CN110850365A - Positioning method, positioning device and terminal equipment - Google Patents

Positioning method, positioning device and terminal equipment Download PDF

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Publication number
CN110850365A
CN110850365A CN201911031756.1A CN201911031756A CN110850365A CN 110850365 A CN110850365 A CN 110850365A CN 201911031756 A CN201911031756 A CN 201911031756A CN 110850365 A CN110850365 A CN 110850365A
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positioning information
positioning
preset period
preset
current
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刘新
陈明
兰飞
闫朝国
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Shenzhen Launch Technology Co Ltd
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Shenzhen Launch Technology Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0257—Hybrid positioning
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0205—Details

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The application is applicable to the technical field of data processing, and provides a positioning method, a positioning device and terminal equipment, wherein the method comprises the following steps: acquiring first positioning information, wherein a first updating frequency of the first positioning information is lower than a preset frequency threshold; acquiring second positioning information, wherein a second updating frequency of the second positioning information is higher than or equal to a preset frequency threshold; and performing data fusion on the first positioning information and the second positioning information by using a first preset filtering algorithm to obtain third positioning information. The method and the device can solve the problem that the existing positioning method is difficult to give consideration to both data acquisition frequency and accuracy.

Description

Positioning method, positioning device and terminal equipment
Technical Field
The present application belongs to the technical field of data processing, and in particular, to a positioning method, an apparatus, and a terminal device.
Background
With the development of science and technology, the navigation and positioning technology is gradually integrated into the life and work of people, people can know the current position and navigation route of people through the navigation and positioning technology, and great convenience is brought to travel entertainment of people.
The current outdoor Positioning technology mainly relies on GPS (Global Positioning System) to implement. However, in indoor positioning, the building blocks the satellite signal, so that the GPS signal is weak, and it is difficult to apply the GPS signal to an indoor positioning scene.
In view of this, positioning technologies such as UWB (Ultra Wide Band) positioning, Wifi-CSI (Channel state information) positioning, IMU (Inertial measurement unit) positioning, and the like, which can be used for indoor positioning, are currently proposed. However, these positioning techniques have respective drawbacks, such as low data acquisition frequency, untimely updating of the positioning information, or high data acquisition frequency, inaccurate positioning information, etc.
Therefore, how to improve the data acquisition frequency and accuracy of the positioning method becomes a technical problem that needs to be solved urgently by those skilled in the art.
Disclosure of Invention
In view of this, embodiments of the present application provide a positioning method, an apparatus, and a terminal device, so as to solve the problem that the existing positioning method is difficult to consider both the data acquisition frequency and the accuracy.
A first aspect of an embodiment of the present application provides a positioning method, including:
acquiring first positioning information, wherein a first updating frequency of the first positioning information is lower than a preset frequency threshold;
acquiring second positioning information, wherein a second updating frequency of the second positioning information is higher than or equal to a preset frequency threshold;
and performing data fusion on the first positioning information and the second positioning information by using a first preset filtering algorithm to obtain third positioning information.
Optionally, before the acquiring the first positioning information, the method further includes:
acquiring latest fourth positioning information and latest fifth positioning information in a current first preset period, wherein both a fourth updating frequency of the fourth positioning information and a fifth updating frequency of the fifth positioning information are lower than a preset frequency threshold;
determining first positioning information corresponding to the current first preset period according to the fourth positioning information and the fifth positioning information;
correspondingly, the acquiring the first positioning information specifically includes:
and acquiring first positioning information corresponding to the current first preset period.
Optionally, the determining, according to the fourth positioning information and the fifth positioning information, first positioning information corresponding to the current first preset period includes:
if the deviation value of the fourth positioning information and the fifth positioning information is smaller than a preset error threshold, taking an average value of the fourth positioning information and the fifth positioning information as first positioning information corresponding to the current first preset period, or performing weighted summation on the fourth positioning information and the fifth positioning information according to the confidence coefficient of the fourth positioning information and the confidence coefficient of the fifth positioning information to obtain the first positioning information corresponding to the current first preset period.
Optionally, the determining, according to the fourth positioning information and the fifth positioning information, first positioning information corresponding to the current first preset period further includes:
and if the deviation value of the fourth positioning information and the fifth positioning information is greater than or equal to a preset error threshold, taking the fourth positioning information or the fifth positioning information with the maximum confidence coefficient as the first positioning information corresponding to the current first preset period according to the confidence coefficient of the fourth positioning information and the confidence coefficient of the fifth positioning information.
Optionally, the performing data fusion on the first positioning information and the second positioning information by using a first preset filtering algorithm to obtain third positioning information includes:
and performing data fusion on the first positioning information and the second positioning information by using a Kalman filtering algorithm to obtain third positioning information.
Optionally, the performing data fusion on the first positioning information and the second positioning information by using a kalman filtering algorithm to obtain third positioning information includes:
in a current second preset period, if new first positioning information is detected, calculating predicted positioning information corresponding to the current second preset period according to third positioning information output in a previous second preset period, the new first positioning information and a prediction formula of a Kalman filtering algorithm, wherein the second preset period is the reciprocal of the second updating frequency;
calculating third positioning information corresponding to the current second preset period according to the predicted positioning information, new second positioning information in the current second preset period and an updating formula of the Kalman filtering algorithm;
and if the new first positioning information cannot be detected, taking the new second positioning information as third positioning information corresponding to the current second preset period.
A second aspect of an embodiment of the present application provides a positioning apparatus, including:
the first information module is used for acquiring first positioning information, and the first updating frequency of the first positioning information is lower than a preset frequency threshold;
the second information module is used for acquiring second positioning information, and the second updating frequency of the second positioning information is higher than or equal to a preset frequency threshold;
and the positioning fusion module is used for performing data fusion on the first positioning information and the second positioning information by using a first preset filtering algorithm to obtain third positioning information.
Optionally, the apparatus further comprises:
the low-frequency positioning module is used for acquiring latest fourth positioning information and latest fifth positioning information in a current first preset period, and both a fourth updating frequency of the fourth positioning information and a fifth updating frequency of the fifth positioning information are lower than a preset frequency threshold;
the low-frequency fusion module is used for determining first positioning information corresponding to the current first preset period according to the fourth positioning information and the fifth positioning information;
correspondingly, the first information module is specifically configured to obtain first positioning information corresponding to a current first preset period.
Optionally, the low frequency fusion module includes:
and the positioning sub-module is configured to, if a deviation value of the fourth positioning information and the fifth positioning information is smaller than a preset error threshold, use an average value of the fourth positioning information and the fifth positioning information as the first positioning information corresponding to the current first preset period, or perform weighted summation on the fourth positioning information and the fifth positioning information according to a confidence coefficient of the fourth positioning information and a confidence coefficient of the fifth positioning information to obtain the first positioning information corresponding to the current first preset period.
Optionally, the low frequency fusion module further includes:
and the deviation rectifying sub-module is configured to, if a deviation value between the fourth positioning information and the fifth positioning information is greater than or equal to a preset error threshold, use the fourth positioning information or the fifth positioning information with the largest confidence as the first positioning information corresponding to the current first preset period according to the confidence of the fourth positioning information and the confidence of the fifth positioning information.
Optionally, the localization fusion module 203 comprises:
and the filtering submodule is used for carrying out data fusion on the first positioning information and the second positioning information by using a Kalman filtering algorithm to obtain third positioning information.
Optionally, the filtering submodule includes:
the prediction submodule is used for calculating predicted positioning information corresponding to a current second preset period according to third positioning information output by a previous second preset period, the new first positioning information and a prediction formula of a Kalman filtering algorithm in the current second preset period if new first positioning information is detected, wherein the second preset period is the reciprocal of the second updating frequency;
the updating submodule is used for calculating third positioning information corresponding to the current second preset period according to the predicted positioning information, new second positioning information in the current second preset period and an updating formula of the Kalman filtering algorithm;
and the output submodule is used for taking the new second positioning information as third positioning information corresponding to the current second preset period if the new first positioning information cannot be detected.
A third aspect of the embodiments of the present application provides a terminal device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the method when executing the computer program.
A fourth aspect of embodiments of the present application provides a computer-readable storage medium, in which a computer program is stored, which, when executed by a processor, implements the steps of the method as described above.
A fifth aspect of embodiments of the present application provides a computer program product, which, when run on a terminal device, causes the terminal device to implement the steps of the method as described above.
Compared with the prior art, the embodiment of the application has the advantages that:
the existing positioning technology is difficult to give consideration to both data acquisition frequency and accuracy, and most of the positioning technologies have the disadvantages of high data acquisition frequency and low accuracy, or have the disadvantages of low data acquisition frequency and high accuracy. Therefore, in the positioning method of the present application, first positioning information and second positioning information are obtained first, a first update frequency of the first positioning information is lower than a preset frequency threshold but has a higher accuracy, and a second update frequency of the second positioning information is higher than or equal to the preset frequency threshold but has a lower accuracy. And then, performing data fusion on the first positioning information and the second positioning information by using a first preset filtering algorithm to obtain third positioning information, so that the third positioning information has higher data acquisition frequency, higher accuracy can be ensured, and the problem that the existing positioning method is difficult to take both the data acquisition frequency and the accuracy into consideration is solved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings used in the embodiments or the description of the prior art will be briefly described below.
Fig. 1 is a schematic flowchart of a positioning method according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of a positioning device according to an embodiment of the present disclosure;
fig. 3 is a schematic diagram of a terminal device provided in an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
In order to explain the technical solution described in the present application, the following description will be given by way of specific examples.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the present application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in the specification of the present application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
As used in this specification and the appended claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to a determination" or "in response to a detection". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".
In addition, in the description of the present application, the terms "first," "second," "third," "fourth," "fifth," etc. are used merely to distinguish one description from another, and are not intended to indicate or imply relative importance.
The first embodiment is as follows:
referring to fig. 1, a positioning method provided in an embodiment of the present application is described below, where the positioning method in the embodiment of the present application includes:
step S101, first positioning information is obtained, and a first updating frequency of the first positioning information is lower than a preset frequency threshold;
when positioning is needed, first positioning information can be obtained, a first updating frequency of the first positioning information is lower than a preset frequency threshold, the first updating frequency of the first positioning information is lower, but the accuracy of the first positioning information is higher.
The preset frequency threshold value can be set according to actual conditions. In some embodiments, 200Hz may be set as a preset frequency threshold.
In some possible implementations, the first positioning information may be positioning information obtained by a certain positioning technology. For example, the first positioning Information may be positioning Information measured by an Ultra Wide Band (UWB) positioning technology, or the first positioning Information may also be positioning Information measured by a Wifi-CSI (Channel State Information) positioning technology, or the first positioning Information may also be positioning Information measured by other positioning technologies whose update frequency is lower than a preset frequency threshold.
In other possible implementations, the first positioning information may be obtained by fusing positioning information measured by a plurality of positioning technologies with update frequencies lower than a preset frequency threshold. Taking the example of obtaining the first positioning information by fusing two positioning information, before obtaining the first positioning information, the method further includes:
a1, obtaining the latest fourth positioning information and the latest fifth positioning information in the current first preset period, wherein both the fourth updating frequency of the fourth positioning information and the fifth updating frequency of the fifth positioning information are lower than a preset frequency threshold;
the positioning device of this embodiment may obtain the first positioning information once every a first preset period, where the first preset period may be set according to an actual situation, and a reciprocal of the first preset period is smaller than a preset frequency threshold.
In the positioning process, the positioning device obtains the latest fourth positioning information and the latest fifth positioning information in the current first preset period, and both the fourth updating frequency of the fourth positioning information and the fifth updating frequency of the fifth positioning information are lower than the preset frequency threshold.
In some embodiments, one or more fourth positioning information and one or more fifth positioning information may be received within a current first preset period. At this time, the latest fourth positioning information and the latest fifth positioning information received in the current first preset period are used as the latest fourth positioning information and the latest fifth positioning information in the current first preset period.
And A2, determining first positioning information corresponding to the current first preset period according to the fourth positioning information and the fifth positioning information.
After the fourth positioning information and the fifth positioning information are obtained, the first positioning information corresponding to the first preset period may be determined according to the fourth positioning information and the fifth positioning information.
Correspondingly, the acquiring the first positioning information specifically includes: and acquiring first positioning information corresponding to the current first preset period.
In some embodiments, if the deviation value of the fourth positioning information and the fifth positioning information is smaller than the preset error threshold, it indicates that the difference between the fourth positioning information and the fifth positioning information is not large, the accuracy of the positioning information is high, and an average value of the fourth positioning information and the fifth positioning information may be used as the first positioning information corresponding to the current first preset period.
Or, when the positioning information is measured by various positioning technologies, the confidence of the positioning information may be obtained, and the level of the confidence may indicate the level of accuracy of the positioning information. Therefore, the confidence degrees of the fourth positioning information and the fifth positioning information can also be obtained, and the fourth positioning information and the fifth positioning information are subjected to weighted summation according to the confidence degrees of the fourth positioning information and the fifth positioning information to obtain the first positioning information corresponding to the current first preset period. For example, if the confidence of the fourth positioning information is 8 and the confidence of the fifth positioning information is 9, the first positioning information corresponding to the current first preset period may be a1 ═ a4 × [8/(8+9) ] + a5 × [9/(8+9) ], where a1 represents the first positioning information, a4 represents the fourth positioning information, and a5 represents the fifth positioning information.
In other embodiments, if the deviation value of the fourth positioning information and the fifth positioning information is greater than or equal to the preset error threshold, it indicates that a larger error exists in one of the fourth positioning information and the fifth positioning information. At this time, the confidence of the fourth positioning information and the confidence of the fifth positioning information may be acquired. Since the confidence level can represent the accuracy of the positioning information, the fourth positioning information or the fifth positioning information with the maximum confidence level is used as the first positioning information corresponding to the current first preset period, so that the correct positioning information is obtained with the maximum probability.
The sources of the fourth positioning information and the fifth positioning information can be selected according to actual conditions. For example, in some embodiments, the fourth positioning information may be positioning information measured by a UWB positioning technique and the fifth positioning information may be positioning information measured by a Wifi-CSI positioning technique.
In addition, before the positioning information measured by using various positioning technologies is fused to obtain the first positioning information, the second filtering algorithm can be used for filtering the positioning information measured by the positioning technologies measured by the various positioning technologies, so that error positioning information with large deviation is filtered. For example, the fourth positioning information and the fifth positioning information are filtered by using the second filtering algorithm, and then the first positioning information is determined according to the filtered fourth positioning information and the filtered fifth positioning information.
The second filtering algorithm may be selected according to the actual situation. For example, in some embodiments, a median filtering algorithm may be selected as the second filtering algorithm.
The first positioning information is obtained by fusing the positioning information measured by the multiple positioning technologies, the robustness of the first positioning information can be improved, and the accuracy of the first positioning information can be improved by mutually verifying the positioning information measured by the multiple positioning technologies.
Step S102, second positioning information is obtained, and a second updating frequency of the second positioning information is higher than or equal to a preset frequency threshold;
when positioning is needed, second positioning information needs to be acquired, wherein a second updating frequency of the second positioning information is higher than or equal to a preset frequency threshold, the second updating frequency of the second positioning information is higher, but the accuracy of the second positioning information is lower.
In some possible implementations, the second positioning information may be positioning information obtained by a certain positioning technology, for example, the second positioning information may be positioning information measured by an IMU (Inertial measurement unit) positioning technology, or the second positioning information may also be positioning information measured by other positioning technologies with an update frequency higher than or equal to a preset frequency threshold.
In other possible implementations, the second positioning information may also be obtained by fusing positioning information measured by a plurality of positioning technologies with update frequencies higher than or equal to a preset frequency threshold.
Step S103, performing data fusion on the first positioning information and the second positioning information by using a first preset filtering algorithm to obtain third positioning information.
After the first positioning information and the second positioning information are obtained, data fusion can be performed on the first positioning information and the second positioning information by using a first preset filtering algorithm, so that third positioning information is obtained.
The first preset filtering algorithm may be set according to actual conditions. In some possible implementation manners, a kalman filtering algorithm may be used to perform data fusion on the first positioning information and the second positioning information to obtain third positioning information.
When the kalman filtering algorithm is used to perform data fusion on the first positioning information and the second positioning information, the fusion process may include:
b1, in a current second preset period, if new first positioning information is detected, calculating predicted positioning information corresponding to the current second preset period according to third positioning information output in a previous second preset period, the new first positioning information and a prediction formula of a Kalman filtering algorithm, wherein the second preset period is the reciprocal of the second updating frequency;
the second predetermined period is the inverse of the second update frequency. Since the second update frequency is much greater than the first update frequency, new first positioning information may or may not exist in the current second preset period.
In the kalman filtering process, including the prediction process and the update process, the first positioning information may be set as prediction-type data, and the second positioning information may be set as update-type data.
If new first positioning information is detected in the current second preset period, calculation can be performed according to the third positioning information output in the previous second preset period, the new first positioning information and the prediction formula of the Kalman filtering algorithm, and prediction positioning information corresponding to the current second preset period is obtained.
B2, calculating third positioning information corresponding to the current second preset period according to the predicted positioning information, the new second positioning information in the current second preset period and the updating formula of the Kalman filtering algorithm;
after the predicted positioning information is obtained through calculation, calculation can be performed according to the predicted positioning information, the new second positioning information in the current second preset period and the updating formula of the kalman filtering algorithm to obtain updated positioning information, and the updated positioning information is used as third positioning information corresponding to the current second preset period.
And B3, if the new first positioning information cannot be detected, taking the new second positioning information as third positioning information corresponding to the current second preset period.
If the new first positioning information is not detected, the new second positioning information in the current second preset period may be used as the third positioning information corresponding to the current second preset period.
In some preferred embodiments, the positioning information measured by the IMU positioning technique may be selected as the second positioning information. The positioning information measured by the IMU positioning technology has a phenomenon of accumulation of errors, and the errors are larger as time goes by, but the IMU positioning technology can provide reliable positioning information in an initial period of time. Therefore, the positioning information measured by the IMU positioning technology is used as the second positioning information, so that the positioning information with high accuracy can be obtained in a short time, and the second positioning information can be corrected through the first positioning information at intervals of a second preset period of a preset number, so that the error of the second positioning information is eliminated, and the third positioning information obtained by fusing the first positioning information and the second positioning information always keeps high accuracy.
In the positioning method provided in this embodiment, first positioning information and second positioning information are obtained first, where a first update frequency of the first positioning information is lower than a preset frequency threshold but has a higher accuracy, and a second update frequency of the second positioning information is higher than or equal to the preset frequency threshold but has a lower accuracy. And then, performing data fusion on the first positioning information and the second positioning information by using a first preset filtering algorithm to obtain third positioning information, so that the third positioning information has higher data acquisition frequency, higher accuracy can be ensured, and the problem that the existing positioning method is difficult to take both the data acquisition frequency and the accuracy into consideration is solved.
The first positioning information may be positioning information obtained by a certain positioning technology, or positioning information obtained by fusing positioning information measured by a plurality of positioning technologies with update frequencies lower than a preset frequency threshold. When the first positioning information is obtained by fusing positioning information measured by a plurality of positioning technologies with updating frequencies lower than the preset frequency threshold, the robustness of the first positioning information can be improved, and the positioning information measured by the plurality of positioning technologies is verified mutually, so that the accuracy of the first positioning information can be improved.
When the deviation value of the fourth positioning information and the fifth positioning information is smaller than the preset error threshold, taking the average value of the fourth positioning information and the fifth positioning information as the first positioning information corresponding to the first preset period; or, performing weighted summation on the fourth positioning information and the fifth positioning information according to the confidence coefficient of the fourth positioning information and the confidence coefficient of the fifth positioning information to obtain first positioning information corresponding to the first preset period. The accuracy of the first positioning information is improved through the fusion of the fourth positioning information and the fifth positioning information.
And when the deviation value of the fourth positioning information and the fifth positioning information is greater than or equal to the preset error threshold value, taking the fourth positioning information or the fifth positioning information with the maximum confidence coefficient as the first positioning information corresponding to the first preset period, so as to obtain correct positioning information at the maximum probability.
The first filtering algorithm may adopt a kalman filtering algorithm, and the first positioning information is set as prediction-type data, and the second positioning information is set as update-type data. The second positioning information can be positioning information measured by an IMU positioning technology, and the second positioning information can be corrected through the first positioning information at intervals of a second preset period of a preset number, so that the error of the second positioning information is eliminated, and the third positioning information obtained by fusing the first positioning information and the second positioning information always keeps higher accuracy.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.
Example two:
the second embodiment of the present application provides a positioning device, which is only shown in relevant parts of the present application for convenience of illustration, and as shown in fig. 2, the positioning device includes,
a first information module 201, configured to obtain first positioning information, where a first update frequency of the first positioning information is lower than a preset frequency threshold;
a second information module 202, configured to obtain second positioning information, where a second update frequency of the second positioning information is higher than or equal to a preset frequency threshold;
and the positioning fusion module 203 is configured to perform data fusion on the first positioning information and the second positioning information by using a first preset filtering algorithm to obtain third positioning information.
Further, the apparatus further comprises:
the low-frequency positioning module is used for acquiring latest fourth positioning information and latest fifth positioning information in a current first preset period, and both a fourth updating frequency of the fourth positioning information and a fifth updating frequency of the fifth positioning information are lower than a preset frequency threshold;
the low-frequency fusion module is used for determining first positioning information corresponding to the current first preset period according to the fourth positioning information and the fifth positioning information;
correspondingly, the first information module 201 is specifically configured to obtain first positioning information corresponding to a current first preset period.
Further, the low frequency fusion module comprises:
and the positioning sub-module is configured to, if a deviation value of the fourth positioning information and the fifth positioning information is smaller than a preset error threshold, use an average value of the fourth positioning information and the fifth positioning information as the first positioning information corresponding to the current first preset period, or perform weighted summation on the fourth positioning information and the fifth positioning information according to a confidence coefficient of the fourth positioning information and a confidence coefficient of the fifth positioning information to obtain the first positioning information corresponding to the current first preset period.
Further, the low frequency fusion module further comprises:
and the deviation rectifying sub-module is configured to, if a deviation value between the fourth positioning information and the fifth positioning information is greater than or equal to a preset error threshold, use the fourth positioning information or the fifth positioning information with the largest confidence as the first positioning information corresponding to the current first preset period according to the confidence of the fourth positioning information and the confidence of the fifth positioning information.
Further, the localization fusion module 203 includes:
and the filtering submodule is used for carrying out data fusion on the first positioning information and the second positioning information by using a Kalman filtering algorithm to obtain third positioning information.
Further, the filtering sub-module includes:
the prediction submodule is used for calculating predicted positioning information corresponding to a current second preset period according to third positioning information output by a previous second preset period, the new first positioning information and a prediction formula of a Kalman filtering algorithm in the current second preset period if new first positioning information is detected, wherein the second preset period is the reciprocal of the second updating frequency;
the updating submodule is used for calculating third positioning information corresponding to the current second preset period according to the predicted positioning information, new second positioning information in the current second preset period and an updating formula of the Kalman filtering algorithm;
and the output submodule is used for taking the new second positioning information as third positioning information corresponding to the current second preset period if the new first positioning information cannot be detected.
It should be noted that, for the information interaction, execution process, and other contents between the above-mentioned devices/units, the specific functions and technical effects thereof are based on the same concept as those of the embodiment of the method of the present application, and specific reference may be made to the part of the embodiment of the method, which is not described herein again.
Example three:
fig. 3 is a schematic diagram of a terminal device provided in the third embodiment of the present application. As shown in fig. 3, the terminal device 3 of this embodiment includes: a processor 30, a memory 31 and a computer program 32 stored in said memory 31 and executable on said processor 30. The processor 30, when executing the computer program 32, implements the steps in the above-described positioning method embodiment, such as the steps S101 to S103 shown in fig. 1. Alternatively, the processor 30, when executing the computer program 32, implements the functions of each module/unit in each device embodiment described above, for example, the functions of the modules 201 to 203 shown in fig. 2.
Illustratively, the computer program 32 may be partitioned into one or more modules/units that are stored in the memory 31 and executed by the processor 30 to accomplish the present application. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution process of the computer program 32 in the terminal device 3. For example, the computer program 32 may be divided into a first information module, a second information module, and a positioning fusion module, and each module has the following specific functions:
the first information module is used for acquiring first positioning information, and the first updating frequency of the first positioning information is lower than a preset frequency threshold;
the second information module is used for acquiring second positioning information, and the second updating frequency of the second positioning information is higher than or equal to a preset frequency threshold;
and the positioning fusion module is used for performing data fusion on the first positioning information and the second positioning information by using a first preset filtering algorithm to obtain third positioning information.
The terminal device 3 may be a desktop computer, a notebook, a palm computer, a cloud server, or other computing devices. The terminal device may include, but is not limited to, a processor 30, a memory 31. It will be understood by those skilled in the art that fig. 3 is only an example of the terminal device 3, and does not constitute a limitation to the terminal device 3, and may include more or less components than those shown, or combine some components, or different components, for example, the terminal device may also include an input-output device, a network access device, a bus, etc.
The Processor 30 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 31 may be an internal storage unit of the terminal device 3, such as a hard disk or a memory of the terminal device 3. The memory 31 may also be an external storage device of the terminal device 3, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are provided on the terminal device 3. Further, the memory 31 may also include both an internal storage unit and an external storage device of the terminal device 3. The memory 31 is used for storing the computer program and other programs and data required by the terminal device. The memory 31 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/terminal device are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow in the method of the embodiments described above can be realized by a computer program, which can be stored in a computer-readable storage medium and can realize the steps of the embodiments of the methods described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.

Claims (10)

1. A method of positioning, comprising:
acquiring first positioning information, wherein a first updating frequency of the first positioning information is lower than a preset frequency threshold;
acquiring second positioning information, wherein a second updating frequency of the second positioning information is higher than or equal to a preset frequency threshold;
and performing data fusion on the first positioning information and the second positioning information by using a first preset filtering algorithm to obtain third positioning information.
2. The positioning method according to claim 1, further comprising, before said obtaining the first positioning information:
acquiring latest fourth positioning information and latest fifth positioning information in a current first preset period, wherein both a fourth updating frequency of the fourth positioning information and a fifth updating frequency of the fifth positioning information are lower than a preset frequency threshold;
determining first positioning information corresponding to the current first preset period according to the fourth positioning information and the fifth positioning information;
correspondingly, the acquiring the first positioning information specifically includes:
and acquiring first positioning information corresponding to the current first preset period.
3. The method according to claim 2, wherein the determining the first positioning information corresponding to the current first preset period according to the fourth positioning information and the fifth positioning information comprises:
if the deviation value of the fourth positioning information and the fifth positioning information is smaller than a preset error threshold, taking an average value of the fourth positioning information and the fifth positioning information as first positioning information corresponding to the current first preset period, or performing weighted summation on the fourth positioning information and the fifth positioning information according to the confidence coefficient of the fourth positioning information and the confidence coefficient of the fifth positioning information to obtain the first positioning information corresponding to the current first preset period.
4. The method according to claim 3, wherein the determining the first positioning information corresponding to the current first preset period according to the fourth positioning information and the fifth positioning information further comprises:
and if the deviation value of the fourth positioning information and the fifth positioning information is greater than or equal to a preset error threshold, taking the fourth positioning information or the fifth positioning information with the maximum confidence coefficient as the first positioning information corresponding to the current first preset period according to the confidence coefficient of the fourth positioning information and the confidence coefficient of the fifth positioning information.
5. The method according to claim 1, wherein the performing data fusion on the first positioning information and the second positioning information by using a first predetermined filtering algorithm to obtain third positioning information comprises:
and performing data fusion on the first positioning information and the second positioning information by using a Kalman filtering algorithm to obtain third positioning information.
6. The positioning method according to claim 5, wherein the performing data fusion on the first positioning information and the second positioning information by using a kalman filter algorithm to obtain third positioning information comprises:
in a current second preset period, if new first positioning information is detected, calculating predicted positioning information corresponding to the current second preset period according to third positioning information output in a previous second preset period, the new first positioning information and a prediction formula of a Kalman filtering algorithm, wherein the second preset period is the reciprocal of the second updating frequency;
calculating third positioning information corresponding to the current second preset period according to the predicted positioning information, new second positioning information in the current second preset period and an updating formula of the Kalman filtering algorithm;
and if the new first positioning information cannot be detected, taking the new second positioning information as third positioning information corresponding to the current second preset period.
7. A positioning device, comprising:
the first information module is used for acquiring first positioning information, and the first updating frequency of the first positioning information is lower than a preset frequency threshold;
the second information module is used for acquiring second positioning information, and the second updating frequency of the second positioning information is higher than or equal to a preset frequency threshold;
and the positioning fusion module is used for performing data fusion on the first positioning information and the second positioning information by using a first preset filtering algorithm to obtain third positioning information.
8. The positioning device of claim 7, wherein the device further comprises:
the low-frequency positioning module is used for acquiring latest fourth positioning information and latest fifth positioning information in a current first preset period, and both a fourth updating frequency of the fourth positioning information and a fifth updating frequency of the fifth positioning information are lower than a preset frequency threshold;
the low-frequency fusion module is used for determining first positioning information corresponding to the current first preset period according to the fourth positioning information and the fifth positioning information;
correspondingly, the first information module is specifically configured to obtain first positioning information corresponding to a current first preset period.
9. A terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the method according to any of claims 1 to 6 when executing the computer program.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 6.
CN201911031756.1A 2019-10-28 2019-10-28 Positioning method, positioning device and terminal equipment Pending CN110850365A (en)

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