CN113050140A - Positioning method, positioning device, storage medium and server - Google Patents
Positioning method, positioning device, storage medium and server Download PDFInfo
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- 238000003860 storage Methods 0.000 title claims abstract description 19
- 239000002245 particle Substances 0.000 claims abstract description 222
- 230000001133 acceleration Effects 0.000 claims description 31
- 238000012952 Resampling Methods 0.000 claims description 8
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- 239000000126 substance Substances 0.000 description 5
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
Abstract
The embodiment of the invention provides a positioning method, a positioning device, a storage medium and a server. In the scheme of the embodiment of the invention, the vehicle position and the frictional resistance in the current period are received; acquiring the vehicle position and the vehicle traction of the previous cycle; generating a plurality of current particle positions according to the vehicle traction force, the vehicle position of the previous period and the frictional resistance; generating a current particle weight corresponding to each current particle according to the plurality of current particle positions and the vehicle position of the current period; according to the positions of the current particles and the weight of the current particles corresponding to each current particle, vehicle positioning information is generated, vehicles can be accurately positioned in a complex and changeable road environment, the accuracy and the speed of vehicle positioning are improved under the condition of using less resources, and the cost is saved.
Description
[ technical field ] A method for producing a semiconductor device
The present invention relates to the field of data processing technologies, and in particular, to a positioning method, an apparatus, a storage medium, and a server.
[ background of the invention ]
In the current positioning technology, on one hand, positioning by using a global positioning system is affected by various factors such as a satellite signal coverage unit, an atmospheric condition, a terrain factor and time, and in some scenes, such as a tunnel, a mountain area and other areas with poor satellite signal and wireless network coverage, the problems of extremely low positioning accuracy and extremely low positioning speed occur; on the other hand, the performance of the inertial navigation unit is in direct proportion to the price, so if the inertial navigation unit with low price is used, the problem of poor positioning accuracy can occur; if a high-priced inertial navigation unit is used, a problem arises in that it costs too much.
[ summary of the invention ]
In view of this, embodiments of the present invention provide a positioning method, an apparatus, a storage medium, and a server, which can improve positioning accuracy and speed at a lower cost.
In one aspect, an embodiment of the present invention provides a positioning method, where the method includes:
receiving the vehicle position and the frictional resistance of the current period;
acquiring the vehicle position and the vehicle traction of the previous cycle;
generating a plurality of current particle positions according to the vehicle traction force, the vehicle position of the previous period and the frictional resistance;
generating a current particle weight corresponding to each current particle according to the plurality of current particle positions and the vehicle position of the current period;
and generating vehicle positioning information according to the positions of the plurality of current particles and the current particle weight corresponding to each current particle.
Optionally, before receiving the vehicle position and the frictional resistance of the current cycle, further comprising:
receiving an initial position of a vehicle;
a plurality of initial particles are collected according to the initial positions.
Optionally, the initial particle weight corresponding to each initial particle in the plurality of initial particles is equal.
Optionally, generating vehicle positioning information according to the multiple current particle positions and the current particle weight corresponding to each current particle, specifically including:
determining a plurality of current particle positions and current particle weights corresponding to each current particle as a current particle set;
resampling the current particle set to generate an effective particle set;
and generating vehicle positioning information according to the effective particle sets.
Optionally, resampling the current particle set to generate an effective particle set, which specifically includes:
calculating the number of effective particles according to the current particle weight;
and generating the valid particle set according to the number of the valid particles and the current particle weight.
Optionally, generating a plurality of current particle positions according to the vehicle traction, the vehicle position in the previous cycle, and the frictional resistance includes:
calculating the acceleration of the vehicle according to the traction force and the frictional resistance of the vehicle;
calculating the speed of the vehicle according to the acceleration of the vehicle and the position updating period;
a plurality of current particle positions are generated based on the vehicle speed, the vehicle acceleration, the position update period, and the vehicle position of the previous period.
Optionally, generating a plurality of current particle positions according to the vehicle speed, the vehicle acceleration, the position update cycle, and the vehicle position in the previous cycle, specifically including:
by the formula
Calculating the vehicle speed, the vehicle acceleration, the position updating period and the vehicle position of the previous period to generate a plurality of current particle positions, wherein r(i)(tk) Is the position of the ith current particle, r(i)(tk-1) Is the position of the ith current particle in the previous cycle, a (t)k) Is vehicle acceleration, T is position update period, v (T)k) For vehicle speed, i is a positive integer.
In another aspect, an embodiment of the present invention provides a positioning apparatus, including:
a receiving unit that receives a vehicle position and a frictional resistance of a current cycle;
an acquisition unit that acquires a vehicle position and a vehicle traction force of a previous cycle;
a first generating unit for generating a plurality of current particle positions according to a vehicle traction force, a vehicle position of a previous cycle, and a frictional resistance;
the second generating unit is used for generating a current particle weight corresponding to each current particle according to a plurality of current particle positions and the vehicle position of the current period;
and the third generating unit is used for generating the vehicle positioning information according to the plurality of current particle positions and the current particle weight corresponding to each current particle.
On the other hand, an embodiment of the present invention provides a storage medium, where the storage medium includes a stored program, and when the program runs, a device in which the storage medium is located is controlled to execute the above positioning method.
In another aspect, an embodiment of the present invention provides a server, including a memory and a processor, where the memory is used to store information including program instructions, and the processor is used to control execution of the program instructions, where the program instructions are loaded by the processor and executed to implement the steps of the above positioning method.
In the scheme of the embodiment of the invention, the vehicle position and the frictional resistance in the current period are received; acquiring the vehicle position and the vehicle traction of the previous cycle; generating a plurality of current particle positions according to the vehicle traction force, the vehicle position of the previous period and the frictional resistance; generating a current particle weight corresponding to each current particle according to the plurality of current particle positions and the vehicle position of the current period; according to the positions of the current particles and the weight of the current particles corresponding to each current particle, vehicle positioning information is generated, vehicles can be accurately positioned in a complex and changeable road environment, the accuracy and the speed of vehicle positioning are improved under the condition of using less resources, and the cost is saved.
[ description of the drawings ]
Fig. 1 is a schematic structural diagram of a positioning system according to an embodiment of the present invention;
fig. 2 is a flowchart of a positioning method according to an embodiment of the present invention;
fig. 3 is a flowchart of another positioning method according to an embodiment of the present invention;
FIG. 4 is a flowchart illustrating resampling a current set of particles according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a positioning device according to an embodiment of the present invention;
fig. 6 is a schematic diagram of a server according to an embodiment of the present invention.
[ detailed description ] embodiments
For better understanding of the technical solutions of the present invention, the following detailed descriptions of the embodiments of the present invention are provided with reference to the accompanying drawings.
It should be understood that the described embodiments are only some embodiments of the invention, and not all 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 invention.
The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the examples of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be understood that the term "and/or" as used herein is merely one type of association that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
It should be understood that although the terms first, second, etc. may be used to describe the set thresholds in the embodiments of the present invention, the set thresholds should not be limited to these terms. These terms are used only to distinguish the set thresholds from each other. For example, the first set threshold may also be referred to as the second set threshold, and similarly, the second set threshold may also be referred to as the first set threshold, without departing from the scope of embodiments of the present invention.
Fig. 1 is a schematic structural diagram of a positioning system according to an embodiment of the present invention, as shown in fig. 1, the positioning system includes: a vehicle-mounted terminal 1, a Mobile Edge Computing (MEC) server 2, and a Global Positioning System (GPS) receiver 3. Wherein, the GPS receiver 3 is connected with the vehicle-mounted terminal 1, and the MEC server is connected with the vehicle-mounted terminal 1.
The in-vehicle terminal 1 is configured to generate vehicle positioning information based on the frictional resistance transmitted by the MEC server 2 and the vehicle position transmitted by the GPS receiver 3.
The MEC server 2 is configured to transmit frictional resistance including the frictional resistance of the road on which the vehicle is currently traveling to the in-vehicle terminal 1.
The GPS receiver 3 is used to transmit the vehicle position to the in-vehicle terminal 1. Specifically, the GPS receiver 2 transmits the vehicle position to the in-vehicle terminal in accordance with the position update cycle.
In the scheme of the embodiment of the invention, the vehicle position and the frictional resistance in the current period are received; acquiring the vehicle position and the vehicle traction of the previous cycle; generating a plurality of current particle positions according to the vehicle traction force, the vehicle position of the previous period and the frictional resistance; generating a current particle weight corresponding to each current particle according to the plurality of current particle positions and the vehicle position of the current period; according to the positions of the current particles and the weight of the current particles corresponding to each current particle, vehicle positioning information is generated, vehicles can be accurately positioned in a complex and changeable road environment, the accuracy and the speed of vehicle positioning are improved under the condition of using less resources, and the cost is saved.
Fig. 2 is a flowchart of a positioning method according to an embodiment of the present invention, and as shown in fig. 2, the method includes:
and 102, receiving the vehicle position and the frictional resistance of the current period.
And 104, acquiring the vehicle position and the vehicle traction force in the previous period. .
And 106, generating a plurality of current particle positions according to the vehicle traction force, the vehicle position in the previous period and the frictional resistance.
And 108, generating a current particle weight corresponding to each current particle according to the plurality of current particle positions and the vehicle position in the current period.
And 110, generating vehicle positioning information according to the positions of the plurality of current particles and the current particle weight corresponding to each current particle.
In the scheme of the embodiment of the invention, the vehicle position and the frictional resistance in the current period are received; acquiring the vehicle position and the vehicle traction of the previous cycle; generating a plurality of current particle positions according to the vehicle traction force, the vehicle position of the previous period and the frictional resistance; generating a current particle weight corresponding to each current particle according to the plurality of current particle positions and the vehicle position of the current period; according to the positions of the current particles and the weight of the current particles corresponding to each current particle, vehicle positioning information is generated, vehicles can be accurately positioned in a complex and changeable road environment, the accuracy and the speed of vehicle positioning are improved under the condition of using less resources, and the cost is saved.
Fig. 3 is a flowchart of another positioning method according to an embodiment of the present invention, as shown in fig. 3, the method includes:
In this embodiment, each step is executed by the in-vehicle terminal.
And step 204, collecting a plurality of initial particles according to the initial position of the vehicle.
In this embodiment, a plurality of initial particles are collected with the initial position of the vehicle as the center to obtain initial particles
Wherein r is(i)(t0) Is the position of the ith initial particle, w(i)(t0) Is the weight of the ith initial particle,t0at the initial time, N is the number of initial particles. The distance between each initial particle and the initial position of the vehicle obeys the expectation of 0, and the variance σsI.e.: d to N (0, sigma)s) Where d is the distance between each initial particle and the initial position of the vehicle, N (0, σ)s) To expect 0, the variance is σs(ii) a gaussian distribution of; the angle between each initial particle and the initial position of the vehicle follows a random distribution.
Further, the initial particle weight corresponding to each of the plurality of initial particles is initialized so that the initial particle weights corresponding to each of the plurality of initial particles are equal.
And step 206, receiving the vehicle position of the current period sent by the GPS receiver and the frictional resistance sent by the MEC server.
In this embodiment, the MEC server stores the rolling friction coefficient and the terrain gradient of the road; and the MEC server calculates the friction resistance according to the rolling friction coefficient of the road surface and the terrain gradient.
In this embodiment, the GPS receiver transmits the vehicle position to the in-vehicle terminal according to the position update cycle.
In this embodiment, the vehicle position of the current period sent by the GPS receiver has a certain observation error, and the observation error obeys expectation of 0, and the variance is σ1A gaussian distribution of (a). The probability density function of the current periodic vehicle position transmitted by the GPS receiver is denoted as fgps(RGPS(tk)|Rreal(tk))＝Rreal(tk)+ngps，ngps～N(0,σ1) Wherein n isgpsTo observe errors, fgps(RGPS(tk)|Rreal(tk) As a function of the probability density of the current periodic vehicle position, R, transmitted by the GPS receiverreal(tk) For true vehicle position, RGPS(tk) Vehicle position of the current cycle, N (0, σ) transmitted for GPS receiver1) To expect 0, the variance is σ1A gaussian distribution of (a).
In this embodiment, a vehicle control system is integrated in the vehicle-mounted terminal, and the vehicle-mounted terminal obtains the traction force of the vehicle from the vehicle control system.
In this embodiment, the vehicle position of the previous cycle transmitted by the GPS receiver is stored locally in advance, and the vehicle-mounted terminal acquires the vehicle position of the previous cycle from the local.
In this embodiment, step 210 specifically includes:
step 210a, calculating the vehicle acceleration according to the vehicle traction force and the frictional resistance.
In particular, by the formula F (t)k)-f(tk)＝ma(tk) And calculating the traction force and the frictional resistance of the vehicle to calculate the acceleration of the vehicle.
Wherein the content of the first and second substances,tkfor the current cycle, F (t)k) For vehicle tractive effort, f (t)k) M is the mass of the vehicle, a (t) is the frictional resistancek) Is the vehicle acceleration. The mass of the vehicle is obtained from a pressure sensor, which is connected to the vehicle-mounted terminal.
In the embodiment, the calculated vehicle acceleration has a certain acceleration error, the acceleration error obeys expectation of 0, and the variance is σ2A gaussian distribution of (a). Denoted as a (t)k)＝areal(tk)+na，na～N(0,σ2) Wherein, a (t)k) For calculated vehicle acceleration, areal(tk) In order to be able to actually accelerate,nafor acceleration error, N (0, σ)2) To expect 0, the variance is σ1A gaussian distribution of (a).
And step 210b, calculating the vehicle speed according to the vehicle acceleration and the position updating period.
In particular, by the formula v (t)k)＝v(tk-1)+a(tk) T calculates the vehicle acceleration and the position update period, and calculates the vehicle speed.
Wherein, v (t)k) As the vehicle speed, v (t)k-1) Vehicle speed of the previous cycle, a (t)k) Is the vehicle acceleration, and T is the location update period. The vehicle-mounted terminal acquires the vehicle speed of the previous period from the vehicle control system.
Step 210c, generating a plurality of current particle positions according to the vehicle speed, the vehicle acceleration, the position update cycle and the vehicle position of the previous cycle.
In particular, by the formula
And calculating the vehicle speed, the vehicle acceleration, the position updating period and the vehicle position in the previous period to generate a plurality of current particle positions.
Wherein r is(i)(tk) Is the position of the ith current particle, r(i)(tk-1) Is the position of the ith current particle in the previous cycle, a (t)k) Is vehicle acceleration, T is position update period, v (T)k) For vehicle speed, i is a positive integer.
And 212, generating a current particle weight corresponding to each current particle according to the plurality of current particle positions and the vehicle position in the current period.
In particular, by the formula w(i)(tk)∝exp{-(r(i)(tk)-RGPS(tk))2Calculating and counting a plurality of current particle positions and the vehicle position of the current periodAnd calculating the current particle weight corresponding to each current particle.
Wherein, w(i)(tk) Is the ith current particle weight, r(i)(tk) Is the ith current particle position, RGPS(tk) And taking a positive integer for the vehicle position of the current period sent by the GPS receiver.
In this step, the current set of particles is represented as
Wherein r is(i)(tk) Is the ith current particle position, w(i)(tk) And N is the weight of the ith current particle, and is the number of the initial particles.
And step 216, resampling the current particle set to generate an effective particle set.
Fig. 4 is a flowchart of resampling a current particle set according to an embodiment of the present invention, as shown in fig. 4:
in this embodiment, step 216 specifically includes:
and step 216a, calculating the number of effective particles according to the current particle weight.
In particular, by the formula
And calculating the weight of the current particles and calculating the number of effective particles.
Wherein the content of the first and second substances,
effective number of particles, w(i)(tk) And N is the weight of the ith current particle, and is the number of the initial particles.
In this step, i is taken as all integers from 2 to N.
In step 216e, the initial value of the parameter g is set to 1, that is, g is 1.
In this step, the value of i is from 1 to
All of the integers of (1). For example, when step 216f is executed for the first time, i is set to 1, and the current comparison value u [1] is calculated]The current comparison value at this time is also the first comparison value; when step 216f is executed for the second time, i is equal to 2, and the current comparison value u [2 ] is calculated]。
Specifically, it is determined whether u [ i ] is greater than a [ g ], if yes, go to step 216 h; if not, go to step 216 i. Where u [ i ] denotes the current comparison value and a [ g ] denotes the current reference value. g is a parameter of the current reference value, for example, when g is 1, the parameter of the current reference value is 1, and a [1] is the first reference value.
In this step, the value direction of the current reference value is from the first reference value to the nth reference value. For example: when the step 216g is executed for the first time, the value of the current reference value is the first reference value; when step 216g is executed for the second time, the current reference value is the second reference value.
And step 216h, performing self-increment on the parameter of the current reference value to generate the parameter of the next reference value, and continuing to execute step 216 g.
Specifically, iterative selection is performed according to the formula g +1 to generate a parameter of a next reference value, step 216g is continuously performed until the current comparison value is determined to be less than or equal to the current reference value, and step 216i is performed.
For example, the current reference value is the first reference value, and the first reference value is incremented to generate the next reference value, i.e., the second reference value.
Step 216i, passing formula
The effective particle position is calculated. Wherein the content of the first and second substances,
the position of the ith valid particle, g is the parameter of the current reference value, r(g)(tk) Is the position of the g-th effective particle.
And step 216k, determining the effective particle positions and the effective particle weight values as the effective particle sets.
In this step, the effective particle set is represented by
Wherein the content of the first and second substances,
is the position of the g-th effective particle,
is the weight of the g-th valid particle,
is the effective particle number.
And step 218, generating vehicle positioning information according to the effective particle sets.
In particular, by the formula
And calculating the effective particle sets to generate vehicle positioning information.
Wherein R (t)k) In order to locate the information for the vehicle,
is the position of the g-th effective particle,
is the weight of the g-th valid particle,
is the effective particle number.
In this embodiment, the vehicle-mounted terminal locates the current position of the vehicle according to the vehicle location information.
In the scheme of the embodiment of the invention, the vehicle position and the frictional resistance in the current period are received; acquiring the vehicle position and the vehicle traction of the previous cycle; generating a plurality of current particle positions according to the vehicle traction force, the vehicle position of the previous period and the frictional resistance; generating a current particle weight corresponding to each current particle according to the plurality of current particle positions and the vehicle position of the current period; according to the positions of the current particles and the weight of the current particles corresponding to each current particle, vehicle positioning information is generated, vehicles can be accurately positioned in a complex and changeable road environment, the accuracy and the speed of vehicle positioning are improved under the condition of using less resources, and the cost is saved.
Fig. 5 is a schematic structural diagram of a positioning apparatus according to an embodiment of the present invention, the apparatus is configured to perform the positioning method, and as shown in fig. 5, the apparatus includes: a receiving unit 11, an acquiring unit 12, a first generating unit 13, a second generating unit 14, and a third generating unit 15.
The receiving unit 11 is used for receiving the vehicle position and the frictional resistance of the current cycle.
The acquisition unit 12 is used to acquire the vehicle position and the vehicle traction of the previous cycle.
The first generating unit 13 is configured to generate a plurality of current particle positions according to the vehicle traction, the vehicle position of the previous cycle, and the frictional resistance.
The second generating unit 14 is configured to generate a current particle weight corresponding to each current particle according to the plurality of current particle positions and the vehicle position of the current cycle.
The third generating unit 15 is configured to generate vehicle positioning information according to the plurality of current particle positions and the current particle weight corresponding to each current particle.
In the embodiment of the present invention, the apparatus further includes: an acquisition unit 16.
The receiving unit 11 is also used for receiving the initial position of the vehicle.
The collecting unit 16 is used for collecting a plurality of initial particles according to the initial positions.
In this embodiment of the present invention, the third generating unit 15 is specifically configured to determine, as the current particle set, a plurality of current particle positions and a current particle weight corresponding to each current particle; resampling the current particle set to generate an effective particle set; and generating vehicle positioning information according to the effective particle sets.
In this embodiment of the present invention, the third generating unit 15 specifically includes: a first computation submodule 151 and a first generation submodule 152.
The first calculating sub-module 151 is configured to calculate the number of effective particles according to the current particle weight.
The first generation submodule 152 is configured to generate a valid particle set according to the valid particle number and the current particle weight.
In this embodiment of the present invention, the first generating unit 13 specifically includes: a second computation submodule 131, a third computation submodule 132 and a second generation submodule 133.
The second calculation submodule 131 is configured to calculate the vehicle acceleration according to the vehicle traction and the frictional resistance.
The third calculation submodule 132 is configured to calculate a vehicle speed based on the vehicle acceleration and the position update period.
The second generation submodule 133 is configured to generate a plurality of current particle positions according to the vehicle speed, the vehicle acceleration, the position update cycle, and the vehicle position of the previous cycle.
In the embodiment of the present invention, the second generation submodule 133 is specifically configured to pass through a formula
Calculating the vehicle speed, the vehicle acceleration, the position updating period and the vehicle position of the previous period to generate a plurality of current particle positions, wherein r(i)(tk) Is the position of the ith current particle, r(i)(tk-1) Is the position of the ith current particle in the previous cycle, a (t)k) Is vehicle acceleration, T is position update period, v (T)k) For vehicle speed, i is a positive integer.
In the scheme of the embodiment of the invention, the vehicle position and the frictional resistance in the current period are received; acquiring the vehicle position and the vehicle traction of the previous cycle; generating a plurality of current particle positions according to the vehicle traction force, the vehicle position of the previous period and the frictional resistance; generating a current particle weight corresponding to each current particle according to the plurality of current particle positions and the vehicle position of the current period; according to the positions of the current particles and the weight of the current particles corresponding to each current particle, vehicle positioning information is generated, vehicles can be accurately positioned in a complex and changeable road environment, the accuracy and the speed of vehicle positioning are improved under the condition of using less resources, and the cost is saved.
An embodiment of the present invention provides a storage medium, where the storage medium includes a stored program, where, when the program runs, a device in which the storage medium is located is controlled to execute each step of the above-described embodiment of the positioning method, and for specific description, reference may be made to the above-described embodiment of the positioning method.
An embodiment of the present invention provides a server, including a memory and a processor, where the memory is used to store information including program instructions, and the processor is used to control execution of the program instructions, and the program instructions are loaded and executed by the processor to implement the steps of the embodiment of the positioning method.
Fig. 6 is a schematic diagram of a server according to an embodiment of the present invention. As shown in fig. 6, the server 20 of this embodiment includes: the processor 21, the memory 22, and the computer program 23 stored in the memory 22 and capable of running on the processor 21, where the computer program 23 is executed by the processor 21 to implement the positioning method in the embodiments, and in order to avoid repetition, the detailed description is omitted here. Alternatively, the computer program is executed by the processor 21 to implement the functions of each model/unit applied in the positioning apparatus in the embodiments, which are not described herein again to avoid redundancy.
The server 20 includes, but is not limited to, a processor 21, a memory 22. Those skilled in the art will appreciate that fig. 6 is merely an example of a server 20 and does not constitute a limitation of server 20 and may include more or fewer components than shown, or some components in combination, or different components, e.g., the server may also include input-output devices, network access devices, buses, etc.
The Processor 21 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The storage 22 may be an internal storage unit of the server 20, such as a hard disk or a memory of the server 20. The memory 22 may also be an external storage device of the server 20, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), or the like provided on the server 20. Further, the memory 22 may also include both an internal storage unit of the server 20 and an external storage device. The memory 22 is used for storing computer programs and other programs and data required by the server. The memory 22 may also be used to temporarily store data that has been output or is to be output.
In the embodiments provided in the present invention, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions in actual implementation, 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 invention 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, or in a form of hardware plus a software functional unit.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. A method of positioning, the method comprising:
receiving the vehicle position and the frictional resistance of the current period;
acquiring the vehicle position and the vehicle traction of the previous cycle;
generating a plurality of current particle positions according to the vehicle traction force, the vehicle position of the previous period and the frictional resistance;
generating a current particle weight corresponding to each current particle according to the plurality of current particle positions and the vehicle position of the current period;
and generating vehicle positioning information according to the plurality of current particle positions and the current particle weight corresponding to each current particle.
2. The method of claim 1, further comprising, prior to said receiving a current cycle of vehicle position and frictional resistance:
receiving an initial position of a vehicle;
and collecting a plurality of initial particles according to the initial positions.
3. The positioning method according to claim 2,
the initial particle weight corresponding to each initial particle in the plurality of initial particles is equal.
4. The method according to any one of claims 1 to 3, wherein generating vehicle positioning information according to the plurality of current particle positions and the current particle weight corresponding to each current particle specifically comprises:
determining the plurality of current particle positions and the current particle weight corresponding to each current particle as a current particle set;
resampling the current particle set to generate an effective particle set;
and generating vehicle positioning information according to the effective particle set.
5. The method according to claim 4, wherein the resampling the current set of particles to generate the valid set of particles comprises:
calculating the number of effective particles according to the current particle weight;
and generating an effective particle set according to the effective particle number and the current particle weight.
6. The method according to any one of claims 1 to 3, wherein the generating a plurality of current particle positions from the vehicle tractive force, the vehicle position of the previous cycle and the frictional resistance comprises:
calculating the acceleration of the vehicle according to the traction force and the frictional resistance of the vehicle;
calculating the vehicle speed according to the vehicle acceleration and the position updating period;
and generating a plurality of current particle positions according to the vehicle speed, the vehicle acceleration, the position updating period and the vehicle position in the previous period.
7. The method according to claim 6, wherein the generating a plurality of current particle positions according to the vehicle speed, the vehicle acceleration, the position update cycle and the vehicle position of the previous cycle comprises:
by the formula
Calculating the vehicle speed, the vehicle acceleration, the position updating period and the vehicle position of the previous period to generate a plurality of current particle positions, wherein r(i)(tk) Is the position of the ith current particle, r(i)(tk-1) Is the position of the ith current particle in the previous cycle, a (t)k) Is vehicle acceleration, T is position update period, v (T)k) For vehicle speed, i is a positive integer.
8. A positioning device, comprising:
a receiving unit that receives a vehicle position and a frictional resistance of a current cycle;
an acquisition unit that acquires a vehicle position and a vehicle traction force of a previous cycle;
a first generating unit, configured to generate a plurality of current particle positions according to the vehicle traction force, the vehicle position in the previous cycle, and the frictional resistance;
a second generating unit, configured to generate a current particle weight corresponding to each current particle according to the multiple current particle positions and a vehicle position in a current period;
and the third generating unit is used for generating the vehicle positioning information according to the plurality of current particle positions and the current particle weight corresponding to each current particle.
9. A storage medium, characterized in that the storage medium comprises a stored program, wherein when the program runs, the storage medium is controlled by a device to execute the positioning method according to any one of claims 1 to 7.
10. A server comprising a memory for storing information including program instructions and a processor for controlling the execution of the program instructions, characterized in that the program instructions are loaded and executed by the processor to implement the positioning method according to any of claims 1 to 7.
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