CN113965646B

CN113965646B - Positioning control method and device, electronic equipment and storage medium

Info

Publication number: CN113965646B
Application number: CN202111328610.0A
Authority: CN
Inventors: 曹冰
Original assignee: Guangdong Oppo Mobile Telecommunications Corp Ltd
Current assignee: Guangdong Oppo Mobile Telecommunications Corp Ltd
Priority date: 2021-11-10
Filing date: 2021-11-10
Publication date: 2023-02-28
Anticipated expiration: 2041-11-10
Also published as: CN113965646A

Abstract

The embodiment of the disclosure relates to a positioning control method and device, an electronic device and a storage medium, and relates to the technical field of inertial navigation, wherein the positioning control method comprises the following steps: positioning a terminal for the first time to obtain an initial position of the terminal, and responding to a positioning trigger instruction after an interval duration to perform positioning again on the terminal so as to update the initial position of the terminal; deducing the position of the terminal, and determining the relative motion displacement of the terminal at the current moment; and determining the real-time position of the terminal by combining the initial position and the relative movement displacement. The technical scheme of the disclosure can reduce power consumption.

Description

Positioning control method and device, electronic equipment and storage medium

Technical Field

The present disclosure relates to the field of inertial navigation technologies, and in particular, to a positioning control method, a positioning control apparatus, an electronic device, and a computer-readable storage medium.

Background

In the positioning process, the global positioning system and the pedestrian position estimation may be fused to obtain the actual position.

In the related art, the jitter problem of the global positioning system is mainly solved when fusion is carried out. In the above manner, the global positioning system has a large power consumption when performing positioning, and the reliability of the fusion positioning is poor.

It is to be noted that the information disclosed in the above background section is only for enhancement of understanding of the background of the present disclosure, and thus may include information that does not constitute prior art known to those of ordinary skill in the art.

Disclosure of Invention

The present disclosure is directed to a positioning control method and apparatus, an electronic device, and a storage medium, which overcome at least some of the problems of high power consumption in the positioning process due to the limitations and disadvantages of the related art.

Additional features and advantages of the disclosure will be set forth in the detailed description which follows, or in part will be obvious from the description, or may be learned by practice of the disclosure.

According to an aspect of the present disclosure, there is provided a positioning control method including: positioning a terminal for the first time to obtain an initial position of the terminal, and responding to a positioning trigger instruction after an interval duration to perform positioning again on the terminal so as to update the initial position of the terminal; deducing the position of the terminal, and determining the relative motion displacement of the terminal at the current moment; and determining the real-time position of the terminal by combining the initial position and the relative movement displacement.

According to an aspect of the present disclosure, there is provided a positioning control apparatus including: the initial position determining module is used for positioning the terminal for the first time to obtain the initial position of the terminal, and responding to a positioning trigger instruction to position the terminal again after the interval duration so as to update the initial position of the terminal; the position derivation module is used for deriving the position of the terminal and determining the relative motion displacement of the terminal at the current moment; and the fusion module is used for determining the real-time position of the terminal by combining the initial position and the relative movement displacement.

According to an aspect of the present disclosure, there is provided an electronic device including: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to perform any one of the above positioning control methods via execution of the executable instructions.

According to an aspect of the present disclosure, there is provided a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the positioning control method of any one of the above.

In the positioning control method, the positioning control device, the electronic device, and the computer-readable storage medium provided in the embodiments of the present disclosure, a terminal is first positioned to obtain an initial position of the terminal, and after an interval duration, a positioning trigger instruction is responded to perform relocation on the terminal again to update the initial position of the terminal; deducing the position of the terminal, and determining the relative motion displacement of the terminal at the current moment; and determining the real-time position of the terminal by combining the initial position and the relative movement displacement. On one hand, the terminal is intermittently positioned by using the global positioning system, and the situation that the global positioning system is always started so as to reduce power consumption can be avoided because the positioning is intermittent instead of continuous positioning. The relative motion displacement of the terminal obtained by position derivation is fused with the initial position obtained by the global positioning system, so that the long-time positioning capability can be realized under low power consumption, the application range is enlarged, the reliability of fusion positioning is improved, and the application range is enlarged. On the other hand, the derivation capability of pedestrian position calculation and the correction capability of a global positioning system are combined, high-precision low-power-consumption positioning can be realized, and the combination feasibility and combination accuracy are improved.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the disclosure. It is to be understood that the drawings in the following description are merely exemplary of the disclosure, and that other drawings may be derived from those drawings by one of ordinary skill in the art without the exercise of inventive faculty.

Fig. 1 is a schematic diagram illustrating an application scenario in which the positioning control method or the positioning control apparatus according to the embodiment of the present disclosure may be applied.

FIG. 2 shows a schematic structural diagram of an electronic device suitable for use in implementing embodiments of the present disclosure.

Fig. 3 schematically illustrates a schematic diagram of a positioning control method in an embodiment of the present disclosure.

Fig. 4 schematically shows a schematic view of a coordinate system in an embodiment of the present disclosure.

Fig. 5 schematically illustrates a flow chart for determining relative motion displacement in an embodiment of the present disclosure.

Fig. 6 schematically shows a schematic view of a rotational ellipsoid in an embodiment of the present disclosure.

Fig. 7 schematically illustrates a schematic diagram of latitude and longitude variation in an embodiment of the present disclosure.

Fig. 8 schematically illustrates a schematic diagram of fusion performed in an embodiment of the present disclosure.

Fig. 9 schematically illustrates a block diagram of a positioning control device in an embodiment of the present disclosure.

Detailed Description

Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the disclosure. One skilled in the relevant art will recognize, however, that the subject matter of the present disclosure can be practiced without one or more of the specific details, or with other methods, components, devices, steps, and the like. In other instances, well-known technical solutions have not been shown or described in detail to avoid obscuring aspects of the present disclosure.

Furthermore, the drawings are merely schematic illustrations of the present disclosure and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and a repetitive description thereof will be omitted. Some of the block diagrams shown in the figures are functional entities and do not necessarily correspond to physically or logically separate entities. These functional entities may be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor devices and/or microcontroller devices.

In order to solve the above technical problem, an embodiment of the present disclosure provides a positioning control method, which may be applied to a scene where a target object is positioned.

The positioning control method can be applied to a scene for positioning a target object. Referring to fig. 1, the client 101 may be various types of devices with computing capabilities, such as a smartphone, a tablet, a desktop computer, an in-vehicle device, a wearable device, and the like, capable of location determination. The target object 102 may be an object holding the client 101. The target object may be a user or various carriers such as a vehicle or the like. The client 101 may be configured with a global positioning system and may also be configured with pedestrian position estimation. The global positioning system in the client is used to intermittently locate the client 101 to obtain an initial position. And the pedestrian position calculation in the client is used for deducing the position of the terminal and determining the relative motion displacement of the terminal. Further, the client may combine the initial position and the relative movement displacement to obtain the real-time position of the terminal.

It should be noted that the positioning control method provided by the embodiment of the present disclosure may be completely executed by the client. Accordingly, the positioning control device may be provided in the client.

FIG. 2 shows a schematic diagram of an electronic device suitable for use in implementing exemplary embodiments of the present disclosure. The terminal of the present disclosure may be configured in the form of an electronic device as shown in fig. 2, however, it should be noted that the electronic device shown in fig. 2 is only one example, and should not bring any limitation to the functions and the use range of the embodiment of the present disclosure.

The electronic device of the present disclosure includes at least a processor and a memory for storing one or more programs, which when executed by the processor, cause the processor to implement the methods of the exemplary embodiments of the present disclosure.

Specifically, as shown in fig. 2, the electronic device 200 may include: a processor 210, an internal memory 221, an external memory interface 222, a Universal Serial Bus (USB) interface 230, a charging management Module 240, a power management Module 241, a battery 242, an antenna 1, an antenna 2, a mobile communication Module 250, a wireless communication Module 260, an audio Module 270, a speaker 271, a microphone 272, a microphone 273, an earphone interface 274, a sensor Module 280, a display 290, a camera Module 291, a pointer 292, a motor 293, a button 294, and a Subscriber Identity Module (SIM) card interface 295. The sensor module 280 may include a depth sensor, a pressure sensor, a gyroscope sensor, an air pressure sensor, a magnetic sensor, an acceleration sensor, a distance sensor, a proximity light sensor, a fingerprint sensor, a temperature sensor, a touch sensor, an ambient light sensor, a bone conduction sensor, and the like.

It is to be understood that the illustrated structure of the embodiment of the present application does not specifically limit the electronic device 200. In other embodiments of the present application, the electronic device 200 may include more or fewer components than shown, or combine certain components, or split certain components, or a different arrangement of components. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

Processor 210 may include one or more processing units, such as: the processor 210 may include an application processor, a modem processor, a graphics processor, an image signal processor, a controller, a video codec, a digital signal processor, a baseband processor, and/or a Neural-Network Processing Unit (NPU), etc. Wherein, the different processing units may be independent devices or may be integrated in one or more processors. Additionally, a memory may be provided in processor 210 for storing instructions and data. The model training method in the present exemplary embodiment may be performed by an application processor, a graphics processor, or an image signal processor, and may be performed by the NPU when the method involves neural network related processing.

The internal memory 221 may be used to store computer-executable program code, which includes instructions. The internal memory 221 may include a program storage area and a data storage area. The external memory interface 222 may be used to connect an external memory card, such as a Micro SD card, to extend the memory capability of the electronic device 200.

The communication function of the mobile terminal 200 may be implemented by a mobile communication module, an antenna 1, a wireless communication module, an antenna 2, a modem processor, a baseband processor, and the like. The

antennas

1 and 2 are used for transmitting and receiving electromagnetic wave signals. The mobile communication module may provide a mobile communication solution of 2G, 3G, 4G, 5G, etc. applied to the mobile terminal 200. The wireless communication module may provide wireless communication solutions such as wireless lan, bluetooth, near field communication, etc. applied to the mobile terminal 200.

The display screen is used for realizing display functions, such as displaying user interfaces, images, videos and the like. The camera module is used for realizing shooting functions, such as shooting images, videos and the like. The audio module is used for realizing audio functions, such as playing audio, collecting voice and the like. The power module is used for realizing power management functions, such as charging a battery, supplying power to equipment, monitoring the state of the battery and the like.

The present application also provides a computer-readable storage medium, which may be contained in the electronic device described in the above embodiments; or may exist separately without being assembled into the electronic device.

A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

A computer readable storage medium may transmit, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable storage medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.

The computer readable storage medium carries one or more programs which, when executed by one of the electronic devices, cause the electronic device to implement the method as described in the embodiments below.

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The units described in the embodiments of the present disclosure may be implemented by software, or may be implemented by hardware, and the described units may also be disposed in a processor. Wherein the names of the elements do not in some way constitute a limitation on the elements themselves.

Next, a positioning control method in the embodiment of the present disclosure is explained in detail with reference to the drawings.

Referring to fig. 3, in step S310, a terminal is located to obtain an initial position of the terminal, and the terminal is located again in response to a location trigger instruction after an interval duration to update the initial position of the terminal.

In the embodiment of the present disclosure, the terminal may be located by a Global Positioning System (GPS), or may be located by a Global Navigation Satellite System (GNSS).

Wherein the terminal can be periodically located. The intermittent positioning refers to positioning a terminal for the first time to obtain the initial position of the terminal, and responding to a positioning trigger instruction after the interval duration to perform positioning again on the terminal to obtain the initial position of the terminal. Namely, first positioning is carried out, and after a period of time, if a positioning trigger instruction is received, positioning is carried out again for updating. And after the interval duration of the re-positioning is finished, if a positioning trigger instruction is received, performing next positioning. Each positioning is obtained by the initial position of the terminal, but the initial position obtained by the first positioning and the initial position obtained by the second positioning may be the same or different. The initial position may be used to indicate a reference position when position derivation is performed, that is, position derivation is performed with reference to the initial position.

In particular, the positioning trigger instruction refers to a positioning frequency, which can be expressed according to an inference time and a timing time. Specifically, the inference time satisfies the inference condition or the timing time satisfies the time threshold. Based on the method, the positioning trigger instruction can be considered to be received when the inference time meets the inference condition or the timing time meets the time threshold, so that the global positioning system is triggered to intermittently position the terminal. For example, if the inference time of the pedestrian position estimation exceeds 500m, it is considered that the inference condition is satisfied. For another example, the timing time satisfies 5m, which is considered to satisfy the timing time. Based on this, intermittent positioning according to GPS can be performed when the positioning frequency is triggered. The initial position of the terminal in a plurality of positioning periods can be obtained through intermittent positioning.

The number of positioning cycles may be plural, that is, positioning may be performed plural times respectively. The cycle duration of each positioning cycle may be the same or different. The interval duration between adjacent positioning periods may be the same or different, and the longer the interval duration, the lower the power consumption for positioning using the global positioning system.

In each positioning period, the initial positions corresponding to all the moments are the same. The initial positions corresponding to different positioning periods may be different. That is, the initial position obtained in each positioning cycle remains unchanged until the next positioning cycle. When the next positioning period is detected, the initial position of the next positioning period may be used as the initial position of the terminal to update the initial position, and the initial position of the current positioning period may be deleted. For example, the current positioning period is the first positioning period, and the obtained initial position may remain unchanged until the positioning frequency of the second positioning period is detected. When the positioning frequency of the second positioning period is detected, the initial position of the first positioning period may be erased, and only the positioning coordinates of the second positioning period are retained as the initial position.

The initial position refers to a position where the terminal is located, which is obtained by positioning the terminal in real time through a global positioning system. The initial position may be a position established under a first coordinate system, which may be a geodetic coordinate system. Referring to diagram a in fig. 4, the geodetic coordinate system is represented by OXeYeZe. The origin is the earth's center; the Oxe and the OYe are perpendicular to each other in the equatorial plane of the earth, and the Oze points to the Greenwich meridian (the initial meridian/0 DEG meridian) and is the rotation axis of the earth.

In the step, the terminal is intermittently positioned through the global positioning system, so that the process of always starting the global positioning system for real-time continuous positioning is avoided, and the power consumption is reduced.

In step S320, a position of the terminal is derived, and a relative motion displacement of the terminal at the current time is determined.

In the embodiment of the present disclosure, since the global positioning system is intermittently positioned, the longer the intermittent time is, the lower the power consumption is. However, in the intermittent period, the terminal needs to be continuously positioned by means of Pedestrian Dead Reckoning (PDR) to carry out position derivation, the PDR positioning has accumulated errors, and if the time is too long, the accuracy is low. The batch time is generally 5 minutes.

PDR (Pedestrian Dead Reckoning) refers to measuring and counting the number of steps, step length, and direction of the walking of a target object, and calculating information such as a walking track and a position of the target object. The PDR can be used as a compensation algorithm of other navigation methods and applied to places which cannot be supported by other navigation methods. The relative motion displacement refers to the displacement obtained by continuously performing position derivation through the PDR. Since the speed of the target object may change at different times, the relative movement displacement may also be different at different times.

The PDR mainly senses data such as acceleration, angular velocity and the like of a target object in the process of traveling by using an inertial measurement unit, and calculates the step length and the direction of the target object by using the data, so that the aim of positioning and tracking the target object is fulfilled, wherein the process mainly involved comprises gait detection and step length and direction calculation. Assuming an initial position P (x 0, y 0), when the target object moves back (e.g., steps one step forward), the next position P (x 1, y 1) may be derived.

Fig. 5 schematically shows a flow chart for determining the relative movement displacement, which, with reference to fig. 5, essentially comprises the following steps:

in step S510, a deep learning algorithm and inertial measurement data of the terminal are combined to estimate a pedestrian position of the terminal, and a velocity vector of the terminal is calculated.

In this step, the inertial measurement data includes, but is not limited to, an accelerometer, a gyroscope, and a motion vector. The velocity vector is used to describe the velocity and direction of motion of the target object. The pedestrian position estimation mainly depends on an acceleration sensor and a magnetic field sensor, the walking step number and the walking step length are determined through the acceleration sensor, and the direction is determined according to the magnetic field sensor.

Further, the velocity vector may be determined in conjunction with a deep learning algorithm. Specifically, the correspondence between the historical data and the historical speed vector may be determined by a deep learning algorithm based on the historical data and the historical speed vector in the reference time. The reference time may be a different time period. The historical data can be corresponding inertia measurement data in different time periods, and the historical speed vector is a speed vector corresponding to each time period. The deep learning algorithm may be a lightweight learning algorithm, such as the Resnet algorithm. The deep learning algorithm may be other types of algorithms as long as the correspondence between the inertia measurement data and the velocity vector can be determined.

Specifically, the deep learning algorithm can find out the corresponding mapping relationship from the data. The method mainly depends on training data and truth value data, wherein the training data mainly comprises inertia measurement data and motion trail. The inertial measurement data is data (including accelerometer, gyroscope, game motion vector) acquired by the mobile terminal in the actual motion process, and these data are data that can be directly collected by the mobile terminal. Meanwhile, an RTK device (similar to a GPS, but with higher precision than the GPS and capable of reaching centimeter level) is worn in the moving process of the mobile terminal for collecting the actual moving track. And further dividing all the collected data according to unit time to obtain training data (< IMU data > - < RTK >). The RTK can calculate a specific motion velocity vector in unit time, the specific motion velocity vector is input into a deep learning model for learning, and finally the trained model can determine a corresponding relation between IMU data and the velocity vector in unit time. When the algorithm is applied, IMU data in unit time are input into the model, and corresponding velocity vectors are output.

Based on this, after the corresponding relationship between the historical data and the historical velocity vector is determined, the inertial measurement data at the current time can be used as input, and the input inertial measurement data can be processed according to the corresponding relationship to obtain the velocity vector at the current time.

In step S520, the velocity vector is logically processed to obtain the relative motion displacement of the terminal.

In this step, the logical process may be an integration process. That is, the obtained velocity vector may be integrated to derive the relative movement displacement of the terminal at the current time.

It is supplementary to this, that the relative movement displacement derived from the pedestrian position is established in the second coordinate system. The second coordinate system may be a geographical coordinate system, i.e. a navigation coordinate system, which is denoted by OXgYgZg. The geographic coordinate system is also called a local horizontal coordinate system, and a "northeast" coordinate system are commonly used. The geographic coordinate system may be as shown in diagram B of fig. 4.

In the embodiment of the disclosure, the relative motion displacement of the terminal is determined by combining the deep learning algorithm and the inertia measurement data, so that the accuracy of the determined relative motion displacement can be improved, and the efficiency of determining the relative motion displacement is improved.

With continued reference to fig. 3, in step S330, the real-time position of the terminal is determined in combination with the initial position and the relative movement displacement.

In the embodiment of the present disclosure, in order to improve the feasibility of fusing the pedestrian position estimation and the real-time position, different types of first coordinate systems and second coordinate systems need to be converted into the same coordinate system. The same coordinate system here may be the first coordinate system or the second coordinate system. Converting the coordinate system may include: the first coordinate system is converted into a second coordinate system, or the second coordinate system is converted into the first coordinate system.

Specifically, in converting the second coordinate system, the same coordinate system refers to the first coordinate system. Thus, the second coordinate system may be converted to the first coordinate system to convert both to the same coordinate system.

For convenience of description, the shape of the earth is generally approximately equivalent to a spheroid, and referring to a diagram a in fig. 6, a south end point and a north end point of a rotation axis of the earth are respectively called a south pole S and a north pole N, a plane containing the south and north poles is called a meridian plane, and an intersection line of the meridian plane and the spheroid is called a meridian circle (or meridian circle). The warp threads passing through greenwich in the united kingdom are referred to as the present elementary meridians (or zero degree warp threads). The included angle between the meridian plane of any meridian and the meridian plane of the prime meridian is defined as longitude and is represented by lambda, the direction of the included angle is the same as the direction of the earth rotation axis, and the value range is-180 degrees to 180 degrees. A plane containing the center of the ellipsoid of revolution and perpendicular to the rotation axis is called an equatorial plane, the intersection of the equatorial plane and the ellipsoid of revolution is called an equator, and the intersection of a plane parallel to the equatorial plane and the ellipsoid is called a latitude circle.

For the earth's ellipsoid of revolution, the key to determining the three-dimensional shape parameters is to determine a two-dimensional meridian ellipse. Referring to diagram a in fig. 6, an Earth-Centered right-handed rectangular coordinate system, often referred to as the Earth-Centered Earth-Fixed (ECEF) coordinate system, is established. The origin of the coordinate is selected from the center of the earth o _e z _e The axis being self-rotating and pointing to the north pole, o _e x _e The axis pointing to the intersection of the equator and the meridian of the prime, o _e y _e The axis being in the equatorial plane and pointing through 90 DEGThe line, ECEF is fixedly connected with the earth, namely rotates relative to the inertia space along with the rotation of the earth. For the meridian ellipse, without loss of generality, the present primary meridian ellipse was selected as the study object, as shown in graph B in fig. 6. Any point P on the ellipse is connected with the earth center through a line Po _e And o _e x _e The included angle of the axes is called the geocentric latitude, and is recorded

The value range is-90 degrees, the south latitude is negative and the north latitude is positive. Ellipse normals PQ and o passing through point P _e x _e The included angle of the axes is called geographical latitude (latitude for short), the symbol is marked as L, and the value range is-90 degrees. In addition, the direction Po corresponding to the geocentric latitude _e Referred to as the vertical centroid line, and the direction PQ corresponding to the geographic latitude is referred to as the vertical geographic line.

A velocity-induced latitude and longitude variation diagram is schematically illustrated in FIG. 7, and with reference to the diagram shown in FIG. 7, is generally designated R _M Is the radius of the meridian principal curvature, and is called R _N Is the main curvature radius of the Mao-unitary ring (east-west ring or main vertical line). Wherein the curvature radius of the ellipsoid at a point P on the ellipsoid is R _A (A is the included angle between the normal section and the meridian plane). The specific calculation formula is as follows:

thus, it can be seen that east speed causes longitude changes and north speed causes latitude changes, as shown in equations (2) to (4):

where L represents a geographic latitude, λ is a longitude, h is an altitude of the GPS measurement (a general three-dimensional geographic coordinate system includes longitude, latitude, and altitude), and R _N Is the main curvature radius of the Mao-unitary ring (east-west ring or main vertical line).

Wherein R is _M Is the radius of the meridian principal curvature.

Wherein the speed

The meaning of the upper and lower marks is that the moving speed of the carrier relative to the earth coordinate system is projected in a geographical coordinate system, and the longitude and latitude in the formula (2) and the formula (3) are radians.

For describing how to convert from perceived speed to speed in the calculation formula derivation. Such as: two points GPS0 (longitude and latitude height) and GPS1 (longitude and latitude height) are perceived as the starting points of the mobile terminal in a unit time, and then it can be known that the corresponding velocity value is equal to the distance between the two points. The calculated speed is three-dimensional, and if the relation between Vx and Vy in the corresponding two-dimensional space is to be found, the calculated speed needs to be projected under a geographic coordinate system, so that the user can know the relation

I.e. the two are vector-added.

Next, the angular velocity differential can be integrated to obtain the angular velocity equation, i.e.:

wherein dT is 1 resolving period. Since dT is small, the object can be regarded as moving at a constant speed in the period, so v _x dT may be considered as the east displacement. Thus, equation (5) can be rewritten as equation (6):

wherein, δ S _x Is the east displacement of the carrier relative to the earth during dT times.

Similarly, a latitude recurrence formula can be obtained, as shown in formula (7):

wherein, δ S _y Is the north displacement of the carrier relative to the earth during dT times.

It should be noted that the second coordinate system can be converted into the first coordinate system by performing logical operations according to the displacement, the geographic latitude, the longitude, and the altitude. Specifically, the formula for converting from the geographic coordinate system to the geodetic coordinate system can be obtained from formula (6) and formula (7).

In converting the first coordinate system, the same coordinate system refers to the second coordinate system. Thus, the first coordinate system may be converted to a second coordinate system to convert both to the same coordinate system. Similarly, the first coordinate system can be converted into the second coordinate system by performing logical operation according to displacement, geographical latitude, longitude and altitude.

Specifically, the following can be obtained by the modification of equation (6):

coordinate of last moment

Plus with

The updated coordinates at the next moment can be obtained

As shown in equation (9):

similarly, the following can be obtained by transforming equation (7):

the formula for converting the geodetic coordinate system into the geographical coordinate system can be obtained according to formula (9) and formula (10).

In the embodiment of the disclosure, the first coordinate system and the second coordinate system are converted to be in the same coordinate system, so that the feasibility of fusing the PDR and the GPS positioning can be improved. Therefore, the real-time position of the terminal can be determined by combining the initial position and the relative motion displacement under the same coordinate system.

When the real-time position of the terminal is determined by combining the initial position and the relative movement displacement, the initial position can be used as a starting point, and the relative movement displacement at the current moment is fused to the initial position at the current moment, so that the real-time position corresponding to the current moment is determined. In this case, the absolute position can always be inferred from the latest updated initial position. That is, the initial positions corresponding to each positioning period may be set as the starting points, respectively. For example, the initial position of the first positioning period, the initial position of the second positioning period, and the initial position of the third positioning period may be used as the starting points, respectively. The current time refers to any time in the positioning cycle.

Each positioning period corresponds to a period duration, so that each positioning period can be divided into a starting time and other times. The start time refers to the first time in the cycle duration, and the other times refer to the remaining times in the cycle duration except for the start time. When the current time is the starting time, for the starting time of each positioning period, because the GPS position is acquired for the first time, the initial position is the corresponding absolute position, that is, the accurate absolute position can be obtained by acquiring for the first time. And the relative motion displacement is 0, so that the real-time position can be directly determined according to the initial position without being combined with the relative motion displacement. That is, when the current time is the start time of each cycle, the real-time position is determined from the initial position.

When the current time is other times, the starting position of the other times of each cycle is not the corresponding absolute position, so that the relative motion displacement at the other times can be fused to the initial positions at the other times. The fusion here may be an addition operation, that is, the addition operation is performed on the relative motion displacement at other times and the initial position at other times to obtain the real-time position. It should be noted that the addition operation herein refers to a vector addition operation.

A schematic diagram of the fusion is shown schematically in fig. 8. Referring to fig. 8, the GPS performs intermittent positioning in a plurality of positioning cycles. The positioning cycle includes GPS0 and GPS1, the positioning cycle GPS0 includes time 0 to time 6, and the positioning cycle GPS1 includes time 7 to time 11. The positioning process of GPS0 and GPS1 is exactly the same, but this is a positioning result pertaining to two points in time. In the embodiment of the disclosure, the positioning frequency of the global positioning system is smaller than the positioning frequency of the PDR. For example the frequency of GPS may be lower, say once for 5 min. However, the frequency of the PDR will be high, e.g. 1Hz, i.e. 1s once. And, the result of fusion localization is the same frequency as PDR, i.e. 1s gives one result. The fused positioning 0 is directly output by the GPS0, and the fused positioning 1 is a result obtained by the GPS0+ PDR 1.

In particular, the global positioning system performs intermittent positioning. When the positioning period is GPS0, the corresponding initial position 0 remains unchanged. When the positioning period is GPS1, the corresponding initial position 1 remains unchanged. And the PDR carries out continuous position derivation to obtain the relative motion displacement at the current moment. For example, as shown in fig. 8, the relative motion displacement from time 0 to time 11 is continuously acquired. Further, fusion is performed according to the initial position 0 corresponding to the positioning period GPS0 and the relative movement displacement at the time 1, and the fusion positioning corresponding to the time 1 is obtained as the real-time position 1. And fusing according to the relative movement displacement of the initial position 0 and the time 2 corresponding to the positioning period GPS0 to obtain fused positioning corresponding to the time 2 as a real-time position 2. And fusing the initial position 1 corresponding to the positioning period GPS1 and the relative motion displacement of the moment 7 to obtain fused positioning corresponding to the moment 7 as a real-time position 7.

For example, it is known that: re =6378136.46 radius of the earth e =0.0818192214555232 radius of curvature of the earth (equivalent to R) _M And R _N Also a known amount).

Suppose GPS0 ({ 31.0f,11.16607f,121.0f,27.50781f,8.0f }), namely latitude bit L (31 + 11.16607/60-31.18610116666667), longitude bit λ (121 +27.50781, 60-121.4584635), altitude h (8.0).

PDR derives a velocity vector per unit time of (Vx =2, vy = 1), and by integration, obtains a relative motion displacement of Sx (Vx × 1= 2), sy (Vy × 1= 1).

GPS0+ PDR denoted as R ₁ The derivation process is shown in equations (6) and (7). Based on this, the fused R can be obtained by the formula (11) ₁ I.e. the real-time position at any other moment in the positioning cycle GPS 0. Thereby obtaining fused R ₁ The longitude and latitude height information of (1), namely the real-time position.

Further, after the real-time position of the current moment is obtained, the real-time position and the target position of the target object may be matched to determine a matching result, and prompt information may be provided according to the matching result. The target position of the target object may be determined according to actual requirements of the target object, and the target object may be an object that needs to be navigated and positioned by a user or the like. For example, in a site fence scenario, the target location may be the location of the target site. Firstly, the position information of the target site is learned according to the habit of the user, and the target position can be used as a target matching item. The position of the mobile phone terminal is continuously deduced through the PDR, accurate absolute position information can be obtained when the GPS position is obtained for the first time, then the relative motion displacement deduced by the PDR can be fused with the current positioning point of the GPS to obtain the latest positioning point information, and then the latest positioning point information is matched with the target position. The matching result can be that the real-time position is close to the target position or the real-time position is far from the target position. And if the matching results are different, the generated prompt information is also different. Specifically, if the current real-time location is closer to the target location, the target object may be prompted to approach the target site. When the current real-time position is far away from the target position, the user can be prompted to get far away from the target site. The prompt information may be a voice prompt, a text prompt, or a prompt identifier prompt, which is not limited herein.

According to the technical scheme, the real-time position of the terminal is determined by combining the initial position obtained by intermittent positioning and the relative movement displacement of the current moment in the same coordinate system, and the accumulated error deduced for the PDR for a long time is corrected by adopting the intermittent switch global positioning system GPS, so that the power consumption can be saved, the generalization capability is better, and the application scene is increased. Because the behavior habit of the user is a repeating unit or cycle of one week, the short-time derivation capability of the low-power-consumption PDR and the accurate correction capability of the GPS are combined in the embodiment of the disclosure, and the all-weather 7-24 continuous high-precision low-power-consumption positioning can be realized. In addition, the relative motion displacement of the PDR inference and the initial position of the GPS positioning are unified under the same coordinate system by utilizing the coordinate system conversion, so that the feasibility of fusing the PDR and the GPS is improved, the accuracy of the fusion is improved, and the reliability is improved.

In an embodiment of the present disclosure, a positioning control apparatus is provided, and referring to fig. 9, the positioning control apparatus 900 may include:

an initial position determining module 901, configured to perform initial positioning on a terminal to obtain an initial position of the terminal, and perform positioning again on the terminal in response to a positioning trigger instruction after an interval duration to update the initial position of the terminal;

a position derivation module 902, configured to perform position derivation on the terminal, and determine a relative motion displacement of the terminal at a current time;

and a fusion module 903, configured to determine a real-time position of the terminal by combining the initial position and the relative movement displacement.

In an exemplary embodiment of the present disclosure, the location derivation module includes: the speed vector determination module is used for carrying out pedestrian position calculation on the terminal by combining a deep learning algorithm and inertial measurement data of the terminal and calculating a speed vector of the terminal; and the displacement determining module is used for performing logic processing on the velocity vector to acquire the relative motion displacement of the terminal at the current moment.

In an exemplary embodiment of the present disclosure, the fusion module includes: and the fusion control module is used for fusing the relative motion displacement determined by taking the initial position as a starting point of pedestrian position calculation to the initial position to determine the real-time position.

In an exemplary embodiment of the present disclosure, the fusion control module includes: and the position fusion module is used for fusing the initial position corresponding to the current moment and the relative motion displacement corresponding to the current moment in each positioning period to determine the real-time position of the current moment.

In an exemplary embodiment of the disclosure, the location fusion module is configured to: the first determining module is used for determining the real-time position according to the initial position if the current time is the initial time in each positioning period; and the second determining module is used for fusing and determining the real-time position according to the initial position and the relative motion displacement of the current moment if the current moment is other moments in each positioning period.

In an exemplary embodiment of the present disclosure, the apparatus further includes: and the coordinate conversion module is used for carrying out coordinate system conversion on a first coordinate system corresponding to the initial position and a second coordinate system corresponding to the relative movement displacement so as to convert the first coordinate system and the second coordinate system into the same coordinate system.

In an exemplary embodiment of the present disclosure, the apparatus further includes: and the matching module is used for matching the real-time position with the target position of the target object to determine a matching result and providing prompt information according to the matching result.

It should be noted that, the specific details of each module in the positioning control apparatus have been described in detail in the corresponding positioning control method, and therefore are not described herein again.

Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein may be implemented by software, or by software in combination with necessary hardware. Therefore, the technical solution according to the embodiments of the present disclosure may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (which may be a CD-ROM, a usb disk, a removable hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which may be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to the embodiments of the present disclosure.

Furthermore, the above-described drawings are merely schematic illustrations of processes involved in methods according to exemplary embodiments of the present disclosure, and are not intended to be limiting. It will be readily appreciated that the processes illustrated in the above figures are not intended to indicate or limit the temporal order of the processes. In addition, it is also readily understood that these processes may be performed synchronously or asynchronously, e.g., in multiple modules.

It should be noted that although in the above detailed description several modules or units of the device for action execution are mentioned, such a division is not mandatory. Indeed, the features and functionality of two or more modules or units described above may be embodied in one module or unit, according to embodiments of the present disclosure. Conversely, the features and functions of one module or unit described above may be further divided into embodiments by a plurality of modules or units.

Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is to be limited only by the terms of the appended claims.

Claims

1. A positioning control method, comprising:

positioning a terminal for the first time to obtain an initial position of the terminal, and responding to a positioning trigger instruction after an interval duration to perform positioning again on the terminal so as to update the initial position of the terminal;

determining a corresponding relation between inertia measurement data and a historical velocity vector, processing the input inertia measurement data based on the corresponding relation to obtain a velocity vector at the current moment, performing integral processing on the velocity vector, continuously positioning the terminal to deduce the position, and determining the relative motion displacement of the terminal at the current moment;

and determining the real-time position of the terminal by combining the initial position and the relative motion displacement under the same coordinate system.

2. The method according to claim 1, wherein said determining the real-time position of the terminal in combination with the initial position and the relative movement displacement comprises:

fusing the relative motion displacement determined by taking the initial position as a starting point of pedestrian position estimation to the initial position, and determining the real-time position.

3. The positioning control method according to claim 2, wherein the determining the real-time position by fusing the relative movement displacement determined with the initial position as a starting point of pedestrian position estimation to the initial position includes:

and fusing the initial position corresponding to the current moment and the relative motion displacement corresponding to the current moment in each positioning period, and determining the real-time position of the current moment.

4. The method according to claim 3, wherein the determining the real-time position of the current time by fusing an initial position corresponding to the current time and a relative motion displacement corresponding to the current time in each positioning period comprises:

if the current time is the initial time in each positioning period, determining the real-time position according to the initial position;

and if the current time is other time in each positioning period, fusing according to the initial position and the relative motion displacement of the current time to determine the real-time position.

5. The positioning control method according to claim 1, characterized in that the method further comprises:

and carrying out coordinate system conversion on a first coordinate system corresponding to the initial position and a second coordinate system corresponding to the relative movement displacement so as to convert the first coordinate system and the second coordinate system into the same coordinate system.

6. The positioning control method according to claim 1, characterized in that the method further comprises:

and matching the real-time position with the target position of the target object to determine a matching result, and providing prompt information according to the matching result.

7. A positioning control device, comprising:

the initial position determining module is used for positioning the terminal for the first time to obtain the initial position of the terminal, and responding to a positioning trigger instruction to position the terminal again after the interval duration so as to update the initial position of the terminal;

the position derivation module is used for determining the corresponding relation between the inertia measurement data and the historical speed vector, processing the input inertia measurement data based on the corresponding relation to obtain the speed vector at the current moment, performing integral processing on the speed vector, continuously positioning the terminal to derive the position, and determining the relative motion displacement of the terminal at the current moment;

and the fusion module is used for determining the real-time position of the terminal by combining the initial position and the relative motion displacement under the same coordinate system.

8. An electronic device, comprising:

a processor; and

a memory for storing executable instructions of the processor;

wherein the processor is configured to perform the positioning control method of any of claims 1-6 via execution of the executable instructions.

9. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the positioning control method according to any one of claims 1 to 6.