CN114812563A - Positioning compensation method and device, electronic equipment and storage medium - Google Patents

Positioning compensation method and device, electronic equipment and storage medium Download PDF

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Publication number
CN114812563A
CN114812563A CN202210493687.1A CN202210493687A CN114812563A CN 114812563 A CN114812563 A CN 114812563A CN 202210493687 A CN202210493687 A CN 202210493687A CN 114812563 A CN114812563 A CN 114812563A
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time
positioning
speed
target
positioning information
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唐兵
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Fafa Automobile China Co ltd
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Fafa Automobile China Co ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
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Abstract

The application discloses a method and a device for positioning compensation, electronic equipment and a storage medium, belongs to the technical field of communication, and is used for improving the accuracy of vehicle positioning information. The method comprises the following steps: acquiring target positioning information and first time of a target vehicle through a positioning module; acquiring a first speed of the target vehicle corresponding to the first time; determining a second time and a second speed of the target vehicle corresponding to the second time, wherein the second time comprises a time when the target positioning information is received by the positioning application module; and performing delay compensation on the target positioning information according to the first time, the first speed, the second time and the second speed to obtain corrected positioning information.

Description

Positioning compensation method and device, electronic equipment and storage medium
Technical Field
The present application belongs to the field of communications technologies, and in particular, to a method and an apparatus for positioning compensation, an electronic device, and a storage medium.
Background
Global positioning technology has found widespread use in the fields of consumer electronics and automotive electronics. The Positioning information is provided by a Positioning module, such as a Global Positioning System (GPS) receiver, and the Positioning information is transmitted from the Positioning module to a Positioning application module, such as an application processor of a mobile phone, an automatic driving controller of a vehicle, etc., which may cause a time delay, resulting in an increased Positioning error and a decreased Positioning accuracy.
Disclosure of Invention
The embodiment of the application provides a method and a device for positioning compensation, an electronic device and a storage medium, which can compensate time delay errors caused by transmission of positioning information between a positioning module and a positioning application module, and improve the accuracy of vehicle positioning information.
In a first aspect, an embodiment of the present application provides a method for positioning compensation, including: acquiring target positioning information and first time of a target vehicle through a positioning module; acquiring a first speed of the target vehicle corresponding to the first time; determining a second time and a second speed of the target vehicle corresponding to the second time, wherein the second time comprises a time when the target positioning information is received by the positioning application module; and performing delay compensation on the target positioning information according to the first time, the first speed, the second time and the second speed to obtain corrected positioning information.
In a second aspect, an embodiment of the present application provides an apparatus for positioning compensation, including: the positioning module is used for acquiring target positioning information and first time of a target vehicle; the positioning module is further configured to obtain a first speed of the target vehicle corresponding to the first time; the positioning application module is used for determining second time and second speed of the target vehicle corresponding to the second time, wherein the second time comprises time when the target positioning information sent by the positioning module is received; and the correction module is used for carrying out delay compensation on the target positioning information according to the first time, the first speed, the second time and the second speed to obtain corrected positioning information.
In a third aspect, an embodiment of the present application provides an electronic device, which includes a processor, a memory, and a program or instructions stored on the memory and executable on the processor, where the program or instructions, when executed by the processor, implement the steps of the method for positioning compensation according to the first aspect.
In a fourth aspect, the present application provides a readable storage medium, on which a program or instructions are stored, which when executed by a processor implement the steps of the method for position compensation according to the first aspect.
In a fifth aspect, an embodiment of the present application provides a chip, where the chip includes a processor and a communication interface, where the communication interface is coupled to the processor, and the processor is configured to execute a program or instructions to implement the positioning compensation method according to the first aspect.
In the embodiment of the application, target positioning information and first time of a target vehicle are obtained through a positioning module; acquiring a first speed of the target vehicle corresponding to the first time; determining a second time and a second speed of the target vehicle corresponding to the second time, wherein the second time comprises a time when the target positioning information is received by the positioning application module; according to the first time, the first speed, the second time and the second speed, delay compensation is carried out on the target positioning information to obtain corrected positioning information, delay errors caused by transmission of the positioning information between a positioning module and a positioning application module can be compensated, and accuracy of vehicle positioning information is improved.
Drawings
Fig. 1 is a schematic flowchart of a method for positioning compensation according to an embodiment of the present application;
FIG. 2 is a schematic structural diagram of an apparatus for position compensation according to an embodiment of the present disclosure;
fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The terms first, second and the like in the description and in the claims of the present application are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that embodiments of the application are capable of operation in sequences other than those illustrated or described herein, and that the terms "first," "second," etc. are generally used in a generic sense and do not limit the number of terms, e.g., a first term can be one or more than one. In addition, "and/or" in the specification and claims means at least one of connected objects, a character "/" generally means that a preceding and succeeding related objects are in an "or" relationship.
A method, an apparatus, an electronic device, and a storage medium for positioning compensation according to embodiments of the present application are described in detail below with reference to the accompanying drawings.
Fig. 1 illustrates a method of positioning compensation provided by an embodiment of the present application, which may be performed by an electronic device. The electronic device may include: a server and/or a terminal device. In other words, the method may be performed by software or hardware installed in the electronic device, the method comprising the steps of:
s101: and acquiring target positioning information and first time of the target vehicle through the positioning module.
Positioning is one of the most basic links in automatic driving, and aims to clarify the absolute position of a vehicle relative to the whole world or the relative position of a vehicle relative to a traffic participant, and the accuracy of the positioning directly influences the safety of an automatic driving system. In the step, target positioning information of the target vehicle and a timestamp corresponding to the positioning information are obtained through the positioning module, and basic data are provided for scenes such as automatic driving.
In one implementation, the means for obtaining the target positioning information of the target vehicle through the positioning module includes at least one of a global satellite navigation system GNSS positioning, a real-time kinematic RTK carrier phase differential positioning, and an inertial measurement unit IMU positioning.
The Global Navigation Satellite System (GNSS) mainly includes three parts, namely a space Satellite group, a ground control station and a user side. The GNSS positioning method and the GNSS positioning system utilize the Time of Flight (TOF) principle to perform positioning, the GNSS positioning technology is developed more mature at present, and the positioning accuracy is generally in a meter level (about 10 meters). The Real-time Kinematic (RTK) carrier-phase differential positioning technology relies on the observation data of the reference base station, the positioning accuracy can reach 1cm to 2cm, but the accuracy is gradually reduced due to the increase of the distance from the reference base station, the base station switching delay exists, and the RTK cost is high. An Inertial Measurement Unit (IMU) generally consists of a gyroscope, an accelerator and an algorithm processing Unit, and a multi-axis combination of a precision gyroscope, an accelerometer, a magnetometer and a pressure sensor is intelligently fused, so that an autologous motion track is obtained by measuring acceleration and a rotation angle, the precision IMU can provide a required precision level even in a complex working environment and a dynamic or extreme motion dynamic state, and has a very important application value in navigation, and meanwhile, the IMU is mainly characterized by high-frequency updating, and the updating speed reaches 1000 hz, so that the position provided by the IMU is almost real-time position information.
According to the different positioning methods, the acquired positioning information may be, for example, an absolute position with respect to the global, or a relative position with respect to one of the reference objects, depending on the difference. The form of the positioning information includes three-dimensional coordinate values, which is not particularly limited herein.
S102: and acquiring a first speed of the target vehicle corresponding to the first time.
In one implementation, step S102 includes: acquiring the first speed through an IMU module; and/or reading the first speed through a Controller Area Network (CAN) interface.
Obtaining the current vehicle speed is also an important step in autonomous driving. This step obtains a first speed of the target vehicle corresponding to the first time.
S103: determining a second time and a second speed of the target vehicle corresponding to the second time.
Wherein the second time comprises a time when the target positioning information is received by the positioning application module.
In this step, the time when the positioning application module receives the target positioning information sent by the positioning module and the second speed of the target vehicle at the time are obtained.
In one implementation, the third speed of the target vehicle includes a speed and a direction, wherein the third speed includes the first speed and the second speed.
S104: and performing delay compensation on the target positioning information according to the first time, the first speed, the second time and the second speed to obtain corrected positioning information.
According to the method and the device, the problem that time delay exists when the positioning module transmits the acquired positioning information to the positioning application module is considered, the positioning information received by the positioning application module is subjected to time delay compensation, corrected positioning information is obtained, and the accuracy of vehicle positioning can be improved.
According to the positioning compensation method provided by the embodiment of the application, target positioning information and first time of a target vehicle are obtained through a positioning module; acquiring a first speed of the target vehicle corresponding to the first time; determining a second time and a second speed of the target vehicle corresponding to the second time, wherein the second time comprises a time when the target positioning information is received by the positioning application module; according to the first time, the first speed, the second time and the second speed, delay compensation is carried out on the target positioning information to obtain corrected positioning information, delay errors caused by transmission of the positioning information between a positioning module and a positioning application module can be compensated, and accuracy of vehicle positioning information is improved.
In one implementation, the step S104 includes: performing delay compensation on the target positioning information according to the following formula to obtain the corrected positioning information:
Figure BDA0003632840740000051
wherein, P 0 (x 0 ,y 0 ,z 0 ) For the object location information, P 1 (x 1 ,y 1 ,z 1 ) In order to correct the positioning information in question,
Figure BDA0003632840740000052
and
Figure BDA0003632840740000053
respectively said first speed and said second speed, t 0 And t 1 The first time and the second time are respectively.
In one implementation, before the step S103, the method for positioning compensation further includes: and transmitting the target positioning information to the positioning application module through a network device, wherein the network device comprises at least one of a transceiver, a repeater, a hub, a switch, a bridge and a router.
In one implementation, before the step S101, the method for positioning compensation further includes: and performing time synchronization on the positioning module, the positioning application module and the network equipment.
Specifically, for example, the positioning system includes a positioning module and a positioning application module, which may be connected via an ethernet, and the connection link may include a plurality of ethernet switching devices to form a local area network, and synchronize the time of each node in the local area network.
It should be noted that, according to the method for positioning compensation provided in the embodiment of the present application, the execution subject may be a device for positioning compensation, or a control module in the device for positioning compensation for executing the method for positioning compensation. In the embodiments of the present application, a method for performing positioning compensation by a positioning compensation device is taken as an example, and the positioning compensation device provided in the embodiments of the present application is described.
Fig. 2 shows a schematic structural diagram of a positioning compensation apparatus according to an embodiment of the present application. As shown in fig. 2, the positioning compensation apparatus 200 includes: a positioning module 210 for obtaining target positioning information and a first time of a target vehicle; the positioning module 210 is further configured to obtain a first speed of the target vehicle corresponding to the first time; a positioning application module 220, configured to determine a second time and a second speed of the target vehicle corresponding to the second time, where the second time includes a time when the target positioning information sent by the positioning module is received; and a correcting module 230, configured to perform delay compensation on the target positioning information according to the first time, the first speed, the second time, and the second speed, so as to obtain corrected positioning information.
In one implementation, the modification module 230 is configured to:
performing delay compensation on the target positioning information according to the following formula to obtain the corrected positioning information:
Figure BDA0003632840740000061
wherein, P 0 (x 0 ,y 0 ,z 0 ) For the object location information, P 1 (x 1 ,y 1 ,z 1 ) In order to correct the positioning information in question,
Figure BDA0003632840740000062
and
Figure BDA0003632840740000063
respectively said first speed and said second speed, t 0 And t 1 The first time and the second time are respectively.
In one implementation, the means for obtaining the target positioning information of the target vehicle through the positioning module includes at least one of a global satellite navigation system GNSS positioning, a real-time kinematic RTK carrier phase differential positioning, and an inertial measurement unit IMU positioning.
In one implementation, the positioning compensation apparatus 200 further includes: a sending module, configured to transmit the target location information to the location application module through a network device before the second time and the second speed of the target vehicle corresponding to the second time are determined, where the network device includes at least one of a transceiver, a repeater, a hub, a switch, a bridge, and a router; and the synchronization module is used for carrying out time synchronization on the positioning module, the positioning application module and the network equipment before the target positioning information of the target vehicle is acquired by the positioning module.
In one implementation, the positioning module 210 is further configured to: acquiring the first speed through an IMU module; and/or reading the first speed through a Controller Area Network (CAN) interface.
In one implementation, the third speed of the target vehicle includes a speed and a direction, wherein the third speed includes the first speed and the second speed.
The positioning compensation device in the embodiment of the present application may be a device, or may be a component, an integrated circuit, or a chip in a terminal. The device can be mobile electronic equipment or non-mobile electronic equipment. By way of example, the mobile electronic device may be a mobile phone, a tablet computer, a notebook computer, a palm top computer, a vehicle-mounted electronic device, a wearable device, an ultra-mobile personal computer (UMPC), a netbook or a Personal Digital Assistant (PDA), and the like, and the non-mobile electronic device may be a server, a Network Attached Storage (NAS), a Personal Computer (PC), a Television (TV), a teller machine or a self-service machine, and the like, and the embodiments of the present application are not particularly limited.
The positioning compensation device in the embodiment of the present application may be a device having an operating system. The operating system may be an Android (Android) operating system, an ios operating system, or other possible operating systems, and embodiments of the present application are not limited specifically.
The positioning compensation device provided in the embodiment of the present application can implement each process implemented in the positioning compensation method embodiment of fig. 1, and is not described here again to avoid repetition.
Optionally, as shown in fig. 3, an electronic device 300 according to an embodiment of the present application further includes a processor 301, a memory 302, and a program or an instruction stored in the memory 302 and executable on the processor 301, where the program or the instruction when executed by the processor 301 implements: acquiring target positioning information and first time of a target vehicle through a positioning module; acquiring a first speed of the target vehicle corresponding to the first time; determining a second time and a second speed of the target vehicle corresponding to the second time, wherein the second time comprises a time when the target positioning information is received by the positioning application module; and performing delay compensation on the target positioning information according to the first time, the first speed, the second time and the second speed to obtain corrected positioning information.
In one implementation, the above programs or instructions when executed by the processor 301 implement: performing delay compensation on the target positioning information according to the following formula to obtain the corrected positioning information:
Figure BDA0003632840740000081
wherein, P 0 (x 0 ,y 0 ,z 0 ) For the object location information, P 1 (x 1 ,y 1 ,z 1 ) In order to correct the positioning information in question,
Figure BDA0003632840740000082
and
Figure BDA0003632840740000083
respectively said first speed and said second speed, t 0 And t 1 The first time and the second time are respectively.
In one implementation, the above programs or instructions when executed by the processor 301 implement: and transmitting the target positioning information to the positioning application module through a network device, wherein the network device comprises at least one of a transceiver, a repeater, a hub, a switch, a bridge and a router.
In one implementation, the above programs or instructions when executed by the processor 301 implement: and performing time synchronization on the positioning module, the positioning application module and the network equipment.
In one implementation, the above programs or instructions when executed by the processor 301 implement: acquiring the first speed through an IMU module; and/or reading the first speed through a Controller Area Network (CAN) interface.
In one implementation, the means for obtaining the target positioning information of the target vehicle through the positioning module includes at least one of a global satellite navigation system GNSS positioning, a real-time kinematic RTK carrier phase differential positioning, and an inertial measurement unit IMU positioning.
In one implementation, the third speed of the target vehicle includes a speed and a direction, wherein the third speed includes the first speed and the second speed.
The specific execution steps can refer to the steps in the embodiment of the positioning compensation method in fig. 1, and the same technical effect can be achieved, and for avoiding repetition, the detailed description is omitted here.
It should be noted that the electronic device in the embodiment of the present application includes: a server, a terminal device, or other device besides a terminal device.
The above electronic device structure does not constitute a limitation of the electronic device, the electronic device may include more or less components than those shown, or some components may be combined, or different component arrangements, for example, the input Unit may include a Graphics Processing Unit (GPU) and a microphone, and the display Unit may configure the display panel in the form of a liquid crystal display, an organic light emitting diode, or the like. The user input unit includes at least one of a touch panel and other input devices. The touch panel is also referred to as a touch screen. Other input devices may include, but are not limited to, a physical keyboard, function keys (e.g., volume control keys, switch keys, etc.), a trackball, a mouse, and a joystick, which are not described in detail herein.
The memory may be used to store software programs as well as various data. The memory may mainly include a first storage area storing a program or an instruction and a second storage area storing data, wherein the first storage area may store an operating system, an application program or an instruction (such as a sound playing function, an image playing function, etc.) required for at least one function, and the like. Further, the memory may include volatile memory or nonvolatile memory, or the memory may include both volatile and nonvolatile memory. The non-volatile memory may be a Read-only memory (ROM), a programmable Read-only memory (PROM), an erasable programmable Read-only memory (erasabprom, EPROM), an electrically erasable programmable Read-only memory (EEPROM), or a flash memory. The volatile Memory may be a Random Access Memory (RAM), a Static Random Access Memory (Static RAM, SRAM), a Dynamic Random Access Memory (Dynamic RAM, DRAM), a Synchronous Dynamic Random Access Memory (Synchronous DRAM, SDRAM), a Double Data Rate Synchronous Dynamic Random Access Memory (Double Data Rate SDRAM, ddr SDRAM), an Enhanced Synchronous SDRAM (ESDRAM), a Synchronous Link DRAM (SLDRAM), and a Direct bus RAM (DRRAM).
A processor may include one or more processing units; optionally, the processor integrates an application processor, which mainly handles operations related to the operating system, user interface, application programs, etc., and a modem processor, which mainly handles wireless communication signals, such as a baseband processor. It will be appreciated that the modem processor described above may not be integrated into the processor.
The embodiment of the present application further provides a readable storage medium, where a program or an instruction is stored on the readable storage medium, and when the program or the instruction is executed by a processor, the program or the instruction implements each process of the embodiment of the positioning compensation method, and can achieve the same technical effect, and in order to avoid repetition, details are not repeated here.
The processor is the processor in the electronic device described in the above embodiment. The readable storage medium includes a computer readable storage medium, such as a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and so on.
The embodiment of the present application further provides a chip, where the chip includes a processor and a communication interface, the communication interface is coupled to the processor, and the processor is configured to execute a program or an instruction to implement each process of the above-mentioned embodiment of the positioning compensation method, and can achieve the same technical effect, and is not described here again to avoid repetition.
It should be understood that the chips mentioned in the embodiments of the present application may also be referred to as system-on-chip, system-on-chip or system-on-chip, etc.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element. Further, it should be noted that the scope of the methods and apparatus of the embodiments of the present application is not limited to performing the functions in the order illustrated or discussed, but may include performing the functions in a substantially simultaneous manner or in a reverse order based on the functions involved, e.g., the methods described may be performed in an order different than that described, and various steps may be added, omitted, or combined. In addition, features described with reference to certain examples may be combined in other examples.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present application may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal (such as a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present application.
While the present embodiments have been described with reference to the accompanying drawings, it is to be understood that the invention is not limited to the precise embodiments described above, which are meant to be illustrative and not restrictive, and that various changes may be made therein by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (10)

1. A method of position compensation, the method comprising:
acquiring target positioning information and first time of a target vehicle through a positioning module;
acquiring a first speed of the target vehicle corresponding to the first time;
determining a second time and a second speed of the target vehicle corresponding to the second time, wherein the second time comprises a time when the target positioning information is received by the positioning application module;
and performing delay compensation on the target positioning information according to the first time, the first speed, the second time and the second speed to obtain corrected positioning information.
2. The method of claim 1, wherein the performing delay compensation on the target positioning information according to the first time, the first velocity, the second time and the second velocity to obtain modified positioning information comprises:
performing delay compensation on the target positioning information according to the following formula to obtain the corrected positioning information:
Figure FDA0003632840730000011
wherein, P 0 (x 0 ,y 0 ,z 0 ) For the object location information, P 1 (x 1 ,y 1 ,z 1 ) In order to correct the positioning information in question,
Figure FDA0003632840730000012
and
Figure FDA0003632840730000013
respectively said first speed and said second speed, t 0 And t 1 The first time and the second time are respectively.
3. The method of claim 1, wherein the means for obtaining target location information of the target vehicle via the positioning module comprises at least one of a global satellite navigation system (GNSS) positioning, a real-time kinematic (RTK) carrier phase differential positioning, and an Inertial Measurement Unit (IMU) positioning.
4. The method of claim 1, wherein prior to the determining a second time and a second speed of the target vehicle corresponding to the second time, the method further comprises:
transmitting the target location information to the location application module through a network device, wherein the network device comprises at least one of a transceiver, a repeater, a hub, a switch, a bridge, a router;
before the obtaining of the target location information of the target vehicle by the location module, the method further comprises:
and performing time synchronization on the positioning module, the positioning application module and the network equipment.
5. The method of claim 1, wherein said obtaining a first speed of the target vehicle corresponding to the first time comprises:
acquiring the first speed through an IMU module;
and/or the presence of a gas in the gas,
reading the first speed through a Controller Area Network (CAN) interface.
6. The method of claim 1, wherein the third speed of the target vehicle comprises a speed and a direction, wherein the third speed comprises the first speed and the second speed.
7. An apparatus for position compensation, the apparatus comprising:
the positioning module is used for acquiring target positioning information and first time of a target vehicle;
the positioning module is further configured to obtain a first speed of the target vehicle corresponding to the first time;
the positioning application module is used for determining second time and second speed of the target vehicle corresponding to the second time, wherein the second time comprises time when the target positioning information sent by the positioning module is received;
and the correction module is used for carrying out delay compensation on the target positioning information according to the first time, the first speed, the second time and the second speed to obtain corrected positioning information.
8. The apparatus of claim 7, wherein the correction module is configured to:
performing delay compensation on the target positioning information according to the following formula to obtain the corrected positioning information:
Figure FDA0003632840730000021
wherein, P 0 (x 0 ,y 0 ,z 0 ) For the object location information, P 1 (x 1 ,y 1 ,z 1 ) In order to correct the positioning information in question,
Figure FDA0003632840730000022
and
Figure FDA0003632840730000023
respectively said first speed and said second speed, t 0 And t 1 The first time and the second time are respectively.
9. An electronic device, comprising: memory, processor and computer program stored on the memory and executable on the processor, which computer program, when being executed by the processor, carries out the steps of the method of position compensation according to any of claims 1 to 6.
10. A storage medium, comprising: the storage medium has stored thereon a computer program which, when being executed by a processor, carries out the steps of the method of location compensation according to any one of claims 1 to 6.
CN202210493687.1A 2022-05-07 2022-05-07 Positioning compensation method and device, electronic equipment and storage medium Pending CN114812563A (en)

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