CN112235713A - Moving object positioning method, vehicle navigation method, device, equipment and medium - Google Patents
Moving object positioning method, vehicle navigation method, device, equipment and medium Download PDFInfo
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Abstract
The present application relates to the field of computer technologies, and in particular, to a mobile object positioning method, a vehicle navigation method, an apparatus, a device, and a medium. The mobile object positioning method comprises the following steps: acquiring a first positioning signal and a second positioning signal, wherein the first positioning signal is a satellite positioning system signal, and the second positioning signal is a signal sent by auxiliary positioning equipment; determining a target positioning signal corresponding to the moving object based on the signal intensity of the first positioning signal and the second positioning signal; and positioning the moving object according to the target positioning signal. By adopting the method, the positioning accuracy of the mobile object can be improved.
Description
Technical Field
The present application relates to the field of computer technologies, and in particular, to a mobile object positioning method, a vehicle navigation method, an apparatus, a device, and a medium.
Background
With the progress and development of science and technology, the automatic driving and intelligent networking automobile is greatly developed. High precision location capability is an essential function for autonomous vehicles or intelligent networked vehicles.
In the conventional manner, the networked vehicle is usually located by a Global Positioning System (GPS).
However, in a tunnel, an urban canyon, or the like, the GPS positioning signal is easily lost, and thus the positioning of a moving object such as a vehicle is not accurate.
Disclosure of Invention
In view of the above, it is necessary to provide a moving object positioning method, a vehicle navigation method, an apparatus, a device, and a medium capable of improving the accuracy of positioning a moving object.
A mobile object positioning method, the method comprising:
acquiring a first positioning signal and a second positioning signal, wherein the first positioning signal is a satellite positioning system signal, and the second positioning signal is a signal sent by auxiliary positioning equipment;
determining a target positioning signal corresponding to the moving object based on the signal intensity of the first positioning signal and the second positioning signal;
and positioning the moving object according to the target positioning signal.
In one embodiment, determining a target positioning signal corresponding to a moving object based on respective signal strengths of the first positioning signal and the second positioning signal comprises:
determining the number of positioning satellites corresponding to the moving object and the matching rate of the auxiliary positioning equipment based on the signal strength of the first positioning signal and the second positioning signal;
and determining a target positioning signal corresponding to the moving object according to the number of the positioning satellites and the matching rate of the moving object.
In one embodiment, determining the number of positioning satellites corresponding to the moving object and the matching rate of the auxiliary positioning device based on the respective signal strengths of the first positioning signal and the second positioning signal includes:
determining the number of positioning satellites corresponding to the moving object according to the signal intensity of the first positioning signal;
and determining the matching rate of the auxiliary positioning equipment according to the signal strength of the second positioning signal.
In one embodiment, determining a target positioning signal corresponding to a moving object according to the number of positioning satellites and the matching rate of the moving object includes:
judging whether the number of the positioning satellites is smaller than a preset number or not and whether the matching rate of the auxiliary positioning equipment is smaller than a preset threshold or not;
when the number of the positioning satellites is smaller than the preset number and the matching rate of the auxiliary positioning equipment is smaller than a preset threshold value, determining that the second positioning signal is a target positioning signal corresponding to the moving object;
and when the number of the positioning satellites is larger than or equal to the preset number and/or the matching rate of the auxiliary positioning equipment is larger than or equal to the preset threshold value, determining the first positioning signal as a target positioning signal corresponding to the moving object.
In one embodiment, locating a moving object according to a target locating signal includes:
determining the initial coordinate position of the moving object at the current time point according to the target positioning signal;
acquiring the coordinate position of a moving object at a time point before a current time point;
and determining the actual coordinate position of the moving object at the current time point according to the coordinate position of the previous time point and the initial coordinate position.
In one embodiment, determining the actual coordinate position of the moving object at the current time point according to the coordinate position of the previous time point and the initial coordinate position comprises:
determining a position deviation corresponding to the initial coordinate position according to the coordinate position of the previous time point and the initial coordinate position;
judging whether the position deviation is greater than a preset position deviation threshold value or not;
when the position deviation is larger than a preset position deviation threshold value, acquiring object data of the moving object, and determining the actual coordinate position of the moving object at the current time point based on the object data and the coordinate position of the previous time point;
and when the position deviation is smaller than or equal to a preset position deviation threshold value, determining the initial coordinate position as the actual coordinate position of the moving object at the current time point.
In one embodiment, determining an initial coordinate position of the moving object at the current time point according to the target positioning signal includes:
determining longitude and latitude coordinates of the moving object according to the target positioning signal;
and performing coordinate conversion on the longitude and latitude coordinates to generate an initial coordinate position of the mobile object at the current time point.
A navigation method of a vehicle, at least one auxiliary positioning device being previously set in a switching area, the navigation method comprising:
obtaining a target positioning signal of the vehicle according to any one of the moving object positioning methods;
the vehicle is navigated based on the target positioning signal.
A mobile object positioning apparatus, the apparatus comprising:
the signal acquisition module is used for acquiring a first positioning signal and a second positioning signal, wherein the first positioning signal is a satellite positioning system signal, and the second positioning signal is a signal sent by auxiliary positioning equipment;
the target positioning signal determining module is used for determining a target positioning signal corresponding to the moving object based on the signal intensity of the first positioning signal and the second positioning signal;
and the positioning module is used for positioning the moving object according to the target positioning signal.
A computer device comprising a memory storing a computer program and a processor implementing the steps of the method of any of the above embodiments when the processor executes 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 method of any of the above embodiments.
According to the mobile object positioning method, the vehicle navigation method, the device, the equipment and the medium, the first positioning signal and the second positioning signal are obtained, the first positioning signal is a satellite positioning system signal, the second positioning signal is a signal sent by the positioning auxiliary equipment, the target positioning signal corresponding to the mobile object is determined based on the signal intensity of the first positioning signal and the signal intensity of the second positioning signal, and the mobile object is further positioned according to the target positioning signal. Therefore, when the mobile object moves, the target positioning signal for positioning the mobile object can be determined according to the first positioning signal and the second positioning signal received in real time, the situation that the GPS signal is lost and cannot be positioned under the conditions of a tunnel or an urban canyon and the like can be avoided, and the accuracy for positioning the mobile object can be improved.
Drawings
FIG. 1 is a diagram of an application scenario of a method for mobile object location in one embodiment;
FIG. 2 is a flowchart illustrating a method for locating a moving object according to an embodiment;
FIG. 3 is a flowchart illustrating a method for locating a moving object according to another embodiment;
FIG. 4 is a schematic flow chart diagram of a vehicle navigation method in one embodiment;
FIG. 5 is a block diagram of a mobile object positioning device in one embodiment;
FIG. 6 is a block diagram showing the construction of a vehicular navigation apparatus according to one embodiment;
FIG. 7 is a diagram illustrating an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The method for positioning the mobile object can be applied to the application environment shown in fig. 1. The mobile object is loaded with a terminal 102, and signals transmitted from the positioning satellites 104 and the auxiliary positioning equipment 106 are received by the terminal 102. The positioning satellite 104 transmits a first positioning signal, the auxiliary positioning device 106 transmits a second positioning signal, the terminal 102 determines a target positioning signal corresponding to the mobile object based on respective signal strengths of the first positioning signal and the second positioning signal after receiving the first positioning signal and the second positioning signal, and then the terminal 102 positions the mobile object according to the target positioning signal. The mobile object may be a vehicle equipped with the terminal 102 or a movable object carrying the terminal 102, the terminal 102 may be, but is not limited to, various personal computers, notebook computers, smart phones, tablet computers, portable wearable devices, and vehicle-mounted terminal devices, the positioning satellite 104 may be a satellite capable of performing GPS positioning, the auxiliary positioning device 106 may be a device for performing auxiliary positioning, and may be, for example, an Ultra Wide Band (UWB) anchor point.
In one embodiment, as shown in fig. 2, a method for positioning a moving object is provided, which is described by taking the method as an example applied to the terminal in fig. 1, and includes the following steps:
step S202, a first positioning signal and a second positioning signal are obtained, where the first positioning signal is a satellite positioning system signal, and the second positioning signal is a signal sent by an auxiliary positioning device.
The first positioning signal is a satellite positioning system signal, which may be a GPS signal. The GPS satellite positioning system is a satellite navigation positioning system established in the United states, and can realize all-weather, continuous and real-time three-dimensional navigation positioning and speed measurement in the global range, and perform high-precision time transfer and high-precision positioning. The GPS positioning is a positioning technology combining a GPS technology, a wireless communication technology (GSM/GPRS/CDMA), an image processing technology and a GIS technology, and is mainly used for carrying out remote real-time positioning monitoring on mobile people, pets, vehicles and equipment.
The second positioning signal is a signal transmitted by the auxiliary positioning device, and may be, for example, the UWB signal transmitted as described above. UWB is a wireless carrier communication technology that does not use sinusoidal carriers but uses nanosecond-level narrow non-sinusoidal pulses to transmit data.
It will be appreciated by those skilled in the art that the above definition of the second positioning signal is merely exemplary, and in other embodiments, other carrier signals may be used.
In particular, with continued reference to fig. 1, when a moving object enters a tunnel, an urban canyon, or other scene, due to the obstruction of a building, the GPS signal received by the onboard device on the vehicle is not very stable. Especially in the scenes such as tunnels, the vehicle can completely lose the GPS signal, so that the vehicle cannot be normally positioned.
In this embodiment, the auxiliary positioning device is arranged in the tunnel or in the scene where the GPS signal is easily lost, such as an urban canyon, so that when the GPS signal is unstable or weak, the auxiliary positioning is performed by the positioning auxiliary device, thereby improving the accuracy of positioning the mobile object.
In this embodiment, taking a tunnel as an example, a plurality of auxiliary positioning devices may be installed in the tunnel in advance, and each auxiliary positioning device may be connected to the cloud service system through a network cable, so as to accurately determine the position of each auxiliary positioning device.
In this embodiment, the number and the installation interval of the auxiliary positioning devices may be determined according to the length of the tunnel or the urban canyon, or may also be determined according to the signal strength of the second positioning signal sent by the auxiliary positioning device, for example, the auxiliary positioning devices are installed at an interval of 20 meters in the tunnel, or a certain coverage rate is maintained between the second positioning signals of two adjacent auxiliary positioning devices according to the signal strength of the second positioning signal sent by the auxiliary positioning device, so as to determine the installation interval distance between the auxiliary positioning devices.
In this embodiment, the terminal may receive, in real time, a first positioning signal transmitted by the GPS system and a second positioning signal transmitted by the auxiliary positioning device.
Step S204 is to determine a target positioning signal corresponding to the moving object based on the respective signal strengths of the first positioning signal and the second positioning signal.
In this embodiment, when the terminal can receive only the first positioning signal, the mobile object is positioned according to the first positioning signal, that is, the positioning is performed only according to the GPS signal. When the terminal can only receive the second positioning signal, positioning is carried out according to the second positioning signal, for example, positioning is carried out only through UWB signals.
Further, when the mobile object is located at a tunnel entrance or the like, the terminal may receive the first positioning signal and the second positioning signal at the same time, and the terminal may determine the target positioning signal corresponding to the mobile object according to the signal strength of the received first positioning signal and the received second positioning signal, and position the mobile object. For example, when the signal strength of the first positioning signal is determined to be strong, the first positioning signal is determined to be the target positioning signal corresponding to the moving object, and when the signal strength of the second positioning signal is determined to be strong, the second positioning signal is determined to be the target positioning signal corresponding to the moving object.
And step S206, positioning the moving object according to the target positioning signal.
In this embodiment, after determining the corresponding moving object target positioning signal, the terminal may position the vehicle based on the corresponding moving object.
In the above method for positioning a moving object, a first positioning signal and a second positioning signal are obtained, where the first positioning signal is a satellite positioning system signal, and the second positioning signal is a signal transmitted by a positioning assistance device, a target positioning signal corresponding to the moving object is determined based on respective signal strengths of the first positioning signal and the second positioning signal, and the moving object is further positioned according to the target positioning signal. Therefore, when the mobile object moves, the target positioning signal for positioning the mobile object can be determined according to the first positioning signal and the second positioning signal received in real time, the situation that the GPS signal is lost and cannot be positioned under the conditions of a tunnel or an urban canyon and the like can be avoided, and the accuracy for positioning the mobile object can be improved.
In one embodiment, determining a target positioning signal corresponding to the moving object based on the respective signal strengths of the first positioning signal and the second positioning signal may include: determining the number of positioning satellites corresponding to the moving object and the matching rate of the auxiliary positioning equipment based on the signal strength of the first positioning signal and the second positioning signal; and determining a target positioning signal corresponding to the moving object according to the number of the positioning satellites and the matching rate of the moving object.
The number of positioning satellites is the number of satellites that can position a mobile object in the GPS system. The matching rate may also be referred to as a sensitivity of merit (FOM) and refers to the probability of the presence of an auxiliary positioning device, and a smaller value indicates a higher probability of the presence of an auxiliary positioning device.
In this embodiment, the terminal may convert the received first positioning signal and the second positioning signal into the number of corresponding positioning satellites and the FOM value of the auxiliary positioning device detectable by the terminal.
Further, the server determines the number of positioning satellites and the matching rate of the moving object through a threshold value so as to determine a target positioning signal corresponding to the mobile device from the first positioning signal and the second positioning signal.
In one embodiment, determining the number of positioning satellites corresponding to the moving object and the matching rate of the auxiliary positioning device based on the respective signal strengths of the first positioning signal and the second positioning signal may include: determining the number of positioning satellites corresponding to the moving object according to the signal intensity of the first positioning signal; and determining the matching rate of the auxiliary positioning equipment according to the signal strength of the second positioning signal.
In this embodiment, the terminal may analyze and convert the first positioning signal to obtain the number of positioning satellites corresponding to the first positioning signal. Specifically, the terminal may analyze the frequency, the wavelength band, and the like of the first positioning signal to determine which positioning satellites the first positioning signal corresponds to, and then determine the number of positioning satellites corresponding to the first positioning signal.
Similarly, the terminal may analyze and convert the second positioning signal to obtain a matching rate corresponding to the second positioning signal.
In the above embodiment, the signal strength is converted into the number of positioning satellites and the matching rate of the auxiliary positioning device, so that the first positioning signal and the second positioning signal can be quantized, and can be determined by a threshold value subsequently, thereby improving the accuracy of positioning the moving object.
In one embodiment, determining a target positioning signal corresponding to a moving object according to the number of positioning satellites and the matching rate of the moving object may include: judging whether the number of the positioning satellites is smaller than a preset number or not and whether the matching rate of the auxiliary positioning equipment is smaller than a preset threshold or not; when the number of the positioning satellites is smaller than the preset number and the matching rate of the auxiliary positioning equipment is smaller than a preset threshold value, determining that the second positioning signal is a target positioning signal corresponding to the moving object; and when the number of the positioning satellites is larger than or equal to the preset number and/or the matching rate of the auxiliary positioning equipment is larger than or equal to the preset threshold value, determining the first positioning signal as a target positioning signal corresponding to the moving object.
In this embodiment, referring to fig. 3, the terminal may determine whether the number of positioning satellites is less than a preset number and the matching rate of the auxiliary positioning device is less than a preset threshold, for example, whether the number of positioning satellites is less than 4 and the matching rate of UWB is less than 60.
In this embodiment, when the terminal determines that the number of the positioning satellites is smaller than the preset number and the matching rate of the auxiliary positioning device is smaller than the preset threshold, it determines that the second positioning signal is the target positioning signal corresponding to the mobile object, that is, when the mobile object enters the tunnel from the outside of the tunnel, and when the terminal determines that the number of the positioning satellites is smaller than the preset number and the matching rate of the auxiliary positioning device is smaller than the preset threshold, the terminal determines that the UWB signal is the target positioning signal corresponding to the mobile object, and the terminal switches from the GPS positioning mode to the UWB positioning mode.
Further, when the terminal determines that the number of the positioning satellites is greater than or equal to a preset number, and/or the matching rate of the auxiliary positioning device is greater than or equal to a preset threshold, it is determined that the first positioning signal is a target positioning signal corresponding to the mobile object, that is, when the mobile object enters the tunnel from the inside of the tunnel, the terminal determines that the number of the positioning satellites is greater than or equal to the preset number, and/or the matching rate of the auxiliary positioning device is greater than or equal to the preset threshold, the terminal determines that the GPS signal is the target positioning signal corresponding to the mobile object, and the terminal is switched from the UWB positioning mode to the UWB positioning mode.
In the above embodiment, the number of the positioning satellites and the matching rate of the auxiliary positioning device are determined, and the corresponding target positioning signal is determined, so that the target positioning signal corresponding to the mobile object can be accurately determined, and the accuracy of positioning the mobile object is improved.
In one embodiment, locating the moving object according to the target locating signal may include: determining the initial coordinate position of the moving object at the current time point according to the target positioning signal; acquiring the coordinate position of a moving object at a time point before a current time point; and determining the actual coordinate position of the moving object at the current time point according to the coordinate position of the previous time point and the initial coordinate position.
Specifically, after determining the target positioning signal, the terminal may convert the target positioning signal to obtain an initial coordinate position of the moving object at the current time point.
In one embodiment, determining an initial coordinate position of the moving object at the current time point according to the target positioning signal may include: determining longitude and latitude coordinates of the moving object according to the target positioning signal; and performing coordinate conversion on the longitude and latitude coordinates to generate an initial coordinate position of the mobile object at the current time point.
Specifically, with reference to fig. 3, the terminal may convert the longitude and latitude coordinates of the target positioning signal according to the mapping relationship between the longitude and latitude coordinates and the geodetic coordinates, where the specific conversion formula is as follows:
x＝R*cos(a)*cos(b)
y＝R*cos(a)*sin(b)
z＝R*sin(a)
where a denotes latitude, b denotes longitude, R denotes earth radius, and x, y, and z denote geodetic coordinates, respectively.
In the above embodiment, the initial coordinate position of the moving object at the current time point is determined according to the target positioning signal, then the coordinate position of the moving object at the previous time point of the current time point is obtained, and further the actual coordinate position of the moving object at the current time point is determined according to the coordinate position of the previous time point and the initial coordinate position, so that the actual coordinate position of the current time point can be determined by combining the actual coordinate position of the previous time point, and the accuracy of determining the current coordinate position is improved.
In one embodiment, determining the actual coordinate position of the moving object at the current time point according to the coordinate position of the previous time point and the initial coordinate position may include: determining a position deviation corresponding to an initial coordinate position according to the actual coordinate position and the initial coordinate position of the previous time point; judging whether the position deviation is greater than a preset position deviation threshold value or not; when the position deviation is larger than a preset position deviation threshold value, acquiring object data of the moving object, and determining the actual coordinate position of the moving object at the current time point based on the object data and the coordinate position of the previous time point; and when the position deviation is smaller than or equal to a preset position deviation threshold value, determining the initial coordinate position as the actual coordinate position of the moving object at the current time point.
Specifically, the terminal may perform difference processing on an actual coordinate position of the mobile object at a previous time point and an initial coordinate position of the current time point to obtain a position deviation corresponding to the initial coordinate position.
Further, the terminal judges whether the position deviation is within a preset position deviation threshold value. When the terminal determines that the position deviation is greater than the preset position deviation threshold, it may be determined that the initial position coordinate of the current time point is an inaccurate position coordinate, for example, if the actual coordinate position of the previous time point is beijing and the initial position coordinate of the current time point is sika, it may be determined that a large deviation occurs between the previous position and the current position, and it is determined that the initial position coordinate of the current time point is inevitably inaccurate.
Further, when the terminal determines that the position deviation is larger than the preset position deviation threshold value, the object data of the moving object can be obtained, and the actual coordinate position of the moving object at the current time point is determined based on the object data and the coordinate position of the previous time point. For example, for a vehicle, data such as the formal direction, speed, and acceleration of the vehicle may be acquired, and the actual coordinate position of the vehicle at the current time point may be estimated based on the formal direction, speed, acceleration, and actual coordinate position of the vehicle at the previous time point.
In this embodiment, when the terminal determines that the position deviation is less than or equal to the preset position deviation threshold, the initial coordinate position may be determined as the actual coordinate position of the moving object at the current time point.
Alternatively, when the terminal does not acquire the target positioning signal of the moving object, or the positioning signal is lost, the terminal may also estimate the actual coordinate position of the moving object at the current time point based on the form direction, speed, acceleration, and the actual coordinate position at the previous time point of the moving object.
In the above embodiment, the position deviation corresponding to the initial coordinate position is determined according to the actual coordinate position and the initial coordinate position of the previous time point, and then the position deviation is determined according to the preset position deviation threshold, so that for an inaccurate coordinate position, estimation is performed according to the object data, and the positioning accuracy of the moving object is improved.
In one embodiment, referring to fig. 4, there is provided a navigation method of a vehicle, in which at least one auxiliary locating device is previously provided in a handover area, the navigation method including:
step S402, obtaining a target positioning signal of the vehicle according to the moving object positioning method.
The target positioning signal may refer to the foregoing embodiments, and is not described herein again.
And S404, navigating the vehicle based on the target positioning signal.
In this embodiment, after the vehicle acquires the target positioning signal, the vehicle navigation can be performed in real time according to the target positioning signal.
In the embodiment, the target positioning model of the vehicle is obtained according to the moving object positioning method, and the vehicle is navigated based on the target positioning signal, so that the positioning signal of the vehicle can be accurately obtained, and the accuracy of vehicle navigation can be improved.
It should be understood that although the various steps in the flow charts of fig. 2-4 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 2-4 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternating with other steps or at least some of the sub-steps or stages of other steps.
In one embodiment, as shown in fig. 5, there is provided a moving object positioning apparatus including: a signal acquisition module 100, a target location signal determination module 200, and a location module 300, wherein:
the signal obtaining module 100 is configured to obtain a first positioning signal and a second positioning signal, where the first positioning signal is a satellite positioning system signal, and the second positioning signal is a signal sent by an auxiliary positioning device.
A target positioning signal determining module 200, configured to determine a target positioning signal corresponding to the moving object based on the respective signal strengths of the first positioning signal and the second positioning signal.
And a positioning module 300, configured to position the mobile object according to the target positioning signal.
In one embodiment, the target locating signal determining module 200 may include:
and the satellite number and matching rate determining submodule is used for determining the number of positioning satellites corresponding to the moving object and the matching rate of the auxiliary positioning equipment based on the signal intensity of the first positioning signal and the second positioning signal.
And the target positioning signal determining submodule is used for determining a target positioning signal corresponding to the moving object according to the number of the positioning satellites and the matching rate of the moving object.
In one embodiment, the number of satellites and matching rate determination sub-module may include:
and a satellite number determination unit for determining the number of positioning satellites corresponding to the moving object according to the signal strength of the first positioning signal.
And the matching rate determining unit is used for determining the matching rate of the auxiliary positioning equipment according to the signal strength of the second positioning signal.
In one embodiment, the object location signal determination sub-module may include:
and the judging unit is used for judging whether the number of the positioning satellites is less than the preset number and whether the matching rate of the auxiliary positioning equipment is less than a preset threshold value.
And the first target positioning signal determining unit is used for determining the second positioning signal as the target positioning signal corresponding to the moving object when the number of the positioning satellites is smaller than the preset number and the matching rate of the auxiliary positioning equipment is smaller than a preset threshold value.
And the second target positioning signal determining unit is used for determining the first positioning signal as the target positioning signal corresponding to the moving object when the number of the positioning satellites is greater than or equal to the preset number and/or the matching rate of the auxiliary positioning equipment is greater than or equal to the preset threshold value.
In one embodiment, the positioning module 300 may include:
and the initial coordinate position determining submodule is used for determining the initial coordinate position of the moving object at the current time point according to the target positioning signal.
And the historical coordinate position determining submodule is used for acquiring the coordinate position of the moving object at a time point before the current time point.
And the actual coordinate position determining submodule is used for determining the actual coordinate position of the moving object at the current time point according to the coordinate position of the previous time point and the initial coordinate position.
In one embodiment, the actual coordinate position determination sub-module may include:
and the position deviation determining unit is used for determining the position deviation corresponding to the initial coordinate position according to the coordinate position of the previous time point and the initial coordinate position.
And the judging unit is used for judging whether the position deviation is greater than a preset position deviation threshold value.
And the first actual coordinate position determining unit is used for acquiring the object data of the moving object when the position deviation is larger than a preset position deviation threshold value, and determining the actual coordinate position of the moving object at the current time point based on the object data and the coordinate position of the previous time point.
And the second actual coordinate position determining unit is used for determining the initial coordinate position as the actual coordinate position of the moving object at the current time point when the position deviation is less than or equal to the preset position deviation threshold value.
In one embodiment, the initial coordinate position determination sub-module may include:
and the latitude and longitude coordinate determination unit is used for determining the latitude and longitude coordinates of the moving object according to the target positioning signal.
And the initial coordinate position determining unit is used for carrying out coordinate conversion on the longitude and latitude coordinates and generating an initial coordinate position of the mobile object at the current time point.
In one embodiment, as shown in fig. 6, there is provided a vehicular navigation apparatus including: a target location signal determination module 610 and a navigation module 620, wherein:
and the target positioning signal determining module 610 is used for obtaining a target positioning signal of the vehicle according to the moving object positioning method.
And a navigation module 620 for navigating the vehicle based on the target positioning signal.
For the specific limitations of the mobile object positioning device and the vehicle navigation device, reference may be made to the above limitations of the mobile object positioning method and the vehicle navigation method, which are not described herein again. The modules in the mobile object positioning device and the vehicle navigation device can be wholly or partially realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a server, the internal structure of which may be as shown in fig. 7. The computer device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer device is used for storing data such as the first positioning signal and the second positioning signal. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a mobile object positioning method.
Those skilled in the art will appreciate that the architecture shown in fig. 7 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, there is provided a computer device comprising a memory storing a computer program and a processor implementing the following steps when the processor executes the computer program: acquiring a first positioning signal and a second positioning signal, wherein the first positioning signal is a satellite positioning system signal, and the second positioning signal is a signal sent by auxiliary positioning equipment; determining a target positioning signal corresponding to the moving object based on the signal intensity of the first positioning signal and the second positioning signal; and positioning the moving object according to the target positioning signal.
In one embodiment, the processor, when executing the computer program, determines the target positioning signal corresponding to the moving object based on the signal strengths of the first positioning signal and the second positioning signal, and may include: determining the number of positioning satellites corresponding to the moving object and the matching rate of the auxiliary positioning equipment based on the signal strength of the first positioning signal and the second positioning signal; and determining a target positioning signal corresponding to the moving object according to the number of the positioning satellites and the matching rate of the moving object.
In one embodiment, the processor, when executing the computer program, determines the number of positioning satellites corresponding to the moving object and the matching rate of the auxiliary positioning device based on the respective signal strengths of the first positioning signal and the second positioning signal, and may include: determining the number of positioning satellites corresponding to the moving object according to the signal intensity of the first positioning signal; and determining the matching rate of the auxiliary positioning equipment according to the signal strength of the second positioning signal.
In one embodiment, the processor, when executing the computer program, determines the target positioning signal corresponding to the moving object according to the number of positioning satellites and the matching rate of the moving object, and may include: judging whether the number of the positioning satellites is smaller than a preset number or not and whether the matching rate of the auxiliary positioning equipment is smaller than a preset threshold or not; when the number of the positioning satellites is smaller than the preset number and the matching rate of the auxiliary positioning equipment is smaller than a preset threshold value, determining that the second positioning signal is a target positioning signal corresponding to the moving object; and when the number of the positioning satellites is larger than or equal to the preset number and/or the matching rate of the auxiliary positioning equipment is larger than or equal to the preset threshold value, determining the first positioning signal as a target positioning signal corresponding to the moving object.
In one embodiment, the processor, when executing the computer program, performs positioning of the moving object according to the target positioning signal, and may include: determining the initial coordinate position of the moving object at the current time point according to the target positioning signal; acquiring the coordinate position of a moving object at a time point before a current time point; and determining the actual coordinate position of the moving object at the current time point according to the coordinate position of the previous time point and the initial coordinate position.
In one embodiment, the processor, when executing the computer program, determines an actual coordinate position of the moving object at the current time point according to the coordinate position of the previous time point and the initial coordinate position, and may include: determining a position deviation corresponding to the initial coordinate position according to the coordinate position of the previous time point and the initial coordinate position; judging whether the position deviation is greater than a preset position deviation threshold value or not; when the position deviation is larger than a preset position deviation threshold value, acquiring object data of the moving object, and determining the actual coordinate position of the moving object at the current time point based on the object data and the coordinate position of the previous time point; and when the position deviation is smaller than or equal to a preset position deviation threshold value, determining the initial coordinate position as the actual coordinate position of the moving object at the current time point.
In one embodiment, the processor, when executing the computer program, determines an initial coordinate position of the moving object at the current time point according to the target positioning signal, and may include: determining longitude and latitude coordinates of the moving object according to the target positioning signal; and performing coordinate conversion on the longitude and latitude coordinates to generate an initial coordinate position of the mobile object at the current time point.
In one embodiment, a computer device is provided, comprising a memory storing a computer program and a processor implementing the following steps when the processor executes the computer program: obtaining a target positioning signal of the vehicle according to any one of the moving object positioning methods; the vehicle is navigated based on the target positioning signal.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of: acquiring a first positioning signal and a second positioning signal, wherein the first positioning signal is a satellite positioning system signal, and the second positioning signal is a signal sent by auxiliary positioning equipment; determining a target positioning signal corresponding to the moving object based on the signal intensity of the first positioning signal and the second positioning signal; and positioning the moving object according to the target positioning signal.
In one embodiment, the computer program when executed by the processor for determining a target positioning signal corresponding to the moving object based on the respective signal strengths of the first positioning signal and the second positioning signal may include: determining the number of positioning satellites corresponding to the moving object and the matching rate of the auxiliary positioning equipment based on the signal strength of the first positioning signal and the second positioning signal; and determining a target positioning signal corresponding to the moving object according to the number of the positioning satellites and the matching rate of the moving object.
In one embodiment, the computer program when executed by the processor for determining the number of positioning satellites corresponding to the moving object and the matching rate of the auxiliary positioning device based on the respective signal strengths of the first positioning signal and the second positioning signal may include: determining the number of positioning satellites corresponding to the moving object according to the signal intensity of the first positioning signal; and determining the matching rate of the auxiliary positioning equipment according to the signal strength of the second positioning signal.
In one embodiment, the computer program when executed by the processor for determining a target positioning signal corresponding to a moving object according to the number of positioning satellites and the matching rate of the moving object may include: judging whether the number of the positioning satellites is smaller than a preset number or not and whether the matching rate of the auxiliary positioning equipment is smaller than a preset threshold or not; when the number of the positioning satellites is smaller than the preset number and the matching rate of the auxiliary positioning equipment is smaller than a preset threshold value, determining that the second positioning signal is a target positioning signal corresponding to the moving object; and when the number of the positioning satellites is larger than or equal to the preset number and/or the matching rate of the auxiliary positioning equipment is larger than or equal to the preset threshold value, determining the first positioning signal as a target positioning signal corresponding to the moving object.
In one embodiment, the computer program when executed by the processor for locating a moving object based on the target locating signal may include: determining the initial coordinate position of the moving object at the current time point according to the target positioning signal; acquiring the coordinate position of a moving object at a time point before a current time point; and determining the actual coordinate position of the moving object at the current time point according to the coordinate position of the previous time point and the initial coordinate position.
In one embodiment, the computer program when executed by the processor for determining an actual coordinate position of the moving object at the current time point according to the coordinate position of the previous time point and the initial coordinate position may include: determining a position deviation corresponding to the initial coordinate position according to the coordinate position of the previous time point and the initial coordinate position; judging whether the position deviation is greater than a preset position deviation threshold value or not; when the position deviation is larger than a preset position deviation threshold value, acquiring object data of the moving object, and determining the actual coordinate position of the moving object at the current time point based on the object data and the coordinate position of the previous time point; and when the position deviation is smaller than or equal to a preset position deviation threshold value, determining the initial coordinate position as the actual coordinate position of the moving object at the current time point.
In one embodiment, the computer program when executed by the processor for determining an initial coordinate position of the moving object at the current time point according to the target positioning signal may include: determining longitude and latitude coordinates of the moving object according to the target positioning signal; and performing coordinate conversion on the longitude and latitude coordinates to generate an initial coordinate position of the mobile object at the current time point.
In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, which when executed by a processor performs the steps of: obtaining a target positioning signal of the vehicle according to any one of the moving object positioning methods; the vehicle is navigated based on the target positioning signal.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (11)
1. A method for locating a moving object, the method comprising:
acquiring a first positioning signal and a second positioning signal, wherein the first positioning signal is a satellite positioning system signal, and the second positioning signal is a signal sent by auxiliary positioning equipment;
determining a target positioning signal corresponding to a moving object based on the respective signal strengths of the first positioning signal and the second positioning signal;
and positioning the moving object according to the target positioning signal.
2. The method of claim 1, wherein determining a target positioning signal corresponding to a moving object based on respective signal strengths of the first positioning signal and the second positioning signal comprises:
determining the number of positioning satellites corresponding to the mobile object and the matching rate of the auxiliary positioning equipment and the mobile object based on the signal strength of the first positioning signal and the second positioning signal;
and determining a target positioning signal corresponding to the moving object according to the number of the positioning satellites and the matching rate of the moving object.
3. The method of claim 2, wherein determining the number of positioning satellites corresponding to the moving object and the matching rate of the auxiliary positioning device to the moving object based on the respective signal strengths of the first positioning signal and the second positioning signal comprises:
determining the number of positioning satellites corresponding to the moving object according to the signal intensity of the first positioning signal;
and determining the matching rate of the auxiliary positioning equipment and the moving object according to the signal strength of the second positioning signal.
4. The method of claim 2, wherein determining the target positioning signal corresponding to the moving object according to the number of positioning satellites and the matching rate of the moving object comprises:
judging whether the number of the positioning satellites is smaller than a preset number or not and whether the matching rate of the auxiliary positioning equipment and the moving object is smaller than a preset threshold or not;
when the number of the positioning satellites is smaller than a preset number and the matching rate of the auxiliary positioning equipment and the moving object is smaller than a preset threshold value, determining that the second positioning signal is a target positioning signal corresponding to the moving object;
and when the number of the positioning satellites is greater than or equal to the preset number and/or the matching rate of the auxiliary positioning equipment and the moving object is greater than or equal to the preset threshold value, determining that the first positioning signal is a target positioning signal corresponding to the moving object.
5. The method of claim 1, wherein said locating the moving object based on the target location signal comprises:
determining the initial coordinate position of the moving object at the current time point according to the target positioning signal;
acquiring the coordinate position of the moving object at a time point before the current time point;
and determining the actual coordinate position of the moving object at the current time point according to the coordinate position of the previous time point and the initial coordinate position.
6. The method of claim 5, wherein determining the actual coordinate position of the moving object at the current time point according to the coordinate position of the previous time point and the initial coordinate position comprises:
determining a position deviation corresponding to the initial coordinate position according to the coordinate position of the previous time point and the initial coordinate position;
judging whether the position deviation is greater than a preset position deviation threshold value or not;
when the position deviation is larger than a preset position deviation threshold value, acquiring object data of the moving object, and determining the actual coordinate position of the moving object at the current time point based on the object data and the coordinate position of the previous time point;
and when the position deviation is smaller than or equal to the preset position deviation threshold value, determining that the initial coordinate position is the actual coordinate position of the moving object at the current time point.
7. The method of claim 5, wherein determining the initial coordinate position of the moving object at the current time point based on the target positioning signal comprises:
determining longitude and latitude coordinates of the mobile object according to the target positioning signal;
and performing coordinate conversion on the longitude and latitude coordinates to generate an initial coordinate position of the mobile object at the current time point.
8. A navigation method for a vehicle, characterized in that at least one auxiliary positioning device is provided in advance in a switching area, the navigation method comprising:
obtaining a target positioning signal of a vehicle according to the moving object positioning method of any one of claims 1 to 7;
navigating the vehicle based on the target-locating signal.
9. A mobile object positioning apparatus, characterized in that the apparatus comprises:
the positioning device comprises a signal acquisition module, a signal processing module and a signal processing module, wherein the signal acquisition module is used for acquiring a first positioning signal and a second positioning signal, the first positioning signal is a satellite positioning system signal, and the second positioning signal is a signal sent by auxiliary positioning equipment;
a target positioning signal determining module, configured to determine a target positioning signal corresponding to a moving object based on respective signal strengths of the first positioning signal and the second positioning signal;
and the positioning module is used for positioning the moving object according to the target positioning signal.
10. A computer device comprising a memory and a processor, the memory storing a computer program, wherein the processor when executing the computer program implements the steps of the method of any one of claims 1 to 7 or 8.
11. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7 or 8.
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