CN114323004A - Positioning method and system - Google Patents
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- CN114323004A CN114323004A CN202111623077.0A CN202111623077A CN114323004A CN 114323004 A CN114323004 A CN 114323004A CN 202111623077 A CN202111623077 A CN 202111623077A CN 114323004 A CN114323004 A CN 114323004A
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Abstract
An embodiment of the present specification provides a positioning method and system, where the method includes: acquiring sensor positioning information of a target object; acquiring Bluetooth spike positioning information related to the target object; and fusing the sensor positioning information and the Bluetooth spike positioning information to obtain corrected positioning information of the target object.
Description
Technical Field
The present disclosure relates to the field of information technology, and in particular, to a positioning method and system.
Background
With the development of society, people have higher and higher requirements on position information, the existing positioning mode is used for positioning through a GPS (global positioning system), but because the positioning error is large, signal shielding occurs in places with many buildings, the positioning accuracy is not high, and the position updating is delayed.
Therefore, it is desirable to provide a positioning method that can achieve more accurate positioning.
Disclosure of Invention
One embodiment of the present disclosure provides a positioning method. The positioning method comprises the following steps: acquiring sensor positioning information of a target object; acquiring Bluetooth spike positioning information related to the target object; and fusing the sensor positioning information and the Bluetooth spike positioning information to obtain corrected positioning information of the target object.
One embodiment of the present disclosure provides a positioning system. The positioning system includes: the sensor positioning information acquisition module is used for acquiring sensor positioning information of a target object; the Bluetooth spike positioning information acquisition module is used for acquiring Bluetooth spike positioning information related to the target object; and the fusion module is used for fusing the sensor positioning information and the Bluetooth spike positioning information to obtain the corrected positioning information of the target object.
One of the embodiments of the present specification provides a computer-readable storage medium storing computer instructions that, when executed by a processor, implement the positioning method of any one of the above.
Drawings
The present description will be further explained by way of exemplary embodiments, which will be described in detail by way of the accompanying drawings. These embodiments are not intended to be limiting, and in these embodiments like numerals are used to indicate like structures, wherein:
FIG. 1 is a schematic diagram of an application scenario of a positioning system according to some embodiments of the present description;
FIG. 2 is an exemplary flow chart of a positioning method according to some embodiments of the present description;
FIG. 3 is an exemplary flow diagram illustrating the acquisition of sensor positioning information according to some embodiments of the present description;
FIG. 4 is another exemplary flow chart of a positioning method according to some embodiments of the present description;
FIG. 5 is another exemplary flow chart of a positioning method according to some embodiments of the present description;
FIG. 6 is an exemplary block diagram of a positioning system in accordance with some embodiments of the present description;
fig. 7a and 7b are exemplary schematic diagrams of position compensation shown in accordance with some embodiments herein.
Detailed Description
In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings used in the description of the embodiments will be briefly described below. It is obvious that the drawings in the following description are only examples or embodiments of the present description, and that for a person skilled in the art, the present description can also be applied to other similar scenarios on the basis of these drawings without inventive effort. Unless otherwise apparent from the context, or otherwise indicated, like reference numbers in the figures refer to the same structure or operation.
It should be understood that "system", "apparatus", "unit" and/or "module" as used herein is a method for distinguishing different components, elements, parts, portions or assemblies at different levels. However, other words may be substituted by other expressions if they accomplish the same purpose.
As used in this specification and the appended claims, the terms "a," "an," "the," and/or "the" are not intended to be inclusive in the singular, but rather are intended to be inclusive in the plural, unless the context clearly dictates otherwise. In general, the terms "comprises" and "comprising" merely indicate that steps and elements are included which are explicitly identified, that the steps and elements do not form an exclusive list, and that a method or apparatus may include other steps or elements.
Flow charts are used in this description to illustrate operations performed by a system according to embodiments of the present description. It should be understood that the preceding or following operations are not necessarily performed in the exact order in which they are performed. Rather, the various steps may be processed in reverse order or simultaneously. Meanwhile, other operations may be added to the processes, or a certain step or several steps of operations may be removed from the processes.
In a scene needing positioning, positioning information can be obtained by receiving and transmitting signals related to positioning and processing the signals. In the positioning process, the positioning precision is low, and the error is large, so that the high-precision positioning requirement cannot be met.
In some embodiments, positioning may be achieved using a method of IMU/GNSS combined inertial navigation. However, in a complex environment, because the IMU precision is low and the GNSS positioning error is large, the requirement for high-precision positioning may not be completely met. For more details on IMU/GNSS combined inertial navigation, refer to fig. 2 and the related description thereof, which are not repeated herein.
In some embodiments, bluetooth spikes may be used for positioning. However, under the condition that the bluetooth spike is not laid, the bluetooth spike cannot be used for positioning in the area where the bluetooth spike is not laid, and therefore, the requirement for high-precision positioning may not be met completely. For more details about the bluetooth spike, refer to fig. 2 and the related description thereof, which are not repeated herein.
In view of this, in some embodiments, positioning may be performed by combining IMU/GNSS combined inertial navigation and bluetooth spikes, so that the cost is reduced while the positioning accuracy is improved.
Fig. 1 is a schematic diagram of an application scenario of a positioning system according to some embodiments of the present description. As shown in fig. 1, an application scenario 100 of the positioning system may include a sensor 110, a bluetooth spike 120, a server 130, and/or a network 140, among others.
The sensor 110 may be used to obtain positioning information. For example, the sensors may include velocity sensors, acceleration sensors, gyroscopes, and/or position sensors, among others. The sensor 110 may be disposed on any object to be located to obtain location information of the object. For example, the sensors 110 may be located on a smartphone 110-1, a bicycle 110-2, an electric bicycle 110-3, and/or an automobile 110-4, among others. In some embodiments, the sensor 110 may continuously acquire positioning information of the target object. In some embodiments, the positioning information obtained by sensor 110 may be denoted as sensor positioning information 110-5. For the details of the sensor and the target, refer to fig. 2 and the related description thereof, which are not repeated herein.
The bluetooth spike 120 may be used to obtain another location information. For example, the bluetooth spikes may include RSSI spikes, AOA spikes, and/or the like. In some embodiments, the bluetooth spike 120 may be laid down part of a road or in a region to reduce costs. For example, bluetooth spikes are laid on or around the parking frame of a part of the main road section. In some embodiments, the bluetooth spike 120 may obtain location information of the target object when the target object passes by or approaches. In some embodiments, the positioning information obtained by the bluetooth spike 120 may be recorded as bluetooth spike positioning information 120-1. For more details about the bluetooth spike, refer to fig. 2 and the related description thereof, which are not repeated herein.
Fig. 2 is an exemplary flow chart of a positioning method according to some embodiments of the present description. As shown in fig. 2, the flow 200 may include one or more of the following steps. In some embodiments, one or more steps in flow 200 may be performed by server 130 in fig. 1.
The target object may refer to a target that needs to be located. For example, the target object may include a smartphone 110-1, a bicycle 110-2, an electric bicycle 110-3, and/or an automobile 110-4, etc., as shown in FIG. 1.
In some embodiments, the sensor location information may be location related information (e.g., position, velocity, acceleration, angular velocity, heading angle, etc.) acquired by the sensor. In some embodiments, the sensor positioning information may be positioning information obtained by fusing positioning information obtained by other devices and/or systems (e.g., Global Navigation Satellite System (GNSS)) based on positioning-related information obtained by a sensor (e.g., an Inertial Measurement Unit (IMU)). The sensor positioning information may be used to locate the target object. For example, the sensor positioning information may include latitude and longitude information. The sensor may include one or more of an IMU sensor, a GNSS sensor, an ahrs (automatic tracking Reference system) sensor, a MARG (magnetic sensor), a GPS (global positioning system), a WIFI (wireless fidelity) sensor, a MEMS acceleration sensor, a VRU (dynamic tilt unit), an INS (inertial navigation system), and the like. A sensor (e.g., an IMU) may be mounted on the object to detect a motion state and/or position of the object. In some embodiments, the GNSS may be mounted on a target object to detect a motion state and/or a position of the target object.
In some embodiments, the sensor-location information may include IMU/GNSS combined inertial navigation location information. In some embodiments, the IMU/GNSS combined inertial navigation positioning information may include position information, velocity information, and/or attitude information of the target object, among others.
The IMU/GNSS combined Inertial Navigation positioning information may include positioning information acquired by an Inertial Measurement Unit (IMU) and a Global Navigation Satellite System (GNSS). In some embodiments, the IMU/GNSS combined inertial navigation positioning information may include positioning information obtained by the IMU after fusion with positioning information obtained by the GNSS.
In some embodiments, the location information of the target object may include latitude and longitude information, and the like; the speed information of the target object at least can comprise one or more of acceleration, angular speed information and the like; the attitude information of the target object may include inclination of the target object in one or more directions, and the like.
In some embodiments, the location information of the sensor may be obtained in various possible ways.
In some embodiments, one or more types of positioning information may be obtained by mounting one or more types of sensors on the target object. For example, acceleration and angular velocity information of the target object may be acquired by a motion sensor. For another example, the position information of the target object may be acquired by a position sensor.
In some embodiments, sensor positioning information may also be obtained based on IMU/GNSS combined inertial navigation positioning information. For details of obtaining the IMU/GNSS combined inertial navigation positioning information, refer to fig. 3 and the related description thereof, which are not repeated herein.
And step 220, acquiring Bluetooth spike positioning information related to the target object.
The bluetooth spike positioning information may refer to positioning-related information (e.g., position, velocity, acceleration, angular velocity, direction angle, etc.) acquired through the bluetooth spike. The bluetooth spike may be installed in an area where a target object may or may not be expected to be present. For example, bluetooth spikes may be laid on the road for target location. In some embodiments, the bluetooth spike positioning information may also be used to determine whether the target object is parked at a designated location. For example, a bluetooth spike may be disposed in or around the parking frame (e.g., above the parking frame), and it may be determined whether the vehicle is properly parked in the parking frame based on bluetooth spike positioning information acquired by the vehicle.
In some embodiments, the bluetooth spikes may include bluetooth RSSI spikes and/or bluetooth AOA spikes; accordingly, the bluetooth spike positioning information may include bluetooth RSSI spike positioning information and/or bluetooth AOA spike positioning information.
In some embodiments, a bluetooth RSSI (received signal strength indication) spike may transmit a signal all around that attenuates as distance increases. In some embodiments, when the bluetooth on the target receives the signal, the distance between the target and the bluetooth RSSI spike may be determined according to the magnitude of the signal attenuation, and the positioning information of the target (i.e., the bluetooth RSSI spike positioning information) may be determined. The bluetooth RSSI positioning information of the target object may include the distance between the target object and the bluetooth spike and/or the position information of the bluetooth spike, etc.
In some embodiments, bluetooth AOA (Angle of arrival) spikes may transmit signals all around. In some embodiments, when the target receives the signal, the relative position of the target and the bluetooth AOA spike may be directly obtained, and the positioning information of the target (i.e., the bluetooth AOA spike positioning information) may be determined. The bluetooth AOA spike positioning information of the object may include the relative position of the object and the bluetooth spike and/or the position information of the bluetooth spike, etc.
In some embodiments, bluetooth spikes may be laid down at known locations, and when an object enters the signal coverage of the bluetooth spike, a processing device in the server 130 may determine bluetooth spike positioning information based on the acquired location information of the bluetooth spike. For example, the processing device may determine location information for the object based on the distance of the object from the bluetooth RSSI spike and the location information of the bluetooth spike. For another example, the processing device may determine the location information of the object based on the relative position of the object and the bluetooth AOA spike and the position information of the bluetooth spike.
And step 230, fusing the sensor positioning information and the Bluetooth spike positioning information to obtain the corrected positioning information of the target object.
For example, the sensor location information and the bluetooth spike location information may be fused by particle filtering or UKF.
In some embodiments, extended kalman filtering may be employed to fuse the sensor positioning information with the bluetooth spike positioning information. For more details on the fusion of the sensor positioning information and the bluetooth spike positioning information, refer to fig. 4 and 5 and the related description thereof, which are not repeated herein.
In some embodiments, one or more positioning information obtained before and/or after the fusion may be used as the positioning information of the target object. For example, the fused position information may be used as the position information of the target object. For another example, the fused position information, velocity information, and posture information may be used as the positioning information of the target object. For more contents of the corrected positioning information, refer to fig. 4 and fig. 5 and the related description thereof, which are not described herein again.
Some embodiments of this description have both promoted the positioning accuracy, have also reduced the cost through the location of using sensor location information and bluetooth spike location information to carry out the location of target object.
FIG. 3 is an exemplary flow diagram illustrating acquisition of sensor positioning information according to some embodiments of the present description. As shown in fig. 3, the flow 300 may include one or more of the following steps. In some embodiments, one or more steps in flow 300 may be performed by server 130 in fig. 1.
And step 310, acquiring acceleration and angular velocity information acquired by the IMU of the target object.
In some embodiments, the processing device in the server 130 may obtain the acceleration and angular velocity information collected by the IMU in various possible ways, including but not limited to using the network 140 shown in fig. 1.
In step 320, GNSS acquired position information of the target object is obtained.
In some embodiments, the processing device in the server 130 may obtain the GNSS acquired location information in various possible ways, including but not limited to using the network 140 shown in FIG. 1.
And 330, fusing the acceleration and angular velocity information acquired by the IMU and the position information acquired by the GNSS by adopting extended Kalman filtering to acquire the positioning information of the sensor.
In some embodiments, the acquired acceleration, angular velocity and position information may be input into an extended kalman filter, and the extended kalman filter outputs a three-dimensional position, a three-dimensional velocity and a three-dimensional attitude of the target object, where the three-dimensional position may include position components in three directions, namely a north direction, an east direction and a vertical direction; the three-dimensional velocity can comprise velocity components in three directions, namely a north direction, an east direction and a vertical direction; the three-dimensional attitude may include roll angle, pitch angle, and heading angle.
In some embodiments, the information obtained after the fusion may be used as sensor positioning information. For example, the sensor positioning information may include a three-dimensional position, a three-dimensional velocity, and a three-dimensional pose of the target object.
In some embodiments, the information obtained after the fusion may be processed to obtain sensor positioning information. For example, the positioning information of the object in a later period of time is predicted based on the three-dimensional position and the three-dimensional velocity of the object. For another example, whether the target object falls over may be determined based on the roll angle of the target object; judging whether the target object is on an uphill and downhill road section based on the pitch angle; and judging the road section with which the target object is oriented based on the heading angle.
Some embodiments of the present description obtain sensor positioning information by fusing information acquired by the IMU and the GNSS, and improve accuracy of positioning information of a target object obtained by the sensor.
Fig. 4 is another exemplary flow chart of a positioning method according to some embodiments of the present description. As shown in fig. 4, the flow 400 may include one or more of the following steps. In some embodiments, one or more steps in flow 400 may be performed by server 130 in fig. 1.
And step 410, obtaining IMU/GNSS combined inertial navigation positioning information. For specific contents of the IMU/GNSS combined inertial navigation positioning information, refer to fig. 2 and fig. 3 and the related description thereof, which are not described herein again.
And 430, correcting the position information of the target object based on the Bluetooth RSSI spike positioning information and the IMU/GNSS combined inertial navigation positioning information of the target object to obtain the corrected positioning information of the target object.
In some embodiments, the bluetooth RSSI spike positioning information may be fused with the IMU/GNSS combined inertial navigation positioning information to correct the position information of the target object to obtain corrected positioning information of the target object. In some embodiments, the bluetooth RSSI spike positioning information may be fused with the IMU/GNSS combined inertial navigation positioning information by extended kalman filtering.
In some embodiments, the accuracy of the speed information and/or attitude information in the bluetooth RSSI spike positioning information may not be high enough, so that only the position information in the bluetooth RSSI spike positioning information may be utilized in the fusion process. Or alternatively, in the fusion process, the position information, the speed information and the attitude information in the positioning information of the Bluetooth RSSI spike are simultaneously utilized, and then the speed information and/or the attitude information in the fused positioning information are replaced by the speed information and/or the attitude information in the IMU/GNSS combined inertial navigation positioning information. For example, the original position information obtained from the bluetooth RSSI spike positioning information and the original position information, the original speed information, and the original attitude information obtained from the IMU/GNSS combined inertial navigation positioning information may be fused to obtain the corrected position information, the corrected speed information, and the corrected attitude information.
In some embodiments, to improve the accuracy of the bluetooth RSSI spike positioning information, the bluetooth RSSI spike positioning information may be position compensated. In some embodiments, position compensation may be performed prior to fusing the bluetooth RSSI spike positioning information with the IMU/GNSS combined inertial navigation positioning information.
In some embodiments, the bluetooth RSSI spike positioning information may be position compensated using characteristic information of the area where the target is parked and/or road information around the area.
The characteristic information may refer to information about a region where an object is parked (e.g., a region size, a region orientation, a region shape, a surrounding environment of the region, a type of the region, a position of the region, height information of the region, a relative position of the region to a bluetooth spike, historical parking conditions of the region, types of objects where the region can be parked, a time when the region is open, parking rules of the region, etc.). The characteristic information may be used to compensate for bluetooth RSSI spike positioning information. For example, the region where the target object is parked may be a parking frame, and the orientation information of the parking frame may be regarded as the feature information.
The road information may refer to information about roads around the area where the object is parked (e.g., a road name, a road direction, a relative positional relationship between the road and the area, a height difference between the road and the area, a type of the road, area information of the road, environmental information of the road, a width of the road, start and stop positions of the road, etc.). The road information may be used to compensate for bluetooth RSSI spike positioning information. For example, the region where the target object is parked may be a parking frame, and which side of the parking frame the road is located may be regarded as the road information.
In some embodiments, the bluetooth RSS I spike positioning information may be position compensated based on the orientation of the area in which the target is parked. In the diagram 700, as shown in fig. 7a, the position information in the bluetooth RSSI spike positioning information may be a circle 710 shown in dashed lines in fig. 7a (i.e., any point above the circle is likely to be the position of the target object). To improve the accuracy of the bluetooth RSS I spike positioning information, it can be compensated. The parking area of the target object is a parking frame 720, a direction (for example, a forward direction and a reverse direction, and the upward driving direction in the figure can be taken as a forward direction) can be formulated for the parking frame, and when the driving direction of the target object is identified to be consistent with the forward direction, the position B can be taken as compensated bluetooth RSSI spike positioning information; when the driving direction of the target object is identified to be the reverse direction, the position A can be used as the compensated Bluetooth RSSI spike positioning information.
In some embodiments, position compensation may be based on road information around the area where the target is parked. In the diagram 700, as shown in fig. 7b, when the road is located at the right side of the parking frame (i.e. the parking frame is located at the left side of the road), the bluetooth RSSI spike positioning information (position C) located at that side of the road may be used as the bluetooth RSSI spike positioning information compensated for the object passing through the parking frame.
In some embodiments, the determination of whether compensation is needed may be based on the confidence level of the bluetooth spike positioning information. For example, the reliability of the positioning information may be determined based on the strength of the bluetooth signal sent by the bluetooth spike received by the target object, and when the reliability is lower than a preset threshold, the position compensation may be performed.
In some embodiments, compensation may also be made based on the distance of the bluetooth spike positioning information from the target object. The closer the distance to the Bluetooth spike, the higher the reliability of the acquired Bluetooth spike positioning information. For example, the distance between the bluetooth spike positioning information and the target object can be obtained based on the intensity of the bluetooth signal emitted by the bluetooth spike received by the target object, and the position of the target object on the circular rings (e.g., 730 and 740) can be adjusted based on the distance. For example, the positioning information of the target object obtained in the distance range shown by the ring 730 is point D, the positioning information of the target object obtained in the distance range shown by the ring 740 is point F, and since the distance from the ring 740 to the bluetooth spike is greater than the distance from the ring 730 to the bluetooth spike, the reliability of the positioning information of the bluetooth spike of the target object at point D is greater than that of the positioning information of the bluetooth spike of point F, so that, when performing position compensation on point D and point F, the point D can be compensated to point E closer to point D (the position of point D can also be directly used as the positioning information of the target object); when the position compensation is performed on the point F, the distance between the point F and the Bluetooth spike is farther, and the reliability of the target object at the point F is low, so that the point F can be compensated to the point G.
Some embodiments of this specification can further improve the positioning accuracy by compensating the acquired bluetooth RSSI spike positioning information.
In some embodiments, to improve the accuracy of the bluetooth RSSI spike positioning information, the bluetooth RSSI spike positioning information may be position compensated. In some embodiments, the position compensation may be performed in a process of fusing bluetooth RSSI spike positioning information with IMU/GNSS combined inertial navigation positioning information. In some embodiments, the bluetooth RSSI spike positioning information, the IMU/GNSS combined inertial navigation positioning information, and the feature information of the region where the target is parked and/or the road information around the region may be fused to correct the position information of the target to obtain corrected positioning information of the target.
For example, the original position information, the original speed information, and the original attitude information obtained from the bluetooth RSSI spike positioning information and the IMU/GNSS combined inertial navigation positioning information may be fused with the feature information of the region where the target is parked and/or the road information around the region by extended kalman filtering to obtain the corrected position information, speed information, and attitude information.
In some embodiments, the corrected position information obtained by the fusion may be used as the position information of the target object, and the corrected position information, the original velocity information and the original attitude information in the IMU/GNSS combined inertial navigation positioning information may be used as the velocity information and the attitude information of the corrected target object.
Fig. 5 is another exemplary flow chart of a positioning method according to some embodiments of the present description. As shown in fig. 5, the flow 500 may include one or more of the following steps. In some embodiments, one or more steps in flow 500 may be performed by server 130 in fig. 1.
And step 510, obtaining IMU/GNSS combined inertial navigation positioning information. For specific contents of the IMU/GNSS combined inertial navigation positioning information, refer to fig. 2 and fig. 3 and the related description thereof, which are not described herein again.
And step 520, acquiring the positioning information of the Bluetooth AOA spike. For more details on the bluetooth AOA spike positioning information, refer to fig. 2 and the related description thereof, which are not repeated herein.
And step 530, fusing the Bluetooth AOA spike positioning information and the IMU/GNSS combined inertial navigation positioning information to correct the position information, the speed information and the attitude information of the target object to obtain corrected positioning information of the target object.
In some embodiments, the bluetooth AOA spike positioning information may be fused with IMU/GNSS combined inertial navigation positioning information via extended kalman filtering. For example, the original position information obtained from the bluetooth AOA spike positioning information and the original position information, the original velocity information, and the original attitude information obtained from the IMU/GNSS combined inertial navigation positioning information may be fused to obtain the corrected position information, the corrected velocity information, and the corrected attitude information.
In some embodiments, the corrected position information, the corrected velocity information, and the corrected posture information may be used as the positioning information (e.g., the position information, the velocity information, and the posture information) of the target object.
FIG. 6 is an exemplary block diagram of a positioning system in accordance with some embodiments of the present description. As shown in fig. 6, the system 600 may include one or more of the following modules. In some embodiments, one or more of the modules in system 600 may be located in server 130 in FIG. 1.
The sensor positioning information acquiring module 610 is configured to acquire sensor positioning information of a target object. For specific content of the sensor positioning information, refer to fig. 2 and fig. 3 and the related description thereof, which are not repeated herein.
And a bluetooth spike positioning information obtaining module 620, configured to obtain bluetooth spike positioning information related to the target object. For more details on the bluetooth spike positioning information, refer to fig. 2 and the related description thereof, which are not repeated herein.
And the fusion module 630 is configured to fuse the sensor positioning information and the bluetooth spike positioning information to obtain the corrected positioning information of the target object. For the sensor positioning information, the bluetooth spike positioning information, the method for fusing the sensor positioning information and the bluetooth spike positioning information and the correction positioning information, refer to fig. 2, fig. 4 and fig. 5 and the related description thereof, which are not repeated herein.
The embodiment of the specification also provides a computer readable storage medium. The storage medium stores computer instructions, and after the computer reads the computer instructions in the storage medium, the computer realizes the positioning method.
The beneficial effects that may be brought by the embodiments of the present description may include, but are not limited to: (1) the target object is positioned through the sensor positioning information and the Bluetooth spike positioning information, so that the positioning accuracy is improved, and the cost is reduced; (2) the positioning information of the sensor is obtained by fusing the information related to the position, which is obtained by the IMU and the GNSS, so that the precision of the positioning information of the target object, which is obtained by the sensor, can be improved; (3) only the position information of the target object is corrected by using the Bluetooth RSSI spike positioning information, so that the corrected positioning information of the target object is more accurate; (4) by compensating the Bluetooth RSSI spike positioning information, the accuracy of the obtained RSSI Bluetooth spike positioning information can be improved, so that the compensated Bluetooth RSSI spike positioning information is closer to the real position of a target object; (5) because the accuracy of the positioning information obtained by the Bluetooth AOA spike is high, the more accurate positioning information of the target object can be obtained by correcting the position information, the speed information and the attitude information of the target object through the Bluetooth AOA spike positioning information.
Having thus described the basic concept, it will be apparent to those skilled in the art that the foregoing detailed disclosure is to be regarded as illustrative only and not as limiting the present specification. Various modifications, improvements and adaptations to the present description may occur to those skilled in the art, although not explicitly described herein. Such modifications, improvements and adaptations are proposed in the present specification and thus fall within the spirit and scope of the exemplary embodiments of the present specification.
Also, the description uses specific words to describe embodiments of the description. Reference throughout this specification to "one embodiment," "an embodiment," and/or "some embodiments" means that a particular feature, structure, or characteristic described in connection with at least one embodiment of the specification is included. Therefore, it is emphasized and should be appreciated that two or more references to "an embodiment" or "one embodiment" or "an alternative embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, some features, structures, or characteristics of one or more embodiments of the specification may be combined as appropriate.
Additionally, the order in which the elements and sequences of the process are recited in the specification, the use of alphanumeric characters, or other designations, is not intended to limit the order in which the processes and methods of the specification occur, unless otherwise specified in the claims. While various presently contemplated embodiments of the invention have been discussed in the foregoing disclosure by way of example, it is to be understood that such detail is solely for that purpose and that the appended claims are not limited to the disclosed embodiments, but, on the contrary, are intended to cover all modifications and equivalent arrangements that are within the spirit and scope of the embodiments herein. For example, although the system components described above may be implemented by hardware devices, they may also be implemented by software-only solutions, such as installing the described system on an existing server or mobile device.
Similarly, it should be noted that in the preceding description of embodiments of the present specification, various features are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure aiding in the understanding of one or more of the embodiments. This method of disclosure, however, is not intended to imply that more features than are expressly recited in a claim. Indeed, the embodiments may be characterized as having less than all of the features of a single embodiment disclosed above.
Numerals describing the number of components, attributes, etc. are used in some embodiments, it being understood that such numerals used in the description of the embodiments are modified in some instances by the use of the modifier "about", "approximately" or "substantially". Unless otherwise indicated, "about", "approximately" or "substantially" indicates that the number allows
A change of ± 20%. Accordingly, in some embodiments, the numerical parameters used in the specification and claims are approximations that may vary depending upon the desired properties of the individual embodiments. In some embodiments, the numerical parameter should take into account the specified significant digits and employ a general digit preserving approach. Notwithstanding that the numerical ranges and parameters setting forth the broad scope of the range are approximations, in the specific examples, such numerical values are set forth as precisely as possible within the scope of the application.
For each patent, patent application publication, and other material, such as articles, books, specifications, publications, documents, etc., cited in this specification, the entire contents of each are hereby incorporated by reference into this specification. Except where the application history document does not conform to or conflict with the contents of the present specification, it is to be understood that the application history document, as used herein in the present specification or appended claims, is intended to define the broadest scope of the present specification (whether presently or later in the specification) rather than the broadest scope of the present specification. It is to be understood that the descriptions, definitions and/or uses of terms in the accompanying materials of this specification shall control if they are inconsistent or contrary to the descriptions and/or uses of terms in this specification.
Finally, it should be understood that the embodiments described herein are merely illustrative of the principles of the embodiments of the present disclosure. Other variations are also possible within the scope of the present description. Thus, by way of example, and not limitation, alternative configurations of the embodiments of the specification can be considered consistent with the teachings of the specification. Accordingly, the embodiments of the present description are not limited to only those embodiments explicitly described and depicted herein.
Claims (11)
1. A method of positioning, comprising:
acquiring sensor positioning information of a target object;
acquiring Bluetooth spike positioning information related to the target object;
and fusing the sensor positioning information and the Bluetooth spike positioning information to obtain corrected positioning information of the target object.
2. The positioning method of claim 1, wherein the sensor positioning information comprises IMU/GNSS combined inertial navigation positioning information, wherein the IMU/GNSS combined inertial navigation positioning information comprises position information, velocity information, and/or attitude information of the target object.
3. The method according to claim 2, wherein the acquiring sensor positioning information of the target object comprises:
and adopting extended Kalman filtering to fuse the acceleration and angular speed information acquired by the IMU of the target object and the position information acquired by the GNSS of the target object so as to acquire the positioning information of the sensor.
4. The method of claim 2, wherein the Bluetooth spike positioning information comprises Bluetooth RSSI spike positioning information or Bluetooth AOA spike positioning information.
5. The positioning method according to claim 4, wherein the fusing the sensor positioning information and the bluetooth spike positioning information to obtain the corrected positioning information of the target object comprises:
and fusing the Bluetooth RSSI spike positioning information and the IMU/GNSS combined inertial navigation positioning information to correct the position information of the target object and obtain the corrected positioning information of the target object.
6. The method according to claim 5, wherein the fusing the sensor positioning information and the bluetooth spike positioning information to obtain the corrected positioning information of the target object further comprises:
and performing position compensation on the Bluetooth RSSI spike positioning information by utilizing the characteristic information of the area where the target object is parked and/or the road information around the area.
7. The positioning method according to claim 4, wherein the fusing the sensor positioning information and the bluetooth spike positioning information to obtain the corrected positioning information of the target object comprises:
and fusing the Bluetooth RSSI spike positioning information, the IMU/GNSS combined inertial navigation positioning information and the characteristic information of the region where the target object is parked and/or the road information around the region to correct the position information of the target object to obtain the corrected positioning information of the target object.
8. The positioning method according to claim 4, wherein the fusing the sensor positioning information and the bluetooth spike positioning information to obtain the corrected positioning information of the target object comprises:
and fusing the Bluetooth AOA spike positioning information and the IMU/GNSS combined inertial navigation positioning information to correct the position information, the speed information and the attitude information of the target object to obtain the corrected positioning information of the target object.
9. The method according to claim 1, wherein the fusing the sensor positioning information with the bluetooth spike positioning information comprises:
and adopting extended Kalman filtering to fuse the sensor positioning information and the Bluetooth spike positioning information.
10. A positioning system, comprising:
the sensor positioning information acquisition module is used for acquiring sensor positioning information of a target object;
the Bluetooth spike positioning information acquisition module is used for acquiring Bluetooth spike positioning information related to the target object;
and the fusion module is used for fusing the sensor positioning information and the Bluetooth spike positioning information to obtain the corrected positioning information of the target object.
11. A computer-readable storage medium, wherein the storage medium stores computer instructions which, when executed by a processor, implement the method of any one of claims 1 to 9.
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