CN113790731B

CN113790731B - Method and device for generating speed information

Info

Publication number: CN113790731B
Application number: CN202110902369.1A
Authority: CN
Inventors: 刘增军; 李康; 杨伟; 邱宇; 黄鹏飞
Original assignee: Honor Device Co Ltd
Current assignee: Honor Device Co Ltd
Priority date: 2021-08-06
Filing date: 2021-08-06
Publication date: 2022-12-02
Anticipated expiration: 2041-08-06
Also published as: CN113790731A

Abstract

The application provides a speed information generation method and device. The method comprises the following steps: acquiring initial position information and first posture information representing the relative posture of user equipment and a first vehicle; converting the angular velocity and acceleration of the user equipment into the angular velocity and acceleration of the first vehicle according to the first posture information; generating first speed information according to the angular speed and the acceleration of the first vehicle; generating second speed information according to the initial position information and satellite positioning information obtained by satellite signals received by the user equipment; generating third speed information according to the fusion of the first speed information and the second speed information; and generating fifth speed information according to the fusion of the fourth speed information and the third speed information of the actual running of the first vehicle. The fifth speed information integrates the positioning information of the user equipment sensor, the information of the satellite signal of the user equipment and the actual running speed information of the vehicle, the accuracy is high, and the navigation positioning is carried out according to the fifth speed information, so that the yaw cannot occur.

Description

Method and device for generating speed information

Technical Field

The present application relates to the field of navigation technologies, and in particular, to a method and an apparatus for generating speed information.

Background

During the driving of the vehicle, the vehicle can be navigated by means of a user device (e.g. a smartphone). For example, a vehicle may be navigated by a navigation Application (APP) of a user device.

In the process of navigating the vehicle through the user equipment, the user equipment can acquire own speed information, then the position information is calculated according to the speed information, and then the user equipment can navigate and position and plan a navigation path according to the position information so as to navigate the vehicle. However, if the speed at which the vehicle actually runs is deviated from the speed of the user equipment, and the user equipment performs navigation positioning according to the speed information of the user equipment, the accuracy of the navigation positioning is relatively low, which may cause the vehicle to yaw.

Disclosure of Invention

The application provides a speed information generation method and a speed information generation device, and aims to solve the problem that in the process of navigating a vehicle through user equipment, when navigation and positioning are carried out according to the speed information of the user equipment, the accuracy of the navigation and positioning is low, and the vehicle can be drifted.

In a first aspect, the present application provides a method for generating speed information, including: acquiring initial position information and first posture information, wherein the first posture information is used for representing a relative posture between user equipment and a first vehicle, and the user equipment is positioned in the first vehicle; converting a first angular velocity of a gyroscope sensor and a first acceleration of an accelerometer in the user equipment into a second angular velocity and a second acceleration of the first vehicle respectively according to the first attitude information; generating first speed information according to the second angular speed and the second acceleration; generating second speed information according to the initial position information and first satellite positioning information, wherein the first satellite positioning information is satellite positioning information determined by the user equipment according to received satellite signals; generating third speed information according to the fusion of the first speed information and the second speed information; acquiring fourth speed information, wherein the fourth speed information is speed information of actual running of the first vehicle; and generating fifth speed information according to the fusion of the third speed information and the fourth speed information.

In this implementation, the user equipment may first obtain initial position information and first posture information used for representing posture conversion of a coordinate system of the user equipment and a coordinate system of a vehicle; then, converting the measurement values of a gyroscope sensor and an accelerometer in the user equipment into a vehicle coordinate system according to the first attitude information to obtain the angular velocity and the acceleration of the first vehicle; then, calculating to obtain first speed information according to the angular speed and the acceleration of the first vehicle; second speed information can be generated through calculation according to the initial position information and satellite positioning information determined according to satellite signals received by the user equipment; then, generating third speed information according to the fusion of the first speed information and the second speed information; in addition, fourth speed information that the first vehicle actually runs can be acquired; and finally, generating fifth speed information according to the fusion of the third speed information and the fourth speed information. Therefore, the fifth speed information obtained by the method integrates the sensor positioning information obtained by converting the positioning information of the sensor of the user equipment into the vehicle coordinate system, the satellite positioning information determined according to the satellite signal received by the user equipment and the speed information of the first vehicle actually running, the accuracy is higher, the position information with higher accuracy can be generated according to the fifth speed information subsequently, and when navigation positioning is carried out according to the position information, the accuracy is higher, the problem of yaw cannot occur, and the user experience is better.

In a possible implementation manner, the first attitude information includes a pitch angle, a roll angle and a course angle between the first coordinate system and the second coordinate system; the first coordinate system is a coordinate system where the user equipment is located, and the second coordinate system is a coordinate system where the first vehicle is located.

In the implementation mode, the first attitude information is represented by the pitch angle, the roll angle and the course angle between the coordinate system where the user equipment is located and the coordinate system where the first vehicle is located, so that the attitude conversion calculation between the user equipment and the first vehicle can be simplified.

In a possible implementation manner, the obtaining the first posture information includes: acquiring a third acceleration which is an acceleration measurement value of the accelerometer when the first vehicle is not started or runs at a constant speed; generating the pitch angle and the roll angle according to the third acceleration and the gravity acceleration; acquiring a fourth acceleration which is an acceleration measurement value of the accelerometer when the first vehicle runs in an accelerated mode; acquiring sixth speed information, wherein the sixth speed information is speed information of the first vehicle during acceleration running; generating a fifth speed according to the sixth speed information; and generating the course angle according to the pitch angle, the roll angle, the fourth acceleration and the fifth acceleration.

In the implementation mode, the first attitude information is obtained through calculation of the acceleration measured value of the accelerometer in the user equipment and the speed information of the first vehicle in actual running, the calculation process is simple, and the applicability is good.

In one possible implementation, the generating the heading angle according to the pitch angle, the roll angle, the fourth acceleration, and the fifth acceleration includes: converting the first coordinate system into a third coordinate system according to the pitch angle and the roll angle; generating a sixth acceleration, wherein the sixth acceleration is obtained by converting the fourth acceleration into the third coordinate system; and generating the course angle according to the sixth acceleration and the fifth speed.

In the implementation mode, the course angle is obtained through calculation by adopting a coordinate conversion mode, and the calculation process is simpler.

In a possible implementation manner, the generating third speed information according to the fusion of the first speed information and the second speed information includes: generating a first state quantity, wherein the first state quantity is obtained by performing fusion filtering on the first speed information and the second speed information according to a Kalman filtering algorithm; and determining the speed information in the first state quantity as the third speed information.

In the implementation mode, the Kalman filtering algorithm is adopted to perform fusion filtering on the first speed information and the second speed information to obtain third speed information with higher accuracy, the accuracy of the fifth speed information can be improved subsequently, and the applicability is better.

In a possible implementation manner, the generating fifth speed information according to the fusion of the third speed information and the fourth speed information includes: generating a second state quantity, wherein the second state quantity is obtained by performing fusion filtering on the third speed information and the fourth speed information according to a Kalman filtering algorithm; and determining the speed information in the second state quantity as the fifth speed information.

In the implementation mode, the Kalman filtering algorithm is adopted to perform fusion filtering on the third speed information and the fourth speed information, so that the fifth speed information with higher accuracy can be obtained, and navigation and positioning are performed according to the fifth speed information subsequently, so that the accuracy of navigation and positioning can be further improved.

In one possible implementation, the first satellite positioning information includes: ranging codes, data codes and carriers; the ranging code is used for representing the distance from a satellite to the user equipment; the data codes are navigation messages and are used for representing information including satellite time, satellite operation orbits and ionospheric delay.

In a possible implementation manner, the obtaining initial position information includes: acquiring second satellite positioning information, wherein the second satellite positioning information is satellite positioning information determined by the user equipment according to the received satellite signals when navigation is started; and determining the initial position information according to the second satellite positioning information.

In the implementation mode, the initial position information is determined according to the satellite positioning information obtained by the satellite signals received by the user equipment when the navigation is started, so that the initial position information can be obtained more simply and rapidly, and the applicability is better.

In a second aspect, the present application provides an apparatus for generating speed information, the apparatus comprising: a transceiver and a processor; the transceiver is configured to obtain initial position information and first posture information, where the first posture information is used to represent a relative posture between a user equipment and a first vehicle, and the user equipment is located in the first vehicle; the processor is configured to: converting a first angular velocity of a gyroscope sensor and a first acceleration of an accelerometer in the user equipment into a second angular velocity and a second acceleration of the first vehicle respectively according to the first attitude information; generating first speed information according to the second angular speed and the second acceleration; generating second speed information according to the initial position information and first satellite positioning information, wherein the first satellite positioning information is satellite positioning information determined according to satellite signals received by the user equipment; generating third speed information according to the fusion of the first speed information and the second speed information; the transceiver is further configured to acquire fourth speed information, where the fourth speed information is speed information of actual running of the first vehicle; the processor is further configured to generate fifth speed information according to the fusion of the third speed information and the fourth speed information.

The device of the implementation mode can acquire initial position information and first posture information used for representing the posture conversion of a user equipment coordinate system and a vehicle coordinate system; then, converting the measurement values of a gyroscope sensor and an accelerometer in the user equipment into a vehicle coordinate system according to the first attitude information to obtain the angular velocity and the acceleration of the first vehicle; then, calculating to obtain first speed information according to the angular speed and the acceleration of the first vehicle; second speed information can be generated through calculation according to the initial position information and satellite positioning information determined according to satellite signals received by the user equipment; then, generating third speed information according to the fusion of the first speed information and the second speed information; in addition, fourth speed information at which the first vehicle actually travels may also be acquired; and finally, generating fifth speed information according to the fusion of the third speed information and the fourth speed information. Therefore, the fifth speed information obtained by the device integrates the sensor positioning information obtained by converting the positioning information of the sensor of the user equipment into the vehicle coordinate system, the satellite positioning information determined according to the satellite signal received by the user equipment and the actual running speed information of the first vehicle, the accuracy is higher, position information with higher accuracy can be generated according to the fifth speed information subsequently, the accuracy is higher when navigation and positioning are carried out according to the position information, the problem of yaw cannot occur, and the user experience is better.

The device of the implementation mode can represent the first attitude information through the pitch angle, the roll angle and the course angle between the coordinate system where the user equipment is located and the coordinate system where the first vehicle is located, so that the attitude conversion calculation between the user equipment and the first vehicle can be simplified.

In a possible implementation manner, the transceiver is configured to acquire the first posture information, and specifically: the transceiver is used for acquiring a third acceleration, wherein the third acceleration is an acceleration measurement value of the accelerometer when the first vehicle is not started or runs at a constant speed; the processor is further configured to generate the pitch angle and the roll angle according to the third acceleration and the gravitational acceleration; the transceiver is further configured to obtain a fourth acceleration, where the fourth acceleration is an acceleration measurement of the accelerometer while the first vehicle is accelerating; the transceiver is further configured to acquire sixth speed information, where the sixth speed information is speed information of the first vehicle during acceleration driving; the processor is further configured to: generating a fifth speed according to the sixth speed information; and generating the course angle according to the pitch angle, the roll angle, the fourth acceleration and the fifth acceleration.

The device of the implementation mode can obtain the first attitude information through calculation of the acceleration measured value of the accelerometer in the user equipment and the actual running speed information of the first vehicle, and is simple in calculation process and good in applicability.

In a possible implementation manner, the processor is configured to generate the heading angle according to the pitch angle, the roll angle, the fourth acceleration, and the fifth acceleration, and specifically: the processor is configured to: converting the first coordinate system into a third coordinate system according to the pitch angle and the roll angle; generating a sixth acceleration, wherein the sixth acceleration is obtained by converting the fourth acceleration into the third coordinate system; and generating the course angle according to the sixth acceleration and the fifth speed.

The device of the implementation mode can adopt a coordinate conversion mode, obtains the course angle through calculation, and has a simpler calculation process.

In a possible implementation manner, the processor is configured to generate third speed information according to fusion of the first speed information and the second speed information, specifically: the processor is configured to: generating a first state quantity, wherein the first state quantity is obtained by performing fusion filtering on the first speed information and the second speed information according to a Kalman filtering algorithm; and determining the speed information in the first state quantity as the third speed information.

The device of the implementation mode can adopt the Kalman filtering algorithm to perform fusion filtering on the first speed information and the second speed information to obtain the third speed information with higher accuracy, and the accuracy of the fifth speed information can be improved subsequently, so that the device is better in applicability.

In a possible implementation manner, the processor is configured to generate fifth speed information according to fusion of the third speed information and the fourth speed information, and specifically: the processor is configured to: generating a second state quantity, wherein the second state quantity is obtained by performing fusion filtering on the third speed information and the fourth speed information according to a Kalman filtering algorithm; and determining the speed information in the second state quantity as the fifth speed information.

The device of the implementation mode can adopt the Kalman filtering algorithm to perform fusion filtering on the third speed information and the fourth speed information to obtain fifth speed information with higher accuracy, and then navigation and positioning are performed according to the fifth speed information, so that the accuracy of the navigation and positioning can be further improved.

In one possible implementation manner, the first satellite positioning information includes: ranging codes, data codes and carriers; the ranging code is used for characterizing the distance from a satellite to the user equipment; the data codes are navigation messages and are used for representing information including satellite time, satellite operation orbits and ionospheric delay.

In a possible implementation manner, the transceiver is configured to acquire initial position information, and specifically, the transceiver is configured to: the transceiver is configured to acquire second satellite positioning information, where the second satellite positioning information is satellite positioning information determined by the user equipment according to a received satellite signal when the user equipment starts navigation; the processor is further configured to determine the initial position information according to the second satellite positioning information.

The device of the implementation mode can determine the initial position information according to the satellite positioning information obtained by the satellite signals received by the user equipment when the navigation is started, so that the initial position information can be obtained more simply and rapidly, and the applicability is better.

In a third aspect, the present application provides a communication device comprising a processor, which when executing a computer program or instructions in a memory, performs a method as described in the first aspect.

In a fourth aspect, the present application provides a communication device comprising a processor and a memory; the memory is for storing a computer program or instructions; the processor is configured to execute the computer program or instructions stored by the memory to cause the communication device to perform the method according to the first aspect.

In a fifth aspect, the present application provides a communication device comprising a processor, a memory, and a transceiver; the transceiver is used for receiving signals or sending signals; the memory is for storing a computer program or instructions; the processor is adapted to execute the computer program or instructions stored by the memory to cause the communication device to perform the method of the first aspect.

In a sixth aspect, the present application provides a communication device comprising a processor and an interface circuit; the interface circuit is used for receiving a computer program or instructions and transmitting the computer program or instructions to the processor; the processor is configured to execute the computer program or instructions to cause the communication device to perform the method according to the first aspect.

In a seventh aspect, the present application provides a computer storage medium for storing a computer program or instructions which, when executed, cause the method of the first aspect to be carried out.

In an eighth aspect, the present application provides a computer program product comprising a computer program or instructions which, when executed, cause the method of the first aspect to be carried out.

In a ninth aspect, the present application provides a chip comprising a processor coupled with a memory for executing a computer program or instructions stored in the memory, the computer program or instructions when executed, the method according to the first aspect being performed.

In order to solve the problem that in the process of navigating a vehicle through user equipment, when navigation positioning is carried out according to speed information of the user equipment, the accuracy of the navigation positioning is low, and the vehicle can yaw, the embodiment of the application provides a speed information generation method and a speed information generation device. The method comprises the steps of firstly, acquiring initial position information and first posture information used for representing posture conversion of a user equipment coordinate system and a vehicle coordinate system; then, converting the measurement values of a gyroscope and an accelerometer in the user equipment into a vehicle coordinate system according to the first attitude information to obtain the angular velocity and the acceleration of the first vehicle; then, calculating to obtain first speed information according to the angular speed and the acceleration of the first vehicle; second speed information can be calculated and generated according to the initial position information and satellite positioning information determined by the user equipment according to the received satellite signals; then, generating third speed information according to the fusion of the first speed information and the second speed information; in addition, fourth speed information at which the first vehicle actually travels may also be acquired; and finally, generating fifth speed information according to the fusion of the third speed information and the fourth speed information. Therefore, the fifth speed information obtained by the method integrates the sensor positioning information obtained by converting the positioning information of the sensor of the user equipment into the vehicle coordinate system, the satellite positioning information determined by the user equipment according to the received satellite signal and the actual driving speed information of the first vehicle, the accuracy is higher, position information with higher accuracy can be generated according to the fifth speed information subsequently, the accuracy is higher when navigation positioning is carried out according to the position information, the problem of yaw cannot occur, and the user experience is better.

Drawings

Fig. 1 is a schematic view of an application scenario provided in the present application;

fig. 2A is a block diagram of a hardware structure of an embodiment of a mobile phone provided in the present application;

fig. 2B is a block diagram of a software structure of an embodiment of a mobile phone provided in the present application;

FIG. 3 is a block diagram illustrating the structure of one embodiment of a first vehicle provided herein;

fig. 4A is a schematic view of another application scenario provided in the present application;

fig. 4B is a schematic view of another application scenario provided in the present application;

FIG. 5 is a flow chart illustrating an embodiment of a method for generating speed information provided herein;

fig. 6 is a schematic view of another application scenario provided in the present application;

fig. 7 is a schematic view of another application scenario provided in the present application;

fig. 8 is a schematic view of another application scenario provided in the present application;

fig. 9 is a schematic flowchart of another embodiment of a method for generating speed information provided in the present application;

fig. 10 is a block diagram illustrating a configuration of an embodiment of a speed information generating apparatus according to the present application;

fig. 11 is a block diagram of a chip according to an embodiment of the present disclosure.

Detailed Description

In order to facilitate understanding of the technical solution of the present application, an application scenario of the technical solution provided by the present application is first exemplarily described below.

The embodiment of the application can be applied to an application scene of navigating the vehicle through the user equipment (such as a smart phone). Fig. 1 is a schematic view of an application scenario applicable to the embodiment of the present application. Referring to fig. 1, the application scenario may include: a user device 100 and a first vehicle 200. Fig. 1 illustrates an example in which the user equipment 100 is a smart phone.

Wherein the user device 100 is located within the first vehicle 200. Alternatively, the user device 100 may be fixed in the first vehicle 200. For example, the user device 100 may be fixed by a bracket to a driving seat of the first vehicle 200 so that a user driving the first vehicle may view navigation information displayed on the user device 100. Alternatively, the user device 100 may be disposed in the first vehicle 200 in other manners, which is not limited in this application.

The user device to which the present application relates may be an electronic device such as a smartphone, a tablet, a handheld computer, a Personal Digital Assistant (PDA), or the like. The user equipment related to the application can be carried on

Harmony

Or other operating system, which is not limited by the present application.

The user equipment 100 provided in the embodiment of the present application is exemplarily described below by taking a mobile phone as an example of the user equipment 100. Fig. 2A is a hardware structure block diagram of an embodiment of a mobile phone provided in the present application.

Referring to fig. 2A, the handset may include a first processor 110, an external memory interface 120, an internal memory 121, a Universal Serial Bus (USB) interface 130, an antenna 1, an antenna 2, a mobile communication module 150, a wireless communication module 160, an audio module 170, a speaker 170A, a receiver 170B, a microphone 170C, an earphone interface 170D, a sensor module 180, and the like.

It is to be understood that the illustrated structure of the embodiment of the present invention is not to be specifically limited to a mobile phone. In other embodiments of the present application, the handset may include more or fewer components than shown, or combine certain components, or split certain components, or a different arrangement of components. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

The first processor 110 may include one or more processing units, such as: the first processor 110 may include an Application Processor (AP), a modem processor, a Graphic Processing Unit (GPU), an Image Signal Processor (ISP), a controller, a memory, a video codec, a Digital Signal Processor (DSP), a baseband processor, and/or a neural-Network Processing Unit (NPU), etc. The different processing units may be separate devices or may be integrated into one or more processors.

A memory may also be provided in the first processor 110 for storing instructions and data. In some embodiments, the memory in the first processor 110 is a cache memory. The memory may hold instructions or data that have just been used or recycled by the first processor 110. If the first processor 110 needs to use the instruction or data again, it can be called directly from the memory. Avoiding repeated accesses reduces the latency of the first processor 110, thereby increasing the efficiency of the system.

In some embodiments, the first processor 110 may include one or more interfaces. The interface may include an integrated circuit (I2C) interface, an integrated circuit built-in audio (I2S) interface, a Pulse Code Modulation (PCM) interface, a universal asynchronous receiver/transmitter (UART) interface, a Mobile Industry Processor Interface (MIPI), a general-purpose input/output (GPIO) interface, a Subscriber Identity Module (SIM) interface, and/or a Universal Serial Bus (USB) interface, etc.

The wireless communication function of the mobile phone can be realized by the antenna 1, the antenna 2, the mobile communication module 150, the wireless communication module 160, the modem processor, the baseband processor, and the like.

The antennas 1 and 2 are used for transmitting and receiving electromagnetic wave signals. Each antenna in the handset may be used to cover a single or multiple communication bands. Different antennas can also be multiplexed to improve the utilization of the antennas. For example: the antenna 1 may be multiplexed as a diversity antenna of a wireless local area network. In other embodiments, the antenna may be used in conjunction with a tuning switch.

The mobile communication module 150 may provide a solution including wireless communication of 2G/3G/4G/5G, etc. applied to a mobile phone. The mobile communication module 150 may include at least one filter, a switch, a power amplifier, a Low Noise Amplifier (LNA), and the like. The mobile communication module 150 may receive the electromagnetic wave from the antenna 1, filter, amplify, etc. the received electromagnetic wave, and transmit the electromagnetic wave to the modem processor for demodulation. The mobile communication module 150 may also amplify the signal modulated by the modem processor, and convert the signal into electromagnetic wave through the antenna 1 to radiate the electromagnetic wave. In some embodiments, at least a portion of the functional modules of the mobile communication module 150 may be disposed in the first processor 110. In some embodiments, at least some of the functional modules of the mobile communication module 150 may be disposed in the same device as at least some of the modules of the first processor 110.

The wireless communication module 160 may provide solutions for wireless communication applied to a mobile phone, including Wireless Local Area Networks (WLANs) (e.g., wireless fidelity (Wi-Fi) networks), bluetooth (BT), global Navigation Satellite System (GNSS), frequency Modulation (FM), near Field Communication (NFC), infrared (IR), and the like. The wireless communication module 160 may be one or more devices integrating at least one communication processing module. The wireless communication module 160 receives electromagnetic waves via the antenna 2, performs frequency modulation and filtering processing on electromagnetic wave signals, and transmits the processed signals to the first processor 110. The wireless communication module 160 can also receive the signal to be transmitted from the first processor 110, perform frequency modulation and amplification on the signal, and convert the signal into electromagnetic waves through the antenna 2 to radiate the electromagnetic waves.

In some embodiments, the handset antenna 1 is coupled to the mobile communication module 150 and the handset antenna 2 is coupled to the wireless communication module 160 so that the handset can communicate with the network and other devices via wireless communication techniques. The wireless communication technology may include global system for mobile communications (GSM), general Packet Radio Service (GPRS), code Division Multiple Access (CDMA), wideband Code Division Multiple Access (WCDMA), time division code division multiple access (time-division multiple access, TD-SCDMA), long Term Evolution (LTE), BT, GNSS, WLAN, NFC, FM, and/or IR technologies, etc. The GNSS may include a Global Positioning System (GPS), a global navigation satellite system (GLONASS), a beidou satellite navigation system (BDS), a quasi-zenith satellite system (QZSS), and/or a Satellite Based Augmentation System (SBAS).

The mobile phone realizes the display function through the GPU, the display screen 194, the application processor and the like. The GPU is a microprocessor for image processing, and is connected to the display screen 194 and an application processor. The GPU is used to perform mathematical and geometric calculations for graphics rendering. The first processor 110 may include one or more GPUs that execute program instructions to generate or change display information.

The display screen 194 is used to display images, video, and the like. The display screen 194 includes a display panel. The display panel may adopt a Liquid Crystal Display (LCD), an organic light-emitting diode (OLED), an active-matrix organic light-emitting diode (active-matrix organic light-emitting diode, AMOLED), a flexible light-emitting diode (FLED), a miniature, a Micro-oeld, a quantum dot light-emitting diode (QLED), and the like. In some embodiments, the handset may include 1 or N display screens 194, N being a positive integer greater than 1.

The mobile phone can realize shooting function through the ISP, the camera 193, the video codec, the GPU, the display screen 194, the application processor and the like.

The ISP is used to process the data fed back by the camera 193. For example, when a photo is taken, the shutter is opened, light is transmitted to the camera photosensitive element through the lens, the optical signal is converted into an electrical signal, and the camera photosensitive element transmits the electrical signal to the ISP for processing and converting into an image visible to naked eyes. The ISP can also carry out algorithm optimization on the noise, brightness and skin color of the image. The ISP can also optimize parameters such as exposure, color temperature and the like of a shooting scene. In some embodiments, the ISP may be provided in camera 193.

The camera 193 is used to capture still images or video. The object generates an optical image through the lens and projects the optical image to the photosensitive element. The photosensitive element may be a Charge Coupled Device (CCD) or a complementary metal-oxide-semiconductor (CMOS) phototransistor. The photosensitive element converts the optical signal into an electrical signal, and then transmits the electrical signal to the ISP to be converted into a digital image signal. And the ISP outputs the digital image signal to the DSP for processing. The DSP converts the digital image signal into image signal in standard RGB, YUV and other formats. In some embodiments, the handset may include 1 or N cameras 193, N being a positive integer greater than 1.

The digital signal processor is used for processing digital signals, and can process digital image signals and other digital signals. For example, when the handset is in frequency bin selection, the digital signal processor is used for performing fourier transform and the like on the frequency bin energy.

Video codecs are used to compress or decompress digital video. The handset may support one or more video codecs. Thus, the mobile phone can play or record videos in various encoding formats, such as: moving Picture Experts Group (MPEG) 1, MPEG2, MPEG3, MPEG4, and the like.

The external memory interface 120 may be used to connect an external memory card, such as a Micro SD card, to extend the storage capability of the mobile phone. The external memory card communicates with the first processor 110 through the external memory interface 120 to implement a data storage function. For example, files such as music, video, etc. are saved in the external memory card.

The internal memory 121 may be used to store computer-executable program code, which includes instructions. The first processor 110 executes various functional applications of the cellular phone and data processing by executing instructions stored in the internal memory 121. The internal memory 121 may include a program storage area and a data storage area. The storage program area may store an operating system, an application program (such as a sound playing function, an image playing function, and the like) required by at least one function, and the like. The data storage area can store data (such as audio data, phone book and the like) created in the use process of the mobile phone. In addition, the internal memory 121 may include a high-speed random access memory, and may further include a nonvolatile memory, such as at least one magnetic disk storage device, a flash memory device, a universal flash memory (UFS), and the like.

The mobile phone can realize an audio function through the audio module 170, the speaker 170A, the receiver 170B, the microphone 170C, the earphone interface 170D, and the application processor. Such as music playing, recording, etc.

The audio module 170 is used to convert digital audio information into analog audio signals for output, and also used to convert analog audio inputs into digital audio signals. The audio module 170 may also be used to encode and decode audio signals. In some embodiments, the audio module 170 may be disposed in the first processor 110, or some functional modules of the audio module 170 may be disposed in the first processor 110.

The speaker 170A, also called a "horn", is used to convert the audio electrical signal into an acoustic signal. The handset can listen to music through the speaker 170A or listen to a hands-free conversation.

The receiver 170B, also called "earpiece", is used to convert the electrical audio signal into an acoustic signal. When the mobile phone receives a call or voice information, the receiver 170B can be close to the ear to receive voice.

The microphone 170C, also referred to as a "microphone," is used to convert sound signals into electrical signals. When making a call or sending voice information, the user can input a voice signal to the microphone 170C by uttering a voice signal close to the microphone 170C through the mouth of the user. The handset may be provided with at least one microphone 170C. In other embodiments, the mobile phone may be provided with two microphones 170C to achieve the noise reduction function in addition to collecting the sound signal. In other embodiments, the mobile phone may further include three, four or more microphones 170C to collect sound signals, reduce noise, identify sound sources, and implement directional recording functions.

The earphone interface 170D is used to connect a wired earphone. The headset interface 170D may be the USB interface 130, or may be a 3.5mm open mobile electronic device platform (OMTP) standard interface, a cellular telecommunications industry association (cellular telecommunications industry association of the USA, CTIA) standard interface.

The sensor module 180 may include a pressure sensor, a gyroscope sensor, an air pressure sensor, a magnetic sensor, an accelerometer, a distance sensor, a proximity light sensor, a fingerprint sensor, a temperature sensor, a touch sensor, an ambient light sensor, a bone conduction sensor, and the like.

Among other things, the gyro sensor may be used to determine the motion attitude of the handset. In some embodiments, the angular velocity of the handpiece about three axes (i.e., the x, y, and z axes) may be determined by a gyroscope sensor. In the embodiment of the application, the angular velocity of the mobile phone around three coordinate axes (X1, Y1 and Z1 axes) in a mobile phone coordinate system can be determined through the gyroscope sensor.

The gyroscope sensor can also be used for shooting anti-shake. Illustratively, when the shutter is pressed, the gyroscope sensor detects the shaking angle of the mobile phone, and calculates the distance to be compensated of the lens module according to the angle, so that the lens can counteract the shaking of the mobile phone through reverse movement, and the anti-shaking is realized. The gyroscope sensor can also be used for navigation, motion sensing game scenes and the like.

The accelerometer can detect the acceleration of the mobile phone in all directions (generally three axes). In the embodiment of the application, the acceleration of the mobile phone in the directions of three coordinate axes (X1, Y1 and Z1 axes) in the mobile phone coordinate system can be determined through the accelerometer. When the mobile phone is static, the magnitude and the direction of gravity can be detected through the accelerometer. The accelerometer can also be used for identifying the gesture of the mobile phone, and is applied to transverse and vertical screen switching, pedometers and other applications.

Certainly, the mobile phone may further include a charging management module, a power management module, a battery, a key, an indicator, 1 or more SIM card interfaces, and the like, which is not limited in this embodiment of the present application.

The software system of the mobile phone can adopt a layered architecture, an event-driven architecture, a micro-core architecture, a micro-service architecture or a cloud architecture. The application takes an Android system with a layered architecture as an example, and exemplarily illustrates a software structure of a mobile phone.

Fig. 2B is a block diagram of a software structure of an embodiment of a mobile phone provided in the present application. Referring to fig. 2B, the layered architecture divides the software into several layers, each layer having a clear role and division of labor. The layers communicate with each other through a software interface. In some embodiments, the Android system is divided into four layers, an application layer, an application framework layer, an Android runtime (Android runtime) and system library, and a kernel layer from top to bottom.

The application layer may include a series of application packages. As shown in fig. 2B, the application package may include camera, gallery, call, navigation, bluetooth, music, video, short message, etc. applications.

The application framework layer provides an Application Programming Interface (API) and a programming framework for the application program of the application layer. The application framework layer includes a number of predefined functions. As shown in FIG. 2B, the application framework layers may include a windows manager, a content provider, a view system, a telephony manager, an explorer, and a notification manager, among others.

The window manager is used for managing window programs. The window manager may obtain the size of the display screen, obtain parameters of each display area on the display interface, and the like.

Content providers are used to store and retrieve data and make it accessible to applications. The data may include video, images, audio, calls made and answered, browsing history and bookmarks, phone books, etc.

The view system includes visual controls such as controls to display text, controls to display pictures, and the like. The view system may be used to build applications. The display interface may be composed of one or more views. For example, a display interface including a camera icon.

The telephone manager is used for providing the communication function of the mobile phone. Such as management of call status (including on, off, etc.).

The resource manager provides various resources for the application, such as localized strings, icons, pictures, layout files, video files, and the like.

The notification manager enables the application to display notification information in the status bar, can be used to convey notification-type messages, can disappear automatically after a short dwell, and does not require user interaction. Such as a notification manager used to notify download completion, message alerts, etc. The notification manager may also be a notification that appears in the form of a chart or scrollbar text in a status bar at the top of the system, such as a notification of a running application in the background, or a notification that appears on the screen in the form of a dialog window. For example, prompting text information in the status bar, sounding a prompt tone, vibrating the electronic device, flashing an indicator light, etc.

The Android Runtime comprises a core library and a virtual machine. The Android runtime is responsible for scheduling and managing an Android system. The core library comprises two parts: one part is a function which needs to be called by java language, and the other part is a core library of android. The application layer and the application framework layer run in a virtual machine. The virtual machine executes java files of the application layer and the application framework layer as binary files. The virtual machine is used for performing the functions of object life cycle management, stack management, thread management, safety and exception management, garbage collection and the like.

The system library may include a plurality of functional modules. For example: surface managers (surface managers), media libraries (media libraries), three-dimensional graphics processing libraries (e.g., openGL ES), 2D graphics engines (e.g., SGL), and the like. The surface manager is used to manage the display subsystem and provide a fusion of the 2D and 3D layers for multiple applications. The media library supports a variety of commonly used audio, video format playback and recording, and still image files, among others. The media library may support a variety of audio-video encoding formats, such as: MPEG4, H.264, MP3, AAC, AMR, JPG, PNG, etc. The three-dimensional graphic processing library is used for realizing three-dimensional graphic drawing, image rendering, composition, layer processing and the like. The 2D graphics engine is a drawing engine for 2D drawing.

The kernel layer is a layer between hardware and software. The core layer may include a display driver, a camera driver, an audio driver, a sensor driver, and the like.

The system library and the kernel layer below the application framework layer can also be called as a bottom layer system, and the bottom layer system comprises a state monitoring service for identifying the posture change of the mobile phone, and the state monitoring service can be arranged in the system library and/or the kernel layer.

For example, the condition monitoring service may invoke a sensor service (sensor service) to initiate a sensor such as a gyroscope sensor, an accelerometer, etc. to detect. The state monitoring service can calculate the angular velocities of the mobile phone around three coordinate axes in a mobile phone coordinate system and the accelerations of the mobile phone in the directions of the three coordinate axes according to the detection data reported by each sensor.

For example, a gyroscope sensor and an accelerometer in the hardware layer may report detected data to a sensor driver, and the sensor driver reports the data detected by the gyroscope sensor and the accelerometer to a state monitoring service through a sensor service. The state monitoring service can calculate the angular velocity of the mobile phone around three coordinate axes in the mobile phone coordinate system and the acceleration in the directions of the three coordinate axes according to the data detected by the gyroscope sensor and the accelerometer.

For example, the technical solutions involved in the following embodiments may be implemented in the user equipment 100 having the above hardware architecture and software architecture.

The following exemplarily describes a first vehicle 200 provided in an embodiment of the present application. FIG. 3 is a block diagram of an embodiment of a first vehicle provided herein.

Referring to fig. 3, the first vehicle 200 may include: a second processor 210, a communication module 220, a speed measuring module 230, and the like. The speed measuring module 230 may be configured to obtain speed information of the first vehicle 200, and the second processor 210 may be configured to send the speed information of the first vehicle to the user equipment 100 through the communication module 220.

The second processor 210 may include one or more processing units, such as a Central Processing Unit (CPU), a Microcontroller (MCU), an Image Signal Processor (ISP), a neural-Network Processing Unit (NPU), and the like. Wherein, the different processing units may be independent devices or may be integrated in one or more processors. A memory may also be provided in the second processor 210 for storing instructions and data. In some embodiments, the memory in the second processor 210 may be a cache memory. The memory may hold instructions or data that have just been used or recycled by the second processor 210.

The communication module 220 is configured to enable the first vehicle 200 to implement communication in multiple network modes, such as 2G, 3G, 4G, and 5G, with the outside world, for example, implement vehicle-to-vehicle (V2X) of the vehicle. The communication module 220 may include, for example, a baseband chip, a power amplifier, and the like. In some embodiments, some or all of the components of the communication module 220 may be integrated with one or more of the second processors 210.

In addition, the communication module 220 may further include a communication interface, such as a Controller Area Network (CAN) interface, so that the second processor 210 may communicate with other chips and devices of the first vehicle 200, such as the user device 100.

The speed measuring module 230 may include at least one speed measuring sensor, such as an accelerometer, a gyro sensor, and the like. Optionally, the speed measurement module 230 may also be another speed measurement device, such as an inertial navigation solution model. This is not limited in this application.

It is to be understood that the structure illustrated in fig. 3 of the present application does not constitute a specific limitation of the first vehicle 200. In other embodiments of the present application, the first vehicle 200 may include more or fewer components than illustrated, or combine certain components, or split certain components, or a different arrangement of components. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

An example of the speed information generation method provided in the embodiment of the present application is described below with reference to the user equipment 100 and the first vehicle 200.

The first vehicle may be navigated by the user device while in motion. In one possible implementation, the first vehicle may pass through a navigation APP installed in the user device during travel, for example

Or

And waiting for the navigation APP to navigate the first vehicle.

In the process of navigating the first vehicle through the user equipment, the user equipment can continuously acquire the speed information of the user equipment in real time, wherein the speed information can comprise the speed of the user equipment in an east-north-sky coordinate system, and the unit of the speed information is meter/second. Of course, the speed information may be speed information in other coordinate systems such as WGS-84 and PZ-90, and the present application is not limited thereto. The position information of the user equipment can be obtained through calculation according to the speed information, and the user equipment can conduct navigation positioning and plan a navigation path according to the position information of the user equipment so as to conduct navigation for the first vehicle.

Among them, the east-north-sky coordinate system may also be referred to as a central coordinates system (local coordinates system). If the east-north-sky coordinate system is recorded as the coordinate system Oa-XaYaZa, in the coordinate system Oa-XaYaZa, the origin Oa of the coordinate system is taken as the center of station (for example, the center of a GPS receiving antenna), the axis Xa coincides with the long half axis of the earth ellipsoid, the positive direction of the axis Xa points to the east direction, the axis Ya coincides with the short half axis of the earth ellipsoid, the positive direction of the axis Ya points to the north direction, the axis Za coincides with the normal line of the earth ellipsoid, and the positive direction of the axis Za points to the sky direction.

The WGS-84 coordinate system may also be referred to as the geocentric coordinate system (world geographic system-1984coordinate system). If the WGS-84 coordinate system is recorded as a coordinate system Ob-XbYbZb, in the coordinate system Ob-XbYbZb, the centroid of the earth is taken as a coordinate origin Ob, the Zb axis points to the polar earth (CTP) direction defined by the protocol of the International time service organization (BIH) 1984.0, the Xb axis points to the intersection point of a zero-degree meridian plane defined by BIH 1984.0 and the equator of the CTP, and the Yb axis, the Zb axis and the Xb axis form a right-hand coordinate system.

That is to say, in the process of navigating the first vehicle through the user equipment, the user equipment may perform navigation positioning according to the speed information of the user equipment, and in this process, a certain deviation actually exists between the speed of the user equipment and the actual running speed of the first vehicle, so after the navigation positioning is performed according to the speed information of the user equipment, the accuracy of the navigation positioning is relatively low, and the first vehicle may yaw. For example, referring to fig. 4A, when the user equipment performs navigation positioning according to its own speed information, it indicates that the first vehicle is located on the northeast road in the four rings. However, the first vehicle where the user device is actually located is the position shown in fig. 4A, i.e., on the north four-loop main road. It can be seen that the actual position of the first vehicle is inconsistent with the position of the user equipment for navigation positioning, and positioning deviation occurs in navigation.

In order to improve the accuracy of navigation and positioning of the user equipment and avoid the first vehicle from yawing, the embodiment of the application provides the speed information generating method. As shown in fig. 4B, the user equipment can accurately locate that the first vehicle is located on the north four-circle main road, and the position of the navigation location is consistent with the actual position of the first vehicle. As can be seen from fig. 4B, the following first vehicle can travel along the main road with four rings in the north, and no yaw occurs, so that more accurate positioning and navigation are realized.

The following describes in detail a method for generating speed information provided in an embodiment of the present application.

Referring to fig. 5, fig. 5 is a schematic flow chart of an embodiment of a method for generating speed information provided by the present application. The method may be applied to a user equipment, such as the user equipment 100 described above. The method may comprise the steps of:

and S101, acquiring initial position information and first posture information.

It should be noted that the method for generating speed information provided in the embodiment of the present application may be applied to various application scenarios that need to be located by user equipment. Based on this, in various application scenarios, the user equipment may be triggered to start executing step S101, and obtain the initial position information and the first posture information.

Illustratively, when the user device receives a user click navigation APP on the user device's interface (e.g., the user device clicks navigation APP)

) Or when the user device receives a location sharing request sent by another terminal device, or when the user device detects that the speed of the first vehicle is greater than a preset speed threshold (e.g., 60 km/s), or when the user device detects that the vehicle key is connected to the same bluetooth as the first vehicle and/or the user device, the user device may start to perform the step of acquiring the initial location information and the first posture information. Of course, in other application scenarios where positioning needs to be performed through the user equipment, the user equipment may also be triggered to start executing the step of acquiring the initial position information and the first posture information, which is not limited in this application.

The following is an example with reference to a practical application scenario.

For example, when a first vehicle needs to be navigated by the user device, the user may click on a map icon on the interface of the user device, as shown in fig. 6 (a). After receiving the user click on the map icon, the user device may enter the map interface shown in fig. 6 (b), and may start to perform step S101 to acquire the initial position information and the first posture information. Alternatively, the first and second liquid crystal display panels may be,

the user may click a button to start navigation on the map interface after inputting a destination address (e.g., a national library) on the map interface as shown in (b) of fig. 6. After receiving an operation of clicking a key for starting navigation on the map interface by the user, the user equipment may start to execute step S101, acquire initial position information and first posture information, and enter a navigation interface as shown in fig. 4A or 4B.

Therefore, the initial location information may alternatively be latitude and longitude information of the user equipment at the time of starting navigation. Alternatively, the initial location information may be a map that the user device is navigating when navigation is initiated (e.g., the initial location information may be a location of the user device in the map

Or

Etc.) of the mobile terminal. Optionally, the initial location information may also be, in other application scenarios, location information of the user equipment obtained by the user equipment when the user equipment starts to execute step S101, which is not limited in this application.

Further, the initial location information may alternatively be location information of the user equipment in the WGS-84 coordinate system. Alternatively, the initial position information may be position information in other coordinate systems such as an east-north-sky coordinate system or a PZ-90 coordinate system, which is not limited in this application.

In a possible implementation manner, the obtaining of the initial position information may be implemented as follows: when user equipment starts navigation, acquiring a satellite signal (such as a GPS satellite signal) received by the user equipment, determining satellite positioning information according to the satellite signal, and subsequently, simply referring the satellite positioning information to second satellite positioning information; and determining initial position information according to the second satellite positioning information.

In a possible implementation manner, the obtaining of the initial position information may be further implemented as follows: initial position information is determined according to position information input by a user.

In a possible implementation manner, the initial position information may be obtained in the following manner: the initial location information is obtained from a communication device (e.g., a second processor of the first vehicle, etc.) communicatively coupled to the user device.

The first pose information is used to characterize a relative pose between the user device and the first vehicle. In one possible implementation, the first attitude information may include a pitch angle, a roll angle, and a heading angle between the first coordinate system and the second coordinate system. The first coordinate system is a coordinate system of the user equipment, or in other words, the first coordinate system is a coordinate system where the user equipment is located. The second coordinate system is a vehicle coordinate system, or the second coordinate system is a coordinate system of the first vehicle.

The following is an example with reference to an actual application scenario.

Illustratively, referring to fig. 7, the first coordinate system may be a top-left-front coordinate system. That is, if the first coordinate system is written as coordinate system O1-X1Y1Z1, the user device 100 is placed horizontally with the display of the user device 100 facing upward and the back cover of the user device 100 facing downward, the center of the user device 100 may be the origin of coordinates O1, the direction extending toward the left side of the user device 100 along the short side of the display of the user device 100 may be the positive direction of the X1 coordinate axis, the direction extending toward the front of the user device 100 along the long side of the display of the user device 100 may be the positive direction of the Y1 coordinate axis, and the direction perpendicular to the X1 axis and the Y1 axis and upward along the display of the user device 100 may be the positive direction of the Z1 coordinate axis.

Exemplarily, referring to fig. 8, the second coordinate system may be a front upper left coordinate system. That is, if the second coordinate system is written as coordinate system O2-X2Y2Z2, the center of the first vehicle 200 may be the origin of coordinates O2, the direction of travel of the first vehicle 200 may be the positive direction of the X2 coordinate axis, the left side of the first vehicle 200 may be the positive direction of the Y2 coordinate axis, and the direction perpendicular to the X2 and Y2 axes may be the positive direction of the Z2 coordinate axis.

In one possible implementation manner, obtaining the first posture information may be implemented as follows: when the first vehicle is not started or runs at a constant speed, acquiring an acceleration measurement value of an accelerometer in user equipment, and recording the acceleration measurement value as a third acceleration; generating a pitch angle and a roll angle included in the first attitude information according to the third acceleration and the gravity acceleration; when the first vehicle runs in an accelerated mode, acquiring an acceleration measurement value of the accelerometer, recording the acceleration measurement value as a fourth acceleration, acquiring speed information of actual running of the first vehicle, and recording the speed information as sixth speed information; calculating and generating the acceleration of the first vehicle according to the sixth speed information, and recording the acceleration as the fifth speed; and generating a heading angle included in first attitude information according to the pitch angle, the roll angle, the fourth acceleration and the fifth acceleration.

In one possible implementation, generating a heading angle included in the first attitude information according to the pitch angle, the roll angle, the fourth acceleration and the fifth acceleration may be implemented as follows: converting the first coordinate system into a third coordinate system according to the pitch angle and the roll angle, and obtaining the third coordinate system by the first coordinate system after rotating according to the pitch angle and the roll angle in sequence; converting the fourth acceleration into a third coordinate system to obtain a sixth acceleration; and generating a heading angle included in the first attitude information according to the sixth acceleration and the fifth acceleration.

In one possible implementation, the first attitude information including the pitch angle, roll angle, and heading angle may be represented as an attitude transformation matrix. That is, the first pose information may be represented by a pose transformation matrix.

And step S102, acquiring fourth speed information of the first vehicle.

In the above-mentioned multiple application scenarios of positioning by the user equipment, the user equipment is usually required to perform positioning in real time and continuously. For example, during the actual driving of the first vehicle, the user device may navigate the first vehicle in real time and continuously, and the user device needs to perform navigation positioning in real time and continuously. However, since the positioning manner of the ue at each time is the same, hereinafter, any one time is referred to as a first time, and the first time is taken as an example to describe the embodiment of the present application.

During the actual running process of the first vehicle, the speed information of the actual running of the first vehicle can be obtained in real time and continuously through a speed measuring module (for example, the speed measuring module 230) arranged in the first vehicle. The embodiments of the present application will be described based on the first time as an example in the present application. Therefore, in the embodiment of the present application, the speed information of the first vehicle actually running, which is obtained by the speed measurement module at the first time, is taken as the fourth speed information, and the embodiment of the present application is described with the fourth speed information as an example.

In one possible implementation, the fourth speed information may include a speed magnitude actually traveled by the first vehicle in an east-north-sky coordinate system at the first time, and the speed magnitude may be in meters per second. Alternatively, the fourth speed information may be speed information in other coordinate systems such as WGS-84 or PZ-90, which is not limited in this application.

The user device may be in communication connection with the first vehicle through a wireless connection (e.g., bluetooth) or a wired connection, and obtain the fourth speed information from the first vehicle in real time. For example, the user equipment may be connected to the vehicle in an APP or vendor-defined manner, and obtain the fourth speed information from the first vehicle in real time.

And S103, fusing and generating fifth speed information according to the initial position information, the first posture information and the fourth speed information.

Optionally, the fifth speed information may be determined as the speed information for positioning, which is acquired by the user equipment at the first time, that is, the position information may be calculated according to the speed information, and the user equipment may perform positioning according to the position information. For example, the user equipment can perform navigation positioning according to the position information.

Alternatively, the fifth speed information may be speed information in an east-north-sky coordinate system, or may be speed information in other coordinate systems such as WGS-84 or PZ-90, which is not limited in this application.

In one possible implementation manner, the fifth speed information is generated by fusing the initial position information, the first posture information and the fourth speed information, and the method may be implemented as follows: converting a first angular velocity of a gyroscope sensor and a first acceleration of an accelerometer in the user equipment into a second angular velocity and a second acceleration of the first vehicle respectively according to the first attitude information; generating first speed information according to the second angular speed and the second acceleration; generating second speed information according to the initial position information and the first satellite positioning information; generating third speed information according to the fusion of the first speed information and the second speed information; and generating fifth speed information according to the fusion of the third speed information and the fourth speed information.

A gyroscope sensor in the user equipment may obtain angular velocity measurements of the user equipment in real time and continuously, and an accelerometer in the user equipment may also obtain acceleration measurements of the user equipment in real time and continuously. The embodiments of the present application will be described based on the first time as an example in the present application. Therefore, in the embodiments of the present application, the angular velocity measurement value measured by the gyro sensor at the first time point is referred to as a first angular velocity, the acceleration measurement value measured by the accelerometer at the first time point is referred to as a first acceleration, and the first angular velocity and the first acceleration are taken as examples to describe the embodiments of the present application.

After the first angular velocity and the first acceleration are acquired from the gyro sensor and the accelerometer, the first angular velocity and the first acceleration may be converted from the first coordinate system to the second coordinate system, respectively, and may be converted into an angular velocity of the first vehicle (the angular velocity is subsequently referred to as the second angular velocity) and an acceleration of the first vehicle (the acceleration is subsequently referred to as the second acceleration) according to the first posture information.

In one possible implementation manner, the generating the first speed information according to the second angular velocity and the second acceleration may be implemented as follows: determining second attitude information according to the second angular velocity, wherein the second attitude information is used for representing the relative attitude between a second coordinate system (vehicle coordinate system) and an east-north-sky coordinate system; converting the second acceleration into an east-north-sky coordinate system according to the second attitude information to obtain a seventh acceleration; and performing integral operation on the seventh acceleration to obtain first speed information.

During the actual driving of the first vehicle, the user equipment may receive satellite signals in real time and continuously through the antenna and the communication module (e.g., the antennas 1 and 2, the mobile communication module 150, and the wireless communication module 160) provided therein, and then determine satellite positioning information according to the received satellite signals. The embodiments of the present application will be described based on the first time as an example in the present application. Therefore, in the embodiment of the present application, satellite positioning information determined by the user equipment at the first time according to the received satellite signal is referred to as first satellite positioning information, and the embodiment of the present application is described by taking the first satellite positioning information as an example.

In one possible implementation, the first satellite positioning information may include: ranging codes, data codes, and carriers. Wherein the ranging code is used to characterize the distance from the satellite to the user equipment. The data codes are navigation messages and are used for representing information including satellite time, satellite orbit, ionospheric delay and the like. After the user equipment acquires the first satellite positioning information, second speed information can be obtained through calculation according to the initial position information, the ranging code, the data code and the carrier wave.

In a possible implementation manner, the third speed information is generated according to the fusion of the first speed information and the second speed information, and the method can be implemented as follows: performing fusion filtering on the first speed information and the second speed information according to a Kalman filtering algorithm to obtain a filtered state quantity, and recording the state quantity as a first state quantity; the speed information included in the first state quantity is determined as the third speed information.

Alternatively, the first speed information and the second speed information may be fusion-filtered by a Kalman Filter (KF). The kalman filter is a recursive filter (autoregressive filter) that is capable of estimating the state of a dynamic system from a series of incomplete and noisy measurements. The kalman filter may consider the joint distribution at each time and generate an estimate of the unknown variable according to the values of each measurement at different times, and thus may be more accurate than an estimation based on only a single measurement.

In a possible implementation manner, the fifth speed information is generated by fusing the third speed information and the fourth speed information, and the method may be implemented as follows: performing fusion filtering on the third speed information and the fourth speed information according to a Kalman filtering algorithm to obtain a filtered state quantity, and recording the state quantity as a second state quantity; the speed information included in the second state quantity is determined as fifth speed information.

In addition, since the embodiments of the present application are described with the first time taken as an example in the above steps S101 to S103, the fifth speed information generated in step S103 is the fifth speed information at the first time. When the first vehicle is navigated in real time and continuously by the user equipment, the fifth speed information at each time may be generated in the manner of step S101 to step S103.

After the user equipment generates the fifth speed information at each time, the position information at the time can be calculated according to the fifth speed information. And then the user equipment can perform navigation positioning and planning a navigation path according to the position information calculated at each moment, so as to continuously navigate the first vehicle in real time.

Further, after the user equipment generates the fifth speed information at each time and calculates the position information at the time from the fifth speed information, the running state of the first vehicle may be determined from the position information at each time.

For example, after the user equipment acquires the fifth speed information at the time T1, the position information at the time T1 may be calculated according to the fifth speed information, and after the user equipment acquires the fifth speed information at the time T1+1, the position information at the time T1+1 may be calculated according to the fifth speed information; then, by comparing the position information at the time T1 with the position information at the time T1+1, it can be determined that the position of the first vehicle at the time T1+1 is located on the east side of the position of the first vehicle at the time T1, and it can be determined that the first vehicle is traveling eastward.

For another example, after the user equipment acquires the fifth speed information at the time T1, the position information at the time T1 may be calculated according to the fifth speed information, and after the fifth speed information at the time T1+1 is acquired, the position information at the time T1+1 may be calculated according to the fifth speed information; then, by comparing the position information at the time T1 with the position information at the time T1+1, it can be determined that the first vehicle is located on the overhead at the time T1+1, and the first vehicle is located under the overhead at the time T1, it can be determined that the first vehicle is in an overhead state.

In the method for generating speed information provided by the embodiment of the application, initial position information and first posture information used for representing posture conversion of a user equipment coordinate system and a vehicle coordinate system are obtained at first; then, acquiring fourth speed information of actual running of the first vehicle; and then, generating fifth speed information for positioning according to the initial position information, the first attitude information and the fourth speed information in a fusion mode. Therefore, the fifth speed information obtained by the method integrates the measurement information of the user equipment and the measurement information of the user equipment into the information of the vehicle coordinate system and the actual running speed information of the first vehicle, the accuracy is high, position information with high accuracy can be generated according to the fifth speed information subsequently, and when navigation and positioning are carried out according to the position information, the accuracy is high, the problem of yaw cannot occur, and the user experience is good.

Referring to fig. 9, fig. 9 is a schematic flowchart of another embodiment of the speed information generation method provided in the present application. The method may be applied to a user equipment, such as the user equipment 100 described above. The method may comprise the steps of:

step S201, acquiring initial position information and first posture information.

For specific contents and implementation of step S201, reference may be made to the contents of step S101 in the embodiment shown in fig. 5, which are not described herein again.

Step S202, according to the first posture information, a first angular velocity of a gyroscope sensor and a first acceleration of an accelerometer in the user equipment are respectively converted into a second angular velocity and a second acceleration of the first vehicle.

A gyroscope sensor in the user device may obtain angular velocity measurements of the user device in real time and continuously, and an accelerometer in the user device may also obtain acceleration measurements of the user device in real time and continuously. The embodiments of the present application will be described based on the first time as an example in the present application. Therefore, in the embodiments of the present application, the angular velocity measurement value measured by the gyro sensor at the first time point is referred to as a first angular velocity, the acceleration measurement value measured by the accelerometer at the first time point is referred to as a first acceleration, and the first angular velocity and the first acceleration are taken as examples to describe the embodiments of the present application.

After the first angular velocity and the first acceleration are acquired from the gyroscope sensor and the accelerometer, the first angular velocity and the first acceleration can be respectively converted from the first coordinate system to the second coordinate system and converted into the second angular velocity of the first vehicle and the second acceleration of the first vehicle according to the first attitude information.

And step S203, generating first speed information according to the second angular speed and the second acceleration.

And step S204, generating second speed information according to the initial position information and the first satellite positioning information.

And S205, generating third speed information according to the fusion of the first speed information and the second speed information.

In a possible implementation manner, the third speed information is generated according to the fusion of the first speed information and the second speed information, and the method can be implemented as follows: performing fusion filtering on the first speed information and the second speed information according to a Kalman filtering algorithm to obtain a filtered state quantity, and marking the state quantity as a first state quantity; the speed information included in the first state quantity is determined as the third speed information.

And step S206, acquiring fourth speed information of the first vehicle.

The specific content and implementation manner of step S206 may refer to the content of step S102 in the embodiment shown in fig. 5, and are not described herein again.

And step S207, generating fifth speed information according to the fusion of the third speed information and the fourth speed information.

In addition, since the embodiments of the present application are described with the first time taken as an example in the above steps S201 to S207, the fifth speed information generated in step S207 is the fifth speed information at the first time. When the first vehicle is navigated in real time and continuously by the user equipment, the fifth speed information at each time may be generated in the manner of step S201 to step S207.

Further, after the user equipment generates fifth speed information at each time and calculates position information at the time from the fifth speed information, the travel state of the first vehicle may be determined from the position information at each time.

For example, after the user equipment acquires the fifth speed information at the time T1, the position information at the time T1 may be calculated according to the fifth speed information, and after the user equipment acquires the fifth speed information at the time T1+1, the position information at the time T1+1 may be calculated according to the fifth speed information; then, by comparing the position information at the time T1 with the position information at the time T1+1, it can be determined that the position of the first vehicle at the time T1+1 is located on the east side of the position of the first vehicle at the time T1, and it can be determined that the first vehicle is traveling east.

In the method for generating speed information provided by the embodiment of the application, initial position information and first posture information used for representing posture conversion of a user equipment coordinate system and a vehicle coordinate system are obtained at first; then, converting the measurement values of a gyroscope and an accelerometer in the user equipment into a vehicle coordinate system according to the first attitude information to obtain the angular velocity and the acceleration of the first vehicle; then, calculating to obtain first speed information according to the angular speed and the acceleration of the first vehicle; second speed information can be calculated and generated according to the initial position information and satellite positioning information determined according to satellite signals received by the user equipment; then, generating third speed information according to the fusion of the first speed information and the second speed information; in addition, fourth speed information at which the first vehicle actually travels may also be acquired; and finally, generating fifth speed information according to the fusion of the third speed information and the fourth speed information. Therefore, the fifth speed information obtained by the method integrates the sensor positioning information obtained by converting the positioning information of the sensor of the user equipment into the vehicle coordinate system, the satellite positioning information determined according to the satellite signal received by the user equipment and the actual running speed information of the first vehicle, the accuracy is higher, position information with higher accuracy can be generated according to the fifth speed information subsequently, the accuracy is higher when navigation positioning is carried out according to the position information, the problem of yaw cannot occur, and the user experience is better.

The various method embodiments described herein may be implemented as stand-alone solutions or combined in accordance with inherent logic and are intended to fall within the scope of the present application.

It is to be understood that, in the above embodiments of the method, the method and operations implemented by the user equipment may also be implemented by a component (e.g., a chip or a circuit) available for the user equipment.

The above embodiments describe a method for generating speed information provided by the present application. It will be appreciated that the user equipment, in order to carry out the above-described functions, comprises corresponding hardware structures and/or software modules for performing each of the functions. Those of skill in the art will readily appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as hardware or combinations of hardware and computer software. Whether a function is performed as hardware or computer software drives hardware depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

In the embodiment of the present application, the user equipment may be divided into the functional modules according to the above method example, for example, each functional module may be divided corresponding to each function, or two or more functions may be integrated into one processing module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. It should be noted that, in the embodiment of the present application, the division of the module is schematic, and is only one logic function division, and there may be another division manner in actual implementation.

The method provided by the embodiment of the present application is described in detail above with reference to fig. 1 to 9. Hereinafter, the apparatus provided in the embodiment of the present application will be described in detail with reference to fig. 10 to 11. It should be understood that the description of the apparatus embodiments corresponds to the description of the method embodiments, and therefore, for brevity, details are not repeated here, since the details that are not described in detail may be referred to the above method embodiments.

Referring to fig. 10, fig. 10 is a block diagram illustrating a structure of an embodiment of a speed information generating apparatus according to the present disclosure. As shown in fig. 10, the apparatus 1000 may include: a transceiver 1001 and a processor 1002. The apparatus 1000 may perform the operations performed by the user equipment in the method embodiments shown in fig. 5 or fig. 9.

For example, in an alternative embodiment of the present application, the transceiver 1001 may be configured to obtain initial position information and first posture information, where the first posture information is used to characterize a relative posture between a user device and a first vehicle, and the user device is located in the first vehicle; the processor 1002 may be configured to: converting a first angular velocity of a gyroscope sensor and a first acceleration of an accelerometer in the user equipment into a second angular velocity and a second acceleration of the first vehicle respectively according to the first attitude information; generating first speed information according to the second angular speed and the second acceleration; generating second speed information according to the initial position information and first satellite positioning information, wherein the first satellite positioning information is satellite positioning information determined by the user equipment according to received satellite signals; generating third speed information according to the fusion of the first speed information and the second speed information; the transceiver 1001 may further be configured to acquire fourth speed information, where the fourth speed information is speed information of actual traveling of the first vehicle; the processor 1002 may be further configured to generate fifth speed information according to fusion of the third speed information and the fourth speed information.

In a possible implementation manner, the transceiver 1001 is configured to acquire first posture information, specifically: the transceiver 1001 may be configured to acquire a third acceleration, where the third acceleration is an acceleration measurement value of the accelerometer when the first vehicle is not started or is running at a constant speed; the processor 1002 may be further configured to generate the pitch angle and the roll angle according to the third acceleration and the gravitational acceleration; the transceiver 1001 may further be configured to acquire a fourth acceleration, where the fourth acceleration is an acceleration measurement of the accelerometer while the first vehicle is running with acceleration; the transceiver 1001 may further be configured to acquire sixth speed information, where the sixth speed information is speed information of the first vehicle during acceleration; the processor 1002 may be further configured to: generating a fifth speed according to the sixth speed information; and generating the course angle according to the pitch angle, the roll angle, the fourth acceleration and the fifth acceleration.

In a possible implementation manner, the processor 1002 is configured to generate the heading angle according to the pitch angle, the roll angle, the fourth acceleration, and the fifth acceleration, specifically: the processor 1002 may be configured to: converting the first coordinate system into a third coordinate system according to the pitch angle and the roll angle; generating a sixth acceleration, wherein the sixth acceleration is obtained by converting the fourth acceleration into the third coordinate system; and generating the course angle according to the sixth acceleration and the fifth speed.

In a possible implementation manner, the processor 1002 is configured to generate third speed information according to fusion of the first speed information and the second speed information, specifically: the processor 1002 may be configured to: generating a first state quantity, wherein the first state quantity is obtained by performing fusion filtering on the first speed information and the second speed information according to a Kalman filtering algorithm; and determining the speed information in the first state quantity as the third speed information.

In a possible implementation manner, the processor 1002 is configured to generate fifth speed information according to the fusion of the third speed information and the fourth speed information, specifically: the processor 1002 may be configured to: generating a second state quantity, wherein the second state quantity is obtained by performing fusion filtering on the third speed information and the fourth speed information according to a Kalman filtering algorithm; and determining the speed information in the second state quantity as the fifth speed information.

In one possible implementation, the first satellite positioning information includes: ranging codes, data codes and carriers; the ranging code is used for representing the distance from a satellite to the user equipment; the data codes are navigation messages and are used for representing information including satellite time, satellite orbit and ionospheric delay.

In a possible implementation manner, the transceiver 1001 is configured to acquire initial position information, specifically: the transceiver 1001 may be configured to acquire second satellite positioning information, where the second satellite positioning information is satellite positioning information determined by the user equipment according to a received satellite signal when starting navigation; the processor 1002 may be further configured to determine the initial position information according to the second satellite positioning information.

That is, the apparatus 1000 may implement the steps or processes performed by the user equipment in the embodiment of the speed information generating method corresponding to fig. 5 or fig. 9, and the apparatus 1000 may include modules for performing the method performed by the user equipment in the embodiment of the speed information generating method shown in fig. 5 or fig. 9. It should be understood that the specific processes of the modules for executing the corresponding steps are already described in detail in the embodiment of the method for generating speed information, and therefore, for brevity, detailed descriptions thereof are omitted here.

An embodiment of the present application further provides a processing apparatus, which includes at least one processor and a communication interface. The communication interface is used for providing information input and/or output for the at least one processor, and the at least one processor is used for executing the method in the method embodiment.

It should be understood that the processing means may be a chip. For example, referring to fig. 11, fig. 11 is a block diagram of a chip according to an embodiment of the present disclosure. The chip shown in fig. 11 may be a general-purpose processor or a special-purpose processor. The chip 1100 may include at least one processor 1101. Wherein, the at least one processor 1101 may be configured to support the apparatus shown in fig. 10 to execute the technical solution shown in fig. 5 or fig. 9.

Optionally, the chip 1100 may further include a transceiver 1102, where the transceiver 1102 is configured to receive control of the processor 1101, and is configured to support the apparatus shown in fig. 10 to execute the technical solution shown in fig. 5 or fig. 9. Optionally, the chip 1100 shown in fig. 11 may further include a storage medium 1103. In particular, the transceiver 1102 may be replaced with a communication interface that provides information input and/or output to the at least one processor 1101.

It should be noted that the chip 1100 shown in fig. 11 can be implemented by using the following circuits or devices: one or more Field Programmable Gate Arrays (FPGAs), programmable Logic Devices (PLDs), application Specific Integrated Circuits (ASICs), system chips (socs), central Processing Units (CPUs), network Processors (NPs), digital signal processing circuits (DSPs), micro Controller Units (MCUs), controllers, state machines, gate logic, discrete hardware components, any other suitable circuitry, or any combination of circuitry capable of performing the various functions described throughout this application.

In implementation, the steps of the above method may be performed by integrated logic circuits of hardware in a processor or by instructions in the form of software. The steps of a method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware processor, or may be implemented by a combination of hardware and software modules in a processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in a memory, and a processor reads information in the memory and completes the steps of the method in combination with hardware of the processor. To avoid repetition, it is not described in detail here.

It should be noted that the processor in the embodiments of the present application may be an integrated circuit chip having signal processing capability. In implementation, the steps of the above method embodiments may be performed by integrated logic circuits of hardware in a processor or instructions in the form of software. The processor described above may be a 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, discrete hardware components. The various methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software modules may be located in ram, flash, rom, prom, or eprom, registers, etc. as is well known in the art. The storage medium is located in a memory, and a processor reads information in the memory and combines hardware thereof to complete the steps of the method.

It will be appreciated that the memory in the embodiments of the subject application can be either volatile memory or nonvolatile memory, or can include both volatile and nonvolatile memory. The non-volatile memory may be a read-only memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an electrically Erasable EPROM (EEPROM), or a flash memory. Volatile memory can be Random Access Memory (RAM), which acts as external cache memory. By way of example, but not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), synchronous Dynamic Random Access Memory (SDRAM), double data rate SDRAM, enhanced SDRAM, SLDRAM, synchronous Link DRAM (SLDRAM), and direct rambus RAM (DR RAM). It should be noted that the memory of the systems and methods described herein is intended to comprise, without being limited to, these and any other suitable types of memory.

According to the method provided by the embodiment of the present application, an embodiment of the present application further provides a computer program product, which includes: computer program or instructions which, when run on a computer, cause the computer to perform the method of any one of the embodiments shown in fig. 5 or 9.

According to the method provided by the embodiment of the present application, a computer storage medium is further provided, and the computer storage medium stores a computer program or an instruction, which when executed on a computer, causes the computer to execute the method of any one of the embodiments shown in fig. 5 or fig. 9.

According to the method provided by the embodiment of the present application, an embodiment of the present application further provides a user equipment, where the user equipment is an intelligent device and includes a smart phone, a tablet computer, or a personal digital assistant, and the intelligent device includes the apparatus for generating the speed information.

Those of ordinary skill in the art will appreciate that the various illustrative logical blocks and steps (step) described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the system, the apparatus and the module described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the modules is merely a logical division, and in actual implementation, there may be other divisions, for example, multiple modules or components may be combined or integrated into another system, or some features may be omitted, or not implemented. 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 modules described as separate parts may or may not be physically separate, and parts displayed as modules 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 modules in the embodiments of the present application may be integrated into one processing unit, or each module may exist alone physically, or two or more modules are integrated into one unit.

The functions may be stored in a computer-readable storage medium if they are implemented in the form of software functional units and sold or used as separate products. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a read-only memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.

The apparatus, the chip, the computer storage medium, the computer program product, and the user equipment for generating speed information provided in the embodiments of the present application are all configured to execute the method provided above, and therefore, the beneficial effects achieved by the apparatus and the method may refer to the beneficial effects corresponding to the method provided above, and are not described herein again.

It should be understood that, in the embodiments of the present application, the execution sequence of each step should be determined by its function and inherent logic, and the size of the sequence number of each step does not mean the execution sequence, and does not limit the implementation process of the embodiments.

All parts of the specification are described in a progressive mode, the same and similar parts of all embodiments can be referred to each other, and each embodiment is mainly introduced to be different from other embodiments. In particular, for the embodiments of the speed information generating device, the chip, the computer storage medium, the computer program product, and the user equipment, since they are substantially similar to the method embodiments, the description is relatively simple, and for the relevant points, reference may be made to the description in the method embodiments.

While the preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all alterations and modifications as fall within the scope of the application.

The above-described embodiments of the present application do not limit the scope of the present application.

Claims

1. A method of generating velocity information, the method comprising:

when user equipment receives a position sharing request sent by other terminal equipment, or when the user equipment detects that the speed of a first vehicle is greater than a preset speed threshold value, or when the user equipment detects that a vehicle key is connected to the same Bluetooth as the first vehicle and/or the user equipment, acquiring initial position information and first posture information, wherein the first posture information is used for representing the relative posture between the user equipment and the first vehicle, and the user equipment is located in the first vehicle;

converting a first angular velocity of a gyroscope sensor and a first acceleration of an accelerometer in the user equipment into a second angular velocity and a second acceleration of the first vehicle respectively according to the first attitude information;

generating first speed information according to the second angular speed and the second acceleration;

generating second speed information according to the initial position information and first satellite positioning information, wherein the first satellite positioning information is satellite positioning information determined by the user equipment according to received satellite signals;

generating third speed information according to the fusion of the first speed information and the second speed information;

acquiring fourth speed information, wherein the fourth speed information is speed information of actual running of the first vehicle;

and generating fifth speed information according to the fusion of the third speed information and the fourth speed information.

2. The method of claim 1, wherein the first pose information comprises a pitch angle, a roll angle, and a heading angle between the first coordinate system and the second coordinate system; the first coordinate system is a coordinate system where the user equipment is located, and the second coordinate system is a coordinate system where the first vehicle is located.

3. The method of claim 2, wherein the obtaining first pose information comprises:

acquiring a third acceleration which is an acceleration measurement value of the accelerometer when the first vehicle is not started or runs at a constant speed;

generating the pitch angle and the roll angle according to the third acceleration and the gravity acceleration;

acquiring a fourth acceleration which is an acceleration measurement value of the accelerometer when the first vehicle runs in an accelerated mode;

acquiring sixth speed information, wherein the sixth speed information is speed information of the first vehicle during acceleration running;

generating a fifth speed according to the sixth speed information;

and generating the course angle according to the pitch angle, the roll angle, the fourth acceleration and the fifth acceleration.

4. The method of claim 3, wherein generating the heading angle from the pitch angle, the roll angle, the fourth acceleration, and the fifth acceleration comprises:

converting the first coordinate system into a third coordinate system according to the pitch angle and the roll angle;

generating a sixth acceleration, wherein the sixth acceleration is obtained by converting the fourth acceleration into the third coordinate system;

and generating the course angle according to the sixth acceleration and the fifth speed.

5. The method according to any one of claims 1 to 4, wherein the generating third speed information according to the fusion of the first speed information and the second speed information comprises:

generating a first state quantity, wherein the first state quantity is obtained by performing fusion filtering on the first speed information and the second speed information according to a Kalman filtering algorithm;

and determining the speed information in the first state quantity as the third speed information.

6. The method of claim 1, wherein generating fifth speed information from the fusion of the third speed information and the fourth speed information comprises:

generating a second state quantity, wherein the second state quantity is obtained by performing fusion filtering on the third speed information and the fourth speed information according to a Kalman filtering algorithm;

and determining the speed information in the second state quantity as the fifth speed information.

7. The method of claim 1, wherein the first satellite positioning information comprises: ranging codes, data codes and carriers; the ranging code is used for representing the distance from a satellite to the user equipment; the data codes are navigation messages and are used for representing information including satellite time, satellite operation orbits and ionospheric delay.

8. The method of claim 1, wherein the obtaining initial location information comprises:

acquiring second satellite positioning information, wherein the second satellite positioning information is satellite positioning information determined by the user equipment according to the received satellite signals when navigation is started;

and determining the initial position information according to the second satellite positioning information.

9. An apparatus for generating speed information, the apparatus comprising: a transceiver and a processor;

the transceiver is used for acquiring initial position information and first posture information when user equipment receives a position sharing request sent by other terminal equipment, or when the user equipment detects that the speed of a first vehicle is greater than a preset speed threshold value, or when the user equipment detects that a vehicle key is connected to the same Bluetooth of the first vehicle and/or the user equipment, wherein the first posture information is used for representing the relative posture between the user equipment and the first vehicle, and the user equipment is positioned in the first vehicle;

the processor is configured to:

the transceiver is further configured to acquire fourth speed information, where the fourth speed information is speed information of actual running of the first vehicle;

the processor is further configured to generate fifth speed information according to the fusion of the third speed information and the fourth speed information.

10. The apparatus of claim 9, wherein the first attitude information comprises a pitch angle, a roll angle, and a heading angle between the first coordinate system and the second coordinate system; the first coordinate system is a coordinate system where the user equipment is located, and the second coordinate system is a coordinate system where the first vehicle is located.

11. The device according to claim 10, wherein the transceiver is configured to obtain first posture information, specifically:

the transceiver is used for acquiring a third acceleration, wherein the third acceleration is an acceleration measurement value of the accelerometer when the first vehicle is not started or runs at a constant speed;

the processor is further configured to generate the pitch angle and the roll angle according to the third acceleration and the gravitational acceleration;

the transceiver is further configured to obtain a fourth acceleration, where the fourth acceleration is an acceleration measurement of the accelerometer while the first vehicle is accelerating;

the transceiver is further configured to acquire sixth speed information, where the sixth speed information is speed information of the first vehicle during acceleration driving;

the processor is further configured to:

generating a fifth speed according to the sixth speed information;

12. The apparatus of claim 11, wherein the processor is configured to generate the heading angle according to the pitch angle, the roll angle, the fourth acceleration, and the fifth acceleration, specifically:

the processor is configured to:

13. The apparatus according to any one of claims 9 to 12, wherein the processor is configured to generate third speed information according to fusion of the first speed information and the second speed information, specifically:

the processor is configured to:

14. The apparatus according to claim 9, wherein the processor is configured to generate fifth speed information according to fusion of the third speed information and the fourth speed information, specifically:

the processor is configured to:

15. The apparatus of claim 9, wherein the first satellite positioning information comprises: ranging codes, data codes and carriers; the ranging code is used for characterizing the distance from a satellite to the user equipment; the data codes are navigation messages and are used for representing information including satellite time, satellite operation orbits and ionospheric delay.

16. The apparatus according to claim 9, wherein the transceiver is configured to obtain initial location information, specifically:

the transceiver is configured to acquire second satellite positioning information, where the second satellite positioning information is satellite positioning information determined by the user equipment according to a received satellite signal when the user equipment starts navigation;

the processor is further configured to determine the initial position information according to the second satellite positioning information.

17. A user equipment, characterized in that the user equipment comprises the apparatus of any of claims 9 to 16.

18. A computer storage medium having stored thereon a computer program or instructions which, when executed, cause the method of any one of claims 1-8 to be performed.

19. A computer program product, comprising a computer program or instructions for causing a computer to perform the method of any one of claims 1-8 when the computer program or instructions is run on a computer.

20. A chip comprising a processor coupled to a memory for executing a computer program or instructions stored in the memory, the computer program or instructions, when executed, performing the method of any of claims 1-8.