CN111510866B

CN111510866B - Positioning system, method and equipment

Info

Publication number: CN111510866B
Application number: CN202010299445.XA
Authority: CN
Inventors: 刘恒进
Original assignee: Tencent Technology Shenzhen Co Ltd
Current assignee: Tencent Technology Shenzhen Co Ltd
Priority date: 2020-04-16
Filing date: 2020-04-16
Publication date: 2022-03-08
Anticipated expiration: 2040-04-16
Also published as: CN111510866A

Abstract

The embodiment of the application discloses a positioning system, a method and a device, wherein the system comprises: the positioning method comprises the following steps that signal broadcasting equipment and an object to be positioned are adopted, wherein the object to be positioned comprises a signal receiving module and a position correcting module; the signal broadcasting equipment is fixedly deployed in a target geographic environment and stores the position information of the deployment position of the signal broadcasting equipment; the signal broadcasting equipment communicates with a signal receiving module in an object to be positioned through a D2D technology; the signal broadcasting equipment is used for broadcasting a target message, and the target message comprises the position information stored in the signal broadcasting equipment; the signal receiving module is used for receiving the target message, analyzing the target message to obtain position information in the target message and transmitting the position information to the position correction module; and the position correction module is used for determining the current position information of the object to be positioned according to the position information transmitted by the signal receiving module. The positioning system can accurately determine the position information of an object to be positioned in a scene which cannot be positioned based on the GPS technology.

Description

Positioning system, method and equipment

Technical Field

The present application relates to the field of communications technologies, and in particular, to a positioning system, method, and device.

Background

Nowadays, Global Positioning System (GPS) has been widely used in various Positioning scenarios, such as vehicle Positioning, user Positioning, and the like. However, the GPS technology still has certain limitations at present, that is, GPS signals cannot be received in many scenes (such as tunnels, etc.), and accordingly, positioning based on the GPS technology cannot be performed.

For the above scenario, currently, an Inertial Navigation System (INS) is mainly used for positioning. Taking the positioning of a vehicle traveling in a tunnel as an example, an INS deployed on the vehicle may determine current position information of the vehicle based on known initial position information in combination with information collected by an accelerometer, a gyroscope, and the like.

The INS-based positioning is substantially relative positioning, and a positioning error thereof increases with time and distance, and when a distance is too long in a scene such as a tunnel where GPS signals cannot be received, a large positioning error may occur, making it difficult to ensure accuracy of the determined position information.

Disclosure of Invention

The embodiment of the application provides a positioning system, a positioning method and positioning equipment, which can accurately determine the position information of an object to be positioned in a scene which cannot be positioned based on a GPS technology.

In view of this, the first aspect of the present application provides a positioning system, comprising: the positioning method comprises the following steps that signal broadcasting equipment and an object to be positioned are included, wherein the object to be positioned comprises a signal receiving module and a position correcting module; the signal broadcasting equipment is fixedly deployed in a target geographic environment and stores the position information of the deployment position of the signal broadcasting equipment; the signal broadcasting equipment communicates with the signal receiving module in the object to be positioned through a device-to-device D2D technology;

the signal broadcasting equipment is used for broadcasting a target message, and the target message comprises position information stored in the signal broadcasting equipment;

the signal receiving module is used for receiving the target message, analyzing the target message to obtain the position information, and transmitting the position information to the position correction module;

and the position correction module is used for determining the current position information of the object to be positioned according to the position information.

A second aspect of the present application provides a positioning method, performed by an object to be positioned, the method comprising:

receiving a target message broadcast by a signal broadcasting device based on the D2D technology; the signal broadcasting equipment is fixedly deployed in a target geographic environment and stores the position information of the deployment position of the signal broadcasting equipment; the target message comprises position information stored in the signal broadcasting equipment;

analyzing the target message to obtain the position information;

and determining the current position information of the object to be positioned according to the position information.

A third aspect of the application provides an apparatus comprising a processor and a memory:

the memory is used for storing a computer program;

the processor is adapted to perform the steps of the positioning method according to the second aspect according to the computer program.

A fourth aspect of the present application provides a computer-readable storage medium for storing a computer program for performing the steps of the positioning method according to the second aspect.

A fifth aspect of the present application provides a computer program product comprising instructions which, when run on a computer, cause the computer to perform the steps of the positioning method of the second aspect described above.

According to the technical scheme, the embodiment of the application has the following advantages:

the embodiment of the application provides a positioning system, which comprises signal broadcasting equipment and an object to be positioned; the signal broadcasting equipment is fixedly deployed in a target geographic environment which cannot receive GPS signals or can receive weak GPS signals, and accurate position information of the deployment position of the signal broadcasting equipment is stored in the signal broadcasting equipment; the object to be positioned includes a signal receiving module and a position correction module, the signal receiving module may receive a target message broadcasted by a signal broadcasting Device based on a Device-to-Device (D2D) technology, the target message carries accurate position information stored in the signal broadcasting Device, and correspondingly, the position correction module may determine current position information of the object to be positioned based on the accurate position information carried in the target message. In practical application, one signal broadcasting device can be deployed at intervals in a target geographic environment, and in the process that an object to be positioned moves in the target geographic environment, the current position information of the object to be positioned can be corrected based on the accurate position information broadcasted by each signal broadcasting device, so that continuous accumulation of positioning errors is avoided, and the positioning accuracy is improved.

Drawings

Fig. 1 is a schematic diagram illustrating a configuration of a positioning system according to an embodiment of the present disclosure;

fig. 2 is a signaling diagram of interaction between parts in a positioning system according to an embodiment of the present application;

fig. 3 is a schematic diagram of a frame structure of a target message based on bluetooth technology according to an embodiment of the present application;

fig. 4 is a schematic diagram of a frame structure of a target message based on an NFC technology according to an embodiment of the present application;

fig. 5 is a schematic flowchart of a positioning method according to an embodiment of the present application;

fig. 6 is a schematic structural diagram of a first positioning device according to an embodiment of the present disclosure;

fig. 7 is a schematic structural diagram of a second positioning device according to an embodiment of the present disclosure;

FIG. 8 is a schematic structural diagram of a third positioning apparatus according to an embodiment of the present disclosure;

fig. 9 is a schematic structural diagram of a fourth positioning device according to an embodiment of the present disclosure;

fig. 10 is a schematic structural diagram of a terminal device according to an embodiment of the present application.

Detailed Description

In order to make the technical solutions of the present application better understood, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

The terms "first," "second," "third," "fourth," and the like in the description and in the claims of the present application and in the drawings described above, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

In the related art, in an application scenario where positioning cannot be performed based on the GPS technology, the INS is generally used to determine the position information of an object to be positioned, a positioning error generated by such a positioning method becomes larger along with accumulation of time and distance, and a large positioning error is generated when a moving distance is too long in a scenario where GPS signals cannot be received, such as a tunnel, and positioning accuracy is low.

In view of the problems in the related art, embodiments of the present application provide a positioning system, which can accurately determine the location information of an object to be positioned based on the positioning system in an environment where a GPS signal cannot be received or the received GPS signal is weak, so as to improve the positioning accuracy.

Specifically, the positioning system provided by the embodiment of the application comprises signal broadcasting equipment and an object to be positioned, wherein a signal receiving module and a position correction module are deployed in the object to be positioned; the signal broadcasting equipment is fixedly deployed in a target geographic environment and stores the accurate position information of the deployment position of the signal broadcasting equipment; the signal receiving module in the object to be located and the signal broadcasting equipment can communicate through the D2D technology. In specific application, the signal broadcasting equipment is used for broadcasting a target message, and the target message comprises accurate position information stored by the signal broadcasting equipment; the signal receiving module is used for receiving target information broadcasted by the signal broadcasting equipment, analyzing the target information to obtain accurate position information in the target information, and further transmitting the accurate position information to the position correction module; and the position correction module is used for determining the current position information of the object to be positioned according to the accurate position information.

Compared with the implementation mode that only INS is used for determining the position information of the object to be positioned in the scene which cannot be positioned based on the GPS technology in the related technology, the positioning system provided by the embodiment of the application corrects the current position information of the object to be positioned by means of the accurate position information of the signal broadcasting equipment deployed in the target geographic environment. In an actual application scenario, one signal broadcasting device can be deployed at intervals in a target geographic environment, and in the process that an object to be positioned moves in the target geographic environment, the object to be positioned can correct the current position information of the object to be positioned according to the accurate position information broadcasted by each signal broadcasting device, so that continuous accumulation of positioning errors is avoided, and the positioning accuracy in the target geographic environment is improved.

It should be noted that, in the positioning system provided in the embodiment of the present application, the signal broadcasting device may be a device having a D2D Communication function, such as a Near Field Communication (NFC) broadcasting module, a bluetooth broadcasting module, and the like. The object to be positioned may be any device that needs to determine its position information and has a D2D communication function, specifically, may be a vehicle such as an autonomous vehicle, a manually driven vehicle, and the like, and specifically, may also be a mobile terminal device such as a smartphone, a tablet computer, a Personal Digital Assistant (PDA), and the like. The signal broadcasting device and the object to be positioned in the positioning system provided by the present application are not specifically limited herein.

In order to further understand the technical solutions provided by the embodiments of the present application, the following takes the example that the positioning system provided by the embodiments of the present application is used for positioning the position information of the vehicle traveling in the tunnel as an example, and an exemplary description is made on the positioning system provided by the embodiments of the present application.

Referring to fig. 1, fig. 1 is a schematic diagram illustrating a component architecture of a positioning system according to an embodiment of the present disclosure. As shown in fig. 1, the positioning system includes a plurality of signal broadcasting devices 110 and a vehicle 120 to be positioned (i.e., an object to be positioned). One signal broadcasting device 110 may be disposed at intervals in the road surface of the tunnel (i.e., the target geographical environment), and each signal broadcasting device 110 stores therein precise location information corresponding to its disposition location, which is predetermined and written in the signal broadcasting device 110. The vehicle 120 to be positioned includes a signal receiving module 121 and a position correction module 122, and the signal receiving module 121 and the signal broadcasting equipment 110 can communicate based on the D2D technology.

After the vehicle 120 to be positioned travels into the tunnel, the position information of the vehicle cannot be determined based on the GPS technology, and in this case, the vehicle 120 to be positioned may control to turn on the signal receiving module 121 of the vehicle, and receive the target message broadcast by the signal broadcasting equipment 110 disposed in the tunnel by using the signal receiving module 121.

Specifically, the signal broadcasting device 110 deployed in the tunnel may periodically broadcast a target message, where the target message carries location information stored by the signal broadcasting device 110 itself, that is, the target message carries accurate location information corresponding to the deployment location of the signal broadcasting device 110 itself. When the vehicle 120 to be positioned travels to the vicinity of a certain signal broadcasting device 110, the signal receiving module 121 disposed thereon may accordingly receive the target message broadcast by the signal broadcasting device 110, for example, assuming that the effective broadcast distance of the signal broadcasting device 110 is 1m, when the vehicle 120 to be positioned travels to a position which is less than or equal to 1m away from the signal broadcasting device 110, the signal receiving module 121 on the vehicle 120 to be positioned may accordingly receive the target message broadcast by the signal broadcasting device 110.

Further, the signal receiving module 121 may parse the target message to obtain the position information carried therein, and transmit the position information to the position correcting module 122 in the vehicle 120 to be positioned. After receiving the position information, the position correction module 122 may determine the current position information of the vehicle 120 to be positioned according to the position information; specifically, in the case that the vehicle 120 to be positioned determines its own position information in the tunnel based on the INS, the position correction module 122 may correct the position information determined by the INS by using the position information sent by the signal receiving module 121.

It should be understood that, when the vehicle 120 to be positioned travels to the vicinity of each signal broadcasting device 110 deployed in the tunnel, the above-mentioned process is correspondingly executed, that is, in the process that the vehicle 120 to be positioned travels in the tunnel, the current position information of the vehicle is determined sequentially according to the target message broadcast by each signal broadcasting device 110 deployed in the tunnel.

It should be noted that the positioning system shown in fig. 1 is only an example, and in practical applications, the positioning system provided in the embodiment of the present application may also be applied to other scenarios, for example, the positioning system provided in the embodiment of the present application may also be applied to a scenario of positioning a mobile terminal device, and specifically, in a case that the mobile terminal device cannot determine its own location information based on a GPS technology, the mobile terminal device may determine its own current location information according to location information broadcast by a signal broadcasting device deployed in a target geographic environment. The application scenario of the positioning system provided in the embodiment of the present application is not limited at all.

The positioning system provided by the present application is described in detail by the following embodiments.

Referring to fig. 2, fig. 2 is a signaling diagram of interaction between parts in a positioning system according to an embodiment of the present application. The signal broadcasting equipment 210 is fixedly deployed in a target geographic environment, and stores accurate location information of a deployment location thereof; the object to be positioned 220 includes a signal receiving module 221 and a position correction module 222.

A signal broadcasting apparatus 210 for broadcasting a target message including location information stored in the signal broadcasting apparatus.

The signal broadcasting device 210 is generally fixedly deployed in a target geographical environment, in which precise location information of its own deployment location is stored. The signal broadcasting device 210 may periodically broadcast a target message including its stored precise location information when it is operating normally.

Taking the above-mentioned signal broadcasting device 210 deployed in a tunnel for assisting a vehicle driving in the tunnel to correct its own position information as an example, the signal broadcasting device 210 may be fixedly deployed on the tunnel road surface, for example, a small hole may be dug on the tunnel road surface, and the signal broadcasting device 210 may be fixed in the hole. In order to avoid that the vehicle receives the target messages broadcast by the multiple signal broadcasting devices 210 simultaneously during the driving process, it cannot be determined which signal broadcasting device 210 is to correct the position information of the vehicle according to the target message broadcast by the signal broadcasting device, in general, one signal broadcasting device 210 may be disposed in the tunnel at intervals, for example, one signal broadcasting device 210 may be disposed at intervals of 100m, and in addition, the effective broadcast distance of each signal broadcasting device 210 may be set, for example, the effective broadcast distance of the signal broadcasting device 210 is set to 1 m.

It should be understood that, in practical applications, the spacing distance between adjacent signal broadcasting devices 210 may be set according to the actual requirements of the application scenario, for example, in a scenario of locating a vehicle, a larger spacing distance may be set for the adjacent signal broadcasting devices 210, and in a scenario of locating a mobile terminal device (such as a smartphone, etc.), a smaller spacing distance may be set for the adjacent signal broadcasting devices 210; the separation distance between adjacent signal broadcasting devices 210 in the target geographic environment is not limited herein.

In addition, the number of signal broadcasting devices 210 that need to be deployed in the target geographic environment may be set according to the size of the target geographic environment and the actual requirements of the application scenario, for example, in a scenario of positioning a vehicle traveling in a tunnel, if the tunnel distance is short, the number of signal broadcasting devices 210 that need to be deployed may be correspondingly reduced, and if the tunnel distance is long, the number of signal broadcasting devices 210 that need to be deployed may be correspondingly increased; the number of signal broadcasters 210 deployed in the target geographic environment is not limited in any way herein.

It should be understood that the effective broadcast distance of the signal broadcasting device 210 may also be set according to the actual requirements of the application scenarios, for example, in a scenario of positioning a vehicle, a larger effective broadcast distance may be set for the signal broadcasting device 210, and in a scenario of positioning a mobile terminal device (such as a smart phone, etc.), a smaller effective broadcast distance may be set for the signal broadcasting device 210; the present application does not limit the broadcast effective distance of the signal broadcasting apparatus 210. The effective broadcasting distance of the signal broadcasting device 210 can be specifically realized by changing the transmission power thereof, and specifically, the effective broadcasting distance can be reduced by reducing the transmission power, and the effective broadcasting distance can be increased by increasing the transmission power.

Alternatively, in practical applications, the location information of the deployment location of each signal broadcasting device 210 may be determined by: determining location information of a fiducial point based on Real-time kinematic (RTK) technology, the fiducial point being outside a target geographic environment; further, the relative positional relationship between the deployment position of the signal broadcasting apparatus 210 and the reference point is determined by the total station, and the positional information of the deployment position of the signal broadcasting apparatus 210 is determined based on the positional information of the reference point and the above-described relative positional relationship.

As an example, when determining the position information of the deployment position of the signal broadcasting device 210, one reference point a may be first selected in an environment where GPS receives signals well, the position information of the reference point a is measured based on an RTK technique (positioning accuracy up to centimeter level), then the position for deploying the signal broadcasting device 210, that is, a point B, is selected in a target geographic environment, a relative position relationship between the point B and the reference point a is accurately measured by a total station, and then the accurate position information of the point B, that is, the accurate position information of the deployment position of the signal broadcasting device 210 is determined according to the position information of the reference point a itself and the relative position relationship. By analogy, the precise location information of the deployment location of each signal broadcasting device 210 in the target geographical environment is determined in the manner described above.

After the position information of the deployment position of the signal broadcasting device 210 is determined, the position information may be written into the corresponding signal broadcasting device 210 and fixedly stored in the signal broadcasting device 210, so as to be used as the broadcast content when the signal broadcasting device 210 normally works.

It should be understood that the above-mentioned location information may specifically be longitude, latitude and height of the deployment location of the signal broadcasting device 210, and of course, the above-mentioned location information may also be expressed in other forms, and the specific expression of the location information is not limited in any way in this application.

It should be understood that the above implementation manner of determining the location information of the deployment location of the signal broadcasting device 210 is only an example, and in practical applications, the location information of the deployment location of the signal broadcasting device 210 may also be determined in other manners, and the application does not limit the implementation manner of determining the location information of the deployment location of the signal broadcasting device 210 in any way.

As shown in fig. 2, when the signal broadcasting device 210 works normally, a target message may be periodically broadcast, where the target message includes location information stored in the signal broadcasting device 210, such as longitude, latitude, and altitude of the deployment location of the signal broadcasting device 210. When the object 220 to be positioned moves to the vicinity of the signal broadcasting equipment 210, the target message broadcasted by the signal broadcasting equipment 210 can be correspondingly received, and the current position information of the object is corrected according to the position information included in the target message.

Optionally, in a case where a plurality of signal broadcasting devices 210 are deployed in the target geographic environment, the target message may further include a separation distance between the signal broadcasting device 210 itself and the adjacent signal broadcasting device 210, for example, in a scenario of positioning for a vehicle traveling in a tunnel, the separation distance may be a distance between the signal broadcasting device 210 that the vehicle currently passes through and the next signal broadcasting device 210 that the vehicle will pass through. When the signal receiving module 221 in the object to be positioned 220 is intermittently turned on, the object to be positioned 220 may control the time when the signal receiving module 221 is turned on next time according to the interval distance.

Optionally, the target message may further include a broadcast period, where the broadcast period is a period for the signal broadcasting device 210 to broadcast the target message. In order to ensure that the signal receiving module 221 can receive the target message broadcast periodically by the signal broadcasting equipment 210, the object to be positioned 220 can control its signal receiving module 221 to correspondingly receive the target message broadcast periodically by the signal broadcasting equipment 210 based on the broadcast period.

Optionally, the target message may further include device indication information, where the device indication information is used to indicate whether the signal broadcasting device 210 is disposed behind the signal broadcasting device 210 that the vehicle currently passes through in the moving direction of the object to be located in the target geographic environment, for example, in a scenario of locating a vehicle traveling in a tunnel, the device indication information may indicate whether the vehicle will pass through the next signal broadcasting device 210 after the signal broadcasting device 210 that the vehicle currently passes through, when the device indication information is "1", it may be characterized that the vehicle will pass through the next signal broadcasting device 210 after, and when the device indication information is "0", it may be characterized that the vehicle will not pass through the signal broadcasting device 210 after. The object 220 to be positioned may accordingly control the working state of the signal receiving module 221 according to the device indication information, that is, control the signal receiving module 221 to keep on or off.

It should be understood that the above-mentioned position information, spacing distance, broadcast period, and device indication information are all written in advance in the signal broadcasting device 210 and are fixedly stored in the signal broadcasting device 210. In practical applications, the target message may include other information besides the above location information, separation distance, broadcast period, and device indication information, and the information included in the target message is not limited in this application.

It should be noted that, in practical applications, the signal broadcasting equipment 210 and the signal receiving module 221 in the object to be positioned 220 communicate based on the D2D technology; the D2D communication means that a signal sending device (i.e., the signal broadcasting device 210) directly communicates with a signal receiving device (i.e., the signal receiving module 221 in the object 220 to be positioned), and does not need to perform relay communication through a third-party device such as a base station, and common D2D communication methods include bluetooth, NFC, and the like.

It should be noted that, when the signal broadcasting equipment 210 communicates with the signal receiving module 221 in the object to be located 220 via the bluetooth technology to implement D2D, the frame structure of the target message at least includes a type field and a data field; the type field is used for bearing a target data type, and the target data type is used for indicating that the target message is used for correcting the position information of the object to be positioned; the data field is used at least to carry location information stored in the signal broadcasting apparatus 210.

Fig. 3 is a schematic diagram of a frame structure of an exemplary target message based on bluetooth technology according to an embodiment of the present application. As shown in fig. 3, the frame Structure of the target message includes a total of 31 bytes, wherein the valid portion (signifiancet part) may be composed of one or more broadcast Structure units (AD Structure), and fig. 3 exemplarily shows a plurality of broadcast Structure units, i.e., AD Structure 1, AD Structure 2, … …, AD Structure N. Each broadcast structure unit comprises a Length part Length and a Data part Data, wherein the Data part Data comprises a Type field AD Type and a Data field AD Data; the content carried in the Length part Length is the Length of the Data part Data, namely the Length of the Type field AD Type plus the Length of the Data field AD Data; the Type field AD Type carries a target Data Type _ for _ ins, where the target Data Type _ for _ ins indicates that the target message is used to correct the location information of the object to be positioned, and the location information, the spacing distance, the broadcast period, the device indication information, and other information are specifically carried in the Data field AD Data.

It should be understood that the message frame structure shown in fig. 3 is only an example, and in practical applications, the target message broadcast based on bluetooth technology may also be represented by other frame structures, and the frame structure of the target message is not specifically limited herein.

It should be noted that, when the signal broadcasting equipment 210 communicates with the signal receiving module 221 in the object to be located 220 through the NFC technology to implement D2D, the frame structure of the target message at least includes a data field, where the data field is at least used for carrying the location information stored in the signal broadcasting equipment 210.

Fig. 4 is a schematic frame structure diagram of an exemplary target message based on the NFC technology according to an embodiment of the present application. The NFC frame structure suitable for different code rates (106kbps, 212kbps and 424kbps) is shown in fig. 4, and the information such as location information, separation distance, broadcast period and device indication information in the target message can be carried in Byte 0 to Byte n fields in the NFC frame structure. In the NFC frame structure, SB, PA, SYNC and LEN fields are all header structures of the NFC frame; CMD0 and CMD1 are control parameters of the NFC frame; e1 and E2 are Cyclic Redundancy Check codes (CRC), which are mainly used for error checking.

It should be understood that the message frame structure shown in fig. 4 is only an example, and in practical applications, the target message broadcast based on the NFC technology may also be represented by other frame structures, and the frame structure of the target message is not specifically limited herein.

The signal receiving module 221 is configured to receive the target message, analyze the target message to obtain the location information, and transmit the location information to the location correcting module.

As shown in fig. 2, when the object 220 to be positioned moves to the vicinity of the signal broadcasting equipment 210, the signal receiving module 221 in the object 220 to be positioned automatically receives the target message broadcasted by the signal broadcasting equipment 210 based on D2D communication, and parses the target message to obtain the position information carried in the target message, so as to transmit the position information to the position correcting module 222 in the object 220 to be positioned.

It should be noted that, in practical applications, the object to be positioned 220 may be any device having a positioning requirement, such as a vehicle, a mobile terminal device, and the like, and the object to be positioned 220 is not specifically limited herein.

It should be noted that the signal receiving module 221 in the object 220 to be located and the signal broadcasting equipment 210 deployed in the target geographic environment may communicate based on the D2D technology, that is, the signal receiving module 221 corresponds to the communication technology adopted by the signal broadcasting equipment 210; for example, in the case that the signal broadcasting device 210 communicates based on a bluetooth chip, the signal receiving module 221 should also communicate based on the bluetooth chip, and for example, in the case that the signal broadcasting device 210 communicates based on an NFC chip, the signal receiving module 221 should also communicate based on the NFC chip, and the application does not set any limitation on the D2D communication technology specifically adopted between the signal broadcasting device 210 and the signal receiving module 221.

Taking the positioning system provided in the embodiment of the present application as an example for positioning a vehicle traveling in a tunnel, an object 220 to be positioned is a vehicle traveling in a tunnel, and one signal broadcasting device 210 is disposed on a road surface of the tunnel at intervals; the vehicle corrects its own position information based on the target message broadcast by the signal broadcasting device 210 while traveling in the tunnel, and similarly to the card swiping operation, the vehicle can correct its own position information once every time it travels to one signal broadcasting device 210, based on the target message broadcast by the signal broadcasting device 210 accordingly.

In some cases, in order to ensure reasonable use of the signal receiving module 221 and avoid unnecessary energy consumption of the signal receiving module 221, a control module for controlling the signal receiving module 221 is also deployed in the object to be positioned 220, and the control module may control the signal receiving module 221 based on information carried in a target message broadcast by the signal broadcasting device 210.

Optionally, in a case where a plurality of signal broadcasting devices 210 are deployed in a target geographic environment, the target message broadcast by the signal broadcasting device 210 may further include a separation distance, where the separation distance is a distance between the signal broadcasting device 210 itself and its adjacent signal broadcasting device 210.

After receiving the target message, the signal receiving module 221 in the object to be positioned 220 may analyze the position information carried therein, may also analyze the distance carried therein, and then transmits the distance to the control module; after receiving the interval distance, the control module may determine a time for turning on the signal receiving module 221 next time according to the interval distance, and control the signal receiving module 221 to be turned on at the time.

Specifically, the control module may determine a moving distance of the object to be positioned 220 according to information collected by a related sensor (such as a velocity sensor, an acceleration sensor, a gyroscope, and the like) in the object to be positioned 220, and when the control module determines that the moving distance of the object to be positioned 220 relative to a certain signal broadcasting device 210 and a separation distance carried in a target message broadcast by the signal broadcasting device 210 satisfy a preset position relationship, the control module may correspondingly control the signal receiving module 221 to be turned on, and the preset position relationship may be determined according to a broadcast effective distance of the signal broadcasting device 210. Furthermore, the control module may also control the signal receiving module 221 to be turned off accordingly based on the relationship between the moving distance of the object 220 to be positioned with respect to the signal broadcasting apparatus 210 and the broadcasting effective distance of the signal broadcasting apparatus 210.

Still taking the positioning system in the embodiment of the present application as an example for positioning a vehicle traveling in a tunnel, assuming that the effective broadcast distance of the signal broadcasting device 210 is 1m, the spacing distances between adjacent signal broadcasting devices are all 100m, and the vehicle to be positioned travels from east to west. When the vehicle to be positioned runs to the position 1m on the east side of the signal broadcasting equipment A, a signal receiving module in the vehicle to be positioned can receive a target message broadcasted by the signal broadcasting equipment A, wherein the target message carries the position information of the deployment position of the signal broadcasting equipment A and the spacing distance between the signal broadcasting equipment A and the adjacent signal broadcasting equipment B on the west side of the signal broadcasting equipment A is 100 m; when the vehicle to be positioned runs to the position 1m west of the signal broadcasting equipment A, the distance between the vehicle to be positioned and the signal broadcasting equipment A is about to exceed the effective broadcasting distance, and the target message broadcasted by the signal broadcasting equipment A cannot be continuously received, and at the moment, the control module can control the signal receiving module 221 to be closed; when the control module determines that the vehicle to be positioned travels to the position of the west 99m of the signal broadcasting equipment a (i.e., the east 1m of the signal broadcasting equipment B), the control module may control the signal receiving module 221 to be turned on again to receive the target message broadcasted by the signal broadcasting equipment B through the signal receiving module 221.

It should be understood that, in practical applications, the control module may also determine the time when the signal receiving module is turned on next time in other manners, for example, may determine a time length required for the object to be positioned to move to the next signal broadcasting device based on information collected by sensors such as a speed sensor, an acceleration sensor, and a gyroscope, and control the signal receiving module to be turned on after the time length is set. The present application does not set any limit to the timing at which the control module determines to turn on the signal receiving module.

Optionally, the target message broadcast by the signal broadcasting device 210 may further include a broadcast period, where the broadcast period is a period in which the signal broadcasting device broadcasts the target message.

In this case, after receiving the target message, the signal receiving module 221 in the object to be positioned 220 may analyze the position information carried therein, may also analyze the broadcast period carried therein, and further transmit the broadcast period to the control module. After the control module receives the broadcast period, the control module may control a period for the signal receiving module 221 to receive the target message according to the broadcast period; for example, assuming that the period of broadcasting the target message by the signal broadcasting device 210 is 1ms, the control module may control the signal receiving module 221 to receive the target message more frequently, for example, initiate the target message reception every 0.5ms, in order to avoid the occurrence that the signal receiving module 221 does not receive the target message.

It should be understood that, in practical applications, the control module may also control the signal receiving module 221 to receive the target message in other manners, for example, the control signal receiving module 221 may receive the target message at the same frequency as the signal broadcasting device 210 broadcasts the target message, and so on. The present application does not limit the manner in which the control module controls the signal receiving module based on the broadcast period in the target message.

Optionally, the target message broadcast by the signal broadcasting device 210 may further include device indication information, where the device indication information is used to indicate whether a signal broadcasting device is deployed behind the signal broadcasting device that the object to be located currently passes through in the moving direction of the object to be located in the target geographic environment.

In this case, after receiving the target message, the signal receiving module 221 in the object to be positioned 220 may obtain the device indication information carried therein by analyzing in addition to the position information carried therein, and further transmit the device indication information to the control module. After receiving the device indication information, the control module may determine, according to the device indication information, whether there is still a signal broadcasting device 210 behind the signal broadcasting device 210 through which the object to be positioned currently passes in the moving direction of the object to be positioned, if yes, control the signal receiving module 221 to continue to be turned on, and if not, control the signal receiving module 221 to be turned off.

Still taking the example of the positioning system in the embodiment of the present application for positioning the vehicle traveling in the tunnel as an example, it is assumed that the device indication information "1" indicates that the other signal broadcasting device 210 exists behind the signal broadcasting device 210 in the traveling direction of the vehicle, and the device indication information "0" indicates that the other signal broadcasting device 210 does not exist behind the signal broadcasting device 210 in the traveling direction of the vehicle. If the control module determines that the device indication information transmitted from the signal receiving module 221 is "1", the control module controls the signal receiving module 221 to keep on, and if the control module determines that the device indication information transmitted from the signal receiving module 221 is "0", the control module controls the signal receiving module 221 to close.

It should be understood that if the target message further includes other information besides the location information, the separation distance, the broadcast period, and the device indication information, the signal receiving module 221 may further parse the target message accordingly to obtain other information, and transmit the other information to the corresponding processing module for processing.

And a position correction module 222, configured to determine, according to the position information, current position information of the object to be positioned.

As shown in fig. 2, after the signal receiving module 221 in the object to be positioned 220 analyzes the target message to obtain the position information therein, the position information is correspondingly transmitted to the position correcting module 222 in the object to be positioned 220; after receiving the position information, the position correction module 222 may determine the current position information of the object 220 to be positioned according to the position information.

As an example, the object to be positioned 220 may be a vehicle to be positioned, and the position correction module 222 may be an INS in the vehicle. When the object to be positioned 220 is traveling in the target geographic environment, the location correction module 222 may determine the location information included in the target message as the current location information of the object to be positioned 220 for a period of time during which its signal receiving module 221 is able to receive the target message.

Specifically, the INS in the vehicle usually continuously calculates the position information of the vehicle from the posture information (such as acceleration, driving direction, etc.) of the vehicle itself, and if the position coordinate M of the vehicle calculated by the INS at a certain time is (xm, ym), the INS can directly replace the position coordinate M with the position coordinate N if the INS also receives the position coordinate N obtained by the analysis target message sent from the signal receiving module in the vehicle.

When the object to be positioned travels in the target geographic environment, in a period when the signal receiving module 221 of the object to be positioned cannot receive the target message, auxiliary positioning information acquired by an accelerometer and a gyroscope deployed in the object to be positioned 220 may be acquired, and then the current position information of the object to be positioned 220 is determined according to the position information in the target message received last time and the auxiliary positioning information.

Specifically, when the vehicle moves away from the previous signal broadcasting device 210 and does not reach the next signal broadcasting device 210, the INS in the vehicle may calculate the current position information of the vehicle by using the position information in the target message broadcasted by the previous signal broadcasting device 210 as a reference and combining the auxiliary positioning information collected by the sensors such as the accelerometer and the gyroscope until the vehicle receives the target message broadcasted by the next signal broadcasting device 210. In this way, each time the vehicle passes through one signal broadcasting device 210, the position of the vehicle can be corrected accordingly by using the position information broadcast by the signal broadcasting device 210, thereby effectively avoiding the INS from accumulating positioning errors.

It should be understood that, in practical applications, in addition to using the INS in the object to be positioned 220 as the location correction module 222, other processing modules may also be used as the location correction module 222, for example, if the object to be positioned 220 uses modules other than the INS to determine its own location information in a scenario where positioning cannot be performed based on GPS technology, the module for determining location information may be used as the location correction module 222, and the location correction module 222 in this application is not limited at all.

The embodiment of the present application further provides a positioning method, where the method is executed by the above object to be positioned 220, and the object to be positioned 220 may be any device having a positioning requirement, such as a vehicle, a mobile terminal device, and the like.

Referring to fig. 5, fig. 5 is a schematic flowchart of a positioning method according to an embodiment of the present application. For convenience of description, the following description will describe the positioning method in detail by taking the example that the positioning method provided by the embodiment of the present application is used for determining the position information of the vehicle traveling in the tunnel (i.e. the object to be positioned is the vehicle to be positioned). As shown in fig. 5, the method includes:

step 501: receiving a target message broadcast by a signal broadcasting device based on the D2D technology; the signal broadcasting equipment is fixedly deployed in a target geographic environment and stores the position information of the deployment position of the signal broadcasting equipment; the target message includes location information stored in the signal broadcasting device.

It should be noted that, in practical applications, a signal broadcasting device may be deployed on the road surface of the tunnel at intervals (for example, 100m), and each signal broadcasting device stores therein accurate position information of its deployment position, where the accurate position information is measured in advance and written to the signal broadcasting device. The signal broadcasting equipment can periodically broadcast the target message when working normally, and the target message comprises the stored position information.

When the vehicle to be positioned runs near the signal broadcasting equipment, such as when the vehicle runs within the effective broadcasting distance of the signal broadcasting equipment, the target message broadcasted by the signal broadcasting equipment can be received through D2D communication. Specifically, a signal receiving module is deployed in the vehicle to be positioned, and the signal receiving module corresponds to the communication technology adopted by the signal broadcasting equipment, and can perform D2D communication with the signal broadcasting equipment.

Optionally, in a case where a plurality of signal broadcasting devices are deployed in the tunnel, the target message may further include an interval distance, where the interval distance is a distance between the signal broadcasting device itself and a signal broadcasting device adjacent to the signal broadcasting device, for example, the interval distance may be a distance between a signal broadcasting device currently passed by the vehicle to be located and a next signal broadcasting device to be passed by the vehicle to be located.

Optionally, the target message may further include a broadcast period, where the broadcast period is a period in which the signal broadcasting device broadcasts the target message.

Optionally, the target message may further include device indication information, where the device indication information is used to indicate whether there is another signal broadcasting device in the tunnel after the signal broadcasting device that the vehicle to be located currently passes through in the traveling direction of the vehicle to be located, for example, the device indication information may indicate whether the vehicle to be located still passes through the next signal broadcasting device after the signal broadcasting device that the vehicle to be located currently passes through, when the device indication information is "1", it may be characterized that the vehicle to be located still passes through the next signal broadcasting device after the vehicle to be located passes through, and when the device indication information is "0", it may be characterized that the vehicle to be located does not pass through the signal broadcasting device after the vehicle to be located passes through.

It should be understood that the above-mentioned position information, spacing distance, broadcast period, and device indication information are all written in advance in the signal broadcasting device and are fixedly stored in the signal broadcasting device. In practical applications, the target message may include other information besides the above location information, separation distance, broadcast period, and device indication information, and the information included in the target message is not limited in this application.

It should be noted that the signal receiving module in the vehicle to be positioned communicates with the signal broadcasting device based on the D2D technology, and the D2D communication means that the signal sending device (i.e., the signal broadcasting device) directly communicates with the signal receiving device (i.e., the signal receiving module in the vehicle to be positioned), and does not need to perform relay communication through a third-party device such as a base station, and common D2D communication methods include bluetooth, NFC, and the like.

When the signal broadcasting equipment is communicated with a signal receiving module in a vehicle to be positioned through D2D realized by Bluetooth technology, the frame structure of the target message at least comprises a type field and a data field; the type field is used for bearing a target data type, and the target data type is used for indicating that the target message is used for correcting the position information of the vehicle to be positioned; the data field is used at least to carry location information stored in the signal broadcasting equipment.

When the signal broadcasting equipment communicates with the signal receiving module in the vehicle to be positioned through the NFC technology to realize D2D, the frame structure of the target message at least comprises a data field, and the data field is at least used for carrying the position information stored in the signal broadcasting equipment.

Step 502: and analyzing the target message to obtain the position information.

After receiving the target message broadcast by the signal broadcasting equipment, the signal receiving module in the vehicle to be positioned can analyze the target message to obtain the position information carried in the target message.

Optionally, under the condition that the target message broadcasted by the signal broadcasting device may further include the separation distance, after the vehicle to be positioned receives the target message, the vehicle to be positioned may obtain the position information carried therein by parsing, and may also obtain the separation distance carried therein by parsing, so as to determine the time for turning on the signal receiving module next time according to the separation distance, and control the signal receiving module to be turned on at the time.

Optionally, under the condition that the target message broadcast by the signal broadcasting device may further include a broadcast period, after the vehicle to be positioned receives the target message, the vehicle to be positioned may analyze the position information carried therein and may also analyze the broadcast period carried therein, so as to control the signal receiving module therein to receive the target message according to the broadcast period.

Optionally, under the condition that the target message broadcasted by the signal broadcasting equipment may further include equipment indication information, after the vehicle to be positioned receives the target message, the vehicle to be positioned may analyze the position information carried therein and may also analyze the equipment indication information carried therein, and then according to the equipment indication information, it may be determined whether there is a signal broadcasting equipment behind the signal broadcasting equipment through which the vehicle to be positioned currently passes in the traveling direction of the vehicle to be positioned, if so, the signal receiving module in the vehicle to be positioned is controlled to continue to be turned on, and if not, the signal receiving module in the vehicle to be positioned is controlled to be turned off.

Step 503: and determining the current position information of the object to be positioned according to the position information.

After the vehicle to be positioned analyzes the target message to obtain the position information carried in the target message, the current position information of the vehicle to be positioned can be determined according to the position information.

In one possible implementation, the vehicle to be positioned may correct its INS-determined position information based on the position information. Specifically, when the vehicle to be positioned runs in the tunnel, in a period when the vehicle to be positioned can receive the target message, the vehicle to be positioned can determine the position information included in the target message as the current position information of the vehicle to be positioned; when the vehicle to be positioned runs in the tunnel, in a period when the vehicle to be positioned cannot receive the target message, the vehicle to be positioned can acquire information acquired by sensors such as an accelerometer, a gyroscope and the like in the INS as auxiliary positioning information, and the current position information of the vehicle to be positioned is determined according to the position information in the target message received last time and the auxiliary positioning information. Therefore, when a vehicle to be positioned passes through one signal broadcasting device, the position of the vehicle can be corrected once by using the position information broadcasted by the signal broadcasting device, so that the INS accumulated positioning error is effectively avoided.

Compared with the implementation mode that only INS is used for determining the position information of the object to be positioned in the scene which cannot be positioned based on the GPS technology in the related technology, the positioning method provided by the embodiment of the application corrects the current position information of the vehicle to be positioned by means of the accurate position information of the signal broadcasting equipment deployed in the tunnel. In an actual application scenario, one signal broadcasting device can be deployed in a tunnel at intervals, and in the process that a vehicle to be positioned moves in a target geographic environment, the vehicle to be positioned can correct the current position information of the vehicle according to the accurate position information broadcasted by each signal broadcasting device, so that the continuous accumulation of positioning errors is avoided, and the positioning accuracy of the vehicle in the tunnel is improved.

For the above-described positioning method, the present application also provides a corresponding positioning device, so that the above-described positioning method can be applied and implemented in practice.

Referring to fig. 6, fig. 6 is a schematic structural diagram of a positioning apparatus 600 corresponding to the positioning method shown in fig. 5, the positioning apparatus includes:

a signal receiving module 601, configured to receive a target message broadcast by a signal broadcasting device based on a D2D technology; the signal broadcasting equipment is fixedly deployed in a target geographic environment and stores the position information of the deployment position of the signal broadcasting equipment; the target message comprises position information stored in the signal broadcasting equipment;

an analyzing module 602, configured to analyze the target message to obtain the location information;

a position correction module 603, configured to determine, according to the position information, current position information of the object to be positioned.

Optionally, on the basis of the positioning apparatus shown in fig. 6, the target message further includes a separation distance, where the separation distance is a distance between the signal broadcasting device and a signal broadcasting device adjacent to the signal broadcasting device; referring to fig. 7, fig. 7 is a schematic structural diagram of another positioning apparatus 700 provided in the embodiment of the present application, and as shown in fig. 7, the apparatus further includes: a first control module 701.

The parsing module 602 is further configured to parse the target message to obtain the separation distance;

the first control module 701 is configured to determine a time when the signal receiving module 601 is turned on next time according to the interval distance, and control the signal receiving module 601 to be turned on at the time.

Optionally, on the basis of the positioning apparatus shown in fig. 6, the target message further includes a broadcast period, where the broadcast period is a period in which the signal broadcasting device broadcasts the target message; referring to fig. 8, fig. 8 is a schematic structural diagram of another positioning apparatus 800 according to an embodiment of the present application, and as shown in fig. 8, the apparatus further includes: a second control module 801.

The parsing module 602 is further configured to parse the target message to obtain the broadcast period;

the second control module 801 is configured to control the signal receiving module 601 to receive the target message based on the broadcast period.

Optionally, on the basis of the positioning apparatus shown in fig. 6, the target message further includes device indication information, where the device indication information is used to indicate whether a signal broadcasting device is further deployed behind the signal broadcasting device in the moving direction of the object to be positioned in the target geographic environment; referring to fig. 9, fig. 9 is a schematic structural diagram of another positioning apparatus 900 according to an embodiment of the present application, and as shown in fig. 9, the apparatus further includes: and a third control module 901.

The parsing module 602 is further configured to parse the target message to obtain the device indication information;

the third control module 901 is configured to determine, according to the device indication information, whether there is a signal broadcasting device behind a signal broadcasting device through which the object to be positioned currently passes in the moving direction of the object to be positioned; if yes, controlling the signal receiving module 601 to keep on; if not, the signal receiving module 601 is controlled to be closed.

Optionally, on the basis of the positioning apparatus shown in fig. 6, the signal broadcasting device communicates with the signal receiving module 601 through bluetooth technology or near field communication NFC technology.

Alternatively, on the basis of the positioning apparatus shown in fig. 6, when the signal broadcasting device communicates with the signal receiving module 601 through bluetooth technology, the frame structure of the target message at least includes a type field and a data field; the type field is used for bearing a target data type, and the target data type is used for indicating that the target message is used for correcting the position information of the object to be positioned; the data field is used for bearing the position information;

when the signal broadcasting equipment communicates with the signal receiving module through NFC technology, the frame structure of the target message at least comprises a data field; the data field is used for carrying the position information.

Optionally, on the basis of the positioning apparatus shown in fig. 6, the position correction module 603 is specifically configured to:

when the object to be positioned is in the target geographic environment, determining the position information included in the target message as the current position information of the object to be positioned in a time period in which the signal receiving module 601 can receive the target message;

when the object to be positioned is in the target geographic environment, in a time period when the signal receiving module 601 cannot receive the target message, acquiring auxiliary positioning information acquired by an accelerometer and a gyroscope deployed in the object to be positioned, and determining the current position information of the object to be positioned according to the position information in the target message received last time and the auxiliary positioning information.

The positioning device provided by the embodiment of the application corrects the current position information of the vehicle to be positioned by means of the accurate position information of the signal broadcasting equipment deployed in the tunnel. In an actual application scene, one signal broadcasting device can be deployed at intervals in a tunnel, and in the process that an object to be positioned moves in a target geographic environment, the object to be positioned can correct the current position information of the object to be positioned according to the accurate position information broadcasted by each signal broadcasting device, so that the continuous accumulation of positioning errors is avoided, and the positioning accuracy is improved.

The embodiment of the present application further provides a device that can determine the location information of the device based on the positioning method described above, where the device may specifically be a terminal device or the like, and the terminal device provided in the embodiment of the present application will be described below from the perspective of hardware materialization.

Referring to fig. 10, fig. 10 is a schematic structural diagram of a terminal device provided in an embodiment of the present application. As shown in fig. 10, for convenience of explanation, only the parts related to the embodiments of the present application are shown, and details of the technology are not disclosed, please refer to the method part of the embodiments of the present application. The terminal may be any terminal device including a mobile phone, a tablet computer, a Personal Digital Assistant (PDA), a Point of Sales (POS), a vehicle-mounted computer, and the like, taking the terminal as a smart phone as an example:

fig. 10 is a block diagram illustrating a partial structure of a smart phone related to a terminal provided in an embodiment of the present application. Referring to fig. 10, the smart phone includes: radio Frequency (RF) circuit 1010, memory 1020, input unit 1030, display unit 1040, sensor 1050, audio circuit 1060, wireless fidelity (WiFi) module 1070, processor 1080, and power source 1090. Those skilled in the art will appreciate that the smartphone configuration shown in fig. 10 is not intended to be limiting and may include more or fewer components than shown, or some components in combination, or a different arrangement of components.

The memory 1020 may be used to store software programs and modules, and the processor 1080 executes various functional applications and data processing of the smart phone by operating the software programs and modules stored in the memory 1020. The memory 1020 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data (such as audio data, a phonebook, etc.) created according to the use of the smartphone, and the like. Further, the memory 1020 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device.

The processor 1080 is a control center of the smartphone, connects various parts of the entire smartphone through various interfaces and lines, and executes various functions and processes data of the smartphone by running or executing software programs and/or modules stored in the memory 1020 and calling data stored in the memory 1020, thereby integrally monitoring the smartphone. Optionally, processor 1080 may include one or more processing units; preferably, the processor 1080 may integrate an application processor, which handles primarily the operating system, user interfaces, applications, etc., and a modem processor, which handles primarily the wireless communications. It is to be appreciated that the modem processor described above may not be integrated into processor 1080.

In the embodiment of the present application, the processor 1080 included in the terminal further has the following functions:

analyzing the target message to obtain the position information;

Optionally, the processor 1080 is further configured to execute the steps of any implementation manner of the positioning method provided in the embodiment of the present application.

The embodiment of the present application further provides a computer-readable storage medium for storing a computer program, where the computer program is used to execute any implementation manner of one positioning method described in the foregoing embodiments.

The present application further provides a computer program product including instructions, which when run on a computer, cause the computer to perform any one of the embodiments of a positioning method described in the foregoing embodiments.

It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing computer programs.

It should be understood that in the present application, "at least one" means one or more, "a plurality" means two or more. "and/or" for describing an association relationship of associated objects, indicating that there may be three relationships, e.g., "a and/or B" may indicate: only A, only B and both A and B are present, wherein A and B may be singular or plural. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. "at least one of the following" or similar expressions refer to any combination of these items, including any combination of single item(s) or plural items. For example, at least one (one) of a, b, or c, may represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", wherein a, b, c may be single or plural.

The above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.

Claims

1. A positioning system, characterized in that the system comprises: the positioning method comprises the following steps that signal broadcasting equipment and an object to be positioned are included, wherein the object to be positioned comprises a signal receiving module and a position correcting module; the signal broadcasting equipment is fixedly deployed in a target geographic environment and stores the position information of the deployment position of the signal broadcasting equipment; the signal broadcasting equipment communicates with the signal receiving module in the object to be positioned through a device-to-device D2D technology;

the position correction module is used for determining the current position information of the object to be positioned according to the position information;

the target message further includes: device indication information for indicating whether a signal broadcasting device is deployed in the target geographical environment after the signal broadcasting device which the object to be positioned currently passes through in the moving direction of the object to be positioned;

the signal receiving module is further configured to analyze the target message to obtain the device indication information, and transmit the device indication information to the control module; the control module is deployed in the object to be positioned and used for controlling the signal receiving module;

the control module is used for judging whether signal broadcasting equipment exists behind the signal broadcasting equipment which is currently passed by the object to be positioned in the moving direction of the object to be positioned according to the equipment indication information; if yes, controlling the signal receiving module to keep on; if not, controlling the signal receiving module to be closed;

a plurality of the signal broadcasting devices are deployed in the target geographic environment; the target message further includes: a separation distance, which is a distance between the signal broadcasting apparatus and its adjacent signal broadcasting apparatus.

2. The system of claim 1,

the signal receiving module is further configured to analyze the target message to obtain the separation distance, and transmit the separation distance to the control module; the control module is deployed in the object to be positioned and used for controlling the signal receiving module;

and the control module is used for determining the time for starting the signal receiving module next time according to the spacing distance and controlling the signal receiving module to be started at the time.

3. The system of claim 1, wherein the target message further comprises: a broadcast period, which is a period in which the signal broadcasting equipment broadcasts the target message;

the signal receiving module is further configured to analyze the target message to obtain the broadcast period, and transmit the broadcast period to the control module; the control module is deployed in the object to be positioned and used for controlling the signal receiving module;

the control module is configured to control the signal receiving module to receive the target message based on the broadcast period.

4. The system of claim 1, wherein the signal broadcasting device and the signal receiving module communicate via bluetooth technology or Near Field Communication (NFC) technology.

5. The system of claim 4, wherein the frame structure of the target message comprises at least a type field and a data field when the signal broadcasting apparatus communicates with the signal receiving module through bluetooth technology; the type field is used for bearing a target data type, and the target data type is used for indicating that the target message is used for correcting the position information of the object to be positioned; the data field is used for bearing the position information;

6. The system of claim 1, wherein the location correction module is specifically configured to:

when the object to be positioned is in the target geographic environment, determining the position information included in the target message as the current position information of the object to be positioned within a time period in which the signal receiving module can receive the target message;

when the object to be positioned is in the target geographic environment, acquiring auxiliary positioning information acquired by an accelerometer and a gyroscope deployed in the object to be positioned in a time period when the signal receiving module cannot receive the target message, and determining the current position information of the object to be positioned according to the position information in the target message received last time and the auxiliary positioning information.

7. The system of claim 1, wherein the location information stored in the signal broadcasting device is determined by:

determining position information of a reference point based on a real-time dynamic RTK technology; the reference point is located outside the target geographic environment;

determining, by a total station, a relative positional relationship between the deployment position of the signal broadcasting apparatus and the reference point, and determining position information of the deployment position of the signal broadcasting apparatus based on the position information of the reference point and the relative positional relationship.

8. A positioning method, performed by an object to be positioned, the method comprising:

analyzing the target message to obtain the position information;

determining the current position information of the object to be positioned according to the position information;

the method further comprises the following steps: analyzing the target message to obtain the equipment indication information;

judging whether signal broadcasting equipment exists behind the signal broadcasting equipment which is currently passed by the object to be positioned in the moving direction of the object to be positioned according to the equipment indication information; if yes, controlling the signal receiving module to keep on; if not, controlling the signal receiving module to be closed;

9. A positioning device, comprising a processor and a memory;

the memory is used for storing a computer program;

the processor is configured to execute the positioning method according to claim 8 according to the computer program.

10. A computer-readable storage medium, characterized in that a computer program is stored in the storage medium for performing the positioning method of claim 8.