CN113905437B - Network positioning method and device, computer equipment and storage medium - Google Patents

Network positioning method and device, computer equipment and storage medium Download PDF

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Publication number
CN113905437B
CN113905437B CN202111492520.5A CN202111492520A CN113905437B CN 113905437 B CN113905437 B CN 113905437B CN 202111492520 A CN202111492520 A CN 202111492520A CN 113905437 B CN113905437 B CN 113905437B
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target
network
scanning
determining
positioning
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CN113905437A (en
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张鑫
倪嘉志
刘弘毅
李欣
刘畅
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Tencent Technology Shenzhen Co Ltd
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Tencent Technology Shenzhen Co Ltd
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H04W64/003—Locating users or terminals or network equipment for network management purposes, e.g. mobility management locating network equipment
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B17/00—Monitoring; Testing
    • H04B17/30—Monitoring; Testing of propagation channels
    • H04B17/309—Measuring or estimating channel quality parameters
    • H04B17/318—Received signal strength
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

Abstract

The present application relates to a network positioning method, apparatus, computer device, storage medium and computer program product. The method is applied to application scenes of maps and intelligent traffic, and comprises the following steps: obtaining positioning information of the target equipment according to a target positioning mode; determining a time interval when the target device scans the candidate network device last time for network positioning; the network positioning mode is different from the target positioning mode; when the time interval meets a first interval condition, searching target network equipment of which the signal coverage does not cover the positioning information in at least two target network equipment of the candidate network equipment; if the number of the target network equipment which does not cover the positioning information reaches the number threshold, performing signal scanning on the candidate network equipment through the target equipment to obtain a first signal scanning result; and carrying out network positioning on the target equipment based on the first signal scanning result. The method can improve the positioning precision and save the power consumption.

Description

Network positioning method and device, computer equipment and storage medium
Technical Field
The present application relates to the field of computer technologies, and in particular, to a network positioning method, an apparatus, a computer device, a storage medium, and a computer program product.
Background
With the development of the positioning technology, the positioning technology is widely applied to the fields of automatic driving, intelligent traffic and the like, and with the wide application of the positioning technology, the requirement on the positioning accuracy is higher and higher. In the conventional technology, the optimal positioning accuracy is usually obtained by shortening the scanning time interval, but the unlimited shortened scanning interval not only causes the increase of power consumption, but also triggers the scanning limitation of the operating system, so that the scanning result is not changed any more, and the positioning accuracy cannot be improved. Therefore, how to determine the scanning time interval to improve the positioning accuracy and to maximally save power consumption is an urgent problem to be solved.
Disclosure of Invention
In view of the above, it is desirable to provide a positioning method, an apparatus, a computer device, a storage medium, and a computer program product, which can improve positioning accuracy and save power consumption.
A method of network location, the method comprising:
obtaining positioning information of the target equipment according to a target positioning mode;
determining a time interval when the target device scans candidate network devices for network positioning last time; the network positioning mode is different from the target positioning mode;
when the time interval meets a first interval condition, searching for target network equipment of which the signal coverage does not cover the positioning information in at least two target network equipment of the candidate network equipment;
if the number of the target network devices which do not contain the positioning information reaches a number threshold, performing signal scanning on the candidate network devices through the target devices to obtain a first signal scanning result;
and carrying out network positioning on the target equipment based on the first signal scanning result.
A network location apparatus, the apparatus comprising:
the acquisition module is used for acquiring positioning information of the target equipment according to a target positioning mode;
a determining module, configured to determine a time interval when the target device last scans the candidate network device for network positioning; the network positioning mode is different from the target positioning mode;
a searching module, configured to search, when the time interval satisfies a first interval condition, a target network device whose signal coverage does not cover the positioning information, among at least two target network devices of the candidate network devices;
the scanning module is used for performing signal scanning on the candidate network equipment through the target equipment to obtain a first signal scanning result if the equipment number of the target network equipment which does not contain the positioning information reaches a number threshold;
and the positioning module is used for carrying out network positioning on the target equipment based on the first signal scanning result.
In one embodiment, the apparatus further comprises:
the scanning module is further configured to perform signal scanning on the candidate network device through the target device to obtain a second signal scanning result if the number of devices does not reach the number threshold and the time interval meets a second interval condition;
the positioning module is further configured to perform network positioning on the target device based on the second signal scanning result.
In one embodiment, the apparatus further comprises:
a first obtaining module, configured to obtain a first network signal strength obtained when the target device scans the candidate network device last time;
a ranking module configured to rank the candidate network devices according to the first network signal strength;
and the selecting module is used for taking the candidate network equipment with the ranking reaching the preset ranking as the target network equipment in the ranked candidate network equipment.
In one embodiment, the target location mode comprises a sensor-based location mode or a satellite-based location mode; the positioning information includes sensor positioning information or satellite positioning information.
In one embodiment, the obtaining module is further configured to:
when the target positioning mode is a sensor-based positioning mode, acquiring motion data and corresponding acquisition time of the target equipment at least twice through the sensor;
obtaining the scanning time when the target equipment historically scans the candidate network equipment and historical position information obtained after the candidate network equipment is historically scanned and network positioning is carried out;
determining a first speed value of the target device according to the historical position information and the scanning time;
determining sensor positioning information for the target device based on the first velocity value, the motion data, and the acquisition time.
In one embodiment, the motion data is an acceleration of the target device, and the acceleration includes a first-dimensional coordinate direction acceleration, a second-dimensional coordinate direction acceleration, and a third-dimensional coordinate direction acceleration; the determining module is further configured to:
determining the acceleration of the target equipment in the motion direction based on the acceleration in the first dimension coordinate direction, the acceleration in the second dimension coordinate direction, and the acceleration in the third dimension coordinate direction and the gravity acceleration;
determining sensor positioning information of the target device based on the first velocity value, the acceleration of the target device in the moving direction, and the acquisition time.
In one embodiment, the acquisition time comprises a first acquisition time and a second acquisition time later than the first acquisition time; the motion data comprises first motion data acquired at the first acquisition time and second motion data acquired at the second acquisition time;
the obtaining module is further configured to:
when the target device is determined to pass through a branch point of a road based on the first speed value, the first motion data and the first acquisition time, determining a second speed value of the target device at the branch point, and acquiring transition probabilities of the target device transitioning from the road to each branch;
determining a target branch road to which the target equipment is transferred from the road according to the transfer probability;
determining displacement information of the target equipment based on the second speed value, the second motion data and the second acquisition time by taking the bifurcation point as the starting point position of the target bifurcation;
determining sensor positioning information for the target device based on the starting point location and the displacement information.
In one embodiment, the obtaining module is further configured to:
acquiring a speed mean value and a speed standard deviation when at least two other devices move to each branch road;
determining a transition probability of the target device transitioning from the road to each branch road based on the second speed value, the speed mean, and the speed standard deviation.
In one embodiment, the apparatus further comprises:
the determining module is further configured to determine a transfer speed when at least two other devices move to each branch;
the determining module is further used for determining a speed mean value and a speed standard deviation based on the transfer speeds of at least two other devices;
the generating module is used for generating a transfer matrix according to the speed mean value, the speed standard deviation and the road section identifications of at least two branches;
the obtaining module is further configured to obtain, from the transfer matrix, a speed mean and a speed standard deviation when the at least two other devices move to each branch road based on the link identifiers of the at least two branch roads.
In one embodiment, the apparatus further comprises:
the second acquisition module is used for acquiring a log text obtained by scanning the candidate network equipment by other equipment;
the extraction module is used for extracting the log information of the candidate network equipment from the log text; the log information comprises satellite positioning information and second network signal strength;
the determining module is further configured to determine a center position of the candidate network device according to the satellite positioning information and the second network signal strength;
the determining module is further configured to determine a network area that takes the central position as a central point and covers a preset number of grids; the grid is a unit grid divided into network equipment distribution areas; determining the network area as the signal coverage area.
In one embodiment, the center position includes longitude and latitude coordinates; the determining module is further configured to:
determining the number of pieces of log information which have incidence relation with the same grid in the log text based on the satellite positioning information;
determining the mean value of the signal intensity of the second network and the mean value of the satellite positioning information corresponding to each grid in the log information which has the incidence relation with the grids;
and determining the central position of the candidate network equipment according to the number of the log information, the mean value of the second network signal strength and the mean value of the satellite positioning information.
In one embodiment, the determining module is further configured to:
determining a ratio between the number of pieces of the log information and the mean value of the second network signal strength;
taking the ratio as a weight value corresponding to the grids, or determining the weight value corresponding to each grid based on the ratio and a target coefficient;
based on each weight value, carrying out weighted summation on the average value of the satellite positioning information of the candidate network equipment in the grid to obtain the central position of the candidate network equipment.
In one embodiment, the first interval condition comprises an upper limit value of a scan interval; the device further comprises:
the determining module is further configured to determine an initial upper limit value of the scanning interval;
the scanning module is further configured to perform at least two scans on the candidate network device with a difference between the initial upper limit value and a preset step length as a scanning interval, so as to obtain at least two scanning results;
the determining module is further configured to determine the difference as an upper limit value of the scanning interval if the same scanning result exists in at least two scanning results; if the same scanning result does not exist in at least two scanning results, taking the difference value as the initial upper limit value, continuing to execute the step of scanning the candidate network device at least twice by taking the difference value between the initial upper limit value and a preset step length as a scanning interval, and taking the difference value between the current initial upper limit value and the preset step length as the upper limit value of the scanning interval when the same scanning result exists in the obtained scanning results.
A computer device comprising a memory and a processor, the memory storing a computer program, the processor implementing the following steps when executing the computer program:
obtaining positioning information of the target equipment according to a target positioning mode;
determining a time interval when the target device scans candidate network devices for network positioning last time; the network positioning mode is different from the target positioning mode;
when the time interval meets a first interval condition, searching for target network equipment of which the signal coverage does not cover the positioning information in at least two target network equipment of the candidate network equipment;
if the number of the target network devices which do not contain the positioning information reaches a number threshold, performing signal scanning on the candidate network devices through the target devices to obtain a first signal scanning result;
and carrying out network positioning on the target equipment based on the first signal scanning result.
A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:
obtaining positioning information of the target equipment according to a target positioning mode;
determining a time interval when the target device scans candidate network devices for network positioning last time; the network positioning mode is different from the target positioning mode;
when the time interval meets a first interval condition, searching for target network equipment of which the signal coverage does not cover the positioning information in at least two target network equipment of the candidate network equipment;
if the number of the target network devices which do not contain the positioning information reaches a number threshold, performing signal scanning on the candidate network devices through the target devices to obtain a first signal scanning result;
and carrying out network positioning on the target equipment based on the first signal scanning result.
A computer program product comprising a computer program which when executed by a processor performs the steps of:
obtaining positioning information of the target equipment according to a target positioning mode;
determining a time interval when the target device scans candidate network devices for network positioning last time; the network positioning mode is different from the target positioning mode;
when the time interval meets a first interval condition, searching for target network equipment of which the signal coverage does not cover the positioning information in at least two target network equipment of the candidate network equipment;
if the number of the target network devices which do not contain the positioning information reaches a number threshold, performing signal scanning on the candidate network devices through the target devices to obtain a first signal scanning result;
and carrying out network positioning on the target equipment based on the first signal scanning result.
The network positioning method, the network positioning device, the computer equipment, the storage medium and the computer program product obtain the positioning information of the target equipment, determine the time interval when the target equipment scans the candidate network equipment last time to perform network positioning, monitor the time interval of each scanning in real time, and find the optimal time of the next scanning based on the time interval. Then, analyzing the time interval and the signal coverage range, namely searching the target network equipment of which the signal coverage range does not cover the positioning information when the time interval is judged to meet the first interval condition; if the number of the target network devices which do not contain the positioning information reaches the number threshold, the optimal scanning time can be determined, and therefore signal scanning is performed on the candidate network devices through the target devices, the time interval between the time when the candidate network devices are scanned and the last time meets the first interval condition can be guaranteed, power consumption is saved, scanning is triggered in time when the number of the target network devices reaches the number threshold, the situation that the positioning accuracy is reduced due to the fact that the time interval for scanning the candidate network devices is too long can be avoided, the positioning accuracy is improved, power consumption can be saved, and scanning limitation of an operating system can be avoided being triggered. Finally, network positioning is carried out on the target equipment based on the first signal scanning result obtained by scanning, and the positioning precision of network positioning can be ensured on the premise of ensuring that the power consumption is saved to the maximum extent.
Drawings
FIG. 1 is a diagram of an exemplary network positioning method;
FIG. 2 is a flow diagram illustrating a method for network location in one embodiment;
FIG. 3 is a schematic diagram of signal coverage in one embodiment;
FIG. 4 is a diagram illustrating scan times of a last scan in an embodiment;
FIG. 5 is a flow diagram illustrating a method for determining positioning information in one embodiment;
FIG. 6 is a schematic diagram of various moments in time at which motion data is collected in one embodiment;
FIG. 7 is a flowchart illustrating a method for determining positioning information according to another embodiment;
FIG. 8 is a diagram illustrating a movement of a target device to a bifurcation point, in accordance with an embodiment;
FIG. 9 is a flow diagram illustrating a method for determining transition probabilities in one embodiment;
FIG. 10 is a flow diagram illustrating a method for obtaining a velocity mean and a velocity standard deviation, according to one embodiment;
FIG. 11 is a schematic diagram of a transition matrix in one embodiment;
FIG. 12 is a flowchart illustrating a method for determining signal coverage in one embodiment;
FIG. 13 is a schematic diagram of a network region in one embodiment;
FIG. 14 is a flow diagram illustrating a method for determining a center position according to one embodiment;
FIG. 15 is a flowchart illustrating a method for determining an upper limit value for a scan interval according to one embodiment;
fig. 16 is a flow chart illustrating a network location method in another embodiment;
FIG. 17 is a flowchart illustrating a method for network positioning of a vehicle-mounted terminal according to an embodiment;
FIG. 18 is a block diagram of a network location device in one embodiment;
FIG. 19 is a block diagram of another embodiment of a network locator device;
FIG. 20 is a diagram illustrating an internal structure of a computer device in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
Before describing specific embodiments of the present application, the technical field involved is described as follows:
an Intelligent Transportation System (ITS), also called Intelligent Transportation System (Intelligent Transportation System), is a comprehensive Transportation System which effectively and comprehensively applies advanced scientific technologies (information technology, computer technology, data communication technology, sensor technology, electronic control technology, automatic control theory, operational research, artificial intelligence and the like) to Transportation, service control and vehicle manufacturing, strengthens the relation among vehicles, roads and users, and thus forms a comprehensive Transportation System which ensures safety, improves efficiency, improves environment and saves energy. Or;
an Intelligent Vehicle Infrastructure Cooperative System (IVICS), referred to as a Vehicle Infrastructure Cooperative system for short, is a development direction of an Intelligent Transportation System (ITS). The vehicle-road cooperative system adopts the advanced wireless communication, new generation internet and other technologies, implements vehicle-vehicle and vehicle-road dynamic real-time information interaction in all directions, develops vehicle active safety control and road cooperative management on the basis of full-time dynamic traffic information acquisition and fusion, fully realizes effective cooperation of human and vehicle roads, ensures traffic safety, improves traffic efficiency, and thus forms a safe, efficient and environment-friendly road traffic system.
The network positioning method provided by the application can be applied to the application environment shown in fig. 1. In the application environment, a target device 102, a server 104, and a candidate network device 106 are included. The server 104 obtains the positioning information of the target device 102 according to the target positioning manner, determines a time interval when the target device 102 last scans the candidate network device 106 for network positioning, and searches for a target network device whose signal coverage does not cover the positioning information from at least two target network devices of the candidate network device 106 when the time interval satisfies a first interval condition. If the number of the target network devices that do not include the positioning information reaches the number threshold, the target device 102 performs signal scanning on the candidate network device 106 to obtain a first signal scanning result. The target device 102 is network located based on the first signal scan result.
The target device 102 may be a smart phone, a tablet computer, a notebook computer, a desktop computer, a smart speaker, a smart watch, or the like; in addition, the device may be an intelligent voice interaction device, an intelligent household appliance, a vehicle-mounted terminal, and the like, but is not limited thereto.
The server 104 may be an independent physical server, or may be a server cluster composed of a plurality of service nodes in a blockchain system, a point-To-point (P2P, Peer To Peer) network is formed among the service nodes, and the P2P Protocol is an application layer Protocol operating on a Transmission Control Protocol (TCP).
The server may be a server cluster including a plurality of physical servers, and may be a cloud server that provides basic cloud computing services such as a cloud service, a cloud database, cloud computing, a cloud function, cloud storage, a web service, cloud communication, a middleware service, a domain name service, a security service, a Content Delivery Network (CDN), and a big data and artificial intelligence platform.
The candidate network devices 106 may be various devices that may transmit network signals, such as may be Wifi devices. The target device 102 and the server 104 may be connected through communication connection manners such as bluetooth, USB (Universal Serial Bus), or network, which is not limited herein.
In one embodiment, as shown in fig. 2, a network positioning method is provided, which is described by taking the method as an example applied to the server in fig. 1, and includes the following steps:
s202, positioning information of the target equipment is obtained according to the target positioning mode.
The target positioning mode may be a positioning mode other than a network positioning mode, and may be a positioning mode capable of positioning the target device, including a satellite positioning mode or a sensor-based positioning mode. The positioning information is information indicating the position of the target device and may include longitude and latitude coordinates of the target device. For example, the positioning information of the target device is (56 ° 30 '20 "W, 40 ° 20' 36" N), which indicates that the position of the target device is 56 ° 30 '20 "west longitude and 40 ° 20' 36" north latitude.
In one embodiment, the target location mode comprises a sensor-based location mode or a satellite-based location mode; the positioning information includes sensor positioning information or satellite positioning information. The satellite positioning system is a positioning system for acquiring positioning information from satellite signals transmitted from satellites in a satellite positioning system. The satellite Positioning System includes a GPS (Global Positioning System), a beidou Positioning System, a galileo Positioning System, and the like. The sensor-based positioning mode is a positioning mode for positioning through motion data acquired by the sensor, acquisition time of the acquired motion data and historical position information of the target device. The sensor may be a device for measuring acceleration and rotational movement, such as an IMU (Inertial Measurement Unit).
S204, determining the time interval when the target device scans the candidate network device last time to perform network positioning; the network location is different from the target location.
The network positioning is a positioning mode for positioning according to the network signal strength of the network equipment. Since the farther the distance from the network device is, the weaker the network signal strength obtained by scanning is, the position of the target device can be determined according to the signal scanning result obtained by the target device performing signal scanning on the surrounding candidate network devices.
The candidate network device may be various devices capable of sending network signals, for example, a Wifi device capable of sending wireless network (Wifi) signals, where the Wifi device has a unique MAC (Media Access Control) Address, and the MAC Address corresponding to the Wifi device may be used as an identifier of the Wifi device. The time interval is the time interval from the last time the target device scanned the candidate network devices. For example, if 3 seconds have elapsed since the target device last scanned the candidate network device, the time interval is 3 seconds.
S206, when the time interval meets the first interval condition, searching the target network equipment of which the signal coverage does not cover the positioning information in at least two target network equipment of the candidate network equipment.
The first interval condition is a condition for measuring whether the time interval reaches a first preset time length. The first preset time period may be an upper limit value of the scanning interval, and may be set to 10 seconds, 15 seconds, or the like, for example. The signal coverage is the effective coverage of the network signal transmitted by the candidate network device. When a candidate network device is within the signal coverage range, the signal transmitted by the candidate network device may be scanned, and the strength of the scanned signal may meet the requirement of being able to perform network positioning, that is, the scanned signal is valid. The signal coverage may be an area with the center position of the candidate network device as a center point, for example, the signal coverage is a circular area with the center position of the candidate network device as a center point and a radius R. For example, when the center position of the candidate network device is (lat 0, lon 0), the signal coverage may be a circular area with a radius R and (lat 0, lon 0) as the center.
The target network device is a part of the candidate network devices, for example, the target network device may be a network device whose signal strength satisfies a strength condition in the candidate network devices when the target device last scans the candidate network devices. The strength condition may be, for example, that the signal strength reaches a preset strength value, or that the ranking ranked according to the signal strength is within a preset ranking, or the like.
For each target network device, if the positioning information is within the signal coverage of the target network device, determining that the signal coverage of the target network device covers the positioning information; if the positioning information is outside the signal coverage of the target network device, determining that the signal coverage of the target network device does not cover the positioning information. As shown in fig. 3, if the signal coverage of the target network device is the shaded area in fig. 3, the signal coverage of the target network device covers the positioning information 1, but does not cover the positioning information 2.
S208, if the number of the target network devices which do not cover the positioning information reaches the number threshold, the target devices scan the candidate network devices to obtain a first signal scanning result.
Wherein the number threshold may be any number less than the number of devices. In one embodiment, the number threshold is set based on the total number of devices of the target network device. For example, the number threshold may be set to 1/2 for the total number of devices, or the number threshold may also be set to 1/3 for the total number of devices. For example, when the total number of target network devices is 4, the number threshold may be set to 2.
The first signal scanning result is data obtained by scanning the candidate network devices and including device identifications, network signal strengths or position information of the scanned candidate network devices. Wherein the device identification may be a MAC address of the candidate network device. For example, the signal scan results may be MAC1, RSSI 1; MAC2, RSSI 2; …, respectively; MACN, RSSIN, wherein MAC 1-MACN is the MAC address of the candidate network device 1-N, RSSI1-RSSIN is the network signal strength of the candidate network device 1-N.
In one embodiment, S208 specifically includes: if the number of the target network devices which do not cover the positioning information reaches half of the total number of the devices, or if half of the signal coverage areas of the network devices in the part of network devices selected from the target network devices do not cover the positioning information, performing signal scanning on the candidate network devices through the target devices to obtain a first signal scanning result. For example, assuming that the total number of the target network devices is 4, if the number of the target network devices that do not cover the positioning information among the 4 target network devices reaches 2, or if 1 signal coverage area of two target network devices with the maximum strength among the 4 target network devices does not cover the positioning information, the target device performs signal scanning on the candidate network device to obtain a first signal scanning result. For example, assuming that the total number of the target network devices is 6, if the number of the target network devices that do not cover the positioning information in the 6 target network devices reaches 3, or if 2 signal coverage areas in 4 target network devices with the maximum strength in the 6 target network devices do not cover the positioning information, or if 1 signal coverage area in 2 target network devices with the maximum strength in the 6 target network devices does not cover the positioning information, the target device performs signal scanning on the candidate network device to obtain a first signal scanning result.
S210, network positioning is carried out on the target equipment based on the first signal scanning result.
In one embodiment, the first signal scanning result includes location information and network signal strength of each scanned candidate network device. Before S210, the method further includes: and the server acquires a signal scanning result sent by the target equipment. S210 specifically includes: and the server extracts the position information and the network signal strength of each candidate network device from the signal scanning result and carries out network positioning on the target device according to the position information and the signal strength.
In one embodiment, the first signal scan result includes device identifications and signal strengths of the scanned candidate network devices. Before S210, the method further includes: and the server acquires a signal scanning result sent by the target equipment. S210 specifically includes: the server extracts the device identification and the network signal strength of each candidate network device from the signal scanning result. And inquiring the position information of each candidate network device from the database according to the device identifier, and carrying out network positioning on the target device according to the position information and the network signal strength of each candidate network device.
In the above embodiment, the positioning information of the target device is obtained, and the time interval when the target device last scans the candidate network device for network positioning is determined. And when the time interval meets a first interval condition, searching for target network equipment of which the signal coverage does not cover the positioning information in at least two target network equipment of the candidate network equipment. And if the number of the target network equipment which does not contain the positioning information reaches the number threshold, performing signal scanning on the candidate network equipment through the target equipment to obtain a first signal scanning result, and performing network positioning on the target equipment based on the first signal scanning result. Therefore, the target device can scan the candidate network device only when the time interval meets the first interval condition and the device number of the target network device reaches the number threshold, which not only can ensure that the time interval with the last time of scanning the candidate network device meets the first interval condition, save power consumption, but also can trigger scanning in time when the device number of the target network device reaches the number threshold, thereby avoiding the reduction of positioning accuracy caused by overlong time interval of scanning the candidate network device, improving the positioning accuracy, saving power consumption and avoiding the scanning limitation of the operating system.
In one embodiment, S208 is followed by: if the number of the devices does not reach the number threshold and the time interval meets a second interval condition, performing signal scanning on the candidate network device through the target device to obtain a second signal scanning result; and carrying out network positioning on the target equipment based on the second signal scanning result.
The second interval condition is a condition for measuring whether the time interval reaches a second preset time length, wherein the second preset time length is greater than the first preset time length. In one embodiment, the second preset duration may be a multiple of the first preset duration, for example, the second preset duration is twice the first preset duration, that is, when the first preset duration is S, the second preset duration may be 2S.
When the time interval meets a first interval condition, if the number of the target network devices which do not cover the positioning information reaches a number threshold, performing signal scanning on the candidate network devices through the target devices to obtain a first signal scanning result; if the number of the target network devices which do not cover the positioning information does not reach the number threshold value until the time interval meets the second interval condition, performing signal scanning on the candidate network devices through the target devices to obtain a second signal scanning result; and carrying out network positioning on the target equipment based on the second signal scanning result.
In the above embodiment, if the time interval satisfies the second interval condition, and the number of the devices of the target network device that does not include the positioning information does not reach the number threshold, the target device scans the candidate network device for signals, and performs network positioning on the target device based on the second signal scanning result obtained by scanning, so that the reduction of the positioning accuracy due to the overlong time interval when the candidate network device is scanned last time can be avoided, and the positioning accuracy of the network positioning is improved.
In one embodiment, S206 further includes before: acquiring first network signal intensity obtained by the target equipment scanning the candidate network equipment last time; sorting the candidate network devices according to the first network signal strength; and in the sorted candidate network devices, the candidate network device with the rank reaching the preset rank is taken as the target network device.
Wherein, the network signal strength is the strength of the network signal transmitted by the scanned candidate network device. The farther away from the candidate network device, the weaker the signal strength of the scanned network signal. The first network signal strength is the network signal strength obtained by the target device scanning the scanning candidate network device last time. For example, as shown in fig. 4, the target device scans the candidate network devices once at intervals, and if the candidate network devices are scanned at1 min 00 s, 1 min 10 s, and 1 min 18 s respectively, and it is determined that the time interval satisfies the first interval condition at1 min 21 s, the candidate network devices are scanned at1 min 18 s as the previous candidate network devices, and the obtained network signal strength is the first network signal strength.
In an embodiment, the server may rank the candidate network devices in order of decreasing the first network signal strength, and then select, from the ranked candidate network devices, a candidate network device whose rank reaches a preset rank as the target network device. For example, the server selects the candidate network device with the top ranking 10 as the target network device from the ranked candidate network devices.
In the above embodiment, the server uses the candidate network device whose ranking reaches the preset ranking as the target network device, that is, selects the network device with high network signal strength as the target network device, and when the number of the device of the target network device which does not cover the positioning information reaches the number threshold, it indicates that the target device leaves the signal coverage range of the target network device with high strength.
In one embodiment, as shown in fig. 5, S202 specifically includes the following steps:
and S502, when the target positioning mode is a sensor-based positioning mode, acquiring motion data and corresponding acquisition time of the target equipment at least twice through the sensor.
The motion data is data describing a motion situation of the target device, and may include an acceleration, a speed, a motion direction, or the like of the target device. If the target device is a vehicle or a vehicle-mounted terminal, the motion data is the motion data of the vehicle, and if the target device is a device (for example, a mobile terminal) carried by a user, the motion data is the motion data of the user. The acquisition time is the time at which the sensor acquires the motion data. For example, as shown in FIG. 6, the sensors are respectively at1 pointData acquisition is carried out at the time of 22 seconds, 1 minute 26 seconds, 1 minute 30 seconds, 1 minute 34 seconds and 1 minute 38 seconds, and the acceleration degrees of the target equipment at the time of 1 minute 22 seconds, 1 minute 26 seconds, 1 minute 30 seconds, 1 minute 34 seconds and 1 minute 38 seconds are acquired respectively
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、
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、
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、
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、
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。
S504, scanning time when the target device scans the candidate network device in a historical mode and historical position information obtained after network positioning is carried out on the candidate network device in the historical scanning mode are obtained.
Wherein the history scanning is signal scanning performed before obtaining the positioning information of the target device in a target positioning mode. The scan time is the time each time the candidate network device is scanned for signals. The historical location information is location information obtained by performing network positioning on the target device according to a signal scanning result obtained by historically scanning the candidate network devices. For example, as shown in fig. 6, the target device performs signal scanning on the candidate network device in 1 minute 10 seconds and 1 minute 18 seconds, respectively, and the scanning time is 1 minute 10 seconds and 1 minute 18 seconds, respectively, and the server performs network positioning on the target device according to the signal scanning results obtained by performing signal scanning in 1 minute 10 seconds and 1 minute 18 seconds, respectively, to obtain the historical location information of the target device in 1 minute 10 seconds and 1 minute 18 seconds.
S506, determining a first speed value of the target device according to the historical position information and the scanning time.
Wherein the first speed value is a speed value of the target device when scanning the candidate network device last time.
In one embodiment, the average speed of the target device over a period of time before the last scan of the candidate network devices is taken as the first speed value. The historical location information includes location information of the target device at the last time the candidate network device was scanned
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And the position information of the target device when scanning the candidate network device last time
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The scanning time includes time t of last scanning candidate network device0And time t when last candidate network device was scanned-1Then the first speed value is
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。
And S508, determining sensor positioning information of the target equipment based on the first speed value, the motion data and the acquisition time.
The server can determine the displacement of the target equipment according to the first speed value, the motion data and the acquisition time, and can determine the sensor positioning information of the target equipment according to the displacement of the target equipment. For example, assume that the time when the target device last scans for candidate network devices is t0The acquisition time of the sensor for acquiring the motion data is t1、t2At t1、t2The collected motion data are respectively acceleration ga1、ga2Starting from the position of the target device when scanning the candidate network devices last time, the target device is at t1And t0Is s between1=v0(t1-t0)+0.5ga1 (t1-t0)2Target device at t1Velocity v of motion of1=v0+ga1 (t1-t0). According to s1It may be determined that the target device is at t1Sensor positioning information of time. Target device from t1The moment moves to t2Displacement of time of dayIs s is2=v1(t2-t1)+0.5ga1 (t2-t1)2According to s1、s2It may be determined that the target device is at t2Sensor positioning information of time.
In one embodiment, the motion data is an acceleration of the target device, and the acceleration includes a first-dimensional coordinate direction acceleration, a second-dimensional coordinate direction acceleration, and a third-dimensional coordinate direction acceleration; before S508, the method further includes: determining the acceleration of the target equipment in the motion direction based on the acceleration in the first dimension coordinate direction, the acceleration in the second dimension coordinate direction, the acceleration in the third dimension coordinate direction and the gravity acceleration; s508 specifically includes: and determining sensor positioning information of the target equipment based on the first speed value, the acceleration of the target equipment in the moving direction and the acquisition time. For example, the motion data collected by the sensor is the acceleration of the target device, and the acceleration includes the acceleration g of the target device in the first dimension coordinate direction (x coordinate direction)xAcceleration g in the second coordinate direction (y direction)yAnd acceleration g in the third coordinate direction (z direction)z. Assuming that the acceleration of the target device in the direction of gravity is g, the acceleration of the target device in the direction of motion
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. The server is based on the acceleration g of the target device in the movement direction and the first speed valueaAnd acquisition time, sensor positioning information of the target device can be determined.
In the above embodiment, the motion data acquired by the sensor and the corresponding acquisition time, and the scanning time and the obtained historical location information when the target device scans the candidate network device historically. Determining a first velocity value of the target device according to the historical position information and the scanning time, and determining sensor positioning information of the target device based on the first velocity value, the motion data and the acquisition time. Therefore, the sensor positioning information of the target equipment can be determined through a positioning mode based on the sensor, when the time interval meets the first interval condition and the equipment number of the target network equipment which does not cover the positioning information reaches the number threshold, the target equipment triggers the signal scanning of the candidate network equipment, and the target equipment is subjected to network positioning based on a first signal scanning result obtained by scanning, so that the accuracy of the network positioning of the target equipment is improved.
In one embodiment, the acquisition time comprises a first acquisition time and a second acquisition time later than the first acquisition time; the motion data includes first motion data acquired at a first acquisition time and second motion data acquired at a second acquisition time; as shown in fig. 7, S408 specifically includes the following steps:
s702, when it is determined that the target device passes through a branch point of the road based on the first velocity value, the first motion data, and the first collection time, it is determined that the target device has a second velocity value at the branch point, and a transition probability at which the target device transitions from the road to each branch is acquired.
The first motion data is the motion data collected by the sensor before the target device moves to the bifurcation point. For example, the first motion data may be an acceleration of the target device before moving to the bifurcation point. The first acquisition time is a time at which the sensor acquires the first motion data. The second velocity value is the velocity value when the target device moves to the branch point, for example, as shown in fig. 8, if the target device is at tnWhen the time moves to the bifurcation point, the second speed value is tnThe velocity value of the moment.
The transition probability is a probability indicating the degree of possibility that the target device transitions from the current road to each branch road, and may be expressed by a decimal, a fraction, a percentage, or the like. For example, as shown in fig. 8, the target device moves on the road a, and when moving to the branch point, if the transition probabilities of the transition from the road a to the branch B, C, D are 0.5, 0.4, and 0.8, respectively, the probability that the target device transitions from the road a to the branch D is the greatest.
In one embodiment, the server moves the target device to the forking point at t respectively1、t2…tnFirst movement data of the target device are collected by the sensor at a time, the collected first movement data including accelerationDegree ga1、ga2、ga3. The server is based on a first speed value v0、t1The acceleration at the moment may determine that the target device is at t1Velocity v of time1=v0+ga1(t1-t0) Then based on t1The velocity of the time of day may determine that the target device is at t2Velocity of the time of day and finally determines the target device at tnThe speed of the moment. Suppose that the time when the target device moves to the branch point is tnThen t isnThe speed at the time is the second speed value.
In one embodiment, the server may obtain the transition probability of the target device transitioning from the road to each branch road through a table lookup method. For example, as shown in table 1, table 1 records transition probabilities of the target devices transitioning from the roads 1 to 3 to the respective branches. When the target device moves to the branch point of the road 1 and the branch A, B, C, transition probabilities of the road 1 transitioning to the branch A, B, C, respectively, can be found from table 1.
TABLE 1
Road 1 Branch road A (0.5) Branch road B (0.3) Branch road C (0.2)
Road 2 Branch road D (0.2) Branch road E (0.4) Branch road F (0.4)
Road 3 Branch road G (0.6) Branch road H (0.1) Branch road I (0.3)
And S704, determining a target branch road to which the target equipment is transferred from the road according to the transfer probability.
The server may determine a target branch to which the target device is transferred from the road according to the transition probability. For example, the server may select the highest transition probability from among the transition probabilities corresponding to the respective branches, and set the branch corresponding to the highest transition probability as the target branch. For another example, the server may set, as the target branch, a branch having a transition probability greater than a preset probability value. When the target branch to which the target device is transferred is determined, the target device can be considered to move along the target branch, and the direction of the target branch is the moving direction of the target device.
And S706, with the branch point as the starting point position of the target branch path, determining displacement information of the target equipment based on the second speed value, the second motion data and the second acquisition time.
And the second motion data is the motion data collected by the sensor when the target equipment moves to the bifurcation. The second acquisition time is a time at which the second motion data is acquired.
When the target branch to which the target device is transferred is determined, the branch point is taken as the starting point position of the target branch, and second motion data and second collection time of the target device when the target device moves onto the branch can be used for determining displacement information of the target device according to a second speed value of the target device at the branch point. For example, assume that the second speed value is v1The second motion data is the acceleration g of the target devicea1The second acquisition time is t2The time when the target device moves to the branch point is t1Then the displacement information s of the target device from the starting point at the second acquisition time2=v1(t2-t1)+0.5ga1 (t2-t1)2。
S708, determining sensor positioning information of the target device based on the starting point position and the displacement information.
The displacement information may include a distance and a direction between the target device and the starting point position, and the sensor positioning information of the target device may be determined based on the starting point position and the displacement information. Alternatively, the displacement information may include only the distance between the target device and the start point position, and in this case, the direction of displacement between the target device and the start point position may be determined based on the road direction of the target branch, and the sensor positioning information of the target device may be determined based on the start point position and the displacement information based on the road direction of the target branch.
In the above-described embodiment, when it is determined that the target device passes through the branch point of the road based on the first speed value, the first motion data, and the first collection time, it is determined that the target device is a target branch to which the target device is transferred from the road; and determining displacement information of the target equipment based on a second speed value, second motion data and second acquisition time when the target equipment moves to the bifurcation point, and determining sensor positioning information of the target equipment based on the starting point position and the displacement information. Therefore, the positioning information of the target equipment can be determined according to the displacement of the target equipment from the bifurcation point, then when the time interval meets a first interval condition and the number of the equipment of the target network equipment which does not cover the positioning information reaches a number threshold value, the target equipment triggers the signal scanning of the candidate network equipment, and the target equipment is subjected to network positioning based on a first signal scanning result obtained by scanning, so that the accuracy of the network positioning of the target equipment is improved.
In one embodiment, as shown in fig. 9, S602 specifically includes the following steps:
s902, acquiring a speed mean value and a speed standard deviation when at least two other devices move to each branch road.
Wherein the speed mean is the mean of the speeds of other devices at the branch point. The standard deviation of the speed is the standard deviation of the speed of the other device at the branch point.
In one embodiment, S902 specifically includes: the server acquires at least two other devices from the client, the speed of the devices moving to each branch road in the historical time period, and the speed mean value and the speed standard deviation are determined according to the acquired speed. The client may be various clients providing maps, and may be a mapping application or a taxi taking application.
And S904, determining the transition probability of the target device from the road to each branch road based on the second speed value, the speed mean value and the speed standard deviation.
Since the second speed value is a speed value when the target device moves to the branch point, the transition probability of the target device from the road to each branch road can be determined by a function using the speed mean value and the speed standard deviation as parameters and using the second speed value as a variable.
In one embodiment, the server first determines a ratio of the square of the difference between the second speed value and the speed mean to the square of the speed standard deviation, and determines a function value of the exponential function based on the ratio. The server then determines a transition probability based on the determined ratio of the function value to the speed standard deviation. For example, the server determines a transition probability of the target device transitioning from a road to each branch road according to formula (1), where fkFor shifting from road to branch
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The transition probability of (a) is,
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the average value of the speeds when other equipment moves to the branch k,
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the standard deviation of the speeds when other equipment moves to the branch k. After calculating the transition probability of the target device from the road to each branch according to equation (1), the server may take the branch having the highest transition probability as the target branch, and for example, the server may determine the target branch according to equation (2), where argmax represents taking the maximum value.
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In one embodiment, as shown in fig. 10, S702 further includes S1002-S1006 before S702, and S702 specifically includes S1008.
S1002, determining a transfer speed when at least two other devices move to each branch.
The transfer speed may be a speed at which the apparatus moves to each branch. For example, when the apparatus moves from the branch path a to the branch path B, the transfer speed may be a speed of the apparatus at a time of connecting a branch point of the branch path a and the branch path B, or the transfer speed may also be a speed of the apparatus at a time of being within a preset distance range from the branch point.
In one embodiment, the server obtains satellite positioning time series data in a historical period, wherein the satellite positioning time series data comprises transfer speeds of at least two other devices moving to each branch. For example, in the process that the server acquisition device S moves from the branch a to the branch B, the satellite positioning time series data at a certain satellite positioning point is "branch a, branch B, speed 1". Wherein the satellite fix may be the last satellite fix before the device S moves to the branch B.
S1004, determining a speed mean value and a speed standard deviation based on the transfer speeds of at least two other devices.
And after the server acquires the transfer speeds of other equipment moving to each branch road, determining the speed mean value and the speed standard deviation according to the acquired transfer speeds. For example, the server acquires a plurality of transfer speeds (v) when another device moves from branch a to branch B1，v2…vn) According to (v)1，v2…vn) The speed mean and the speed standard deviation are determined.
And S1006, generating a transfer matrix according to the speed mean value, the speed standard deviation and the road section identifications of the at least two branches.
The transition matrix is a matrix for describing the mean and standard deviation of the speed when other equipment moves to each branch. The transition matrix may include the segment identification of each branch road, and the speed mean and the speed standard deviation. For example, as shown in fig. 11, the transition matrix includes the link identifier of each branch road and the speed mean and the speed standard deviation corresponding to the link identifier.
And S1008, acquiring a speed mean value and a speed standard deviation when the at least two other devices move to each branch road from the transfer matrix based on the road section identifications of the at least two branch roads.
The server may query the speed mean and the speed standard deviation when the other device moves to each branch from the transition matrix according to the link identifier of the branch, for example, as shown in fig. 11, when the road on which the other device travels is branch C, the server may query the speed mean when the other device moves from branch C to branch a from the transition matrix as speed mean 5 and the speed standard deviation as speed standard deviation 5.
In the above embodiment, the transfer matrix is generated according to the speed mean, the speed standard deviation and the link identifications of the at least two branches, and then the speed mean and the speed standard deviation when the at least two other devices move to each branch can be obtained from the transfer matrix. Therefore, the transition probability can be determined according to the obtained speed mean value and the speed standard deviation, the target branch is determined according to the determined transition probability, the positioning information of the target equipment is finally determined, and then when the time interval meets the first interval condition and the equipment number of the target network equipment which does not cover the positioning information reaches the number threshold, the target equipment triggers the signal scanning of the candidate network equipment, so that the accuracy of network positioning of the target equipment is improved.
In one embodiment, as shown in fig. 12, S206 further includes the following steps:
s1202, log texts obtained by scanning the candidate network devices by other devices are obtained.
The log text is a text for recording log information, and may be a text in a TXT text format, or may also be a text in a JSON (JSON Object Notation) format.
In one embodiment, when the other device scans the candidate network device, the log information obtained by scanning is sent to the server, and the server writes the obtained log information into the log text.
S1204, extracting the log information of the candidate network device from the log text; the log information includes satellite positioning information and second network signal strength.
The log information is information obtained by scanning the candidate network device, and includes satellite positioning information and second network signal strength of the candidate network device. For example, the log information is MAC1, lat1, lon1, rsi 1; lat2, lon2, rsi 2; wherein, the MAC1 is a MAC address of the candidate network device 1, and is used as a device identifier of the candidate network device; lat1, lon1 and lat2, lon2 are satellite positioning information, rsi 1 and rsi 2 are second network signal strengths. The second network signal strength is the network signal strength of the other device historically scanning the candidate network devices.
And S1206, determining the center position of the candidate network device according to the satellite positioning information and the second network signal strength.
The center position is a position of a center point of the candidate network device, and may include longitude coordinates and latitude coordinates of the center point. For example, the center position is (lon 0, lat 0), lon0 is the longitude coordinate of the center point of the candidate network device, and lat0 is the latitude coordinate of the center point of the candidate network device.
In one embodiment, S1006 specifically includes: the server determines an average value of the satellite positioning information, and obtains a center position of the candidate network device according to the determined average value.
S1208, determining a network area which takes the central position as a central point and covers a preset number of grids; a grid is a unit cell that divides the distribution area of network devices.
The preset number may be a value set according to the total number of the network devices, for example, a ratio of the preset number to the total number may be set to be a value smaller than 1, for example, the ratio may be 85%. The server determines a network area that takes the central position as a central point and covers a preset number of grids, for example, as shown in fig. 13, the network device distribution area is divided into 8 × 8 grids, and the shaded area is a network area that takes the central position as a central point and covers 13 grids.
S1210, determining the network area as a signal coverage area.
In one embodiment, as shown in fig. 14, the central position includes a longitude coordinate and a latitude coordinate, and S1206 specifically includes the following steps:
s1402, determining the number of log information which has incidence relation with the same grid in the log text based on the satellite positioning information.
The association relationship may be that the satellite positioning information in the log information is in the area to which the grid belongs. A grid is a unit cell that divides the distribution area of network devices. For example, assuming that there are 100 pieces of log information in the log text, and the satellite positioning information of 20 pieces of log information is in the area to which grid 1 belongs, the number of pieces of log information in the log text that has an association relationship with grid 1 is 20. And the server determines the number of the log information of the satellite positioning information in each grid aiming at each grid to obtain the number of the log information corresponding to each grid.
S1404, determining a mean value of the signal strength of the second network and a mean value of the satellite positioning information corresponding to each grid from the log information associated with the grid.
The server respectively averages the second network signal intensity and the satellite positioning information in the log information which has the incidence relation with each grid aiming at each grid to obtain the average value of the second network signal intensity and the average value of the satellite positioning information. For example, if there are N pieces of log information associated with grid 1, the satellite positioning information is (lat 1, lon 1), (lat 2, lon 2) … (latN, lonN), and the second network signal strength is rssi1-rssi, the average of the second network signal strengths corresponding to grid 1 is
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The mean value of the satellite positioning information corresponding to grid 1 is
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。
And S1406, determining the central position of the candidate network device according to the number of the log information, the mean value of the second network signal strength and the mean value of the satellite positioning information.
In one embodiment, determining the center position of the candidate network device according to the number of pieces of log information, the mean value of the second network signal strength, and the mean value of the satellite positioning information comprises: determining the ratio of the number of pieces of log information to the mean value of the signal intensity of the second network; taking the ratio as a weighted value corresponding to the grids, or determining the weighted value corresponding to each grid based on the ratio and the target coefficient; and based on the weight values, carrying out weighted summation on the mean value of the satellite positioning information of the candidate network equipment in the grid to obtain the central position of the candidate network equipment. The target coefficient may be determined according to a ratio between the number of pieces of log information and a mean value of the second network signal strength, for example, the target coefficient may be a sum of ratios between the number of pieces of log information corresponding to each grid and the mean value of the second network signal strength. For example, the server calculates longitude coordinates of the center position of the candidate network device according to formula (3-1), and calculates latitude coordinates of the center position of the candidate network device according to formula (3-2), where LON is the longitude coordinates of the center position, LAT is the latitude coordinates of the center position, lonk (k =1 … N) is a mean value of the longitude coordinates of the satellite positioning information corresponding to the kth grid, latk (k =1 … N) is a mean value of the latitude coordinates of the satellite positioning information corresponding to the kth grid, num _ k (k =1 … N) is the number of pieces of log information having an association relationship with the kth grid, and mean _ rssik (k =1 … N) is a mean value of the second network signal intensity corresponding to the kth grid.
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In the above embodiment, the log information including the satellite positioning information and the second network signal strength is extracted from the log text obtained by scanning the candidate network device by the other device. And determining the central position of the candidate network equipment according to the satellite positioning information and the second network signal strength, and then determining a network area which takes the central position as a central point and covers a preset number of grids as a signal coverage area. When the time interval meets the first interval condition and the number of the equipment reaches the number threshold, the scanning of the candidate network equipment is triggered, so that the scanning time of the candidate network equipment can be reasonably determined, and the accuracy of network positioning of the candidate network equipment is improved.
In one embodiment, the first interval condition comprises an upper limit value of the scanning interval; before S206, the method further includes: determining an initial upper limit value of a scanning interval; scanning the candidate network equipment at least twice by taking the difference value between the initial upper limit value and the preset step length as a scanning interval to obtain at least two scanning results; if the same scanning result exists in at least two scanning results, determining the difference value as the upper limit value of the scanning interval; and if the same scanning result does not exist in the at least two scanning results, taking the difference value as an initial upper limit value, continuously executing the step of scanning the candidate network device at least twice by taking the difference value between the initial upper limit value and a preset step length as a scanning interval, and taking the difference value between the current initial upper limit value and the preset step length as the upper limit value of the scanning interval when the same scanning result exists in the obtained scanning results.
Wherein the scanning interval is a time interval for triggering scanning of the candidate network device. The preset step size is a value smaller than the initial upper limit value, for example, 1 second, 2 seconds, or the like. The initial upper limit value may be a value set according to the limit of the target operating system on the scanning interval, for example, when the target operating system limits the scanning interval to less than 15 seconds, the initial upper limit value may be 15 seconds or 10 seconds, and the like. When the target operating system limits the scan interval to greater than 3 seconds, the initial upper limit value may be 10 seconds, 8 seconds, or the like.
For example, as shown in fig. 15, it is assumed that the server determines that the initial upper limit of the scanning interval is 15 seconds, the preset step length is 1 second, and if the target device is in the satellite navigation state or the motion state and the satellite positioning result is accurate, the difference between the initial upper limit and the preset step length is used as the scanning interval, that is, the scanning interval of 14 seconds is used to scan the candidate network device at least twice. For example, the server performs 4 scans on the candidate network devices at a scanning interval of 14 seconds, and if the same scanning result exists in the scanning results of the 4 scans, the server sets 14 seconds as the upper limit value of the scanning interval. And if the scanning results of the 4 continuous times are different and are not null, taking 14 seconds as an initial upper limit value and returning to execute the step of scanning the candidate network device at least twice by taking the difference value between the initial upper limit value and a preset step length as a scanning interval, namely scanning the candidate network device by taking 13 seconds as the scanning interval. If the same scanning result exists in the obtained scanning results, taking 13 seconds as an upper limit value of the scanning interval; and if the obtained scanning results are different and are not empty, taking 13 seconds as an initial upper limit value, returning to execute the step of scanning the candidate network device at least twice by taking the difference value between the initial upper limit value and a preset step length as a scanning interval until the same scanning result exists in at least two scanning results, and taking the difference value between the initial upper limit value and the preset step length as the upper limit value of the scanning interval. For example, if the initial upper limit value at this time is 7 seconds, 6 seconds is taken as the upper limit value of the scanning interval. And when the time interval between the time interval and the last time of scanning the candidate network equipment meets the upper limit value of the scanning interval and the equipment number of the target network equipment which does not contain the positioning information reaches the number threshold, performing signal scanning on the candidate network equipment through the target equipment, and performing network positioning on the target equipment based on a first signal scanning result obtained by scanning.
In the above embodiment, the initial upper limit value of the scanning interval is decreased according to the preset step length until the same scanning result exists in the scanning results obtained by scanning with the decreased difference value as the scanning interval, and the current difference value is used as the upper limit value of the scanning interval. When the time interval between the time interval and the last time of scanning the candidate network equipment reaches the upper limit value of the scanning interval and the equipment number of the target network equipment which does not cover the positioning information reaches the number threshold value, the target equipment is used for scanning the signal of the candidate network equipment, and network positioning is carried out on the target equipment based on a first signal scanning result obtained by scanning. Therefore, the upper limit value of the scanning interval can be reasonably determined, the scanning is prevented from being triggered before the scanning interval reaches the upper limit value, the power consumption is saved, and the scanning limit of an operating system can be prevented from being triggered.
In one embodiment, as shown in fig. 16, the network positioning method includes the following steps:
and S1602, scanning the candidate network device at least twice by taking the difference value between the initial upper limit value of the scanning interval and the preset step length as the scanning interval, so as to obtain at least two scanning results.
And S1604, if the same scanning result exists in the at least two scanning results, determining the difference value as an upper limit value of the scanning interval.
S1606, if there is no same scanning result in the at least two scanning results, taking the difference as an initial upper limit, and continuing to perform the step of scanning the candidate network device at least twice with the difference between the initial upper limit and the preset step size as the scanning interval, until there is the same scanning result in the obtained scanning results, taking the difference between the current initial upper limit and the preset step size as the upper limit of the scanning interval.
S1608, obtaining the log text obtained by scanning the candidate network device by other devices; extracting log information of the candidate network equipment from the log text; the log information includes satellite positioning information and second network signal strength.
S1610, according to the satellite positioning information and the second network signal intensity, determining the center position of the candidate network device; determining a network area which takes the central position as a central point and covers a preset number of grids; and determines the network area as a signal coverage area.
S1612, when the target positioning mode is a sensor-based positioning mode, acquiring motion data of the target equipment and corresponding acquisition time at least twice through the sensor; the acquisition time comprises a first acquisition time and a second acquisition time later than the first acquisition time; the motion data includes first motion data acquired at a first acquisition time and second motion data acquired at a second acquisition time.
S1614, scanning time when the target device scans the candidate network device in the history and history position information obtained after the candidate network device is scanned in the history are obtained. A first velocity value of the target device is determined based on the historical location information and the scan time.
S1616, when the target device is determined to pass through a branch point of the road based on the first speed value, the first motion data and the first acquisition time, determining a second speed value of the target device at the branch point, and acquiring a speed mean value and a speed standard deviation when at least two other devices move to each branch; and determining the transition probability of the target device from the road to each branch road based on the second speed value, the speed mean value and the speed standard deviation.
S1618, determining a target branch road to which the target equipment is transferred from the road according to the transfer probability; determining displacement information of the target equipment based on the second speed value, the second motion data and the second acquisition time by taking the bifurcation point as the starting point position of the target bifurcation; sensor positioning information of the target device is determined based on the starting point position and the displacement information.
S1620, when the time interval satisfies the first interval condition, searching for a target network device whose signal coverage does not cover the positioning information from at least two target network devices of the candidate network devices.
S1622, if the number of the target network devices that do not include the positioning information reaches the number threshold, performing signal scanning on the candidate network devices through the target device to obtain a first signal scanning result, and performing network positioning on the target device based on the first signal scanning result.
S1624, if the number of devices does not reach the number threshold and the time interval meets the second interval condition, performing signal scanning on the candidate network device through the target device to obtain a second signal scanning result, and performing network positioning on the target device based on the second signal scanning result.
The specific steps of S1602 to S1624 can refer to the embodiment of FIG. 2.
In one embodiment, the application further provides an application scenario of intelligent traffic, which applies the network positioning method. Specifically, as shown in fig. 17, the in-vehicle terminal is a target device, and the server first determines an upper limit value of a scanning interval for the in-vehicle terminal to scan the candidate network devices and the number N of devices of the target network device. Then judging whether the satellite positioning information can be received at the current moment, and if the satellite positioning information can be received, taking the satellite positioning information as the positioning information of the vehicle-mounted terminal; and if the satellite positioning information cannot be received, acquiring the positioning information of the vehicle-mounted terminal in a sensor-based positioning mode. When the time interval between the time interval and the time interval when the vehicle-mounted terminal scans the candidate network equipment last time for network positioning reaches the upper limit value of the scanning interval, the target network equipment of which the signal coverage does not cover the positioning information is searched in the N target network equipment of the candidate network equipment. And if the number of the target network equipment which does not contain the positioning information reaches the number threshold, performing signal scanning on the candidate network equipment through the vehicle-mounted terminal to obtain a first signal scanning result, and performing network positioning on the vehicle-mounted terminal based on the first signal scanning result. And if the number of the target network devices which do not cover the positioning information does not reach the number threshold and the time interval reaches twice the time length of the upper limit value of the scanning interval, scanning the candidate network devices by the vehicle-mounted terminal to obtain a second signal scanning result and positioning the vehicle-mounted terminal on the basis of the second signal scanning result.
It should be understood that although the various steps in the flowcharts of fig. 2, 5, 7, 9, 10, 12, 14-17 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 2, 5, 7, 9, 10, 12, 14-17 may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed alternately or alternatingly with other steps or at least some of the other steps.
In one embodiment, as shown in fig. 18, there is provided a network positioning apparatus, which may be a part of a computer device using a software module or a hardware module, or a combination of the two, and specifically includes: an obtaining module 1802, a determining module 1804, a finding module 1806, a scanning module 1808, and a positioning module 1810, wherein:
an obtaining module 1802, configured to obtain positioning information of a target device according to a target positioning manner;
a determining module 1804, configured to determine a time interval when the target device last scans the candidate network device for network positioning; the network positioning mode is different from the target positioning mode;
a searching module 1806, configured to search, when the time interval satisfies the first interval condition, a target network device whose signal coverage does not cover the positioning information, among at least two target network devices of the candidate network devices;
a scanning module 1808, configured to perform signal scanning on the candidate network device through the target device to obtain a first signal scanning result if the number of the target network devices that do not include the positioning information reaches a number threshold;
a positioning module 1810, configured to perform network positioning on the target device based on the first signal scanning result.
In the above embodiment, the positioning information of the target device is obtained, and the time interval when the target device last scans the candidate network device for network positioning is determined. And when the time interval meets a first interval condition, searching for target network equipment of which the signal coverage does not cover the positioning information in at least two target network equipment of the candidate network equipment. And if the number of the target network equipment which does not contain the positioning information reaches the number threshold, performing signal scanning on the candidate network equipment through the target equipment to obtain a first signal scanning result, and performing network positioning on the target equipment based on the first signal scanning result. Therefore, the target device can scan the candidate network device only when the time interval meets the first interval condition and the device number of the target network device reaches the number threshold, which not only can ensure that the time interval with the last time of scanning the candidate network device meets the first interval condition, save power consumption, but also can trigger scanning in time when the device number of the target network device reaches the number threshold, thereby avoiding the reduction of positioning accuracy caused by overlong time interval of scanning the candidate network device, improving the positioning accuracy, saving power consumption and avoiding the scanning limitation of the operating system.
In one embodiment, as shown in fig. 19, the apparatus further comprises:
the scanning module 1808 is further configured to, if the number of devices does not reach the number threshold and the time interval meets a second interval condition, perform signal scanning on the candidate network device through the target device to obtain a second signal scanning result;
the positioning module 1810 is further configured to perform network positioning on the target device based on the second signal scanning result.
In one embodiment, the apparatus further comprises:
a first obtaining module 1812, configured to obtain a first network signal strength obtained by the target device scanning the candidate network device last time;
a ranking module 1814, configured to rank the candidate network devices according to the first network signal strength;
a selecting module 1816, configured to take, as a target network device, a candidate network device whose rank reaches a preset rank in the ranked candidate network devices.
In one embodiment, the target location mode comprises a sensor-based location mode or a satellite-based location mode; the positioning information includes sensor positioning information or satellite positioning information.
In one embodiment, the obtaining module 1802 is further configured to:
when the target positioning mode is a sensor-based positioning mode, acquiring motion data of target equipment and corresponding acquisition time at least twice through a sensor;
acquiring scanning time when the target equipment historically scans the candidate network equipment and historical position information obtained after the historical scanning candidate network equipment carries out network positioning;
determining a first speed value of the target device according to the historical position information and the scanning time;
based on the first velocity value, the motion data, and the acquisition time, sensor positioning information of the target device is determined.
In one embodiment, the motion data is an acceleration of the target device, and the acceleration includes a first-dimensional coordinate direction acceleration, a second-dimensional coordinate direction acceleration, and a third-dimensional coordinate direction acceleration; the determining module is further configured to:
determining the acceleration of the target equipment in the motion direction based on the acceleration in the first dimension coordinate direction, the acceleration in the second dimension coordinate direction, and the acceleration in the third dimension coordinate direction and the gravity acceleration;
determining sensor positioning information of the target device based on the first velocity value, the acceleration of the target device in the moving direction, and the acquisition time.
In one embodiment, the acquisition time comprises a first acquisition time and a second acquisition time later than the first acquisition time; the motion data includes first motion data acquired at a first acquisition time and second motion data acquired at a second acquisition time; an obtaining module 1802 further configured to:
when the target device is determined to pass through a branch point of a road based on the first speed value, the first motion data and the first acquisition time, determining a second speed value of the target device at the branch point, and acquiring transition probabilities of the target device transitioning from the road to each branch;
determining a target branch road to which the target equipment is transferred from the road according to the transfer probability;
determining displacement information of the target equipment based on the second speed value, the second motion data and the second acquisition time by taking the bifurcation point as the starting point position of the target bifurcation;
sensor positioning information of the target device is determined based on the starting point position and the displacement information.
In one embodiment, the obtaining module 1802 is further configured to:
acquiring a speed mean value and a speed standard deviation when at least two other devices move to each branch road;
and determining the transition probability of the target device from the road to each branch road based on the second speed value, the speed mean value and the speed standard deviation.
In one embodiment, the apparatus further comprises:
a determining module 1804, configured to determine a transfer speed when at least two other devices move to each branch;
a determining module 1804, further configured to determine a velocity mean and a velocity standard deviation based on the transfer velocities of the at least two other devices;
a generating module 1818, configured to generate a transition matrix according to the speed mean, the speed standard deviation, and the road segment identifiers of the at least two branches;
the obtaining module 1802 is further configured to obtain, from the transition matrix, a speed mean and a speed standard deviation when the at least two other devices move to each branch road based on the link identifications of the at least two branch roads.
In one embodiment, the apparatus further comprises:
a second obtaining module 1820, configured to obtain a log text obtained by scanning the candidate network device by another device;
an extracting module 1822, configured to extract log information of the candidate network device from the log text; the log information comprises satellite positioning information and second network signal strength;
a determining module 1804, configured to determine a center position of the candidate network device according to the satellite positioning information and the second network signal strength;
a determining module 1804, configured to determine a network area that takes the central position as a central point and covers a preset number of grids; the grid is a unit grid divided into network equipment distribution areas; the network area is determined as the signal coverage area.
In one embodiment, the center position includes longitude and latitude coordinates; a determining module 1804, further configured to:
determining the number of pieces of log information which have incidence relation with the same grid in the log text based on the satellite positioning information;
determining the mean value of the signal intensity of the second network and the mean value of the satellite positioning information corresponding to each grid in the log information which has the incidence relation with the grids;
and determining the central position of the candidate network equipment according to the number of the log information, the mean value of the second network signal strength and the mean value of the satellite positioning information.
In one embodiment, the determining module 1804 is further configured to:
determining the ratio of the number of pieces of log information to the mean value of the signal intensity of the second network;
taking the ratio as a weighted value corresponding to the grids, or determining the weighted value corresponding to each grid based on the ratio and the target coefficient;
and based on the weight values, carrying out weighted summation on the mean value of the satellite positioning information of the candidate network equipment in the grid to obtain the central position of the candidate network equipment.
In one embodiment, the first interval condition comprises an upper limit value of the scanning interval; the device still includes:
a determining module 1804, configured to determine an initial upper limit value of the scanning interval;
the scanning module 1808 is further configured to perform at least two scans on the candidate network device with a difference between the initial upper limit and a preset step length as a scanning interval, so as to obtain at least two scanning results;
the determining module 1804 is further configured to determine, if the same scanning result exists in the at least two scanning results, the difference value as an upper limit value of the scanning interval; and if the same scanning result does not exist in the at least two scanning results, taking the difference value as an initial upper limit value, continuously executing the step of scanning the candidate network device at least twice by taking the difference value between the initial upper limit value and a preset step length as a scanning interval, and taking the difference value between the current initial upper limit value and the preset step length as the upper limit value of the scanning interval when the same scanning result exists in the obtained scanning results.
For specific limitations of the network positioning device, reference may be made to the above limitations of the network positioning method, which is not described herein again. The modules in the network positioning apparatus may be implemented in whole or in part by software, hardware, and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as shown in fig. 20. The computer device includes a processor, a memory, and a network interface connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer device is used for storing network positioning data. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a network positioning method.
Those skilled in the art will appreciate that the architecture shown in fig. 20 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is further provided, which includes a memory and a processor, the memory stores a computer program, and the processor implements the steps of the above method embodiments when executing the computer program.
In an embodiment, a computer-readable storage medium is provided, in which a computer program is stored which, when being executed by a processor, carries out the steps of the above-mentioned method embodiments.
In one embodiment, a computer program product or computer program is provided that includes computer instructions stored in a computer-readable storage medium. The computer instructions are read by a processor of a computer device from a computer-readable storage medium, and the computer instructions are executed by the processor to cause the computer device to perform the steps in the above-mentioned method embodiments.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (28)

1. A method for network positioning, the method comprising:
obtaining positioning information of the target equipment according to a target positioning mode;
determining a time interval when the target device scans candidate network devices for network positioning last time; the network positioning mode is different from the target positioning mode;
when the time interval meets a first interval condition, searching for target network equipment of which the signal coverage does not cover the positioning information in at least two target network equipment of the candidate network equipment;
if the number of the target network devices which do not contain the positioning information reaches a number threshold, performing signal scanning on the candidate network devices through the target devices to obtain a first signal scanning result;
and carrying out network positioning on the target equipment based on the first signal scanning result.
2. The method of claim 1, further comprising:
if the number of the devices does not reach the number threshold and the time interval meets a second interval condition, performing signal scanning on the candidate network device through the target device to obtain a second signal scanning result;
and carrying out network positioning on the target equipment based on the second signal scanning result.
3. The method of claim 1, further comprising:
acquiring a first network signal intensity obtained by scanning the candidate network device last time by the target device;
ranking the candidate network devices according to the first network signal strength;
and in the sorted candidate network devices, taking the candidate network device with the rank reaching a preset rank as the target network device.
4. The method of claim 1, wherein the target location mode comprises a sensor-based location mode or a satellite-based location mode; the positioning information includes sensor positioning information or satellite positioning information.
5. The method according to any one of claims 1 to 4, wherein the obtaining the positioning information of the target device according to the target positioning manner comprises:
when the target positioning mode is a sensor-based positioning mode, acquiring motion data and corresponding acquisition time of the target equipment at least twice through the sensor;
obtaining the scanning time when the target equipment historically scans the candidate network equipment and historical position information obtained after the candidate network equipment is historically scanned and network positioning is carried out;
determining a first speed value of the target device according to the historical position information and the scanning time;
determining sensor positioning information for the target device based on the first velocity value, the motion data, and the acquisition time.
6. The method of claim 5, wherein the motion data is an acceleration of the target device, the acceleration comprising a first-dimension coordinate direction acceleration, a second-dimension coordinate direction acceleration, and a third-dimension coordinate direction acceleration; the method further comprises the following steps:
determining the acceleration of the target equipment in the motion direction based on the acceleration in the first dimension coordinate direction, the acceleration in the second dimension coordinate direction, and the acceleration in the third dimension coordinate direction and the gravity acceleration;
the determining sensor positioning information of the target device based on the first velocity value, the motion data, and the acquisition time comprises:
determining sensor positioning information of the target device based on the first velocity value, the acceleration of the target device in the moving direction, and the acquisition time.
7. The method of claim 5, wherein the acquisition time comprises a first acquisition time and a second acquisition time later than the first acquisition time; the motion data comprises first motion data acquired at the first acquisition time and second motion data acquired at the second acquisition time;
the determining sensor positioning information of the target device based on the first velocity value, the motion data, and the acquisition time comprises:
when the target device is determined to pass through a branch point of a road based on the first speed value, the first motion data and the first acquisition time, determining a second speed value of the target device at the branch point, and acquiring transition probabilities of the target device transitioning from the road to each branch;
determining a target branch road to which the target equipment is transferred from the road according to the transfer probability;
determining displacement information of the target equipment based on the second speed value, the second motion data and the second acquisition time by taking the bifurcation point as the starting point position of the target bifurcation;
determining sensor positioning information for the target device based on the starting point location and the displacement information.
8. The method of claim 7, wherein the obtaining a transition probability of the target device transitioning from the road to each branch road comprises:
acquiring a speed mean value and a speed standard deviation when at least two other devices move to each branch road;
determining a transition probability of the target device transitioning from the road to each branch road based on the second speed value, the speed mean, and the speed standard deviation.
9. The method of claim 8, further comprising:
determining transfer speeds at which at least two of the other devices move to each of the branches;
determining a velocity mean and a velocity standard deviation based on the transfer velocities of at least two of the other devices;
generating a transfer matrix according to the speed mean value, the speed standard deviation and the road section identifications of at least two branches;
the obtaining of the mean speed and the standard deviation speed of the at least two other devices moving to the branches comprises:
and acquiring a speed mean value and a speed standard deviation when at least two other devices move to each branch road from the transfer matrix based on the road section identifications of at least two branch roads.
10. The method according to any one of claims 1 to 4, further comprising:
acquiring a log text obtained by scanning the candidate network equipment by other equipment;
extracting log information of the candidate network device from the log text; the log information comprises satellite positioning information of the candidate network device and second network signal strength obtained by scanning the candidate network device by the other device history;
determining the center position of the candidate network equipment according to the satellite positioning information and the second network signal strength;
determining a network area which takes the central position as a central point and covers a preset number of grids; the grid is a unit grid divided into network equipment distribution areas;
determining the network area as the signal coverage area.
11. The method of claim 10, wherein the center position comprises longitude and latitude coordinates; the determining the center position of the candidate network device according to the satellite positioning information and the second network signal strength comprises:
determining the number of pieces of log information which have incidence relation with the same grid in the log text based on the satellite positioning information;
determining the mean value of the signal intensity of the second network and the mean value of the satellite positioning information corresponding to each grid in the log information which has the incidence relation with the grids;
and determining the central position of the candidate network equipment according to the number of the log information, the mean value of the second network signal strength and the mean value of the satellite positioning information.
12. The method of claim 11, wherein determining the center position of the candidate network device according to the number of pieces of log information, the mean value of the second network signal strength, and the mean value of the satellite positioning information comprises:
determining a ratio between the number of pieces of the log information and the mean value of the second network signal strength;
taking the ratio as a weight value corresponding to the grids, or determining the weight value corresponding to each grid based on the ratio and a target coefficient;
based on each weight value, carrying out weighted summation on the average value of the satellite positioning information of the candidate network equipment in the grid to obtain the central position of the candidate network equipment.
13. The method of claim 1, wherein the first interval condition comprises an upper limit value of a scan interval; the method further comprises the following steps:
determining an initial upper limit value of the scanning interval;
scanning the candidate network device at least twice by taking the difference value between the initial upper limit value and a preset step length as a scanning interval to obtain at least two scanning results;
if the same scanning result exists in at least two scanning results, determining the difference value as the upper limit value of the scanning interval;
if the same scanning result does not exist in at least two scanning results, taking the difference value as the initial upper limit value, continuing to execute the step of scanning the candidate network device at least twice by taking the difference value between the initial upper limit value and a preset step length as a scanning interval, and taking the difference value between the current initial upper limit value and the preset step length as the upper limit value of the scanning interval when the same scanning result exists in the obtained scanning results.
14. A network positioning apparatus, the apparatus comprising:
the acquisition module is used for acquiring positioning information of the target equipment according to a target positioning mode;
a determining module, configured to determine a time interval when the target device last scans the candidate network device for network positioning; the network positioning mode is different from the target positioning mode;
a searching module, configured to search, when the time interval satisfies a first interval condition, a target network device whose signal coverage does not cover the positioning information, among at least two target network devices of the candidate network devices;
the scanning module is used for performing signal scanning on the candidate network equipment through the target equipment to obtain a first signal scanning result if the equipment number of the target network equipment which does not contain the positioning information reaches a number threshold;
and the positioning module is used for carrying out network positioning on the target equipment based on the first signal scanning result.
15. The apparatus of claim 14, further comprising:
the scanning module is further configured to perform signal scanning on the candidate network device through the target device to obtain a second signal scanning result if the number of devices does not reach the number threshold and the time interval meets a second interval condition;
the positioning module is further configured to perform network positioning on the target device based on the second signal scanning result.
16. The apparatus of claim 14, further comprising:
a first obtaining module, configured to obtain a first network signal strength obtained when the target device scans the candidate network device last time;
a ranking module configured to rank the candidate network devices according to the first network signal strength;
and the selecting module is used for taking the candidate network equipment with the ranking reaching the preset ranking as the target network equipment in the ranked candidate network equipment.
17. The apparatus of claim 14, wherein the target location means comprises a sensor-based location means or a satellite-based location means; the positioning information includes sensor positioning information or satellite positioning information.
18. The apparatus of any one of claims 14 to 17, wherein the obtaining module is further configured to:
when the target positioning mode is a sensor-based positioning mode, acquiring motion data and corresponding acquisition time of the target equipment at least twice through the sensor;
obtaining the scanning time when the target equipment historically scans the candidate network equipment and historical position information obtained after the candidate network equipment is historically scanned and network positioning is carried out;
determining a first speed value of the target device according to the historical position information and the scanning time;
determining sensor positioning information for the target device based on the first velocity value, the motion data, and the acquisition time.
19. The apparatus of claim 18, wherein the motion data is an acceleration of the target device, the acceleration comprising a first-dimension coordinate direction acceleration, a second-dimension coordinate direction acceleration, and a third-dimension coordinate direction acceleration; the determining module is further configured to:
determining the acceleration of the target equipment in the motion direction based on the acceleration in the first dimension coordinate direction, the acceleration in the second dimension coordinate direction, and the acceleration in the third dimension coordinate direction and the gravity acceleration;
the determining sensor positioning information of the target device based on the first velocity value, the motion data, and the acquisition time comprises:
determining sensor positioning information of the target device based on the first velocity value, the acceleration of the target device in the moving direction, and the acquisition time.
20. The apparatus of claim 18, wherein the acquisition time comprises a first acquisition time and a second acquisition time later than the first acquisition time; the motion data comprises first motion data acquired at the first acquisition time and second motion data acquired at the second acquisition time;
the obtaining module is further configured to:
when the target device is determined to pass through a branch point of a road based on the first speed value, the first motion data and the first acquisition time, determining a second speed value of the target device at the branch point, and acquiring transition probabilities of the target device transitioning from the road to each branch;
determining a target branch road to which the target equipment is transferred from the road according to the transfer probability;
determining displacement information of the target equipment based on the second speed value, the second motion data and the second acquisition time by taking the bifurcation point as the starting point position of the target bifurcation;
determining sensor positioning information for the target device based on the starting point location and the displacement information.
21. The apparatus of claim 20, wherein the obtaining module is further configured to:
acquiring a speed mean value and a speed standard deviation when at least two other devices move to each branch road;
determining a transition probability of the target device transitioning from the road to each branch road based on the second speed value, the speed mean, and the speed standard deviation.
22. The apparatus of claim 21, further comprising:
the determining module is further configured to determine a transfer speed when at least two other devices move to each branch;
the determining module is further used for determining a speed mean value and a speed standard deviation based on the transfer speeds of at least two other devices;
the generating module is used for generating a transfer matrix according to the speed mean value, the speed standard deviation and the road section identifications of at least two branches;
the obtaining module is further configured to obtain, from the transfer matrix, a speed mean and a speed standard deviation when the at least two other devices move to each branch road based on the link identifiers of the at least two branch roads.
23. The apparatus of any one of claims 14 to 17, further comprising:
the second acquisition module is used for acquiring a log text obtained by scanning the candidate network equipment by other equipment;
the extraction module is used for extracting the log information of the candidate network equipment from the log text; the log information comprises satellite positioning information of the candidate network device and second network signal strength obtained by scanning the candidate network device by the other device history;
the determining module is further configured to determine a center position of the candidate network device according to the satellite positioning information and the second network signal strength;
the determining module is further configured to determine a network area that takes the central position as a central point and covers a preset number of grids; the grid is a unit grid divided into network equipment distribution areas; determining the network area as the signal coverage area.
24. The apparatus of claim 23, wherein the center position comprises longitude and latitude coordinates; the determining module is further configured to:
determining the number of pieces of log information which have incidence relation with the same grid in the log text based on the satellite positioning information;
determining the mean value of the signal intensity of the second network and the mean value of the satellite positioning information corresponding to each grid in the log information which has the incidence relation with the grids;
and determining the central position of the candidate network equipment according to the number of the log information, the mean value of the second network signal strength and the mean value of the satellite positioning information.
25. The apparatus of claim 24, wherein the determining module is further configured to:
determining a ratio between the number of pieces of the log information and the mean value of the second network signal strength;
taking the ratio as a weight value corresponding to the grids, or determining the weight value corresponding to each grid based on the ratio and a target coefficient;
based on each weight value, carrying out weighted summation on the average value of the satellite positioning information of the candidate network equipment in the grid to obtain the central position of the candidate network equipment.
26. The apparatus of claim 14, wherein the first interval condition comprises an upper limit value of a scan interval; the device further comprises:
the determining module is further configured to determine an initial upper limit value of the scanning interval;
the scanning module is further configured to perform at least two scans on the candidate network device with a difference between the initial upper limit value and a preset step length as a scanning interval, so as to obtain at least two scanning results;
the determining module is further configured to determine the difference as an upper limit value of the scanning interval if the same scanning result exists in at least two scanning results; if the same scanning result does not exist in at least two scanning results, taking the difference value as the initial upper limit value, continuing to execute the step of scanning the candidate network device at least twice by taking the difference value between the initial upper limit value and a preset step length as a scanning interval, and taking the difference value between the current initial upper limit value and the preset step length as the upper limit value of the scanning interval when the same scanning result exists in the obtained scanning results.
27. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor realizes the steps of the method of any one of claims 1 to 13 when executing the computer program.
28. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 13.
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