CN113608250A - Terminal positioning method, terminal positioning equipment, storage medium and positioning module - Google Patents
Terminal positioning method, terminal positioning equipment, storage medium and positioning module Download PDFInfo
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- CN113608250A CN113608250A CN202110873719.6A CN202110873719A CN113608250A CN 113608250 A CN113608250 A CN 113608250A CN 202110873719 A CN202110873719 A CN 202110873719A CN 113608250 A CN113608250 A CN 113608250A
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- 238000005259 measurement Methods 0.000 claims abstract description 101
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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Abstract
The application discloses a terminal positioning method, terminal positioning equipment, a storage medium and a positioning module. The method comprises the following steps: acquiring current satellite positioning data through satellite positioning to obtain a first terminal position; closing the satellite positioning, starting an inertia measurement device, determining the inertia measurement navigation time length, and then starting timing through a variable timer; predicting a real-time position by the inertial measurement unit based on the first terminal position; and after the time reaches the inertial measurement navigation time, restarting the satellite positioning to obtain the latest satellite positioning data, and correcting the real-time position based on the latest satellite positioning data to obtain the position of a second terminal. The real-time position is predicted by closing the satellite positioning and adopting an inertial navigation mode, and the restart of the satellite positioning is controlled according to the inertial measurement navigation time length, so that the positioning accuracy is ensured, and meanwhile, the navigation power consumption is reduced.
Description
Technical Field
The present invention relates to the field of positioning technologies, and in particular, to a terminal positioning method, device, storage medium, and positioning module.
Background
At present, the satellite positioning technology is widely used, high-precision position information is provided for various industrial applications, and social development is promoted. The basic principle of a satellite navigation system is to measure the distance between a satellite with a known position and a user receiver, and then integrate data of a plurality of satellites to know the specific position of the receiver. However, in practical use, the power consumption is significantly increased when satellite positioning is frequently used, and in order to overcome the above problems, in the prior art, positioning is also performed by an inertial navigation technology, but information of a gyroscope and an accelerometer in an inertial measurement device used for inertial navigation has errors, and the accuracy of positioning is seriously reduced by accumulation of the errors. Therefore, how to reduce the positioning power consumption while ensuring the positioning accuracy is an urgent problem to be solved at present.
Disclosure of Invention
In view of the above, the present invention provides a terminal positioning method, a terminal positioning device, a storage medium, and a terminal positioning module, which can reduce positioning power consumption while ensuring positioning accuracy. The specific scheme is as follows:
in a first aspect, the present application discloses a terminal positioning method, including:
acquiring current satellite positioning data through satellite positioning to obtain a first terminal position;
closing the satellite positioning, starting an inertia measurement device, determining the inertia measurement navigation time length, and then starting timing through a variable timer;
predicting a real-time position by the inertial measurement unit based on the first terminal position;
and after the time reaches the inertial measurement navigation time, restarting the satellite positioning to obtain the latest satellite positioning data, and correcting the real-time position based on the latest satellite positioning data to obtain the position of a second terminal.
Optionally, the obtaining current satellite positioning data through satellite positioning to obtain the first terminal position includes:
acquiring the current satellite positioning data through the satellite positioning, and acquiring base station positioning data through a base station;
and determining the position of the first terminal based on the current satellite positioning data and the base station positioning data.
Optionally, in the process of predicting the real-time position by the inertial measurement unit, the method further includes:
acquiring a satellite positioning request sent by a client;
stopping the timing of the variable timer according to the satellite positioning request, and performing the step of re-enabling the satellite positioning to acquire the latest satellite positioning data.
Optionally, in the process of predicting the real-time position by the inertial measurement unit, the method further includes:
monitoring the moving distance of the inertia measuring device after the variable timer starts to time;
and if the moving distance is greater than a preset distance threshold value, stopping the timing of the variable timer, and executing the step of restarting the satellite positioning to obtain the latest satellite positioning data.
Optionally, the determining the navigation duration of the inertial measurement includes:
acquiring parameter information of an application of the terminal using the positioning service, and determining a distance sensitivity level corresponding to the application according to the parameter information;
and determining the navigation time length corresponding to the application according to the corresponding relation between the pre-constructed distance sensitivity degree grade and the navigation time length, and taking the navigation time length as the inertial measurement navigation time length.
Optionally, the determining the navigation duration of the inertial measurement includes:
acquiring parameter information of an application of the terminal using a positioning service, and determining a distance sensitivity value corresponding to the application according to the parameter information;
acquiring a current speed value of the terminal and a device error parameter of the inertial measurement unit;
determining the inertial measurement navigation time length according to a pre-constructed navigation time length function based on the distance sensitivity degree value, the speed value and the device error parameter;
the independent variable of the navigation time function is distance sensitivity, speed and device error, and the dependent variable is inertial measurement navigation time.
Optionally, after correcting the real-time position based on the latest satellite positioning data, the method further includes:
and optimizing the coefficient of the independent variable in the navigation time length function according to the difference between the latest satellite positioning data and the real-time position.
In a second aspect, the present application discloses a positioning module, including:
the satellite positioning module is used for acquiring current satellite positioning data through satellite positioning so as to obtain a first terminal position;
the inertial measurement module is used for starting the inertial measurement device after the satellite positioning is closed and determining the navigation time length of inertial measurement, and then predicting a real-time position through the inertial measurement device based on the position of the first terminal after the variable timer starts to time;
and the satellite positioning restarting module is used for restarting the satellite positioning to obtain the latest satellite positioning data after the time reaches the inertial measurement navigation time length, and correcting the real-time position based on the latest satellite positioning data to obtain the position of a second terminal.
In a third aspect, the present application discloses an electronic device, comprising:
a memory for storing a computer program;
a processor for executing the computer program to implement the aforementioned terminal positioning method.
In a fourth aspect, the present application discloses a computer readable storage medium for storing a computer program; wherein the computer program realizes the aforementioned terminal positioning method when being executed by a processor.
In the method, the current satellite positioning data is obtained through satellite positioning to obtain the position of a first terminal; closing the satellite positioning, starting an inertia measurement device, determining the inertia measurement navigation time length, and then starting timing through a variable timer; predicting a real-time position by the inertial measurement unit based on the first terminal position; and after the time reaches the inertial measurement navigation time, restarting the satellite positioning to obtain the latest satellite positioning data, and correcting the real-time position based on the latest satellite positioning data to obtain the position of a second terminal. Therefore, the current first terminal position of the terminal is obtained by satellite positioning, the satellite positioning function is stopped, the real-time position is positioned through the inertia measuring device, the inertia measurement navigation time length is determined, the time length for positioning through the inertia measuring device is controlled through the inertia measurement navigation time length, and the current second terminal position of the terminal is determined through satellite positioning after the time reaches the inertia navigation time length.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a flowchart of a terminal positioning method provided in the present application;
fig. 2 is a flowchart of a specific terminal positioning method provided in the present application;
fig. 3 is a schematic structural diagram of a positioning module according to the present application;
fig. 4 is a block diagram of an electronic device provided in the present application.
Detailed Description
In the prior art, the real-time positioning is carried out through a satellite positioning technology, but the power consumption is obviously increased when the satellite positioning is frequently used, in the prior art, the positioning is also carried out through an inertial navigation technology, but information of a gyroscope and an accelerometer in an inertial measurement device used by the inertial navigation has errors, and the accuracy of the positioning can be seriously reduced due to the accumulation of the errors. In order to overcome the technical problem, the application further provides a terminal positioning method, which can reduce positioning power consumption while ensuring positioning accuracy.
The embodiment of the application discloses a terminal positioning method, which is applied to a terminal and can comprise the following steps as shown in figure 1:
step S11: and acquiring current satellite positioning data through satellite positioning to obtain the position of the first terminal.
In this embodiment, first, current satellite positioning data is obtained through satellite positioning to obtain a position of the first terminal, that is, a current accurate position of the terminal.
In this embodiment, the obtaining current satellite positioning data through satellite positioning to obtain the first terminal position may include: acquiring the current satellite positioning data through the satellite positioning, and acquiring base station positioning data through a base station; and determining the position of the first terminal based on the current satellite positioning data and the base station positioning data. I.e. the first terminal position, may be a position determined by combining satellite positioning and base station positioning.
Step S12: and closing the satellite positioning, starting the inertial measurement device, determining the navigation time length of the inertial measurement, and then starting timing by a variable timer.
In this embodiment, after the position of the first terminal is obtained, the satellite positioning function of the terminal is turned off, the inertial navigation of the inertial measurement unit is started, the inertial measurement navigation duration is determined, the inertial measurement navigation duration is the duration for performing the inertial navigation by using the inertial measurement unit, and then the variable timer is used to start timing from zero based on the inertial navigation duration.
In this embodiment, the determining the navigation duration of the inertial measurement may include: acquiring parameter information of an application of the terminal using the positioning service, and determining a distance sensitivity level corresponding to the application according to the parameter information; and determining the navigation time length corresponding to the application according to the corresponding relation between the pre-constructed distance sensitivity degree grade and the navigation time length, and taking the navigation time length as the inertial measurement navigation time length. It can be understood that, because different applications have different sensitivity degrees to distance, that is, required positioning accuracy is different, the inertial navigation duration may be specifically determined by obtaining parameter information of an application in which the terminal uses the positioning service, and then determining a distance sensitivity degree level corresponding to the application according to the parameter information; and determining the navigation time length corresponding to the application according to the corresponding relation between the pre-constructed distance sensitivity degree grade and the navigation time length. When there are a plurality of applications using the location service, the application with the highest sensitivity level is used as the standard. Of course, the inertial navigation time period may be a fixed value set by the user.
Step S13: predicting a real-time position by the inertial measurement unit based on the first terminal position.
In this embodiment, after the inertial measurement unit is started, the real-time position of the terminal is predicted by the inertial measurement unit based on the determined position of the first terminal. It will be appreciated that inertial measurement units typically include accelerometers and gyroscopes, also known as inertial navigation combinations. An accelerometer is used for detecting the acceleration of an object, and a gyroscope is called an angular velocity sensor and is used for detecting the angular velocity. The method comprises the steps of collecting the initial speed of the terminal, combining the acceleration measured by the accelerometer, converting the displacement generated by the acceleration according to a quadratic integration method, calculating the displacement generated by the speed by using the initial speed, and further calculating the real-time position of the terminal.
Step S14: and after the time reaches the inertial measurement navigation time, restarting the satellite positioning to obtain the latest satellite positioning data, and correcting the real-time position based on the latest satellite positioning data to obtain the position of a second terminal.
In this embodiment, the variable timer starts timing according to the inertia measurement navigation time length after the inertia measurement device is started, and restarts the satellite positioning to obtain the latest satellite positioning data when the timing reaches the inertia measurement navigation time length, and corrects the real-time position obtained by the inertia measurement device based on the latest satellite positioning data to obtain the second terminal position, that is, the current accurate position of the terminal. It can be understood that, due to the error of the inertial measurement device, the error generated by inertial navigation becomes larger and larger with the passage of time, so that the correction is needed after a period of time.
In this embodiment, the predicting the real-time position by the inertial measurement unit may further include: acquiring a satellite positioning request sent by a client; stopping the timing of the variable timer according to the satellite positioning request, and performing the step of re-enabling the satellite positioning to acquire the latest satellite positioning data. It can be understood that, in order to fit the actual use situation, improve the overall flexibility, and meet the requirements of the user, the method may further include receiving a satellite positioning request sent by the user when accurate positioning is required at a certain moment, then stopping the timing of the variable timer according to the satellite positioning request, and executing the step of re-enabling the satellite positioning to obtain the latest satellite positioning data.
In this embodiment, the predicting the real-time position by the inertial measurement unit may further include: monitoring the moving distance of the inertia measuring device after the variable timer starts to time; and if the moving distance is greater than a preset distance threshold value, stopping the timing of the variable timer, and executing the step of restarting the satellite positioning to obtain the latest satellite positioning data. It can be understood that, in order to prevent the error from increasing gradually due to the excessively long distance using the inertial positioning, in this embodiment, the moving distance measured by the monitoring inertial measurement unit is accumulated after the variable timer starts to count time; and stopping the timing of the variable timer when the moving distance is larger than a preset distance threshold value, and executing the step of restarting the satellite positioning to acquire the latest satellite positioning data.
As can be seen from the above, in the embodiment, the position is calculated by turning off the satellite positioning and adopting the inertial navigation manner, so that the power consumption is saved; and the satellite positioning is controlled to be restarted by the variable timer based on the inertial measurement navigation time length so as to correct the current position, so that overlarge errors are avoided. Therefore, the effect of reducing power consumption is achieved and the positioning error is reduced by periodically starting the satellite to position and correct the position depending on inertial navigation.
The embodiment of the application discloses a specific terminal positioning method, and as shown in fig. 2, the method may include the following steps:
step S21: and acquiring current satellite positioning data through satellite positioning to obtain the position of the first terminal.
Step S22: and turning off the satellite positioning and starting the inertial measurement unit.
Step S23: acquiring parameter information of an application of the terminal using the positioning service, and determining a distance sensitivity value corresponding to the application according to the parameter information.
In this embodiment, the parameter information of the application of the terminal using the positioning service is obtained, and the distance sensitivity value corresponding to the application is determined according to the parameter information. It will be appreciated that different applications are sensitive to positioning distance errors to different extents, i.e. have different requirements on the accuracy of positioning; for example, the weather forecast application only needs to know which area the terminal is currently located in, and the sensitivity to the position error is low, while the car navigation type service has high sensitivity to the position error, so that the classification and distinguishing processing can be performed according to the sensitivity of the application to the position error.
Step S24: and acquiring the current speed value of the terminal and the device error parameters of the inertial measurement unit.
In this embodiment, a current speed value of the terminal may be specifically obtained by the speed sensor, and a device error parameter of the locally-set inertia measurement device may be obtained. It will be appreciated that the difference between the output data and the actual data during operation of the inertial measurement unit can be calculated from the unit error parameters described above.
Step S25: and determining the inertial measurement navigation time length according to a pre-constructed navigation time length function based on the distance sensitivity degree value, the speed value and the device error parameter, and then starting timing through a variable timer.
In this embodiment, based on the distance sensitivity value, the speed value, and the device error parameter, the inertial measurement navigation duration is determined according to a pre-established navigation duration function, and then timing is started by a variable timer. The independent variable of the navigation time function is distance sensitivity, speed and device error, and the dependent variable is inertial measurement navigation time. It is understood that, according to the function between the distance sensitivity and the distance, the distance sensitivity value of the current application can be determined to determine the maximum error distance allowed by the current application, and the maximum error distance allowed by the current application can be presumed by the speed value and the device error parameter, so as to confirm the inertial measurement navigation time. The specific navigation duration function may be T ═ f (V, X, N), where N is the distance sensitivity, V is the speed, and X is the device error. The determined inertial measurement navigation time is fitted with the application of the current positioning service, so that the positioning accuracy is ensured to the maximum extent, the power consumed by positioning is reduced, and the positioning intelligence is improved.
Step S26: predicting a real-time position by the inertial measurement unit based on the first terminal position.
Step S27: and after the time reaches the inertial measurement navigation time, restarting the satellite positioning to obtain the latest satellite positioning data, and correcting the real-time position based on the latest satellite positioning data to obtain the position of a second terminal.
In this embodiment, after correcting the real-time position based on the latest satellite positioning data, the method may further include: and optimizing the coefficient of the independent variable in the navigation time length function according to the difference between the latest satellite positioning data and the real-time position. It can be understood that, after the coefficients of the respective variables in the navigation duration function are continuously optimized according to a large amount of measured data, the accuracy of the function can be continuously improved, and further, the accuracy of the inertial navigation duration is improved.
For the specific processes of the step S21, the step S22, the step S26, and the step S27, reference may be made to the corresponding contents disclosed in the foregoing embodiments, and details are not repeated herein.
As can be seen from the above, in the embodiment, the inertial navigation device is used to predict the real-time position of the terminal, and then the satellite is used to periodically position and correct the position of the terminal, and the variable timer is used to periodically control the inertial measurement navigation time length according to the inertial measurement navigation time length, and the inertial measurement navigation time length depends on the sensitivity of the application using the positioning service to the position error, the speed of the current terminal and the error of the inertial measurement device, so that the positioning accuracy is ensured while considering low power consumption.
Correspondingly, the embodiment of the present application further discloses a terminal positioning module, as shown in fig. 3, the module includes:
the satellite positioning module 11 is configured to obtain current satellite positioning data through satellite positioning to obtain a first terminal position;
the inertial measurement module 12 is configured to, after the satellite positioning enabled inertial measurement unit is turned off and an inertial measurement navigation duration is determined, start timing by a variable timer, predict a real-time position by the inertial measurement unit based on the first terminal position;
and the satellite positioning restarting module 13 is configured to restart the satellite positioning to obtain latest satellite positioning data after the time reaches the inertial measurement navigation duration, and correct the real-time position based on the latest satellite positioning data to obtain a second terminal position.
As can be seen from the above, in this embodiment, the current satellite positioning data is obtained through satellite positioning to obtain the position of the first terminal; closing the satellite positioning, starting an inertia measurement device, determining the inertia measurement navigation time length, and then starting timing through a variable timer; predicting a real-time position by the inertial measurement unit based on the first terminal position; and after the time reaches the inertial measurement navigation time, restarting the satellite positioning to obtain the latest satellite positioning data, and correcting the real-time position based on the latest satellite positioning data to obtain the position of a second terminal. Therefore, the current first terminal position of the terminal is obtained by satellite positioning, the satellite positioning function is stopped, the real-time position is positioned through the inertia measuring device, the inertia measurement navigation time length is determined, the time length for positioning through the inertia measuring device is controlled through the inertia measurement navigation time length, and the current second terminal position of the terminal is determined through satellite positioning after the time reaches the inertia navigation time length.
In some embodiments, the satellite positioning module 11 may specifically include:
the data acquisition unit is used for acquiring the current satellite positioning data through the satellite positioning and acquiring base station positioning data through a base station;
a first terminal position determining unit, configured to determine the first terminal position based on the current satellite positioning data and the base station positioning data.
In some embodiments, the terminal positioning module may specifically include:
a positioning request acquisition unit, configured to acquire a satellite positioning request sent by a client;
a first restart selection unit, configured to stop timing of the variable timer according to the satellite positioning request, and execute the step of re-enabling the satellite positioning to obtain the latest satellite positioning data.
In some embodiments, the terminal positioning module may specifically include:
the distance monitoring unit is used for monitoring the moving distance of the inertia measuring device after the variable timer starts to time;
and the second restart selection unit is used for stopping the timing of the variable timer and executing the step of restarting the satellite positioning to acquire the latest satellite positioning data if the moving distance is greater than a preset distance threshold.
In some embodiments, the inertial measurement module 12 may specifically include:
the application level determining unit is used for acquiring parameter information of an application of the terminal using the positioning service and determining the distance sensitivity level corresponding to the application according to the parameter information;
and the first navigation duration determining unit is used for determining the navigation duration corresponding to the application according to the corresponding relation between the pre-constructed distance sensitivity degree grade and the navigation duration, and taking the navigation duration as the inertial measurement navigation duration.
In some embodiments, the inertial measurement module 12 may specifically include:
an application parameter obtaining unit, configured to obtain parameter information of an application of a location service used by the terminal, and determine a distance sensitivity value corresponding to the application according to the parameter information;
a speed and error acquisition unit, configured to acquire a current speed value of the terminal and a device error parameter of the inertial measurement unit;
the second navigation duration determining unit is used for determining the inertia measurement navigation duration according to a pre-constructed navigation duration function based on the distance sensitivity value, the speed value and the device error parameter; the independent variable of the navigation time function is distance sensitivity, speed and device error, and the dependent variable is inertial measurement navigation time.
In some embodiments, the terminal positioning module may specifically include:
and the optimization unit is used for optimizing the coefficient of the independent variable in the navigation time length function according to the difference between the latest satellite positioning data and the real-time position.
Further, the embodiment of the present application also discloses an electronic device, which is shown in fig. 4, and the content in the drawing cannot be considered as any limitation to the application scope.
Fig. 4 is a schematic structural diagram of an electronic device 20 according to an embodiment of the present disclosure. The electronic device 20 may specifically include: at least one processor 21, at least one memory 22, a power supply 23, a communication interface 24, an input output interface 25, and a communication bus 26. Wherein, the memory 22 is used for storing a computer program, and the computer program is loaded and executed by the processor 21 to implement the relevant steps in the terminal positioning method disclosed in any of the foregoing embodiments.
In this embodiment, the power supply 23 is configured to provide a working voltage for each hardware device on the electronic device 20; the communication interface 24 can create a data transmission channel between the electronic device 20 and an external device, and a communication protocol followed by the communication interface is any communication protocol applicable to the technical solution of the present application, and is not specifically limited herein; the input/output interface 25 is configured to obtain external input data or output data to the outside, and a specific interface type thereof may be selected according to specific application requirements, which is not specifically limited herein.
In addition, the storage 22 is used as a carrier for storing resources, and may be a read-only memory, a random access memory, a magnetic disk or an optical disk, etc., the resources stored thereon include an operating system 221, a computer program 222, data 223 including satellite positioning data, etc., and the storage may be a transient storage or a permanent storage.
The operating system 221 is used for managing and controlling each hardware device and the computer program 222 on the electronic device 20, so as to realize the operation and processing of the mass data 223 in the memory 22 by the processor 21, and may be Windows Server, Netware, Unix, Linux, and the like. The computer program 222 may further include a computer program that can be used to perform other specific tasks in addition to the computer program that can be used to perform the terminal positioning method performed by the electronic device 20 disclosed in any of the foregoing embodiments.
Further, an embodiment of the present application further discloses a computer storage medium, where computer-executable instructions are stored in the computer storage medium, and when the computer-executable instructions are loaded and executed by a processor, the steps of the terminal positioning method disclosed in any of the foregoing embodiments are implemented.
The embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same or similar parts among the embodiments are referred to each other. For the positioning module disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is simple, and the relevant points can be referred to the description of the method.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The terminal positioning method, device, storage medium and positioning module provided by the present invention are introduced in detail, and a specific example is applied in the description to explain the principle and the implementation of the present invention, and the description of the above embodiment is only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (10)
1. A terminal positioning method is applied to a terminal and comprises the following steps:
acquiring current satellite positioning data through satellite positioning to obtain a first terminal position;
closing the satellite positioning, starting an inertia measurement device, determining the inertia measurement navigation time length, and then starting timing through a variable timer;
predicting a real-time position by the inertial measurement unit based on the first terminal position;
and after the time reaches the inertial measurement navigation time, restarting the satellite positioning to obtain the latest satellite positioning data, and correcting the real-time position based on the latest satellite positioning data to obtain the position of a second terminal.
2. The method according to claim 1, wherein the obtaining current satellite positioning data through satellite positioning to obtain the first terminal position comprises:
acquiring the current satellite positioning data through the satellite positioning, and acquiring base station positioning data through a base station;
and determining the position of the first terminal based on the current satellite positioning data and the base station positioning data.
3. The method according to claim 1, wherein the predicting the real-time position by the inertial measurement unit further comprises:
acquiring a satellite positioning request sent by a client;
stopping the timing of the variable timer according to the satellite positioning request, and performing the step of re-enabling the satellite positioning to acquire the latest satellite positioning data.
4. The method according to claim 1, wherein the predicting the real-time position by the inertial measurement unit further comprises:
monitoring the moving distance of the inertia measuring device after the variable timer starts to time;
and if the moving distance is greater than a preset distance threshold value, stopping the timing of the variable timer, and executing the step of restarting the satellite positioning to obtain the latest satellite positioning data.
5. The method according to claim 1, wherein the determining the duration of the inertial measurement navigation comprises:
acquiring parameter information of an application of the terminal using the positioning service, and determining a distance sensitivity level corresponding to the application according to the parameter information;
and determining the navigation time length corresponding to the application according to the corresponding relation between the pre-constructed distance sensitivity degree grade and the navigation time length, and taking the navigation time length as the inertial measurement navigation time length.
6. The method according to any one of claims 1 to 5, wherein the determining the inertial measurement navigation duration comprises:
acquiring parameter information of an application of the terminal using a positioning service, and determining a distance sensitivity value corresponding to the application according to the parameter information;
acquiring a current speed value of the terminal and a device error parameter of the inertial measurement unit;
determining the inertial measurement navigation time length according to a pre-constructed navigation time length function based on the distance sensitivity degree value, the speed value and the device error parameter;
the independent variable of the navigation time function is distance sensitivity, speed and device error, and the dependent variable is inertial measurement navigation time.
7. The method according to claim 6, further comprising, after correcting the real-time position based on the latest satellite positioning data:
and optimizing the coefficient of the independent variable in the navigation time length function according to the difference between the latest satellite positioning data and the real-time position.
8. A positioning module, comprising:
the satellite positioning module is used for acquiring current satellite positioning data through satellite positioning so as to obtain a first terminal position;
the inertial measurement module is used for starting the inertial measurement device after the satellite positioning is closed and determining the navigation time length of inertial measurement, and then predicting a real-time position through the inertial measurement device based on the position of the first terminal after the variable timer starts to time;
and the satellite positioning restarting module is used for restarting the satellite positioning to obtain the latest satellite positioning data after the time reaches the inertial measurement navigation time length, and correcting the real-time position based on the latest satellite positioning data to obtain the position of a second terminal.
9. An electronic device, comprising:
a memory for storing a computer program;
a processor for executing the computer program to implement the terminal positioning method according to any of claims 1 to 7.
10. A computer-readable storage medium for storing a computer program; wherein the computer program when executed by a processor implements a terminal positioning method as claimed in any one of claims 1 to 7.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110873719.6A CN113608250A (en) | 2021-07-30 | 2021-07-30 | Terminal positioning method, terminal positioning equipment, storage medium and positioning module |
| PCT/CN2021/140441 WO2023005121A1 (en) | 2021-07-30 | 2021-12-22 | Terminal positioning method, device, storage medium, and positioning module |
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| CN202110873719.6A CN113608250A (en) | 2021-07-30 | 2021-07-30 | Terminal positioning method, terminal positioning equipment, storage medium and positioning module |
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| CN113608250A true CN113608250A (en) | 2021-11-05 |
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| CN202110873719.6A Pending CN113608250A (en) | 2021-07-30 | 2021-07-30 | Terminal positioning method, terminal positioning equipment, storage medium and positioning module |
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| CN (1) | CN113608250A (en) |
| WO (1) | WO2023005121A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023005121A1 (en) * | 2021-07-30 | 2023-02-02 | 西安广和通无线软件有限公司 | Terminal positioning method, device, storage medium, and positioning module |
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| CN102901975A (en) * | 2012-10-18 | 2013-01-30 | 中兴通讯股份有限公司 | Mobile terminal and method for obtaining position information of mobile terminal |
| CN106125114A (en) * | 2016-06-30 | 2016-11-16 | 维沃移动通信有限公司 | Localization method and mobile terminal |
| CN112082550A (en) * | 2020-09-14 | 2020-12-15 | 湖南三一电控科技有限公司 | Positioning apparatus, method, device, and computer-readable storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2399065C2 (en) * | 2008-04-11 | 2010-09-10 | Корпорация Самсунг Электроникс Ко., Лтд. | Method of locating mobile object using hybrid navigation system (versions) |
| CN103454657B (en) * | 2012-05-30 | 2016-08-31 | 南京中兴新软件有限责任公司 | Intelligent terminal's synthesized positioning method and positioner |
| WO2017088111A1 (en) * | 2015-11-24 | 2017-06-01 | 华为技术有限公司 | Position information acquisition method and system |
| CN107741595A (en) * | 2017-11-14 | 2018-02-27 | 北京东方联星科技有限公司 | The apparatus and method that mobile satellite location equipment power consumption is reduced using Inertial Measurement Unit |
| CN113608250A (en) * | 2021-07-30 | 2021-11-05 | 西安广和通无线软件有限公司 | Terminal positioning method, terminal positioning equipment, storage medium and positioning module |
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2021
- 2021-07-30 CN CN202110873719.6A patent/CN113608250A/en active Pending
- 2021-12-22 WO PCT/CN2021/140441 patent/WO2023005121A1/en unknown
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102901975A (en) * | 2012-10-18 | 2013-01-30 | 中兴通讯股份有限公司 | Mobile terminal and method for obtaining position information of mobile terminal |
| CN106125114A (en) * | 2016-06-30 | 2016-11-16 | 维沃移动通信有限公司 | Localization method and mobile terminal |
| CN112082550A (en) * | 2020-09-14 | 2020-12-15 | 湖南三一电控科技有限公司 | Positioning apparatus, method, device, and computer-readable storage medium |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2023005121A1 (en) * | 2021-07-30 | 2023-02-02 | 西安广和通无线软件有限公司 | Terminal positioning method, device, storage medium, and positioning module |
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| WO2023005121A1 (en) | 2023-02-02 |
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