CN111399005A - Attitude determination positioning method, system, medium and electronic device for mobile terminal - Google Patents
Attitude determination positioning method, system, medium and electronic device for mobile terminal Download PDFInfo
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- CN111399005A CN111399005A CN202010156969.3A CN202010156969A CN111399005A CN 111399005 A CN111399005 A CN 111399005A CN 202010156969 A CN202010156969 A CN 202010156969A CN 111399005 A CN111399005 A CN 111399005A
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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
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/25—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS
- G01S19/256—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS relating to timing, e.g. time of week, code phase, timing offset
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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
- G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
- G01S19/05—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing aiding data
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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
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
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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
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
Abstract
The invention discloses a method, a system, a medium and an electronic device for positioning a fixed posture of a mobile terminal, wherein the method for positioning the fixed posture comprises the following steps: acquiring sampling data of a sensor of the mobile terminal; determining the motion state of the mobile terminal according to the sampling data of the sensor; adjusting the frequency parameter of the mobile terminal according to the motion state; and the sensor of the mobile terminal after the frequency parameter adjustment and the GPS are used for positioning the attitude of the mobile terminal together, so that the power consumption of the mobile terminal in the motion state is the lowest while the attitude of the mobile terminal is positioned. The technical scheme of the invention not only can integrate the sensor sampling data and the GPS positioning result to perform fusion attitude determination positioning, but also can adjust the sampling frequency, the GPS positioning frequency and the calculation frequency of the attitude determination positioning algorithm according to different motion state grades to which the mobile terminal belongs, thereby achieving the aim of reducing the overall power consumption.
Description
Technical Field
The invention relates to the technical field of communication, in particular to a method, a system, a medium and electronic equipment for positioning a mobile terminal by determining posture.
Background
A GPS (global positioning system) positioning chip is generally equipped in a mobile terminal (e.g., a mobile phone, a tablet pc, etc.), and although in the prior art, a GPS positioning time interval can be adjusted by using a measurement value of an accelerometer, a single GPS positioning is still relied on, and in some scenes (e.g., a high-rise sheltered scene), the positioning accuracy of the single GPS positioning is poor, and even in scenes such as a tunnel and an underground garage, the positioning cannot be performed.
With the development of mobile communication technology, a mobile terminal is initially equipped with various physical sensors (such as an accelerometer, a magnetometer, a gyroscope, a barometer, and the like), a camera, UWB (a positioning system), Wi-Fi (wireless fidelity), bluetooth, and the like. With the popularization of multiple sensors, various forms of filtering methods and deep neural network algorithms can be used for improving the accuracy and reliability of attitude determination positioning. However, the various physical sensors inevitably bring higher power consumption during operation, and the power consumption directly affects the cruising ability of the mobile terminal.
Therefore, how to reduce the power consumption of the mobile terminal to improve the endurance while improving the attitude determination and positioning accuracy of the mobile terminal is an urgent problem to be solved at present.
Disclosure of Invention
The invention aims to overcome the defect that the prior art cannot meet the requirements of improving the attitude determination and positioning accuracy of a mobile terminal and reducing the power consumption of the mobile terminal, and provides an attitude determination and positioning method, system, medium and electronic equipment of the mobile terminal.
The invention solves the technical problems through the following technical scheme:
a posture-fixing positioning method of a mobile terminal comprises the following steps:
acquiring sampling data of a sensor of the mobile terminal;
determining the motion state of the mobile terminal according to the sampling data of the sensor, wherein different motion states respectively correspond to different motion amplitudes;
adjusting a frequency parameter of the mobile terminal according to the motion state, wherein the frequency parameter comprises at least one of a sampling frequency of the sensor, a GPS positioning frequency and an attitude determination positioning algorithm calculation frequency;
and the sensor of the mobile terminal after the frequency parameter adjustment and the GPS are used for positioning the attitude of the mobile terminal together, so that the power consumption of the mobile terminal in the motion state is the lowest while the attitude of the mobile terminal is positioned.
Preferably, the frequency at which the sensor collects the sampled data is a first sampling frequency, the sensor comprising an accelerometer;
if the motion state belongs to a static grade, the step of adjusting the frequency parameter of the mobile terminal according to the motion state comprises the following steps:
adjusting the sampling frequency of the accelerometer to a lowest sampling frequency that the accelerometer can reach; and closing the GPS positioning and attitude-determining positioning algorithm so as to enable the GPS positioning frequency and the attitude-determining positioning algorithm calculation frequency to be 0.
Preferably, the sensor further comprises at least one of a gyroscope, a magnetometer, and a barometer;
if the motion state belongs to a static grade, the step of adjusting the frequency parameter of the mobile terminal according to the motion state further comprises:
turning off the sensors except the accelerometer so that the sampling frequency of the sensors except the accelerometer is 0.
Preferably, the frequency at which the sensor collects the sampled data is a first sampling frequency, the sensor comprising an accelerometer;
if the motion state belongs to a first dynamic level, the step of adjusting the frequency parameter of the mobile terminal according to the motion state comprises the following steps:
adjusting the sampling frequency of the sensor to a second sampling frequency, wherein the second sampling frequency is not less than the first sampling frequency; adjusting the GPS positioning frequency to a first positioning frequency, wherein the first positioning frequency is not less than a preset positioning frequency; and adjusting the calculation frequency of the attitude-determining and positioning algorithm to be a first calculation frequency which is not less than the lowest sampling frequency which can be reached by the accelerometer.
Preferably, if the motion state belongs to a second dynamic level, the motion amplitude corresponding to the second dynamic level is greater than the motion amplitude corresponding to the first dynamic level;
the step of adjusting the frequency parameter of the mobile terminal according to the motion state comprises:
adjusting the sampling frequency of the sensor to a third sampling frequency, wherein the third sampling frequency is not less than the second sampling frequency; adjusting the GPS positioning frequency to a second positioning frequency, wherein the second positioning frequency is not less than the first positioning frequency and not more than the lowest sampling frequency of the accelerometer; and adjusting the calculation frequency of the attitude-fixing positioning algorithm to be a second calculation frequency which is not less than the first calculation frequency.
Preferably, if the motion state belongs to a third dynamic level, the motion amplitude corresponding to the third dynamic level is greater than the motion amplitude corresponding to the second dynamic level;
the step of adjusting the frequency parameter of the mobile terminal according to the motion state comprises:
adjusting the sampling frequency of the sensor to a fourth sampling frequency, wherein the fourth sampling frequency is not less than the third sampling frequency; adjusting the GPS positioning frequency to a third positioning frequency, wherein the third positioning frequency is not less than the second positioning frequency; adjusting the attitude determination positioning algorithm calculation frequency to a third calculation frequency, wherein the third calculation frequency is not less than the second calculation frequency and the third calculation frequency is not greater than the fourth sampling frequency.
A pose determination positioning system of a mobile terminal, the pose determination positioning system comprising:
the data acquisition module is used for acquiring sampling data of a sensor of the mobile terminal;
the motion state division module is used for determining the motion state of the mobile terminal according to the sampling data of the sensor, and different motion states respectively correspond to different motion amplitudes;
the frequency adjusting module is used for adjusting the frequency parameters of the mobile terminal according to the motion state, wherein the frequency parameters comprise at least one of the sampling frequency of the sensor, the GPS positioning frequency and the attitude and position determination positioning algorithm calculation frequency;
and the attitude determination and positioning module is used for determining the attitude of the mobile terminal by utilizing the sensor of the mobile terminal after the frequency parameter adjustment and the GPS, so that the power consumption of the mobile terminal in the motion state is the lowest while the attitude determination and positioning of the mobile terminal are performed.
Preferably, the frequency at which the sensor collects the sampled data is a first sampling frequency, the sensor comprising an accelerometer;
if the motion state division module determines that the motion state of the mobile terminal belongs to a static grade, the frequency adjustment module adjusts the sampling frequency of the accelerometer to the lowest sampling frequency which can be reached by the accelerometer; and closing the GPS positioning and attitude-determining positioning algorithm so as to enable the GPS positioning frequency and the attitude-determining positioning algorithm calculation frequency to be 0.
Preferably, the sensor further comprises at least one of a gyroscope, a magnetometer, and a barometer;
if the motion state division module determines that the motion state of the mobile terminal belongs to a static level, the frequency adjustment module is further configured to turn off the sensors except the accelerometer, so that the sampling frequency of the sensors except the accelerometer is 0.
Preferably, the frequency at which the sensor collects the sampled data is a first sampling frequency, the sensor comprising an accelerometer;
if the motion state division module determines that the motion state of the mobile terminal belongs to a first dynamic grade, the frequency adjustment module adjusts the sampling frequency of the sensor to a second sampling frequency, wherein the second sampling frequency is not less than the first sampling frequency; adjusting the GPS positioning frequency to a first positioning frequency, wherein the first positioning frequency is not less than a preset positioning frequency; and adjusting the calculation frequency of the attitude-determining and positioning algorithm to be a first calculation frequency which is not less than the lowest sampling frequency which can be reached by the accelerometer.
Preferably, if the motion state division module determines that the motion state of the mobile terminal belongs to a second dynamic level, a motion amplitude corresponding to the second dynamic level is greater than a motion amplitude corresponding to the first dynamic level; the frequency adjustment module adjusts the sampling frequency of the sensor to a third sampling frequency, wherein the third sampling frequency is not less than the second sampling frequency; adjusting the GPS positioning frequency to a second positioning frequency, wherein the second positioning frequency is not less than the first positioning frequency and not more than the lowest sampling frequency of the accelerometer; and adjusting the calculation frequency of the attitude-fixing positioning algorithm to be a second calculation frequency which is not less than the first calculation frequency.
Preferably, if the motion state division module determines that the motion state of the mobile terminal belongs to a third dynamic level, a motion amplitude corresponding to the third dynamic level is greater than a motion amplitude corresponding to the second dynamic level;
the frequency adjustment module adjusts the sampling frequency of the sensor to a fourth sampling frequency, wherein the fourth sampling frequency is not less than the third sampling frequency; adjusting the GPS positioning frequency to a third positioning frequency, wherein the third positioning frequency is not less than the second positioning frequency; adjusting the attitude determination positioning algorithm calculation frequency to a third calculation frequency, wherein the third calculation frequency is not less than the second calculation frequency and the third calculation frequency is not greater than the fourth sampling frequency.
An electronic device includes a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor implements the steps of the posture-fixing and positioning method of the mobile terminal when executing the computer program.
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 aforementioned method of pose location of a mobile terminal.
The positive progress effects of the invention are as follows: the method and the system for positioning the attitude of the mobile terminal acquire the sampling data of the sensor of the mobile terminal; next, determining the motion state grade of the mobile terminal according to the sampling data of the sensor, wherein different motion state grades respectively correspond to different motion amplitudes of the mobile terminal; and then adjusting at least one of the sampling frequency of the sensor, the GPS positioning frequency and the attitude and positioning algorithm calculation frequency according to the motion state grade. Therefore, the sensor sampling data and the GPS positioning result can be integrated to perform fusion attitude determination positioning, and the sampling frequency, the GPS positioning frequency and the attitude determination positioning algorithm calculation frequency can be adjusted according to different motion state grades of the mobile terminal, so that the aim of reducing the overall power consumption is fulfilled.
Drawings
Fig. 1 is a flowchart of a pose determination and positioning method for a mobile terminal according to embodiment 1 of the present invention.
Fig. 2 is a block diagram of a pose determination and positioning system of a mobile terminal according to embodiment 2 of the present invention.
Fig. 3 is a block diagram of an electronic device according to embodiment 3 of the present invention.
Detailed Description
The invention is further illustrated by the following examples, which are not intended to limit the scope of the invention.
Example 1
The present embodiment provides a pose determination and positioning method of a mobile terminal, as shown in fig. 1, the pose determination and positioning method may include the following steps:
step S1: acquiring sampling data of a sensor of the mobile terminal;
step S2: determining the motion state of the mobile terminal according to the sampling data of the sensor, wherein different motion states respectively correspond to different motion amplitudes;
specifically, the motion amplitude may determine the motion intensity of the mobile terminal through a standard deviation of sensor data in a time window, a difference between a maximum value and a minimum value, and the like.
Step S3: adjusting a frequency parameter of the mobile terminal according to the motion state, wherein the frequency parameter comprises at least one of a sampling frequency of the sensor, a GPS positioning frequency and an attitude determination positioning algorithm calculation frequency;
step S4: and the sensor of the mobile terminal after the frequency parameter adjustment and the GPS are used for positioning the attitude of the mobile terminal together, so that the power consumption of the mobile terminal in the motion state is the lowest while the attitude of the mobile terminal is positioned.
Specifically, the frequency of the sensor collecting the sampling data is a first sampling frequency, which may also be referred to as a default sampling frequency. The sensor may comprise an accelerometer.
In this embodiment, a relatively mature method in the prior art may be adopted to classify the motion state of the mobile terminal. Specifically, the sensor data may be preprocessed, the standard deviation, the average value, the difference between the maximum value and the minimum value, and the like of the sensor data in the window time are calculated, and the threshold ranges of the standard deviation (or the average value, the difference between the maximum value and the minimum value, and the like) corresponding to different motion states are preset, for example: the threshold range of standard deviations for the static correspondence may be 0-a1, the threshold range of standard deviations for the first dynamic level may be a1-a2, the threshold range of standard deviations for the second dynamic level may be a2-A3, and the threshold range of standard deviations for the third dynamic level may be A3-a4, where 0< a1< a2< A3< a 4.
In a specific application scenario, the motion state level of the mobile terminal may be determined only by the sampled data of the accelerometer, for example. Specifically, if the standard deviation of the accelerometer data in the window time belongs to the range of 0-a1, it can be considered that the mobile terminal has no motion or the amplitude of the motion is negligible, and the motion state of the mobile terminal is determined to be static; if the standard deviation of the accelerometer data in the window time falls within the range of A1-A2, the mobile terminal may be considered to be of low dynamics and may be determined to be a first dynamic level; if the standard deviation of the accelerometer data in the window time belongs to the range of A2-A3, the mobile terminal can be considered to belong to the medium dynamic state, and the mobile terminal can be determined to be the second dynamic level; if the standard deviation of the accelerometer data over the window time falls within the range of A3-A4, the mobile terminal may be considered to be of high dynamics and may be determined to be at a third dynamic level.
In another specific application scenario, for example: the sensors include, in addition to accelerometers, gyroscopes, magnetometers, and barometers. In this case, the motion state level of the mobile terminal may be determined by sampling data of a plurality of different classes of sensors. In determining the motion state level, the sampling data of each sensor may be assigned a different weight. For example: the standard deviation of the data collected by the accelerometer is B1, and the proportion of the data is B1%; the standard deviation of data collected by the gyroscope is B2, and the proportion of the data is B2%; the standard deviation of the data collected by the magnetometer is B3, and the proportion of the data is B3%; the standard deviation of the data collected by the barometer is B4, and the proportion is B4%. At this time, the sum of B1 × B1% + B2 × B2% + B3 × B3% + B4 × B4% is determined to be within which threshold range, thereby determining the motion state level of the mobile terminal.
It should be noted that the determination method of the motion state level that can be adopted in this embodiment is not limited to the two determination methods illustrated above, and those skilled in the art may select other determination methods of different algorithms according to specific application situations, and this embodiment is not limited to this.
In this embodiment, if the motion state level is static, step S3 may specifically include: adjusting the sampling frequency of the accelerometer to a lowest sampling frequency that can be reached by the accelerometer, the specific value depending on the accelerometer itself, the lowest sampling frequency being not greater than the first sampling frequency; and closing the GPS positioning and attitude-determining positioning algorithm so as to enable the GPS positioning frequency and the attitude-determining positioning algorithm calculation frequency to be 0.
The sensor may further comprise at least one of a gyroscope, a magnetometer, and a barometer;
if the motion state belongs to a static grade, the step of adjusting the frequency parameter of the mobile terminal according to the motion state further comprises: turning off the sensors except the accelerometer so that the sampling frequency of the sensors except the accelerometer is 0.
If the motion state belongs to a first dynamic level, the step of adjusting the frequency parameter of the mobile terminal according to the motion state comprises the following steps:
adjusting the sampling frequency of the sensor to a second sampling frequency, wherein the second sampling frequency is not less than the first sampling frequency; adjusting the GPS positioning frequency to a first positioning frequency, wherein the first positioning frequency is not less than a preset positioning frequency; adjusting the calculation frequency of the attitude determination positioning algorithm to be a first calculation frequency which is not less than the lowest sampling frequency of the accelerometer.
If the motion state belongs to a second dynamic level, the motion amplitude corresponding to the second dynamic level is larger than the motion amplitude corresponding to the first dynamic level;
the step of adjusting the frequency parameter of the mobile terminal according to the motion state comprises:
adjusting the sampling frequency of the sensor to a third sampling frequency, wherein the third sampling frequency is not less than the second sampling frequency; adjusting the GPS positioning frequency to a second positioning frequency, wherein the second positioning frequency is not less than the first positioning frequency and not more than the lowest sampling frequency of the accelerometer; and adjusting the calculation frequency of the attitude-fixing positioning algorithm to be a second calculation frequency which is not less than the first calculation frequency.
If the motion state belongs to a third dynamic level, the motion amplitude corresponding to the third dynamic level is larger than the motion amplitude corresponding to the second dynamic level;
the step of adjusting the frequency parameter of the mobile terminal according to the motion state comprises:
adjusting the sampling frequency of the sensor to a fourth sampling frequency, wherein the fourth sampling frequency is not less than the third sampling frequency; adjusting the GPS positioning frequency to a third positioning frequency, wherein the third positioning frequency is not less than the second positioning frequency; adjusting the attitude determination positioning algorithm calculation frequency to a third calculation frequency, wherein the third calculation frequency is not less than the second calculation frequency and the third calculation frequency is not greater than the fourth sampling frequency.
Preferably, the third positioning frequency may be a positioning frequency of a GPS in a normally open state.
In this embodiment, the preset positioning frequency may be 1/180HZ (hertz), the first sampling frequency may be 10HZ, the second sampling frequency may be 25HZ, the first calculating frequency may be 1HZ, and the first positioning frequency may be 1/180 HZ-1/30 HZ; the third sampling frequency can be selected to be 50Hz, the second calculating frequency can be selected to be 5Hz, and the second positioning frequency can be selected to be 0.2 Hz; the fourth sampling frequency may be selected to be 100Hz and the third calculation frequency may be selected to be 100 Hz.
Different power consumption and precision results can be obtained by adjusting the sampling frequency of the sensor, the GPS positioning frequency and the attitude-determining positioning algorithm calculation frequency, and in practical application, if the power consumption is more emphasized, the frequency of the sensor, the GPS positioning frequency and the attitude-determining positioning algorithm calculation frequency can be properly reduced; if more attention is paid to the improvement of the attitude determination positioning precision, the frequency value can be properly improved. The adjusted frequency threshold is not limited to the partial values listed in this embodiment, but must satisfy the magnitude relationship between the frequencies in the above technical solution.
The attitude determination positioning method of the mobile terminal provided by the embodiment can not only integrate the sensor sampling data and the GPS positioning result to perform fusion attitude determination positioning, but also adjust the sampling frequency, the GPS positioning frequency and the calculation frequency of the attitude determination positioning algorithm according to different motion state grades to which the mobile terminal belongs, thereby achieving the purpose of reducing the overall power consumption.
Example 2
The present embodiment provides a pose determination positioning system of a mobile terminal, as shown in fig. 2, the pose determination positioning system 1 may include:
the data acquisition module 11 is configured to acquire sampling data of a sensor of the mobile terminal;
a motion state division module 12, configured to determine a motion state of the mobile terminal according to the sampling data of the sensor, where different motion states correspond to different motion amplitudes respectively;
specifically, the motion amplitude may refer to a motion intensity of the mobile terminal determined by an angular rate, a specific force, an air pressure value, and the like collected by each sensor.
A frequency adjusting module 13, configured to adjust a frequency parameter of the mobile terminal according to the motion state, where the frequency parameter includes at least one of a sampling frequency of the sensor, a GPS positioning frequency, and a calculation frequency of an attitude determination and positioning algorithm;
and the attitude determination and positioning module 14 is configured to determine an attitude of the mobile terminal by using the sensor of the mobile terminal after the frequency parameter adjustment and a GPS together, so that the power consumption of the mobile terminal in the motion state is the lowest while the attitude determination and positioning of the mobile terminal are performed.
The frequency of the sensor for acquiring the sampling data is a first sampling frequency, and the sensor can comprise an accelerometer;
in this embodiment, a relatively mature method in the prior art may be adopted to classify the motion state of the mobile terminal. Specifically, threshold ranges corresponding to different motion states may be preset, for example: the static corresponding threshold range may be 0-a1, the first dynamic level may correspond to a threshold range of a1-a2, the second dynamic level may correspond to a threshold range of a2-A3, and the third dynamic level may correspond to a threshold range of A3-a4, where 0< a1< a2< A3< a 4.
In a specific application scenario, the motion state level of the mobile terminal may be determined only by the sampled data of the accelerometer, for example. Specifically, if the data collected by the accelerometer belongs to the range of 0-a1, it can be considered that the mobile terminal has no motion or the amplitude of the motion can be ignored, and the motion state of the mobile terminal is determined to be static; if the data collected by the accelerometer belong to the range of A1-A2, the mobile terminal can be considered to belong to low dynamics and can be determined as a first dynamic level; if the data collected by the accelerometer belong to the range of A2-A3, the mobile terminal can be considered to belong to the medium dynamic state, and the mobile terminal can be determined to be a second dynamic level; if the data collected by the accelerometer falls within the range of A3-A4, the mobile terminal may be considered to be of high dynamics and may be determined to be at a third dynamic level.
In another specific application scenario, for example: the sensors include, in addition to accelerometers, gyroscopes, magnetometers, and barometers. In this case, the motion state level of the mobile terminal may be determined by sampling data of a plurality of different classes of sensors. In determining the motion state level, a different weight can be assigned to the sample data of each sensor. For example: the data collected by the accelerometer is B1, and the proportion is B1%; the data collected by the gyroscope is B2, and the proportion is B2%; the data collected by the magnetometer is B3, and the proportion is B3%; the barometer collects the data B4, and the proportion is B4%. At this time, the sum of B1 × B1% + B2 × B2% + B3 × B3% + B4 × B4% is determined to be within which threshold range, thereby determining the motion state level of the mobile terminal.
It should be noted that the determination method of the motion state level that can be adopted in this embodiment is not limited to the two determination methods illustrated above, and those skilled in the art may select other determination methods of different algorithms according to specific application situations, and this embodiment is not limited to this.
In this embodiment, if the motion state division module 12 determines that the motion state of the mobile terminal belongs to a static level, the frequency adjustment module 13 adjusts the sampling frequency of the accelerometer to a lowest sampling frequency that can be reached by the accelerometer, where a specific numerical value depends on the accelerometer itself, and the lowest sampling frequency is not greater than the first sampling frequency; and closing the GPS positioning and attitude-determining positioning algorithm so as to enable the GPS positioning frequency and the attitude-determining positioning algorithm calculation frequency to be 0.
The sensor further comprises at least one of a gyroscope, a magnetometer, and a barometer;
if the motion state division module 12 determines that the motion state of the mobile terminal belongs to a static level, the frequency adjustment module 13 is further configured to turn off the sensors except the accelerometer, so that the sampling frequency of the sensors except the accelerometer is 0.
If the motion state division module 12 determines that the motion state of the mobile terminal belongs to a first dynamic level, the frequency adjustment module 13 adjusts the sampling frequency of the sensor to a second sampling frequency, where the second sampling frequency is not less than the first sampling frequency; adjusting the GPS positioning frequency to a first positioning frequency, wherein the first positioning frequency is not less than a preset positioning frequency; adjusting the calculation frequency of the attitude determination positioning algorithm to be a first calculation frequency which is not less than the lowest sampling frequency of the accelerometer.
If the motion state division module 12 determines that the motion state of the mobile terminal belongs to a second dynamic level, the motion amplitude corresponding to the second dynamic level is greater than the motion amplitude corresponding to the first dynamic level; the frequency adjustment module 13 adjusts the sampling frequency of the sensor to a third sampling frequency, where the third sampling frequency is not less than the second sampling frequency; adjusting the GPS positioning frequency to a second positioning frequency, wherein the second positioning frequency is not less than the first positioning frequency and not more than the lowest sampling frequency of the accelerometer; and adjusting the calculation frequency of the attitude-fixing positioning algorithm to be a second calculation frequency which is not less than the first calculation frequency.
If the motion state division module 12 determines that the motion state of the mobile terminal belongs to a third dynamic level, the motion amplitude corresponding to the third dynamic level is greater than the motion amplitude corresponding to the second dynamic level; the frequency adjustment module 13 adjusts the sampling frequency of the sensor to a fourth sampling frequency, where the fourth sampling frequency is not less than the third sampling frequency; adjusting the GPS positioning frequency to a third positioning frequency, wherein the third positioning frequency is not less than the second positioning frequency; adjusting the attitude determination positioning algorithm calculation frequency to a third calculation frequency, wherein the third calculation frequency is not less than the second calculation frequency and the third calculation frequency is not greater than the fourth sampling frequency.
Preferably, the third positioning frequency may be a positioning frequency of a GPS in a normally open state.
In this embodiment, the preset positioning frequency may be 1/180HZ (hertz), and the first sampling frequency may be 10HZ (hertz); the second sampling frequency can be 25Hz, the first calculating frequency can be 1Hz, and the first positioning frequency can be 1/180 Hz-1/30 Hz; the third sampling frequency may be selected to be 50Hz, the second calculation frequency f _ fusion2 may be selected to be 5Hz, and the second positioning frequency may be selected to be 0.2 Hz; the fourth sampling frequency may be selected to be 100Hz and the third calculation frequency may be selected to be 100 Hz.
Different power consumption and precision results can be obtained by adjusting the sampling frequency of the sensor, the GPS positioning frequency and the attitude-determining positioning algorithm calculation frequency, and in practical application, if the power consumption is more emphasized, the frequency of the sensor, the GPS positioning frequency and the attitude-determining positioning algorithm calculation frequency can be properly reduced; if more attention is paid to the improvement of the attitude determination positioning precision, the frequency value can be properly improved. The adjusted frequency threshold is not limited to the partial values listed in this embodiment, but must satisfy the magnitude relationship between the frequencies in the above technical solution.
When the attitude determination positioning system of the mobile terminal provided by the embodiment operates, not only can the sampling data of the sensor and the GPS positioning result be integrated to perform attitude determination positioning, but also the sampling frequency, the GPS positioning frequency and the calculation frequency of the attitude determination positioning algorithm can be adjusted according to different motion state grades to which the mobile terminal belongs, so that the aim of reducing the overall power consumption is fulfilled.
Example 3
The invention also provides an electronic device, which can be a mobile terminal. As shown in fig. 3, the electronic device 2 may include a processor 3, a memory 4, a bus 5, an I/O interface 7, a network adapter 8, a sensor 9, and a computer program stored on the memory 4 and operable on the processor 3, and the processor 3 implements the steps of the posture determining and positioning method of the mobile terminal in the foregoing embodiment 1 when executing the computer program.
It should be understood that the electronic device shown in fig. 3 is only an example, and should not bring any limitation to the function and the scope of the application of the embodiment of the present invention.
As shown in fig. 3, the electronic device 2 may be embodied in the form of a general purpose computing device, such as: which may be a server device. The components of the electronic device 2 may include, but are not limited to: the at least one processor 3, the at least one memory 4, and a bus 5 connecting the various system components (including the memory 4 and the processor 3).
The bus 5 may include a data bus, an address bus, and a control bus.
The memory 4 may include volatile memory, such as Random Access Memory (RAM)41 and/or cache memory 42, and may further include Read Only Memory (ROM) 43.
The memory 4 may also include a program tool 45 (or utility tool) having a set (at least one) of program modules 44, such program modules 44 including, but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which, or some combination thereof, may comprise an implementation of a network environment.
The sensors 9 may include accelerometers, gyroscopes, magnetometers, barometers, and the like.
The processor 3 executes various functional applications and data processing, such as the steps of the posture-determining and positioning method of the mobile terminal in the foregoing embodiment 1 of the present invention, by running the computer program stored in the memory 4.
The electronic device 2 may also communicate with one or more external devices 6 (e.g., keyboard, pointing device, etc.), such communication may be through input/output (I/O) interfaces 7, and the model-generated electronic device 2 may also communicate with one or more networks (e.g., a local area network L AN, a wide area network WAN, and/or a public network) through a network adapter 8.
As shown in FIG. 3, the network adapter 8 may communicate with other modules of the model-generated electronic device 2 via a bus 5. It will be appreciated by those skilled in the art that although not shown in the figures, other hardware and/or software modules may be used in conjunction with the model-generated electronic device 2, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID (disk array) systems, tape drives, and data backup storage systems, etc.
It should be noted that although in the above detailed description several units/modules or sub-units/modules of the electronic device are mentioned, such division is merely exemplary and not mandatory. Indeed, the features and functionality of two or more of the units/modules described above may be embodied in one unit/module according to embodiments of the invention. Conversely, the features and functions of one unit/module described above may be further divided into embodiments by a plurality of units/modules.
Example 4
The present embodiment provides a computer-readable storage medium on which a computer program is stored, which when executed by a processor, implements the steps of the posture-determining and positioning method of a mobile terminal in the foregoing embodiment 1.
More specific ways in which the computer-readable storage medium may be employed may include, but are not limited to: a portable disk, a hard disk, random access memory, read only memory, erasable programmable read only memory, optical storage device, magnetic storage device, or any suitable combination of the foregoing.
In a possible implementation, the present invention can also be implemented in the form of a program product including program code for causing a terminal device to execute the steps of implementing the pose positioning method of the mobile terminal in the foregoing embodiment 1 when the program product is run on the terminal device.
Where program code for carrying out the invention is written in any combination of one or more programming languages, the program code may execute entirely on the user device, partly on the user device, as a stand-alone software package, partly on the user device and partly on a remote device or entirely on the remote device.
While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that this is by way of example only, and that the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications are within the scope of the invention.
Claims (14)
1. A posture-fixing and positioning method of a mobile terminal is characterized by comprising the following steps:
acquiring sampling data of a sensor of the mobile terminal;
determining the motion state of the mobile terminal according to the sampling data of the sensor, wherein different motion states respectively correspond to different motion amplitudes;
adjusting a frequency parameter of the mobile terminal according to the motion state, wherein the frequency parameter comprises at least one of a sampling frequency of the sensor, a GPS positioning frequency and an attitude determination positioning algorithm calculation frequency;
and the sensor of the mobile terminal after the frequency parameter adjustment and the GPS are used for positioning the attitude of the mobile terminal together, so that the power consumption of the mobile terminal in the motion state is the lowest while the attitude of the mobile terminal is positioned.
2. The method according to claim 1, wherein the frequency of the sensor acquiring the sampling data is a first sampling frequency, and the sensor comprises an accelerometer;
if the motion state belongs to a static grade, the step of adjusting the frequency parameter of the mobile terminal according to the motion state comprises the following steps:
adjusting the sampling frequency of the accelerometer to a lowest sampling frequency that the accelerometer can reach; and closing the GPS positioning and attitude-determining positioning algorithm so as to enable the GPS positioning frequency and the attitude-determining positioning algorithm calculation frequency to be 0.
3. The method of claim 2, wherein the sensor further comprises at least one of a gyroscope, a magnetometer, and a barometer;
if the motion state belongs to a static grade, the step of adjusting the frequency parameter of the mobile terminal according to the motion state further comprises:
turning off the sensors except the accelerometer so that the sampling frequency of the sensors except the accelerometer is 0.
4. The attitude determination and positioning method of a mobile terminal according to claim 1,
the frequency of the sensor for acquiring the sampling data is a first sampling frequency, and the sensor comprises an accelerometer;
if the motion state belongs to a first dynamic level, the step of adjusting the frequency parameter of the mobile terminal according to the motion state comprises the following steps:
adjusting the sampling frequency of the sensor to a second sampling frequency, wherein the second sampling frequency is not less than the first sampling frequency; adjusting the GPS positioning frequency to a first positioning frequency, wherein the first positioning frequency is not less than a preset positioning frequency; and adjusting the calculation frequency of the attitude-determining and positioning algorithm to be a first calculation frequency which is not less than the lowest sampling frequency which can be reached by the accelerometer.
5. The method according to claim 4, wherein if the motion status belongs to a second dynamic level, the motion amplitude corresponding to the second dynamic level is greater than the motion amplitude corresponding to the first dynamic level;
the step of adjusting the frequency parameter of the mobile terminal according to the motion state comprises:
adjusting the sampling frequency of the sensor to a third sampling frequency, wherein the third sampling frequency is not less than the second sampling frequency; adjusting the GPS positioning frequency to a second positioning frequency, wherein the second positioning frequency is not less than the first positioning frequency and not more than the lowest sampling frequency of the accelerometer; and adjusting the calculation frequency of the attitude-fixing positioning algorithm to be a second calculation frequency which is not less than the first calculation frequency.
6. The method according to claim 5, wherein if the motion status belongs to a third dynamic level, the motion amplitude corresponding to the third dynamic level is greater than the motion amplitude corresponding to the second dynamic level;
the step of adjusting the frequency parameter of the mobile terminal according to the motion state comprises:
adjusting the sampling frequency of the sensor to a fourth sampling frequency, wherein the fourth sampling frequency is not less than the third sampling frequency; adjusting the GPS positioning frequency to a third positioning frequency, wherein the third positioning frequency is not less than the second positioning frequency; adjusting the attitude determination positioning algorithm calculation frequency to a third calculation frequency, wherein the third calculation frequency is not less than the second calculation frequency and the third calculation frequency is not greater than the fourth sampling frequency.
7. An attitude determination positioning system of a mobile terminal, characterized in that the attitude determination positioning system comprises:
the data acquisition module is used for acquiring sampling data of a sensor of the mobile terminal;
the motion state division module is used for determining the motion state of the mobile terminal according to the sampling data of the sensor, and different motion states respectively correspond to different motion amplitudes;
the frequency adjusting module is used for adjusting the frequency parameters of the mobile terminal according to the motion state, wherein the frequency parameters comprise at least one of the sampling frequency of the sensor, the GPS positioning frequency and the attitude and position determination positioning algorithm calculation frequency;
and the attitude determination and positioning module is used for determining the attitude of the mobile terminal by utilizing the sensor of the mobile terminal after the frequency parameter adjustment and the GPS, so that the power consumption of the mobile terminal in the motion state is the lowest while the attitude determination and positioning of the mobile terminal are performed.
8. The system of claim 7, wherein the sensor collects the sampled data at a first sampling frequency, the sensor comprising an accelerometer;
if the motion state division module determines that the motion state of the mobile terminal belongs to a static grade, the frequency adjustment module adjusts the sampling frequency of the accelerometer to the lowest sampling frequency which can be reached by the accelerometer; and closing the GPS positioning and attitude-determining positioning algorithm so as to enable the GPS positioning frequency and the attitude-determining positioning algorithm calculation frequency to be 0.
9. The system of claim 8, wherein the sensor further comprises at least one of a gyroscope, a magnetometer, and a barometer;
if the motion state division module determines that the motion state of the mobile terminal belongs to a static level, the frequency adjustment module is further configured to turn off the sensors except the accelerometer, so that the sampling frequency of the sensors except the accelerometer is 0.
10. The attitude determination positioning system of a mobile terminal according to claim 7,
the frequency of the sensor for acquiring the sampling data is a first sampling frequency, and the sensor comprises an accelerometer;
if the motion state division module determines that the motion state of the mobile terminal belongs to a first dynamic grade, the frequency adjustment module adjusts the sampling frequency of the sensor to a second sampling frequency, wherein the second sampling frequency is not less than the first sampling frequency; adjusting the GPS positioning frequency to a first positioning frequency, wherein the first positioning frequency is not less than a preset positioning frequency; and adjusting the calculation frequency of the attitude-determining and positioning algorithm to be a first calculation frequency which is not less than the lowest sampling frequency which can be reached by the accelerometer.
11. The system according to claim 10, wherein if the motion state classification module determines that the motion state of the mobile terminal belongs to a second dynamic level, the motion amplitude corresponding to the second dynamic level is greater than the motion amplitude corresponding to the first dynamic level; the frequency adjustment module adjusts the sampling frequency of the sensor to a third sampling frequency, wherein the third sampling frequency is not less than the second sampling frequency; adjusting the GPS positioning frequency to a second positioning frequency, wherein the second positioning frequency is not less than the first positioning frequency and not more than the lowest sampling frequency of the accelerometer; and adjusting the calculation frequency of the attitude-fixing positioning algorithm to be a second calculation frequency which is not less than the first calculation frequency.
12. The system according to claim 11, wherein if the motion state classification module determines that the motion state of the mobile terminal belongs to a third dynamic level, the motion amplitude corresponding to the third dynamic level is greater than the motion amplitude corresponding to the second dynamic level; the frequency adjustment module adjusts the sampling frequency of the sensor to a fourth sampling frequency, wherein the fourth sampling frequency is not less than the third sampling frequency; adjusting the GPS positioning frequency to a third positioning frequency, wherein the third positioning frequency is not less than the second positioning frequency; adjusting the attitude determination positioning algorithm calculation frequency to a third calculation frequency, wherein the third calculation frequency is not less than the second calculation frequency and the third calculation frequency is not greater than the fourth sampling frequency.
13. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the pose location method of a mobile terminal according to any of claims 1 to 6 when executing the computer program.
14. 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 for pose positioning of a mobile terminal according to any of claims 1-6.
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