CN110913338A

CN110913338A - Positioning track correction method and device, computer equipment and storage medium

Info

Publication number: CN110913338A
Application number: CN201911300883.7A
Authority: CN
Inventors: 叶贤钊; 洪德伟; 彭宏飞
Original assignee: Shenzhen Miracle Intelligent Network Co Ltd
Current assignee: Shenzhen Miracle Intelligent Network Co Ltd
Priority date: 2019-12-17
Filing date: 2019-12-17
Publication date: 2020-03-24
Anticipated expiration: 2039-12-17
Also published as: CN110913338B

Abstract

The application relates to a positioning track correction method, a device, computer equipment and a storage medium, wherein an initial positioning point set of a corresponding terminal is obtained through calculation of position information and signal propagation information of a signal detector, the initial positioning point set is input into a trained positioning point prediction model to obtain a prediction positioning point corresponding to each initial positioning point, a difference value between each initial positioning point and the corresponding prediction positioning point is calculated to determine a positioning point to be corrected, further, the positioning point to be corrected is corrected according to adjacent positioning points of the positioning point to be corrected, the initial positioning point set is updated according to the corrected positioning point to obtain a target positioning point set, and therefore a target movement track is generated. The method utilizes the positioning point prediction model to judge the positioning point calculated by the traditional method, and corrects the positioning point when the positioning point is wrong, thereby obtaining the positioning point with higher accuracy and reflecting the real motion condition of a terminal user.

Description

Positioning track correction method and device, computer equipment and storage medium

Technical Field

The present application relates to the field of positioning technologies, and in particular, to a method and an apparatus for correcting a positioning track, a computer device, and a storage medium.

Background

With the development of scientific technology, positioning technology based on wireless network technology is widely applied to various fields. The location service provided by the wireless network operator can include aspects from safety service to payment, information tracking, navigation and the like, and not only a larger development space is opened for the wireless network, but also the quality of human life is improved.

In the conventional scheme, the position information and the measurement report of the base station are usually calculated by using a conventional positioning method such as a triangulation method, etc., so as to obtain a positioning point set of the corresponding terminal in the movement process, and a corresponding movement track is generated according to the positioning point set. However, since the wireless signal is affected by the propagation environment when propagating in the air, the traditional method cannot accurately calculate the set of positioning points of the terminal in the motion process, so that the accuracy of the obtained motion trajectory of the terminal user is low, and the real motion condition of the terminal user cannot be reflected.

Disclosure of Invention

In view of the above, it is necessary to provide a positioning track correction method, apparatus, computer device and storage medium capable of improving accuracy.

A localization track correction method, the method comprising:

acquiring position information and signal propagation information of a signal detector;

calculating to obtain an initial positioning point set of a corresponding terminal according to the position information of the signal detector and the signal propagation information;

inputting the initial positioning point set into a trained positioning point prediction model to obtain a predicted positioning point corresponding to each initial positioning point in the initial positioning point set;

calculating a difference value between each initial positioning point and the corresponding pre-positioning point, and obtaining a positioning point to be corrected when the difference value is greater than a preset difference value threshold value;

acquiring an adjacent positioning point of the positioning point to be corrected, and correcting the positioning point to be corrected according to the adjacent positioning point to obtain a corrected positioning point;

and updating the initial positioning point set according to the corrected positioning points to obtain a target positioning point set, and generating a target motion track according to the target positioning point set.

In one embodiment, the acquiring the position information and the signal propagation information of the signal detector includes:

receiving a wireless data packet;

analyzing the wireless data packet according to the encapsulation rule of the wireless data packet to obtain a wireless data set;

and extracting the position information and the signal propagation information of the signal detector in the wireless data set.

In one embodiment, the signal propagation information includes received signal strength, the received signal strength carries a terminal identifier, and the calculating to obtain the initial positioning point set of the corresponding terminal according to the position information of the signal detector and the signal propagation information includes:

determining distance information between the signal detector and the corresponding terminal according to the received signal strength and the terminal identification;

and calculating to obtain an initial positioning point set of the terminal according to the position information of the signal detector and the distance information between the signal detector and the corresponding terminal.

In one embodiment, the obtaining of the adjacent locating point of the locating point to be corrected, and the correcting the locating point to be corrected according to the adjacent locating point to obtain the corrected locating point includes:

acquiring two positioning points adjacent to the positioning point to be corrected;

connecting the two positioning points adjacent to the positioning point to be corrected to obtain a datum line corresponding to the positioning point to be corrected;

and translating the positioning point to be corrected to the datum line to obtain the corrected positioning point.

In one embodiment, the training step of the anchor point prediction model comprises:

acquiring the signal strength received by the terminal in different environments, and establishing an association relation between the environment and the received signal strength to obtain an environment interference coefficient;

acquiring an initial historical positioning point set of a terminal, wherein the initial historical positioning point set is obtained by calculating historical position information and historical signal propagation information of a signal detector;

calculating to obtain predicted historical positioning points corresponding to each initial historical positioning point in the initial historical positioning point set according to the environmental interference coefficient and the initial historical positioning point set;

acquiring actual historical positioning points corresponding to the initial historical positioning points, and comparing the actual historical positioning points with corresponding predicted historical positioning points to obtain comparison results;

and when the comparison result does not accord with the preset condition, adjusting the environmental interference coefficient until the comparison result accords with the preset condition to obtain a positioning point prediction model.

In one embodiment, the obtaining the signal strength received by the terminal in different environments, and establishing an association relationship between the environment and the received signal strength to obtain the environmental interference coefficient includes:

acquiring the signal strength received by a terminal at a plurality of positions, and establishing an association relation between the terminal position and the received signal strength;

acquiring the received signal strength of the terminal under the condition that different obstacles block the signal, and acquiring interference coefficients of the different obstacles on the received signal strength;

and calculating to obtain an environmental interference coefficient according to the incidence relation between the terminal position and the received signal strength and the interference coefficients of the different obstacles to the received signal strength.

A localization trajectory correction device, the device comprising:

the information acquisition module is used for acquiring the position information and the signal propagation information of the signal detector;

the initial positioning point set calculation module is used for calculating to obtain a corresponding initial positioning point set of the terminal according to the position information of the signal detector and the signal propagation information;

the prediction positioning point set generation module is used for inputting the initial positioning point set into a trained positioning point prediction model to obtain the prediction positioning points corresponding to all the initial positioning points in the initial positioning point set;

the positioning point determining module to be corrected is used for calculating the difference between each initial positioning point and the corresponding pre-positioning point, and when the difference is greater than a preset difference threshold value, the positioning point to be corrected is obtained;

the positioning point correction module is used for acquiring adjacent positioning points of the positioning points to be corrected, and correcting the positioning points to be corrected according to the adjacent positioning points to obtain corrected positioning points;

and the target motion track generation module is used for updating the initial positioning point set according to the corrected positioning points to obtain a target positioning point set and generating a target motion track according to the target positioning point set.

A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the following steps when executing the computer program:

A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:

According to the positioning track correction method, the positioning track correction device, the computer equipment and the storage medium, an initial positioning point set of a corresponding terminal is obtained through calculation of position information and signal propagation information of a signal detector, then the initial positioning point set is input into a trained positioning point prediction model, prediction positioning points corresponding to the initial positioning points are obtained, the difference value between each initial positioning point and the corresponding prediction positioning point is calculated, when the difference value is larger than a preset difference value threshold value, a positioning point to be corrected can be obtained, further, adjacent positioning points of the positioning point to be corrected are obtained, the positioning point to be corrected is corrected according to the adjacent positioning points, the corrected positioning points are obtained, the initial positioning point set is updated according to the corrected positioning points, and a target positioning point set is obtained, so that a target movement track is generated. Different from the traditional scheme that the positioning point of the corresponding terminal is obtained by adopting the positioning algorithm, the method also utilizes the positioning point prediction model to judge whether the positioning point has errors after the positioning point of the corresponding terminal is obtained by the traditional positioning method, and utilizes the adjacent positioning point of the positioning point to correct the positioning point when the positioning point has errors, thereby obtaining the positioning point with higher accuracy and reflecting the real motion condition of the terminal user.

Drawings

FIG. 1 is a diagram illustrating an exemplary embodiment of a method for correcting a localization path;

FIG. 2 is a flowchart illustrating a method for correcting a positioning trajectory according to an embodiment;

FIG. 3 is a diagram illustrating the determination of an anchor point to be corrected in one embodiment;

FIG. 4 is a diagram illustrating an initial anchor point of a computing terminal in one embodiment;

FIG. 5 is a flowchart illustrating a process of correcting an anchor point to be corrected in one embodiment;

FIG. 6a is a diagram illustrating a correction of an anchor point to be corrected by two previous adjacent anchor points in an embodiment;

FIG. 6b is a diagram illustrating an embodiment of correcting an anchor point to be corrected by two adjacent anchor points;

FIG. 6c is a diagram illustrating the correction of the anchor point to be corrected by the last two adjacent anchor points in one embodiment;

FIG. 7 is a flowchart illustrating a method for training an anchor point prediction model according to an embodiment;

FIG. 8 is a flowchart illustrating a method for correcting a positioning track according to another embodiment;

FIG. 9 is a diagram illustrating a comparison of an actual motion trajectory, a motion trajectory obtained by a conventional positioning algorithm, and a motion trajectory obtained by a positioning trajectory correction method in another embodiment;

FIG. 10 is a block diagram showing the structure of a positioning trajectory correcting device according to an embodiment;

FIG. 11 is a diagram illustrating an internal structure of a computer device in one embodiment.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

The positioning track correcting method provided by the application can be applied to the application environment shown in fig. 1. The terminal 102, the server 106 and the signal detector 104 are in communication via a network. After the terminal 102 connects to the wireless network, corresponding wireless data is generated. The wireless data includes, among other things, location information of the signal detector 104 to which the terminal 102 is connected, and corresponding signal propagation information. The server 106 obtains the position information of the signal detector 104 and the corresponding signal propagation information by acquiring the wireless data packet of the terminal 102. The server 106 calculates an initial positioning point set of the terminal 102 according to the position information of the signal detector 104 and the corresponding signal propagation information. The server 106 inputs the initial positioning point set into the trained positioning point prediction model to obtain the predicted positioning point corresponding to each initial positioning point in the initial positioning point set. The server 106 calculates a difference between each initial positioning point and the corresponding pre-positioning point, and when the difference is greater than a preset difference threshold, the positioning point to be corrected is obtained. Further, the server 106 obtains an adjacent positioning point of the positioning point to be corrected, and corrects the positioning point to be corrected according to the adjacent positioning point to obtain a corrected positioning point. The server 106 updates the initial positioning point set according to the corrected positioning points to obtain a target positioning point set, thereby generating a target motion track of the terminal 102.

The terminal 102 may be, but is not limited to, various personal computers, notebook computers, smart phones, tablet computers, and portable wearable devices, the signal detector 104 may be, but is not limited to, a base station, a wireless probe, a router, and bluetooth, and the server 106 may be implemented by an independent server or a server cluster formed by a plurality of servers.

In one embodiment, as shown in fig. 2, a method for correcting a positioning track is provided, which is exemplified by the method applied to the server 106 in fig. 1, and includes the following steps:

step 202, position information and signal propagation information of the signal detector are acquired.

Wherein the signal detector is a device that can collect wireless data. The wireless data set comprises data such as position information of the signal detector and propagation information of the wireless signal.

Specifically, the terminal sends a wireless data set up. The signal detector sends out wireless radio frequency signals, and the terminal with the wireless port opened in the detectable range is detected through the wireless radio frequency signals, so that a wireless data set sent out by the terminal is collected. Further, the signal detector sends the collected wireless data set to the server, so that the server can acquire the position information and the signal propagation information of the signal detector.

And 204, calculating to obtain an initial positioning point set of the corresponding terminal according to the position information and the signal propagation information of the signal detector.

Wherein the signal propagation information includes the received signal strength of each terminal measured by each signal detector.

Specifically, when the terminal is closer to the signal detector, the received signal strength of the terminal can be measured to be stronger; when the terminal is far away from the signal detector, the received signal strength of the terminal can be measured to be weak. The server can establish the following formula according to the corresponding received signal strength obtained by different distance measurements:

wherein d is the calculated distance information, RSSI is the received signal strength, A is the received signal strength when the signal detector and the terminal are separated by 1 meter, and n is the environmental attenuation factor. In some embodiments, a ranges from (45,49) and n ranges from (3.25, 4.5).

Further, the server may calculate the initial positioning point of the corresponding terminal according to the position information of the plurality of signal detectors and the distances between the plurality of signal detectors and the corresponding terminal. When the terminal moves, the server can calculate a plurality of initial positioning points according to the position information and the signal propagation information of the signal detector, so that an initial positioning point set of the terminal is obtained.

And step 206, inputting the initial positioning point set into the trained positioning point prediction model to obtain the prediction positioning point corresponding to each initial positioning point in the initial positioning point set.

The positioning point prediction model is obtained by training according to a historical positioning point set of the terminal. The positioning point prediction model can obtain the motion trend of the terminal according to the terminal positioning point set, and predict the positioning points of the terminal one by one.

Specifically, the accuracy of the initial positioning point set of the terminal calculated in step 204 is low due to various factors encountered when the wireless signal propagates through the air. Therefore, the server needs to further determine the set of initial anchor points. Inputting the initial positioning point set into a trained positioning point prediction model, acquiring the time corresponding to each initial positioning point by the positioning prediction model, and predicting the initial positioning points in the initial positioning point set one by one according to the time sequence to obtain the prediction positioning points corresponding to each initial positioning point in the initial positioning point set.

In one embodiment, during the moving process of the terminal, the terminal may communicate with a plurality of signal detectors, and the initial positioning point set is obtained according to the position information and the signal propagation information of the signal detectors, that is, the initial positioning point set may be affected by the signal detectors, so that the calculated initial positioning point set is not accurate enough. Therefore, the initial positioning points calculated by the terminal according to the signal detectors at the same time can be obtained, and the initial positioning points calculated according to the signal detectors are screened. Specifically, a corresponding prediction positioning point is output according to a positioning point prediction model, a threshold range of the prediction positioning point is obtained, and an initial positioning point outside the threshold range is removed. When all the initial positioning points are within the threshold range of the predicted positioning point, the difference between each initial positioning point and the predicted positioning point can be calculated, and the initial positioning point with the minimum difference is reserved. It should be noted that, in order to guarantee the accuracy of the anchor point, the threshold range is larger than the difference threshold of step 208. That is, the initial positioning points closest to the predicted positioning points are screened out from the initial positioning points calculated according to the signal detectors, the threshold range is narrowed, and the initial positioning points beyond the threshold range are further corrected.

And 208, calculating the difference between each initial positioning point and the corresponding predicted positioning point, and obtaining the positioning point to be corrected when the difference is greater than a preset difference threshold.

And the initial positioning point and the predicted positioning point have corresponding position coordinates. The difference between each initial positioning point and the corresponding predicted positioning point corresponds to the distance between each initial positioning point and the corresponding predicted positioning point. The difference threshold corresponds to a distance threshold.

Specifically, the server may obtain position coordinates corresponding to each initial positioning point and the corresponding predicted positioning point, and calculate a distance between each initial positioning point and the corresponding predicted positioning point according to the position coordinates. And when the distance between the initial positioning point and the corresponding pre-positioning point is greater than the difference threshold value, indicating that the initial positioning point needs to be further corrected, namely obtaining the positioning point to be corrected. In one embodiment, as shown in FIG. 3, the set of initial anchor points includes initial anchor points A, B, C, D, E and F, point C_fAnd the pre-positioning site corresponding to the initial positioning site C. To predefine site C_fAs a circle center, a predetermined position C is predicted_fThe difference value threshold value with the initial positioning point C is the radius, and the circle C can be obtained_f. It can be known that when the initial positioning point C is on the circle C_fAnd when the initial positioning point C is not corrected, the initial positioning point C can be determined as the positioning point to be corrected.

And step 210, acquiring an adjacent positioning point of the positioning point to be corrected, and correcting the positioning point to be corrected according to the adjacent positioning point to obtain a corrected positioning point.

Specifically, all the positioning points are calculated in the moving process of the terminal, so that all the positioning points carry corresponding time information. The adjacent anchor point of the anchor point to be corrected is an anchor point that is temporally adjacent to the anchor point to be corrected, and may be an anchor point before the anchor point to be corrected or an anchor point after the anchor point to be corrected. The adjacent positioning points can estimate the movement direction corresponding to the positioning point to be corrected, and the positioning point to be corrected is corrected according to the movement direction.

And 212, updating the initial positioning point set according to the corrected positioning points to obtain a target positioning point set, and generating a target motion track according to the target positioning point set.

Specifically, the initial anchor point set includes anchor points to be corrected and anchor points not required to be corrected, and after the anchor points to be corrected are corrected, the original anchor points to be corrected are replaced by the corrected anchor points, so that the initial anchor point set is updated, and the target anchor point set is obtained. Each target positioning point in the target positioning point set carries time information, and each target can be connected according to the time sequence to obtain a target motion track.

In the positioning track correction method, an initial positioning point set of a corresponding terminal is obtained through calculation of position information and signal propagation information of a signal detector, the initial positioning point set is input into a trained positioning point prediction model to obtain a prediction positioning point corresponding to each initial positioning point, a difference value between each initial positioning point and the corresponding prediction positioning point is calculated, when the difference value is larger than a preset difference value threshold value, a positioning point to be corrected can be obtained, further, an adjacent positioning point of the positioning point to be corrected is obtained, the positioning point to be corrected is corrected according to the adjacent positioning point to obtain a corrected positioning point, the initial positioning point set is updated according to the corrected positioning point to obtain a target positioning point set, and therefore a target movement track is generated. After the positioning point of the corresponding terminal is obtained through calculation of a traditional positioning method, whether the positioning point is wrong or not is judged by using a positioning point prediction model, and when the positioning point is wrong, the positioning point is corrected by using an adjacent positioning point of the positioning point, so that the positioning point with higher accuracy is obtained, and the real motion condition of a terminal user can be reflected better.

In one embodiment, step 202 comprises: receiving a wireless data packet; analyzing the wireless data packet according to the encapsulation rule of the wireless data packet to obtain a wireless data set; position information and signal propagation information of the signal detector are extracted from the wireless data set.

The wireless data packet is obtained by encapsulating various wireless data by the signal detector according to the wireless data packet message rule of the corresponding manufacturer.

Specifically, after receiving a wireless data set sent by a terminal, a signal detector encapsulates wireless data according to a wireless data packet message rule of a corresponding manufacturer. And the data acquisition server receives the wireless data packet sent by the signal detector, and analyzes the wireless data packet according to the packaging rule of the wireless data packet to obtain a wireless data set. And the data acquisition server extracts the position information, the signal propagation information and the like of the signal detector from the wireless data set according to the fields of the wireless data, and the data can be used for calculating the positioning point of the terminal.

In this embodiment, the wireless data set is packaged, so that the wireless data set is easier to manage, and the packaged wireless data packet is transmitted, thereby realizing modularization of wireless communication.

In one embodiment, the signal propagation information includes a received signal strength, and the received signal strength carries a terminal identifier, and step 204 includes: determining distance information between the signal detector and the corresponding terminal according to the received signal strength and the terminal identification; and calculating to obtain an initial positioning point set of the terminal according to the position information of the signal detector and the distance information between the signal detector and the corresponding terminal.

The received signal strength is the received signal strength of each terminal measured by each signal detector, so the received signal strength carries the terminal identifier. The terminal identifier is used for uniquely identifying the terminal corresponding to the received signal strength, and may be a terminal serial number or a terminal MAC, etc.

Specifically, each signal detector may measure the received signal strength of multiple terminals. The server may extract, from the received signal strengths of the plurality of terminals measured by the plurality of signal detectors, the received signal strength of the same terminal measured by the plurality of signal detectors according to the terminal identifier carried by the received signal strength. The server may convert the received signal strength of the same terminal measured by the plurality of signal detectors into a corresponding distance using a conversion relationship between the received signal strength and the distance.

Further, as shown in fig. 4, the initial positioning point of the terminal may be calculated according to the position information of the three signal detectors and the received signal strength of the terminal measured by the three signal detectors, so as to obtain an initial positioning point set of the terminal. The points a, B and C are positions of the signal detectors A, B and C, respectively, and the signal detectors A, B and C can both obtain the received signal strength of the terminal O. The server converts the received signal intensity of the terminal O acquired by the signal detector A into a distance r1 between the signal detector A and the terminal O, and draws a circle by taking the position point A where the signal detector A is located as a center of the circle and the distance r1 between the signal detector A and the terminal O as a radius to obtain the circle A. Similarly, the server converts the received signal intensity of the terminal O acquired by the signal detector B into a distance r2 between the signal detector B and the terminal O, and draws a circle by taking the position point B where the signal detector B is located as a center of the circle and the distance r2 between the signal detector B and the terminal O as a radius to obtain a circle B; and converting the received signal intensity of the terminal O acquired by the signal detector C into a distance r3 between the signal detector C and the terminal O, and drawing a circle by taking the position point C of the signal detector C as a center of the circle and the distance r3 between the signal detector C and the terminal O as a radius to obtain the circle C. At this time, the circle a, the circle B and the circle C intersect at a point O, which is an initial positioning point of the terminal O. When the terminal moves, the server can calculate a plurality of initial positioning points according to the method, so as to obtain an initial positioning point set of the terminal.

In other embodiments, the server may calculate the initial positioning point of the terminal according to the position information of more than three signal detectors and the received signal strength of the terminal measured by the corresponding signal detectors.

In this embodiment, the initial positioning point set of the terminal is obtained through the positioning technology calculation, so that the motion trajectory of the terminal user can be preliminarily reflected, and a basis is provided for the correction of the subsequent positioning points.

In one embodiment, as shown in FIG. 5, step 210 comprises:

step 502, two positioning points adjacent to the positioning point to be corrected are obtained.

Specifically, the two positioning points adjacent to the positioning point to be corrected may be two positioning points before the positioning point to be corrected, two positioning points after the positioning point to be corrected, and two positioning points before and after the positioning point to be corrected. As shown in fig. 3, the initial anchor point set includes anchor points A, B, C, D, E and F. Wherein, point C_fThe predicted anchor point corresponding to point C is shown in FIG. 3, where anchor point C and predicted anchor point C are located_fIf the difference value is greater than the preset threshold value, that is, the initial positioning point C is out of the threshold value range, it is the positioning point to be corrected. The anchor point C may be corrected by obtaining anchor points a and B, anchor points B and D, or anchor points D and E.

And 504, connecting two positioning points adjacent to the positioning point to be corrected to obtain a datum line corresponding to the positioning point to be corrected.

Specifically, in one embodiment, as shown in fig. 6a, the positioning points a and B may be connected to obtain the connecting line L_ABIs prepared by mixing L_ABAs a reference line for correction of the positioning point C to be corrected. In one embodiment, as shown in FIG. 6B, the positioning points B and D can be connected to obtain the connecting line L_BDIs prepared by mixing L_BDAs a reference line for correction of the positioning point C to be corrected. In one embodiment, as shown in FIG. 6c, the anchor points D and E can be connected to obtain the connecting line L_DEIs prepared by mixing L_DEAs a reference line for correction of the positioning point C to be corrected.

Step 506, translating the positioning point to be corrected to the datum line to obtain the corrected positioning point.

Specifically, the positioning point to be corrected is translated upwards or downwards onto the datum line, so as to obtain the corrected positioning point C'.

In one embodiment, as shown in fig. 6a, the coordinates of anchor point a and anchor point B may be respectively substituted into the equation of a straight line by obtaining the coordinates of anchor point a (X1, Y1), anchor point B (X2, Y2), and anchor point C (X3, Y3): and calculating to obtain values of k and b, and substituting the abscissa X3 of the positioning point C to obtain Y3 ', namely the corrected positioning point C ' and the corresponding coordinates thereof (X3, Y3 '). Similarly, the embodiments shown in fig. 6b and 6C can also calculate the corrected positioning point C' and its corresponding coordinates by this method.

In the embodiment, the positioning point to be corrected is corrected through the positioning point adjacent to the positioning point to be corrected, so that the accuracy of the positioning point is improved, and the real motion track of the terminal user can be better reflected.

In one embodiment, as shown in fig. 7, the training step of the anchor point prediction model includes:

step 702, acquiring the received signal strength of the terminal in different environments, and establishing an association relationship between the environment and the received signal strength to obtain an environmental interference coefficient.

In particular, different environments refer to different wireless communication environments. Under different environments, factors influencing wireless signal propagation in air are different, and influence on positioning calculation is also different. For example, in a crowded subway train, the received signal strength is often weak, so that the terminal cannot normally connect to the network, and if the terminal is subjected to positioning calculation at this time, the calculated positioning point will have a large deviation. Therefore, the terminal opens the wireless network port under different environments to transmit wireless data. The server acquires the received signal strength of the terminal in different environments from the wireless data sent by the terminal, and because each environment has a corresponding received signal strength, the incidence relation between the environment and the received signal strength can be established, and the environment interference coefficient is calculated through the incidence relation between the environment and the received signal strength.

Step 704, obtaining an initial historical positioning point set of the terminal, where the initial historical positioning point set is calculated from historical position information and historical signal propagation information of the signal detector.

Wherein, the historical positioning point set is the historical positioning point of the terminal. The initial historical positioning point set refers to a historical positioning point set of the terminal calculated according to historical position information and historical signal propagation information of the signal detector, interference of the environment is not eliminated in the calculation process, and certain errors may exist.

Specifically, the terminal may move after connecting to the wireless network, and when the terminal moves, the signal propagation information may change, and the signal detector connected to the terminal may also change. The position and signal propagation information of each signal detector correspond to a historical positioning point. The server can obtain an initial historical positioning point set of the terminal and an actual historical positioning point set of the terminal to train and obtain a positioning point prediction model.

Step 706, according to the environmental interference coefficient and the initial historical positioning point set, obtaining the predicted historical positioning point corresponding to each initial historical positioning point in the initial historical positioning point set.

Specifically, the initial historical positioning point set can be further analyzed and operated through the environmental interference coefficient, so that the interference of environmental factors is reduced, and the predicted historical positioning points corresponding to the initial historical positioning points are obtained.

Step 708, obtaining an actual historical positioning point corresponding to each initial historical positioning point, and comparing the actual historical positioning point with the corresponding predicted historical positioning point to obtain a comparison result.

The initial historical positioning point is obtained by directly calculating by the server through a positioning algorithm. The actual historical positioning point is the real historical positioning point of the terminal. The predicted historical positioning point is obtained by further analyzing the initial historical positioning point through an environmental interference coefficient, and is closer to the actual historical positioning point.

Specifically, the server obtains an actual historical positioning point corresponding to each initial historical positioning point, and compares the actual historical positioning point with a corresponding predicted historical positioning point to obtain an error of the positioning point prediction model when the positioning point is predicted.

And step 710, when the comparison result does not meet the preset condition, adjusting the environmental interference coefficient until the comparison result meets the preset condition, and obtaining a positioning point prediction model.

The preset condition refers to that the difference value between the predicted historical positioning point and the actual historical positioning point is smaller than a difference threshold value.

Specifically, when the difference between the predicted historical positioning point and the actual historical positioning point is not less than the difference threshold, it is indicated that the error of the positioning point prediction model is large, and the positioning point prediction model cannot be used, and the parameter needs to be continuously adjusted to train the positioning point prediction model.

In one embodiment, the anchor point prediction model may be made to conform to the preset condition by adjusting the environmental interference coefficient. In other embodiments, other parameters may be adjusted, such as a difference threshold in preset conditions.

In one embodiment, the anchor point prediction model may be trained using a BP (Back Propagation) neural network algorithm. In other embodiments, other algorithms may be used to train the anchor point prediction model.

In this embodiment, the positioning point prediction model is obtained through training, and prediction and judgment can be performed on each initial positioning point to obtain a positioning point to be corrected, so that the accuracy of the positioning point is improved.

In one embodiment, step 702 comprises: acquiring the signal strength received by a terminal at a plurality of positions, and establishing an association relation between the terminal position and the received signal strength; acquiring the received signal strength of the terminal under the condition that different obstacles block the signal, and acquiring interference coefficients of the different obstacles on the received signal strength; and calculating to obtain an environmental interference coefficient according to the incidence relation between the terminal position and the received signal strength and the interference coefficients of different obstacles to the received signal strength.

The distances between the terminal and the signal detector are different, and the signal intensity received by the terminal is also different. It is assumed that, in the case of only one base station and no other influence factor, the received signal strength when the terminal is 500 meters away from the base station is greater than the received signal strength when the terminal is 5 kilometers away from the base station. In the case of blocking by an obstacle, the signal strength received by the terminal is weaker than that received without the obstacle. When the received signal strength is weak, the positioning point of the terminal cannot be obtained through calculation of the position information and the signal propagation information of the signal detector.

Specifically, the terminal and the signal detector may be moved and may obtain the received signal strength of the terminal at different positions and may upload the received signal strength to the server under other conditions. The server may establish an association relationship between the terminal position and the received signal strength according to the position where the signal is received and the signal strength received at the position. Further, different obstacles are arranged between the signal detector and the terminal to block the wireless signals, and the attenuation reference range of the obstacles made of different materials to the received signal strength is known, so that the interference coefficient of the obstacles to the received signal strength can be calculated. And (4) obtaining an environmental interference coefficient by statistical analysis according to the incidence relation between the terminal position and the received signal strength.

In one embodiment, the environmental interference further includes radio frequency interference of other wireless devices, and the environmental interference coefficient may be calculated by referring to radio frequency signals of different wireless devices and combining the association relationship between the terminal position and the received signal strength and the interference coefficient of the obstacle to the received signal strength.

In the embodiment, the signal strength received by the terminal under the condition of blocking at different positions and different obstacles is obtained to obtain the environmental interference coefficient corresponding to the positioning point, and the environmental interference coefficient is added for calculation, so that the interference of the environment on the positioning point calculation can be eliminated, the accuracy of the positioning point is improved, and the real motion track of the terminal user can be better reflected.

In one embodiment, as shown in fig. 8, another positioning track correcting method is provided, which is exemplified by the application of the method to the server 106 in fig. 1, and includes the following steps:

step 802, receiving a wireless data packet, analyzing the wireless data packet according to the encapsulation rule of the wireless data packet to obtain a wireless data set, and extracting the position information, the received signal strength and the terminal identification of the signal detector from the wireless data set.

And step 804, determining distance information between the signal detector and the corresponding terminal according to the received signal strength and the terminal identification.

And 806, calculating to obtain an initial positioning point set of the terminal according to the position information of the signal detector and the distance information between the signal detector and the corresponding terminal.

And 808, inputting the initial positioning point set into the trained positioning point prediction model to obtain the prediction positioning point corresponding to each initial positioning point in the initial positioning point set.

And 810, calculating a difference value between each initial positioning point and the corresponding pre-positioning point, and obtaining the positioning point to be corrected when the difference value is greater than a preset difference value threshold value.

In step 812, two anchor points adjacent to the anchor point to be corrected are obtained.

And 814, connecting two positioning points adjacent to the positioning point to be corrected to obtain a datum line corresponding to the positioning point to be corrected.

And 816, translating the positioning point to be corrected to the datum line to obtain the corrected positioning point.

And 818, updating the initial positioning point set according to the corrected positioning points to obtain a target positioning point set, and generating a target motion track according to the target positioning point set.

In this embodiment, the server receives a wireless data packet sent by the signal detector, analyzes the wireless data to obtain a wireless data set, extracts position information, a signal propagation angle and a signal propagation time of the signal detector to obtain an initial positioning point set of the terminal through calculation, inputs the initial positioning point set into a trained positioning point prediction model to obtain a prediction positioning point corresponding to each initial positioning point in the positioning point set, calculates a difference between each initial positioning point and the corresponding prediction positioning point to determine a positioning point to be corrected, further corrects the positioning point to be corrected according to two positioning points adjacent to the positioning point to be corrected, updates the initial positioning point set to obtain a target positioning point set, and thereby generates a target motion trajectory. As shown in fig. 8, it can be known that the motion trajectory obtained by the positioning trajectory correction method is closer to the real motion trajectory of the terminal user, and the accuracy is higher.

It should be understood that, although the steps in the flowcharts of fig. 2, 5, 7 and 8 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 2, 5, 7, and 8 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performing the sub-steps or stages is not necessarily sequential, but may be performed alternately or alternatingly with other steps or at least some of the sub-steps or stages of other steps.

In one embodiment, as shown in fig. 10, there is provided a localization track correcting device 1000 including: an information acquisition module 1001, an initial positioning point set calculation module 1002, a predicted positioning point set generation module 1003, a positioning point determination module 1004 to be corrected, a positioning point correction module 1005 and a target motion trajectory generation module 1006, wherein:

an information acquisition module 1001 configured to acquire position information and signal propagation information of a signal detector;

an initial positioning point set calculating module 1002, configured to calculate an initial positioning point set of a corresponding terminal according to the position information of the signal detector and the signal propagation information;

a predicted positioning point set generating module 1003, configured to input the initial positioning point set into the trained positioning point prediction model, so as to obtain a predicted positioning point corresponding to each initial positioning point in the initial positioning point set;

a to-be-corrected positioning point determining module 1004, configured to calculate a difference between each initial positioning point and a corresponding predicted positioning point, and obtain a to-be-corrected positioning point when the difference is greater than a preset difference threshold;

the positioning point correcting module 1005 is used for acquiring adjacent positioning points of the positioning points to be corrected, and correcting the positioning points to be corrected according to the adjacent positioning points to obtain corrected positioning points;

and a target motion trajectory generation module 1006, configured to update the initial positioning point set according to the corrected positioning points to obtain a target positioning point set, and generate a target motion trajectory according to the target positioning point set.

In one embodiment, the information obtaining module 1001 is further configured to receive a wireless data packet; analyzing the wireless data packet according to the encapsulation rule of the wireless data packet to obtain a wireless data set; position information and signal propagation information of the signal detector are extracted from the wireless data set.

In one embodiment, the signal propagation information includes received signal strength, where the received signal strength carries a terminal identifier, and the initial positioning point set calculating module 1002 is further configured to determine distance information between the signal detector and a corresponding terminal according to the received signal strength and the terminal identifier; and calculating to obtain an initial positioning point set of the terminal according to the position information of the signal detector and the distance information between the signal detector and the corresponding terminal.

In one embodiment, the positioning point correcting module 1005 is further configured to obtain two positioning points adjacent to the positioning point to be corrected; connecting two positioning points adjacent to the positioning point to be corrected to obtain a datum line corresponding to the positioning point to be corrected; and translating the positioning point to be corrected to the datum line to obtain the corrected positioning point.

In an embodiment, the positioning track correcting apparatus 1000 further includes a positioning point prediction model training module 1007, configured to obtain signal strengths received by the terminal in different environments, and establish an association relationship between the environments and the received signal strengths to obtain an environmental interference coefficient; acquiring an initial historical positioning point set of the terminal, wherein the initial historical positioning point set is obtained by calculating historical position information and historical signal propagation information of a signal detector; calculating to obtain predicted historical positioning points corresponding to each initial historical positioning point in the initial historical positioning point set according to the environmental interference coefficient and the initial historical positioning point set; acquiring actual historical positioning points corresponding to the initial historical positioning points, and comparing the actual historical positioning points with the corresponding predicted historical positioning points to obtain comparison results; and when the comparison result does not accord with the preset condition, adjusting the environmental interference coefficient until the comparison result accords with the preset condition to obtain the positioning point prediction model.

In one embodiment, the locating point prediction model training module 1007 is further configured to obtain signal strengths received by the terminal at multiple positions, and establish an association relationship between the terminal position and the received signal strength; acquiring the received signal strength of the terminal under the condition that different obstacles block the signal, and acquiring interference coefficients of the different obstacles on the received signal strength; and calculating to obtain an environmental interference coefficient according to the incidence relation between the terminal position and the received signal strength and the interference coefficients of different obstacles to the received signal strength.

For the specific definition of the positioning track correcting device, reference may be made to the above definition of the positioning track correcting method, which is not described herein again. The modules in the above positioning track correction device may be implemented wholly or partially by software, hardware, or a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.

In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as shown in fig. 11. The computer device includes a processor, a memory, a network interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a method of positional trajectory correction. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.

Those skilled in the art will appreciate that the architecture shown in fig. 11 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.

In one embodiment, a computer device is provided, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing the following steps when executing the computer program: acquiring position information and signal propagation information of a signal detector; calculating to obtain an initial positioning point set of a corresponding terminal according to the position information and the signal propagation information of the signal detector; inputting the initial positioning point set into a trained positioning point prediction model to obtain a predicted positioning point corresponding to each initial positioning point in the initial positioning point set; calculating the difference between each initial positioning point and the corresponding pre-positioning point, and obtaining a positioning point to be corrected when the difference is greater than a preset difference threshold; acquiring adjacent positioning points of the positioning points to be corrected, and correcting the positioning points to be corrected according to the adjacent positioning points to obtain corrected positioning points; and updating the initial positioning point set according to the corrected positioning points to obtain a target positioning point set, and generating a target motion track according to the target positioning point set.

In one embodiment, the computer program when executed by the processor further performs the steps of: receiving a wireless data packet; analyzing the wireless data packet according to the encapsulation rule of the wireless data packet to obtain a wireless data set; position information and signal propagation information of the signal detector are extracted from the wireless data set.

In one embodiment, the computer program when executed by the processor further performs the steps of: the signal propagation information comprises received signal strength, the received signal strength carries a terminal identifier, and distance information between the signal detector and a corresponding terminal is determined according to the received signal strength and the terminal identifier; and calculating to obtain an initial positioning point set of the terminal according to the position information of the signal detector and the distance information between the signal detector and the corresponding terminal.

In one embodiment, the computer program when executed by the processor further performs the steps of: acquiring two positioning points adjacent to the positioning point to be corrected; connecting two positioning points adjacent to the positioning point to be corrected to obtain a datum line corresponding to the positioning point to be corrected; and translating the positioning point to be corrected to the datum line to obtain the corrected positioning point.

In one embodiment, the computer program when executed by the processor further performs the steps of: acquiring the signal strength received by the terminal in different environments, and establishing an association relation between the environment and the received signal strength to obtain an environment interference coefficient; acquiring an initial historical positioning point set of the terminal, wherein the initial historical positioning point set is obtained by calculating historical position information and historical signal propagation information of a signal detector; calculating to obtain predicted historical positioning points corresponding to each initial historical positioning point in the initial historical positioning point set according to the environmental interference coefficient and the initial historical positioning point set; acquiring actual historical positioning points corresponding to the initial historical positioning points, and comparing the actual historical positioning points with the corresponding predicted historical positioning points to obtain comparison results; and when the comparison result does not accord with the preset condition, adjusting the environmental interference coefficient until the comparison result accords with the preset condition to obtain the positioning point prediction model.

In one embodiment, the computer program when executed by the processor further performs the steps of: acquiring the signal strength received by a terminal at a plurality of positions, and establishing an association relation between the terminal position and the received signal strength; acquiring the received signal strength of the terminal under the condition that different obstacles block the signal, and acquiring interference coefficients of the different obstacles on the received signal strength; and calculating to obtain an environmental interference coefficient according to the incidence relation between the terminal position and the received signal strength and the interference coefficients of different obstacles to the received signal strength.

In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of: acquiring position information and signal propagation information of a signal detector; calculating to obtain an initial positioning point set of a corresponding terminal according to the position information and the signal propagation information of the signal detector; inputting the initial positioning point set into a trained positioning point prediction model to obtain a predicted positioning point corresponding to each initial positioning point in the initial positioning point set; calculating the difference between each initial positioning point and the corresponding pre-positioning point, and obtaining a positioning point to be corrected when the difference is greater than a preset difference threshold; acquiring adjacent positioning points of the positioning points to be corrected, and correcting the positioning points to be corrected according to the adjacent positioning points to obtain corrected positioning points; and updating the initial positioning point set according to the corrected positioning points to obtain a target positioning point set, and generating a target motion track according to the target positioning point set.

In one embodiment, the computer program when executed by the processor further performs the steps of: the signal propagation information comprises received signal strength and a terminal identifier, and distance information between the signal detector and the corresponding terminal is determined according to the received signal strength and the terminal identifier; and calculating to obtain an initial positioning point set of the terminal according to the position information of the signal detector and the distance information between the signal detector and the corresponding terminal.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A localization track correction method, the method comprising:

2. The method of claim 1, wherein the acquiring position information and signal propagation information of the signal detector comprises:

receiving a wireless data packet;

3. The method according to claim 1, wherein the signal propagation information includes received signal strength, the received signal strength carries a terminal identifier, and the calculating an initial positioning point set of a corresponding terminal according to the position information of the signal detector and the signal propagation information includes:

4. The method according to claim 1, wherein obtaining neighboring anchor points of the anchor point to be corrected, and correcting the anchor point to be corrected according to the neighboring anchor points, obtaining a corrected anchor point comprises:

5. The method according to claim 1, characterized in that the training step of the anchor point prediction model comprises:

6. The method of claim 5, wherein obtaining the received signal strengths of the terminals in different environments, and establishing an association relationship between the environments and the received signal strengths comprises:

7. A positional trajectory correction apparatus, characterized in that the apparatus comprises:

8. The apparatus of claim 7, wherein the information obtaining module is further configured to receive a wireless data packet; analyzing the wireless data packet according to the encapsulation rule of the wireless data packet to obtain a wireless data set; and extracting the position information and the signal propagation information of the signal detector in the wireless data set.

9. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the steps of the method of any of claims 1 to 6 are implemented when the computer program is executed by the processor.

10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 6.