CN111025350B - Control method and device for positioning calculation, terminal equipment and positioning system - Google Patents
Control method and device for positioning calculation, terminal equipment and positioning system Download PDFInfo
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- CN111025350B CN111025350B CN201811188059.2A CN201811188059A CN111025350B CN 111025350 B CN111025350 B CN 111025350B CN 201811188059 A CN201811188059 A CN 201811188059A CN 111025350 B CN111025350 B CN 111025350B
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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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/35—Constructional details or hardware or software details of the signal processing chain
- G01S19/37—Hardware or software details of the signal processing chain
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B15/00—Systems controlled by a computer
- G05B15/02—Systems controlled by a computer electric
Abstract
The invention is suitable for the technical field of satellite positioning, and provides a positioning calculation control method and device, terminal equipment and a positioning system, wherein the control method comprises the following steps: the device establishes long connection with the cloud; receiving a resolving configuration instruction sent by the cloud; and determining a current calculation object based on the calculation configuration instruction and feeding back the current calculation object to the cloud end, so that the object can execute a calculation task conveniently, wherein the object is the cloud end or the equipment. According to the method and the device, the currently executed resolving object is determined according to the resolving configuration instruction of the cloud, one executing object cannot be fixed, the resolving task can be executed by the cloud or equipment, and resolving efficiency can be improved.
Description
Technical Field
The invention belongs to the technical field of satellite positioning, and particularly relates to a positioning calculation control method and device, terminal equipment and a positioning system.
Background
The positioning process of the conventional GNSS satellite positioning apparatus is: the received observation data of the satellite is locally subjected to single-point calculation, the calculation accuracy can reach the meter level, after the differential data of a foundation or a satellite-based augmentation system is accessed, the calculation accuracy of equipment can reach the centimeter level,
in the prior art, in some real-time monitoring scenes, observation data of equipment can be reported to a cloud end through bidirectional interaction, the cloud end carries out centimeter-level calculation according to the observation data and differential data of the equipment, and calculation results can be stored and monitored at the cloud end. However, pure device solution or cloud solution has great limitations, and cannot meet the service requirements in many scenarios. For example, when only equipment is used for resolving, when the equipment is abnormal in the resolving process, technicians are difficult to troubleshoot problems, and meanwhile, the resolving cannot be optimized by using more data; when only the cloud is used for resolving, extra network traffic is also needed to upload observation data to the cloud, and the time delay for the cloud to issue the resolving result is high.
Disclosure of Invention
The embodiment of the invention provides a positioning calculation control method and device, terminal equipment and a positioning system, and aims to solve the problem that in the prior art, calculation efficiency is affected because calculation cannot be carried out by only utilizing equipment or a cloud end and actual requirements cannot be met.
A control method of positioning calculation, comprising:
the device establishes long connection with the cloud;
receiving a resolving configuration instruction sent by the cloud;
and determining a current calculation object based on the calculation configuration instruction and feeding back the current calculation object to the cloud end, so that the object can execute a calculation task conveniently, wherein the object is the cloud end or the equipment.
Preferably, the establishing of the long connection between the device and the cloud includes:
the equipment sends an authentication request to the cloud end;
receiving a response fed back by the cloud based on the authentication request;
and establishing a long connection with the cloud terminal based on the response.
Preferably, the calculation configuration instruction is a cloud-forced calculation instruction, and the determining, based on the calculation configuration instruction and the current state of the device, an object for performing calculation specifically includes:
and uploading original observation data to the cloud end, so that the cloud end can conveniently carry out resolving based on the original observation data.
Preferably, the calculation configuration instruction is an instruction for deciding a calculation object by the device, and the determining an object for performing calculation based on the calculation configuration instruction and feeding back to the cloud end includes:
acquiring the current state of the equipment;
determining an object to perform a solution based on the state;
and sending a prompt carrying the object for executing resolving to the cloud end, so that the object can execute resolving tasks conveniently.
Preferably, the object for determining and executing the calculation based on the state is specifically:
if the current state is good, determining the equipment as an object for executing resolving; or
And if the current state is not good, determining the cloud end as an object for executing resolving.
Preferably, the sending the prompt carrying the object for performing the resolving to the cloud includes:
the equipment sends a prompt for executing a resolving task by the equipment to the cloud;
the solution is performed based on the raw observation data.
Preferably, the sending the prompt carrying the object for performing the resolving to the cloud includes:
the equipment sends a prompt for executing a resolving task by the cloud end to the cloud end;
and uploading original observation data to the cloud end, so that the cloud end can conveniently carry out resolving based on the original observation data.
Preferably, after sending the prompt carrying the object for performing the resolving to the cloud, the method further includes:
the device receives an execution object replacement instruction of a user;
and replacing the object for executing calculation according to the replacement instruction.
The invention also provides a positioning resolving control device, which comprises:
the connection unit is used for establishing long connection between the equipment and the cloud end;
the receiving unit is used for receiving a resolving configuration instruction sent by the cloud end;
and the control unit is used for determining a current calculation object based on the calculation configuration instruction, so that the object can conveniently execute a calculation task and feed back the calculation task to the cloud end, and the object is the cloud end or the equipment.
The invention also provides a terminal device, which comprises a positioning calculation control device, wherein the control device comprises:
the connection unit is used for establishing long connection between the equipment and the cloud end;
the receiving unit is used for receiving a resolving configuration instruction sent by the cloud end;
and the control unit is used for determining a current calculation object based on the calculation configuration instruction, so that the object can conveniently execute a calculation task and feed back the calculation task to the cloud end, and the object is the cloud end or the equipment.
The invention also provides a positioning system, which comprises the terminal equipment and a cloud end interacting with the terminal equipment, wherein:
the cloud end is used for sending a resolving configuration instruction to the terminal equipment and receiving feedback of the terminal equipment;
and the terminal equipment is used for receiving the resolving configuration instruction sent by the cloud end, determining a current resolving object based on the resolving configuration instruction and feeding back the current resolving object to the cloud end, so that the object can execute a resolving task conveniently, and the object is the cloud end or the equipment.
The present invention also provides a memory storing a computer program, wherein the computer program is executed by a processor to perform the steps of:
the device establishes long connection with the cloud;
receiving a resolving configuration instruction sent by the cloud;
and determining a current calculation object based on the calculation configuration instruction and feeding back the current calculation object to the cloud end, so that the object can execute a calculation task conveniently, wherein the object is the cloud end or the equipment.
The invention also provides a positioning terminal, which comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the computer program to realize the following steps:
the device establishes long connection with the cloud;
receiving a resolving configuration instruction sent by the cloud;
and determining a current calculation object based on the calculation configuration instruction and feeding back the current calculation object to the cloud end, so that the object can execute a calculation task conveniently, wherein the object is the cloud end or the equipment.
In the embodiment of the invention, the current calculation object is determined according to the calculation configuration instruction of the cloud, one execution object cannot be fixed, the calculation task can be executed by the cloud or equipment, and the calculation efficiency can be improved.
Drawings
Fig. 1 is a flowchart of a control method for positioning calculation according to a first embodiment of the present invention;
fig. 2 is a detailed flowchart of step S3 of a control method for positioning calculation according to a first embodiment of the present invention;
fig. 3 is a structural diagram of a positioning calculation control apparatus according to a second embodiment of the present invention;
fig. 4 is a block diagram of a positioning system according to a third embodiment of the present invention;
fig. 5 is a structural diagram of a positioning terminal according to a fourth embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention 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 invention and are not intended to limit the invention.
In an embodiment of the present invention, a control method for positioning calculation includes: the device establishes long connection with the cloud; receiving a resolving configuration instruction sent by the cloud; and determining a current calculation object based on the calculation configuration instruction and feeding back the current calculation object to the cloud end, so that the object can execute a calculation task conveniently, wherein the object is the cloud end or the equipment.
In order to explain the technical means of the present invention, the following description will be given by way of specific examples.
The first embodiment is as follows:
fig. 1 is a flowchart illustrating a control method of positioning calculation according to a first embodiment of the present invention, where the method includes:
step S1, long connection is established between the equipment and the cloud end;
specifically, the device is a terminal device with satellite data observation capability and resolving capability, the device and the cloud end firstly establish long connection, and the specific process is as follows:
the equipment completes power-on, then acquires an authentication request to the cloud, the authentication request carries authentication information, then receives a response fed back by the cloud based on the authentication request, and the equipment establishes long connection with the cloud based on the response.
Step S2, receiving a resolving configuration instruction sent by the cloud;
specifically, the cloud end can send a solution configuration instruction to the device according to the actual situation, where the solution configuration instruction may be to force the cloud end to perform the solution, or an object determined by the device to perform the solution (i.e., an executor determined to perform the solution task).
Step S3, determining the current object for resolving based on the resolving configuration instruction and feeding back the object to the cloud end, so that the object can execute the resolving task conveniently;
specifically, after receiving the calculation configuration instruction, the device determines the current object to be calculated according to the calculation configuration instruction, and feeds back the determination result to the cloud, so that the object to be calculated can be executed conveniently. The execution object is a cloud or a device.
In this embodiment, an object currently performing resolving is determined according to a resolving configuration instruction of the cloud, one executing object is not fixed, a resolving task can be performed by the cloud or a device, and resolving efficiency can be improved.
In a preferred embodiment of this embodiment, when the calculation configuration instruction is a forced operation calculation instruction, the step S3 specifically includes:
the original observation data are uploaded to the cloud end, so that the cloud end can conveniently perform resolving based on the original observation data; namely, the device uploads original observation data to the cloud end through the uplink channel, and the cloud end performs position calculation (positioning calculation) based on the original observation data.
In another preferred aspect of this embodiment, the calculation configuration instruction is an instruction for determining a calculation target by the equipment; as shown in fig. 2, a detailed flowchart of step S3 of a positioning calculation control method according to a first embodiment of the present invention is provided, where the step S3 specifically includes:
step S31, acquiring the current state of the equipment;
specifically, when the device determines the object to perform the calculation, the device first obtains its own state information and surrounding environment information, where the state information may include information on whether the device is currently working normally, and the surrounding environment information includes environment data such as temperature, humidity, and scene (e.g., in a dangerous room or a bridge) of the current environment, and integrates the state information and the surrounding environment information to determine whether the device is in a good state.
Step S32, determining an object to perform the calculation based on the state;
specifically, a reference list is preset, the reference list comprises evaluation criteria of good state and non-good state, the acquired data corresponding to the current state is matched with the reference list to obtain a corresponding matching result, and then an object for performing calculation is determined according to the matching result, namely, a task for performing calculation by the device itself or the cloud is determined according to the reference list.
Preferably, if the current state is good as a matching result, the device is determined to be an object for executing the calculation, and if the current state is not good as a matching result, the cloud is determined to be the object for executing the calculation. It should be noted that the boundary between good and not good can be determined according to practical situations, and is not limited herein.
Step S33, sending a prompt carrying an object for executing resolving to the cloud, so that the object can execute the resolving task conveniently;
specifically, when the calculation object is determined to be executed, a prompt is fed back to the cloud end in time, so that the corresponding execution object can execute the calculation task conveniently, and the feedback to the cloud end is needed no matter whether the execution object is the cloud end or not.
In a preferred embodiment of this embodiment, the device executes a calculation task, where step S33 specifically includes:
sending a prompt for executing a resolving task by the equipment to the cloud end, and resolving based on the original observation data;
specifically, a prompt for executing a resolving task by the device is sent to the cloud, uploading of the original observation data is stopped (if the original observation data is currently uploaded to the cloud), and the resolving task is executed based on the original observation data acquired by the device, that is, the resolving task is executed locally.
In another preferred embodiment of this embodiment, the calculation task is executed by an operation, and at this time, the step S33 specifically includes:
the device sends a prompt for executing a resolving task by the cloud to the cloud, and uploads original observation data to the cloud, so that the cloud can conveniently resolve based on the original observation data;
specifically, when it is determined that the cloud performs the calculation task, the local calculation is stopped (if the current calculation state is reached), and the original observation data is uploaded to the cloud, so that the cloud can perform positioning calculation based on the original observation data conveniently.
In a variation of this embodiment, the step S33 may further include:
receiving an execution object replacement instruction of a user;
feeding back to the cloud according to the replacement indication, and replacing an object for executing resolving;
specifically, if the current calculation-executing object is a cloud, when a replacement instruction of a user (a maintenance worker or a client) is received, uploading of original observation data to the cloud is stopped, a calculation-executing object replacement command is sent to the cloud, and after the cloud receives the replacement command, the calculation is stopped, and the equipment performs calculation operation.
If the current calculation-executing object is equipment, when a replacement instruction sent by a user (maintenance personnel or clients) according to business requirements or scene change is received, the calculation operation is stopped, a calculation-executing object replacement command is sent to the cloud end, and after the cloud end receives the replacement command, the original observation data uploaded by the equipment are received and are calculated based on the original observation data.
In this embodiment, an object currently performing resolving is determined according to a resolving configuration instruction of the cloud, one executing object is not fixed, a resolving task can be performed by the cloud or a device, and resolving efficiency can be improved.
Secondly, the object of the execution stage can be replaced according to the business requirement or scene change, and the reliability of calculation can be improved.
Example two:
as shown in fig. 3, a block diagram of a positioning calculation control apparatus according to a second embodiment of the present invention includes: a connection unit 1, a receiving unit 2 connected with the connection unit 1, a control unit 3 connected with the receiving unit 2, wherein:
the connection unit 1 is used for establishing long connection between the equipment and the cloud end;
specifically, the device is a terminal device with satellite data observation capability and resolving capability, the device and the cloud end firstly establish long connection, and the specific establishing process is as follows:
the equipment completes power-on, then acquires an authentication request to the cloud, the authentication request carries authentication information, then receives a response fed back by the cloud based on the authentication request, and the equipment establishes long connection with the cloud based on the response.
The receiving unit 2 is used for receiving a resolving configuration instruction sent by the cloud end;
specifically, the cloud end can send a solution configuration instruction to the device according to the actual situation, where the solution configuration instruction may be to force the cloud end to perform the solution, or an object determined by the device to perform the solution (i.e., an executor determined to perform the solution task).
The control unit 3 is used for determining a current calculation object based on the calculation configuration instruction and feeding back the current calculation object to the cloud end, so that the object can execute a calculation task conveniently;
specifically, after receiving the calculation configuration instruction, the device determines the current object to be calculated according to the calculation configuration instruction, and feeds back the determination result to the cloud, so that the object to be calculated can be executed conveniently. The execution object is a cloud or a device.
In this embodiment, an object currently performing resolving is determined according to a resolving configuration instruction of the cloud, one executing object is not fixed, a resolving task can be performed by the cloud or a device, and resolving efficiency can be improved.
In a preferred embodiment of this embodiment, when the calculation configuration instruction is a forced operation calculation instruction, the control unit 3 is specifically configured to:
the original observation data are uploaded to the cloud end, so that the cloud end can conveniently perform resolving based on the original observation data; namely, the device uploads original observation data to the cloud end through the uplink channel, and the cloud end performs position calculation (positioning calculation) based on the original observation data.
In another preferred aspect of this embodiment, the calculation configuration instruction is an instruction for determining a calculation target by the equipment; the control unit 3 specifically includes: the acquisition subunit, the determination subunit connected with the acquisition subunit, and the control subunit connected with the determination subunit, wherein:
the acquisition subunit is used for acquiring the current state of the equipment;
specifically, when the device determines the object to perform the calculation, the device first obtains its own state information and surrounding environment information, where the state information may include information on whether the device is currently working normally, and the surrounding environment information includes environment data such as temperature, humidity, and scene (e.g., in a dangerous room or a bridge) of the current environment, and integrates the state information and the surrounding environment information to determine whether the device is in a good state.
A determination subunit operable to determine an object to perform the calculation based on the state;
specifically, a reference list is preset, the reference list comprises evaluation criteria of good state and non-good state, the acquired data corresponding to the current state is matched with the reference list to obtain a corresponding matching result, and then an object for performing calculation is determined according to the matching result, namely, a task for performing calculation by the device itself or the cloud is determined according to the reference list.
Preferably, if the current state is good as a matching result, the device is determined to be an object for executing the calculation, and if the current state is not good as a matching result, the cloud is determined to be the object for executing the calculation. It should be noted that the boundary between good and not good can be determined according to practical situations, and is not limited herein.
The control subunit is used for sending a prompt carrying an object for executing resolving to the cloud end, so that the object can execute the resolving task conveniently;
specifically, when the calculation object is determined to be executed, a prompt is fed back to the cloud end in time, so that the corresponding execution object can execute the calculation task conveniently, and the feedback to the cloud end is needed no matter whether the execution object is the cloud end or not.
In a preferred embodiment of this embodiment, the device executes a calculation task, and the control subunit is specifically configured to:
sending a prompt for executing a resolving task by the equipment to the cloud end, and resolving based on the original observation data;
specifically, a prompt for executing a resolving task by the device is sent to the cloud, uploading of the original observation data is stopped (if the original observation data is currently uploaded to the cloud), and the resolving task is executed based on the original observation data acquired by the device, that is, the resolving task is executed locally.
In another preferred embodiment of this embodiment, the calculation task is executed by an operation, and the control subunit is specifically configured to:
the device sends a prompt for executing a resolving task by the cloud to the cloud, and uploads original observation data to the cloud, so that the cloud can conveniently resolve based on the original observation data;
specifically, when it is determined that the cloud performs the calculation task, the local calculation is stopped (if the current calculation state is reached), and the original observation data is uploaded to the cloud, so that the cloud can perform positioning calculation based on the original observation data conveniently.
In a variant of the present embodiment, the control subunit 3 is further configured to:
receiving an execution object replacement instruction of a user;
feeding back to the cloud according to the replacement indication, and replacing an object for executing resolving;
specifically, if the current calculation-executing object is a cloud, when a replacement instruction of a user (a maintenance worker or a client) is received, uploading of original observation data to the cloud is stopped, a calculation-executing object replacement command is sent to the cloud, and after the cloud receives the replacement command, the calculation is stopped, and the equipment performs calculation operation.
If the current calculation-executing object is equipment, when a replacement instruction sent by a user (maintenance personnel or clients) according to business requirements or scene change is received, the calculation operation is stopped, a calculation-executing object replacement command is sent to the cloud end, and after the cloud end receives the replacement command, the original observation data uploaded by the equipment are received and are calculated based on the original observation data.
In this embodiment, an object currently performing resolving is determined according to a resolving configuration instruction of the cloud, one executing object is not fixed, a resolving task can be performed by the cloud or a device, and resolving efficiency can be improved.
Secondly, the object of the execution stage can be replaced according to the business requirement or scene change, and the reliability of calculation can be improved.
The invention further provides a terminal device, which comprises a positioning calculation control device, and the specific structure, the working principle and the corresponding technical effect of the terminal device are basically consistent with those of the positioning calculation control device described in the second embodiment, and are not repeated herein.
Example three:
fig. 4 shows a block diagram of a positioning system according to a third embodiment of the present invention, where the positioning system includes a cloud 41 and a terminal device 42 connected thereto, where:
the terminal device 42 is a terminal device with satellite data observation capability and calculation capability, the terminal device 42 and the cloud 41 are firstly in long connection, the cloud 41 interacts with the terminal device 42, the cloud 41 sends a calculation configuration instruction to the terminal device 42, the terminal device 42 determines an object for executing calculation based on the calculation configuration instruction and feeds the object back to the cloud 41, the execution object is convenient to execute a calculation task, and the object is the cloud or the device.
It should be noted that the number of the terminal devices 42 may be one or more than two, and the number is not limited here, and the terminal device 42 includes the control device at the positioning stage as described in the above embodiment two, and the specific structure, the working principle, and the brought technical effects of the control device are substantially the same, and are not described here again.
Example four:
fig. 5 is a block diagram illustrating a positioning terminal according to a fourth embodiment of the present invention, where the positioning terminal includes: a memory (memory)51, a processor (processor)52, a communication Interface (communication Interface)53 and a bus 54, wherein the processor 52, the memory 51 and the communication Interface 53 complete mutual communication through the bus 54.
A memory 51 for storing various data;
specifically, the memory 51 is used for storing various data, such as data in communication, received data, and the like, and is not limited herein, and the memory further includes a plurality of computer programs.
A communication interface 53 for information transmission between communication devices of the positioning terminal;
the processor 52 is used for calling various computer programs in the memory 51 to execute a method for evaluating inter-frequency deviation provided by the first embodiment, for example:
the device establishes long connection with the cloud;
receiving a resolving configuration instruction sent by the cloud;
and determining a current calculation object based on the calculation configuration instruction and feeding back the current calculation object to the cloud end, so that the object can execute a calculation task conveniently, wherein the object is the cloud end or the equipment.
In this embodiment, an object currently performing resolving is determined according to a resolving configuration instruction of the cloud, one executing object is not fixed, a resolving task can be performed by the cloud or a device, and resolving efficiency can be improved.
The invention also provides a memory, wherein the memory stores a plurality of computer programs, and the computer programs are called by the processor to execute the positioning calculation control method in the first embodiment.
According to the method and the device, the currently executed resolving object is determined according to the resolving configuration instruction of the cloud, one executing object cannot be fixed, the resolving task can be executed by the cloud or equipment, and resolving efficiency can be improved.
Secondly, the object of the execution stage can be replaced according to the business requirement or scene change, and the reliability of calculation can be improved.
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 invention. The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (13)
1. A control method of positioning calculation is characterized in that,
the method comprises the following steps:
the device establishes long connection with the cloud;
receiving a resolving configuration instruction sent by the cloud, wherein the resolving configuration instruction is an instruction for determining a resolving object by equipment;
determining an object currently executing calculation based on the calculation configuration instruction and feeding back the object to the cloud end, so that the object can execute a calculation task, wherein the object is the cloud end or the equipment, and the method comprises the following substeps: acquiring the current state of equipment, wherein the equipment firstly acquires the state information of the equipment and the ambient environment information, the state information can comprise information such as whether the equipment works normally at present, and the ambient environment information comprises the temperature and the humidity of the current environment, environmental data of a scene where the equipment is located, and comprehensive state information and the ambient environment information so as to determine whether the equipment is in a good state; determining an object for executing resolving based on the state, wherein a reference list is preset and comprises evaluation criteria of good state and non-good state, the acquired data corresponding to the current state is matched with the reference list to obtain a corresponding matching result, and the object for executing resolving is determined according to the matching result, wherein if the matching result is that the current state is good, the equipment is determined to be the object for executing resolving, and if the matching result is that the current state is non-good, the cloud end is determined to be the object for executing resolving; and sending a prompt carrying the object for executing the resolving to the cloud end, so that the object can execute the resolving task conveniently.
2. The control method according to claim 1,
the device and the cloud establishing long connection comprises the following steps:
the equipment sends an authentication request to the cloud end;
receiving a response fed back by the cloud based on the authentication request;
and establishing a long connection with the cloud terminal based on the response.
3. The control method according to claim 2,
the resolving configuration instruction is a forced cloud resolving instruction, and the determining of the resolving object based on the resolving configuration instruction and the current state of the equipment specifically includes:
and uploading original observation data to the cloud end, so that the cloud end can conveniently carry out resolving based on the original observation data.
4. The control method according to claim 1,
the resolving configuration instruction is an instruction for determining a resolving object by the equipment, and the determining an object for performing resolving based on the resolving configuration instruction and feeding back to the cloud end comprises:
acquiring the current state of the equipment;
determining an object to perform a solution based on the state;
and sending a prompt carrying the object for executing resolving to the cloud end, so that the object can execute resolving tasks conveniently.
5. The control method according to claim 4,
the object for determining and executing the calculation based on the state is specifically:
if the current state is good, determining the equipment as an object for executing resolving; or
And if the current state is not good, determining the cloud end as an object for executing resolving.
6. The control method according to claim 5,
the sending of the prompt carrying the object for performing the resolving to the cloud includes:
the equipment sends a prompt for executing a resolving task by the equipment to the cloud;
the solution is performed based on the raw observation data.
7. The control method according to claim 5,
the sending of the prompt carrying the object for performing the resolving to the cloud includes:
the equipment sends a prompt for executing a resolving task by the cloud end to the cloud end;
and uploading original observation data to the cloud end, so that the cloud end can conveniently carry out resolving based on the original observation data.
8. The control method according to claim 4,
after sending a prompt carrying the object for executing resolving to the cloud, the method further comprises:
the device receives an execution object replacement instruction of a user;
and replacing the object for executing calculation according to the replacement instruction.
9. A control device for positioning calculation is characterized in that,
the method comprises the following steps:
the connection unit is used for establishing long connection between the equipment and the cloud end;
the receiving unit is used for receiving a resolving configuration instruction sent by the cloud end, wherein the resolving configuration instruction is an instruction for determining a resolving object by equipment;
the control unit is used for determining an object currently executing calculation based on the calculation configuration instruction, so that the object can execute a calculation task and feed back the calculation task to the cloud end, and the object is the cloud end or the equipment, wherein the control unit comprises the following sub-steps: acquiring the current state of equipment, wherein the equipment firstly acquires the state information of the equipment and the ambient environment information, the state information can comprise information such as whether the equipment works normally at present, and the ambient environment information comprises the temperature and the humidity of the current environment, environmental data of a scene where the equipment is located, and comprehensive state information and the ambient environment information so as to determine whether the equipment is in a good state; determining an object for executing resolving based on the state, wherein a reference list is preset and comprises evaluation criteria of good state and non-good state, the acquired data corresponding to the current state is matched with the reference list to obtain a corresponding matching result, and the object for executing resolving is determined according to the matching result, wherein if the matching result is that the current state is good, the equipment is determined to be the object for executing resolving, and if the matching result is that the current state is non-good, the cloud end is determined to be the object for executing resolving; and sending a prompt carrying the object for executing the resolving to the cloud end, so that the object can execute the resolving task conveniently.
10. A terminal device, characterized in that,
a control device comprising a positioning solution according to claim 9.
11. A positioning system is characterized in that a positioning device is provided,
including terminal equipment and rather than carrying out interactive high in the clouds, wherein:
the cloud end is used for sending a resolving configuration instruction to the terminal equipment and receiving feedback of the terminal equipment, wherein the resolving configuration instruction is an instruction for determining a resolving object by the equipment;
the terminal device is used for receiving a resolving configuration instruction sent by the cloud end, determining a current resolving object based on the resolving configuration instruction and feeding back the current resolving object to the cloud end, so that the object can execute a resolving task conveniently, wherein the object is the cloud end or the device, and the method comprises the following substeps: acquiring the current state of equipment, wherein the equipment firstly acquires the state information of the equipment and the ambient environment information, the state information can comprise information such as whether the equipment works normally at present, and the ambient environment information comprises the temperature and the humidity of the current environment, environmental data of a scene where the equipment is located, and comprehensive state information and the ambient environment information so as to determine whether the equipment is in a good state; determining an object for executing resolving based on the state, wherein a reference list is preset and comprises evaluation criteria of good state and non-good state, the acquired data corresponding to the current state is matched with the reference list to obtain a corresponding matching result, and the object for executing resolving is determined according to the matching result, wherein if the matching result is that the current state is good, the equipment is determined to be the object for executing resolving, and if the matching result is that the current state is non-good, the cloud end is determined to be the object for executing resolving; and sending a prompt carrying the object for executing the resolving to the cloud end, so that the object can execute the resolving task conveniently.
12. A memory storing a computer program, characterized in that,
the computer program is executed by a processor for the steps of:
the device establishes long connection with the cloud;
receiving a resolving configuration instruction sent by the cloud, wherein the resolving configuration instruction is an instruction for determining a resolving object by equipment;
determining an object currently executing calculation based on the calculation configuration instruction and feeding back the object to the cloud end, so that the object can execute a calculation task, wherein the object is the cloud end or the equipment, and the method comprises the following substeps: acquiring the current state of equipment, wherein the equipment firstly acquires the state information of the equipment and the ambient environment information, the state information can comprise information such as whether the equipment works normally at present, and the ambient environment information comprises the temperature and the humidity of the current environment, environmental data of a scene where the equipment is located, and comprehensive state information and the ambient environment information so as to determine whether the equipment is in a good state; determining an object for executing resolving based on the state, wherein a reference list is preset and comprises evaluation criteria of good state and non-good state, the acquired data corresponding to the current state is matched with the reference list to obtain a corresponding matching result, and the object for executing resolving is determined according to the matching result, wherein if the matching result is that the current state is good, the equipment is determined to be the object for executing resolving, and if the matching result is that the current state is non-good, the cloud end is determined to be the object for executing resolving; and sending a prompt carrying the object for executing the resolving to the cloud end, so that the object can execute the resolving task conveniently.
13. A positioning terminal comprising a memory, a processor and a computer program stored in said memory and executable on said processor, characterized in that,
the processor, when executing the computer program, implements the steps of a positioning-resolved control method according to any of claims 1 to 8.
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