measurement obtain are merged, and GNSS/IMU/Odom measurement in a closed series knot is obtained
Fruit.It recycles utm projection to project GNSS/IMU/Odom measurement in a closed series result, GNSS/IMU/Odom can be combined and be surveyed
Three-dimensional longitude and latitude height in amount result is converted to plane xy data.It can also be using preset rotational translation matrix to GNSS/
The corresponding plane xy data of IMU/Odom measurement in a closed series result carry out coordinate system conversion, obtain GNSS/IMU/Odom fusion positioning
Information.GNSS/IMU/Odom fusion location information and laser map are subjected to matching positioning, then available second class positioning letter
Breath.
Wherein, Kalman filter model senses differential satellite navigator fix sensor, inertia measurement sensor, odometer
There are many modes that three kinds of location datas that device measurement obtains are merged.As one of embodiment, ROS system is received
The first initial alignment data for being obtained by differential satellite navigator fix sensor measurement are obtained by inertia measurement sensor measurement
To the second initial alignment data and the third initial alignment data that are obtained by speedometer sensor measurement.Inertia is first chosen to survey
Quantity of state of the error of quantity sensor as Kalman filter model；Judging the signal of differential satellite navigator fix sensor again is
It is no normal.If the signal of differential satellite navigator fix sensor is normal, by the first initial alignment data and the second initial alignment
Data make poor, the measuring value as Kalman filter model.It, will if the signal of differential satellite navigator fix sensor is abnormal
Third initial alignment data and the second initial alignment data make poor, the measuring value as Kalman filter model.Thus, it is possible to sharp
Estimation is filtered to quantity of state with the measuring value of Kalman filter model, the error feedback modifiers inertia obtained further according to estimation
Second initial alignment data of measurement sensor, obtain GNSS/IMU/Odom measurement in a closed series result.
Wherein, the error of the inertia measurement sensor may include location error, velocity error, attitude error, gyro
Zero bias, accelerometer bias.
After getting first kind location information and the second class location information by the above method as a result, it can recycle
Regioselective mode above-mentioned is determined the targeting information for being suitble to the environment where terminal device, is set with realizing to terminal
Standby positioning, details are not described herein again.
The embodiment of the present application is considered to use single localization method, is unable to satisfy the different location navigation in indoor and outdoor and wants
Ask, propose as a result, using the combined positioning method based on GNSS/IMU/Odom/NDT pass through on the basis of specific map by
The position of plane is projected to GNSS/IMU/Odom fusion results and NDT algorithm positioning result is taken into consideration, is obtained more accurate
Location information, with improve GNSS/IMU/Odom can not long-time indoor positioning, NDT algorithm free environments positioning accuracy without
The shortcomings that method guarantees, to realize indoor and outdoor integration navigator fix.
Fig. 3 is a kind of structural schematic diagram of regioselective device provided by the embodiments of the present application；Based on the same inventive concept,
A kind of regioselective device 30 is also provided in the embodiment of the present application, comprising: module 310 is obtained, for obtaining terminal device pre-
If first kind location information and the second class location information in the period；Processing module 320, for seeking in the preset time
The first kind location information and the corresponding degree of fluctuation of the second class location information in section, the degree of fluctuation are used
In the accuracy of characterization positioning；Control module 330, for according to the degree of fluctuation to the first kind location information and described
Second class location information is handled, and targeting information is obtained.
On the basis of the above embodiments, the processing module 320 is specifically used for: seeking acquisition in the preset time period
The corresponding variance of multiple first kind location informations and the corresponding variance of multiple second class location informations.
On the basis of the above embodiments, the control module 330 is specifically used for: by the side of the first kind location information
The variance of the poor and described second class location information is compared with preset standard variance respectively；By the first kind location information and
Corresponding variance is less than the preset standard variance in the second class location information one is used as the targeting information.
On the basis of the above embodiments, the control module 330 also particularly useful for: if the first kind location information
The variance of variance and the second class location information is respectively less than the preset standard variance, then the first kind location information
Variance and the second class location information variance size, determine the first kind location information and second class positioning letter
Corresponding variance the smallest one is targeting information in breath.
On the basis of the above embodiments, the control module 330 is specifically used for: according to the first kind location information
The variance of variance and the second class location information determines the first kind location information and the second class location information difference
Corresponding weight；According to the weight of the weight of the first kind location information and the second class location information, the first kind is positioned and is believed
Breath and the second class location information are weighted processing, obtain the targeting information.
On the basis of the above embodiments, the regioselective device 30 further include: anticipation module, for obtaining the end
When the used default category location information of prelocalization in end equipment；The default category location information be first kind location information and
One of second class location information；If setting the default category obtained in the period of duration before the preset time period
The degree of fluctuation of location information is more than predeterminable level, then executes and " obtain the first kind positioning of terminal device within a preset period of time
The step of information and the second class location information ".
On the basis of the above embodiments, the first kind location information is to be obtained by laser radar sensor measurement
's；The second class location information is to be sensed by differential satellite navigator fix sensor, inertia measurement sensor and odometer
What the location data of device measurement merged.
Regioselective device 30 provided by the embodiments of the present application for executing the above method, specific embodiment with it is upper
The embodiment for stating positioning selection method is consistent, and details are not described herein again.
Referring to figure 4., Fig. 4 shows a kind of structural block diagram of electronic equipment 10 that can be applied in the embodiment of the present application.
Electronic equipment 10 may include memory 101, storage control 102, processor 103, Peripheral Interface 104, input-output unit
105, display unit 107.
The memory 101, processor 103, Peripheral Interface 104, input-output unit 105, is shown storage control 102
Show that each element of unit 107 is directly or indirectly electrically connected between each other, to realize the transmission or interaction of data.For example, these
Element can be realized by one or more communication bus or signal wire be electrically connected between each other.At least one software or firmware
(firmware) software for being stored in the memory 101 or being solidificated in operating system (operating system, OS)
Functional module.The processor 103 is for executing the executable module stored in memory 101, software function module or calculating
Machine program.
Wherein, memory 101 may be, but not limited to, random access memory (Random Access Memory,
RAM), read-only memory (Read Only Memory, ROM), programmable read only memory (Programmable Read-Only
Memory, PROM), erasable read-only memory (Erasable Programmable Read-Only Memory, EPROM),
Electricallyerasable ROM (EEROM) (Electric Erasable Programmable Read-Only Memory, EEPROM) etc..
Wherein, memory 101 is for storing program, and the processor 103 executes described program after receiving and executing instruction, aforementioned
The method that the embodiment of the present application any embodiment discloses can be applied in processor 103, or be realized by processor 103.
Processor 103 can be a kind of IC chip, the processing capacity with signal.Above-mentioned processor 103 can
To be general processor, including central processing unit (Central Processing Unit, abbreviation CPU), network processing unit
(Network Processor, abbreviation NP) etc.；Can also be digital signal processor (DSP), specific integrated circuit (ASIC),
Ready-made programmable gate array (FPGA) either other programmable logic device, discrete gate or transistor logic, discrete hard
Part component.It may be implemented or execute disclosed each method, step and the logic diagram in the embodiment of the present application.General processor
It can be microprocessor or the processor 103 be also possible to any conventional processor etc..
Various input/output devices are couple processor 103 and memory 101 by the Peripheral Interface 104.Some
In embodiment, Peripheral Interface 104, processor 103 and storage control 102 can be realized in one single chip.Other one
In a little examples, they can be realized by independent chip respectively.
Input-output unit 105 is used to be supplied to the interaction that user input data realizes user and the electronic equipment 10.
The input-output unit 105 may be, but not limited to, mouse and keyboard etc..
Display unit 107 provides an interactive interface (such as user's operation circle between the electronic equipment 10 and user
Face) or for display image data give user reference.In the present embodiment, the display unit 107 can be liquid crystal display
Or touch control display.It can be the capacitance type touch control screen or resistance of support single-point and multi-point touch operation if touch control display
Formula touch screen etc..Single-point and multi-point touch operation is supported to refer to that touch control display can sense on the touch control display one
Or at multiple positions simultaneously generate touch control operation, and the touch control operation that this is sensed transfer to processor 103 carry out calculate and
Processing.
It is appreciated that structure shown in Fig. 4 is only to illustrate, the electronic equipment 10 may also include more than shown in Fig. 4
Perhaps less component or with the configuration different from shown in Fig. 4.Each component shown in Fig. 4 can use hardware, software
Or combinations thereof realize.
It is apparent to those skilled in the art that for convenience and simplicity of description, the device of foregoing description
Specific work process, no longer can excessively be repeated herein with reference to the corresponding process in preceding method.
In conclusion the embodiment of the present application provides a kind of positioning selection method, device, electronic equipment and storage medium,
The described method includes: obtaining the first kind location information and the second class location information of terminal device within a preset period of time；It seeks
The first kind location information and the corresponding degree of fluctuation of the second class location information in the preset time period,
The degree of fluctuation is used to characterize the accuracy of positioning；According to the degree of fluctuation to the first kind location information and described
Two class location informations are handled, and targeting information is obtained.The embodiment of the present application passes through the different types of positioning of terminal device
Degree of fluctuation of the information within the same period, with registration of clearly different types of location information within the same period
Degree, thus, it is possible to targeting information be determined according to degree of fluctuation, so that in different environments can also be to terminal device
It is accurately positioned.
In embodiment provided herein, it should be understood that disclosed device and method, it can be by others side
Formula is realized.The apparatus embodiments described above are merely exemplary, for example, the division of the unit, only one kind are patrolled
Function division is collected, there may be another division manner in actual implementation, in another example, multiple units or components can combine or can
To be integrated into another system, or some features can be ignored or not executed.Another point, shown or discussed is mutual
Coupling, direct-coupling or communication connection can be INDIRECT COUPLING or communication link by some communication interfaces, device or unit
It connects, can be electrical property, mechanical or other forms.
In addition, unit may or may not be physically separated as illustrated by the separation member, as unit
The component of display may or may not be physical unit, it can and it is in one place, or may be distributed over more
In a network unit.Some or all of unit therein can be selected to realize this embodiment scheme according to the actual needs
Purpose.
Furthermore each functional module in each embodiment of the application can integrate one independent portion of formation together
Point, it is also possible to modules individualism, an independent part can also be integrated to form with two or more modules.
If it should be noted that function is realized in the form of software function module and sells or make as independent product
Used time can store in a computer readable storage medium.Based on this understanding, the technical solution essence of the application
On in other words the part of the part that contributes to existing technology or the technical solution can embody in the form of software products
Out, which is stored in a storage medium, including some instructions are used so that a computer equipment
(can be personal computer, server or the network equipment etc.) execute each embodiment the method for the application whole or
Part steps.And storage medium above-mentioned include: USB flash disk, mobile hard disk, read-only memory (Read-Only Memory, ROM) with
Machine accesses various Jie that can store program code such as memory (Random Access Memory, RAM), magnetic or disk
Matter.
Herein, relational terms such as first and second and the like be used merely to by an entity or operation with it is another
One entity or operation distinguish, and without necessarily requiring or implying between these entities or operation, there are any this reality
Relationship or sequence.
The above description is only an example of the present application, the protection scope being not intended to limit this application, for ability
For the technical staff in domain, various changes and changes are possible in this application.Within the spirit and principles of this application, made
Any modification, equivalent substitution, improvement and etc. should be included within the scope of protection of this application.
Claims (10)
1. a kind of positioning selection method characterized by comprising
Obtain the first kind location information and the second class location information of terminal device within a preset period of time；
It seeks the first kind location information in the preset time period and the second class location information is corresponding
Degree of fluctuation, the degree of fluctuation are used to characterize the accuracy of positioning；
The first kind location information and the second class location information are handled according to the degree of fluctuation, obtain target
Location information.
2. positioning selection method according to claim 1, which is characterized in that described to seek in the preset time period
The first kind location information and the corresponding degree of fluctuation of the second class location information, comprising:
Seek the corresponding variance of multiple first kind location informations acquired in the preset time period and the positioning of multiple second classes
The corresponding variance of information.
3. positioning selection method according to claim 2, which is characterized in that it is described according to the degree of fluctuation to described
A kind of location information and the second class location information are handled, and targeting information is obtained, comprising:
By the variance of the variance of the first kind location information and the second class location information respectively with preset standard variance into
Row compares；
Corresponding variance in the first kind location information and the second class location information is less than the preset standard variance
One be used as the targeting information.
4. positioning selection method according to claim 3, which is characterized in that described by the first kind location information and institute
State the conduct targeting information that corresponding variance in the second class location information is less than the preset standard variance, packet
It includes:
If the variance of the variance of the first kind location information and the second class location information is respectively less than the preset standard side
Difference, then the variance size of the variance of the first kind location information and the second class location information, determines described first
Corresponding variance the smallest one is targeting information in class location information and the second class location information.
5. positioning selection method according to claim 2, which is characterized in that it is described according to the degree of fluctuation to described
A kind of location information and the second class location information are handled, and targeting information is obtained, comprising:
According to the variance of the variance of the first kind location information and the second class location information, the first kind positioning is determined
Information and the corresponding weight of the second class location information；
According to the weight of the weight of the first kind location information and the second class location information, to first kind location information and second
Class location information is weighted processing, obtains the targeting information.
6. positioning selection method according to claim 1-5, which is characterized in that exist in the acquisition terminal device
Before first kind location information and the second class location information in preset time period, the method also includes:
It obtains in the terminal device when the used default category location information of prelocalization；The default category location information is the
One of a kind of location information and the second class location information；
If setting the degree of fluctuation of the default category location information obtained in the period of duration before the preset time period
More than predeterminable level, then executes and " obtain terminal device first kind location information within a preset period of time and the second class positioning letter
The step of breath ".
7. positioning selection method according to claim 1-5, which is characterized in that the first kind location information is
It is obtained by laser radar sensor measurement；The second class location information be by differential satellite navigator fix sensor,
What inertia measurement sensor and the location data of speedometer sensor measurement merged.
8. a kind of regioselective device characterized by comprising
Module is obtained, for obtaining the first kind location information and the second class location information of terminal device within a preset period of time；
Processing module, for seeking the first kind location information and second class positioning letter in the preset time period
Corresponding degree of fluctuation is ceased, the degree of fluctuation is used to characterize the accuracy of positioning；
Control module, for being carried out according to the degree of fluctuation to the first kind location information and the second class location information
Processing, obtains targeting information.
9. a kind of electronic equipment characterized by comprising processor, memory and bus, wherein
The processor and the memory complete mutual communication by the bus；
The memory is stored with the program instruction that can be executed by the processor, and the processor calls described program to instruct energy
Enough execute the method according to claim 1 to 7.
10. a kind of non-transient computer readable storage medium, which is characterized in that the non-transient computer readable storage medium is deposited
Computer instruction is stored up, the computer instruction makes the computer execute the method according to claim 1 to 7.
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Application publication date: 20191108 |