CN115540868A

CN115540868A - Data acquisition method and device, electronic equipment and storage medium

Info

Publication number: CN115540868A
Application number: CN202211031879.7A
Authority: CN
Inventors: 肖万
Original assignee: Guangdong Oppo Mobile Telecommunications Corp Ltd
Current assignee: Guangdong Oppo Mobile Telecommunications Corp Ltd
Priority date: 2022-08-26
Filing date: 2022-08-26
Publication date: 2022-12-30

Abstract

The application discloses a data acquisition method, a data acquisition device, electronic equipment and a storage medium, wherein the method is applied to the electronic equipment, the electronic equipment comprises a first acquisition module and a second acquisition module, the first acquisition module and the second acquisition module share the same clock, and the method comprises the following steps: acquiring first data acquired by a first acquisition module within a target time length, wherein the first data comprises sensor data for pedestrian dead reckoning and a first timestamp corresponding to the sensor data; the method comprises the steps of acquiring second data acquired by a second acquisition module in a target time length, wherein the second data comprise positioning data of electronic equipment and a second timestamp corresponding to the positioning data, the second timestamp and the first timestamp are generated based on the same clock, and the first data and the second data are used for verifying the accuracy of a preset calculation algorithm of the dead reckoning of the pedestrian. The method can improve the accuracy of the acquired data for verifying the accuracy of the pedestrian dead reckoning algorithm.

Description

Data acquisition method and device, electronic equipment and storage medium

Technical Field

The present application relates to the field of positioning technologies, and in particular, to a data acquisition method and apparatus, an electronic device, and a storage medium.

Background

Pedestrian Dead Reckoning (PDR) is to determine the current state of a Pedestrian by using sensor data such as acceleration and a gyroscope collected in the moving process of the Pedestrian, and calculate the step length and the course of each step when the Pedestrian moves, so as to determine the current position coordinate of the Pedestrian. In the related art, when the pedestrian dead reckoning is applied, the accuracy of the algorithm is verified, but when the accuracy of the algorithm of the pedestrian dead reckoning is verified, the accuracy of the obtained verification data is usually insufficient.

Disclosure of Invention

The application provides a data acquisition method, a data acquisition device, an electronic device and a storage medium, which can improve the accuracy of acquired data for verifying the accuracy of a pedestrian dead reckoning algorithm.

In a first aspect, an embodiment of the present application provides a data acquisition method, which is applied to an electronic device, where the electronic device includes a first acquisition module and a second acquisition module, and the first acquisition module and the second acquisition module share a same clock, and the method includes: acquiring first data acquired by the first acquisition module within a target time length, wherein the first data comprises sensor data used for pedestrian dead reckoning and a first timestamp corresponding to the sensor data; and acquiring second data acquired by the second acquisition module in the target duration, wherein the second data comprises positioning data of the electronic equipment and a second timestamp corresponding to the positioning data, the second timestamp and the first timestamp are generated based on the same clock, and the first data and the second data are used for verifying the accuracy of a preset dead reckoning algorithm of the pedestrian dead reckoning.

In a second aspect, an embodiment of the present application provides a data acquisition apparatus, which is applied to an electronic device, where the electronic device includes a first acquisition module and a second acquisition module, and the first acquisition module and the second acquisition module share a same clock, and the apparatus includes: the system comprises a first acquisition module and a second acquisition module, wherein the first acquisition module is used for acquiring first data acquired by the first acquisition module within a target time length, and the first data comprises sensor data used for pedestrian dead reckoning and a first timestamp corresponding to the sensor data; the second acquisition module is used for acquiring second data acquired by the second acquisition module in the target duration, the second data comprise positioning data of the electronic equipment and a second timestamp corresponding to the positioning data, the second timestamp and the first timestamp are generated based on the same clock, and the first data and the second data are used for verifying the accuracy of a preset dead reckoning algorithm of pedestrian dead reckoning.

In a third aspect, an embodiment of the present application provides an electronic device, including: one or more processors; a memory; one or more application programs, wherein the one or more application programs are stored in the memory and configured to be executed by the one or more processors, the one or more application programs being configured to perform the data acquisition method provided in the first aspect above.

In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, where a program code is stored in the computer-readable storage medium, and the program code may be called by a processor to execute the data acquisition method provided in the first aspect.

According to the scheme, under the condition that a first acquisition module and a second acquisition module of electronic equipment share the same clock, first data acquired by the first acquisition module in a target duration are acquired, the first data comprise sensor data used for pedestrian dead reckoning and a first timestamp corresponding to the sensor data, second data acquired by the second acquisition module in the target duration are acquired, the second data comprise positioning data of the electronic equipment and a second timestamp corresponding to the positioning data, and the first timestamp and the second timestamp are generated based on the same clock so as to be used for verifying the accuracy of a preset reckoning algorithm of the pedestrian dead reckoning. When data used for verifying the algorithm precision of the pedestrian dead reckoning is collected, the sensor data used for the pedestrian dead reckoning and the collected positioning data generate timestamps based on the same clock, so that the correspondence between the sensor data and the positioning data can be accurately ensured, and the accuracy of the obtained data used for verifying the algorithm precision of the pedestrian dead reckoning is improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 shows a schematic diagram of an application environment provided by an embodiment of the present application.

FIG. 2 shows a flow diagram of a data acquisition method according to one embodiment of the present application.

FIG. 3 shows a flow diagram of a data acquisition method according to another embodiment of the present application.

Fig. 4 is a schematic diagram illustrating an application environment provided by an embodiment of the present application.

FIG. 5 shows a flow diagram of a data acquisition method according to yet another embodiment of the present application.

FIG. 6 shows a flow diagram of a data acquisition method according to yet another embodiment of the present application.

FIG. 7 shows a block diagram of a data acquisition device according to an embodiment of the present application.

Fig. 8 is a block diagram of an electronic device for executing a data acquisition method according to an embodiment of the present application.

Fig. 9 is a storage unit according to an embodiment of the present application, configured to store or carry program code for implementing a data acquisition method according to an embodiment of the present application.

Detailed Description

In order to make the technical solutions better understood by those skilled in the art, 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.

With the development of the living standard, the demand of people on navigation positioning is gradually increased and is expanded from outdoor to indoor, various navigation positioning technologies are developed for decades and are applied to outdoor navigation positioning quite well and are successfully applied to various position service software, however, satellite signals cannot be received due to shielding of buildings indoors, and the mature outdoor positioning technology cannot be applied indoors. Fortunately, various indoor positioning technologies are continuously developed, and a Pedestrian Dead Reckoning (PDR) technology is one of the technologies, and the technology judges the current state of a Pedestrian by using sensor data such as acceleration and a gyroscope collected in the moving process of the Pedestrian, and calculates the step length and the course of each step when the Pedestrian moves, so as to determine the current position coordinate of the Pedestrian.

In the related art, the accuracy of the calculation algorithm is verified before the calculation algorithm is applied, and it is necessary to acquire sensor data (for example, data of a sensor such as a gyroscope or an accelerometer) for the pedestrian dead reckoning and a positioning true value at the same time, so as to verify a position calculated (predicted) based on the sensor data by using the positioning true value, and further determine the accuracy of the calculation algorithm. However, the acquisition of the sensor data and the true positioning value is usually performed separately, and the sensor data and the true positioning value need to be time-aligned, so that errors caused by time alignment are introduced, and the accuracy of the acquired sensor data and the true positioning value for verifying the accuracy of the algorithm is insufficient.

In view of the above problems, the inventor proposes a data acquisition method, an apparatus, an electronic device, and a storage medium according to embodiments of the present application, in which when data for verifying algorithm accuracy of pedestrian dead reckoning is collected, time stamps are generated based on the same clock for sensor data for pedestrian dead reckoning and collected positioning data, so that correspondence between the sensor data and the positioning data can be accurately ensured, and accuracy of the obtained data for verifying algorithm accuracy of pedestrian dead reckoning is improved. Specific data acquisition methods are described in detail in the following embodiments.

The following first introduces a scenario related to an embodiment of the present application.

As shown in fig. 1, the scene shown in fig. 1 includes an electronic device 100, where the electronic device 100 includes a processor 110, a memory 120, a first acquisition module 130, and a second acquisition module 140, the memory 120, the first acquisition module 130, and the second acquisition module 140 are connected to the processor 110, and the first acquisition module 130 and the second acquisition module 140 share a same clock. The first acquisition module 130 is configured to acquire sensor data for pedestrian dead reckoning and generate a first timestamp of the sensor data according to the clock; the second collecting module 140 is used for collecting the positioning data and generating a second timestamp of the positioning data according to the clock. Because the time stamp of sensor data and positioning data is generated based on same clock, consequently when utilizing the sensor data and the positioning data of gathering to verify the algorithm precision of pedestrian dead reckoning, need not to carry out time alignment to sensor data and positioning data again to avoid because of the error that time alignment brought, promote the accuracy that is used for verifying the sensor data and the positioning data of algorithm precision that acquire.

In some embodiments, the first acquisition module 130 and the second acquisition module 140 may include a data processing module, that is, the first acquisition module 130 and the second acquisition module 140 may have a data processing function besides acquiring the above data. The data processing modules of the first acquisition module 130 and the second acquisition module 140 may share the same clock, for example, the driving clocks of the data processing modules of the first acquisition module 130 and the second acquisition module 140 may be the same crystal oscillator clock source. Alternatively, the first acquisition module 130 and the second acquisition module 140 may be integrated on the same circuit board so as to share the same clock source.

In some embodiments, the first acquisition module 130 may include sensors for acquiring the above sensor data, such as an Inertial Measurement Unit (IMU), a magnetic sensor M-sensor, a barometer, and the like; the second acquisition module 140 may include a positioning module, for example, a Global Navigation Satellite System (GNSS) module, which may be implemented using a GNSS chip. Optionally, the electronic device 100 may also include other modules, for example, an interface module, which may be used to debug the GNSS module, program and control the sensors in the processor 110 and the first acquisition module 130, and the like.

The data acquisition method provided by the embodiment of the present application is described in detail below with reference to the accompanying drawings.

Referring to fig. 2, fig. 2 is a schematic flow chart illustrating a data acquisition method according to an embodiment of the present application. In a specific embodiment, the data acquisition method is applied to the electronic device, and the electronic device may include a first acquisition module and a second acquisition module, where the first acquisition module and the second acquisition module share a same clock. As will be described in detail with respect to the flow shown in fig. 2, the data acquisition method may specifically include the following steps:

step S110: the method comprises the steps of obtaining first data collected by a first collection module in a target time length, wherein the first data comprise sensor data used for pedestrian dead reckoning and a first timestamp corresponding to the sensor data.

In the present embodiment, in acquiring the verification data for verifying the accuracy of the algorithm for pedestrian dead reckoning, the sensor data for pedestrian dead reckoning and the positioning data for verifying the accuracy of the calculated position data may be acquired at the same time. The electronic device can acquire sensor data for pedestrian dead reckoning in target time duration through the first acquisition module, and the first acquisition module can generate a first timestamp corresponding to the sensor data when acquiring the sensor data. Also, the first acquisition module may generate the first timestamp for the sensor data based on a clock shared by the first acquisition module and the second acquisition module. Therefore, the first data which are acquired by the first acquisition module and comprise the sensor data and the first time stamp can be acquired.

In some embodiments, the above sensor data may include acceleration data, angular velocity (or attitude angle), magnetic force data, air pressure data, and the like. The acceleration data and the angular velocity data can be detected by the IMU, and can also be detected by a separate gyroscope and an accelerometer; the magnetometric data can be detected by a magnetometer; the barometric pressure data may be detected by a barometer, although the particular sensor that collects the above sensor data may not be limited. It will be appreciated that acceleration data and barometric data may be used for step size estimation; the magnetic force data and the angular velocity data can be used for realizing the resolving of the attitude so as to deduce the advancing direction; barometric pressure data may also be used for altimetry, so that pedestrian dead reckoning may be implemented based on the above sensor data.

In some embodiments, when the first collecting module collects the first data, the sensor data may be collected at different times within the target duration, so that the first data may include the sensor data collected at different times within the target duration and the first timestamps corresponding to the sensor data collected at the respective times. Optionally, the first data may include a plurality of pieces of data, each piece of data being sensor data at a certain time and a first timestamp (i.e. a first timestamp corresponding to the sensor data) generated based on the above clock at the certain time, for example, each piece of data may be in the form of: (first timestamp, IMU data, magnetic data, air pressure data).

In some embodiments, the above target duration may be a duration in which data for verifying the algorithm accuracy of the budget calculation algorithm is to be collected. Because the accuracy of the pedestrian dead reckoning is affected along with the accumulation of errors, the pedestrian dead reckoning has higher accuracy in a shorter time period, and based on the fact that the sensor data for the pedestrian dead reckoning in the shorter time period can be collected when the algorithm accuracy of the pedestrian dead reckoning is verified, the algorithm accuracy of the pedestrian dead reckoning can be verified more accurately. Alternatively, the above target time period may be less than a preset time period, which may be determined based on a statistical positioning time period to which the applied algorithm for pedestrian dead reckoning is applicable, and the accuracy of the applied algorithm for pedestrian dead reckoning within the positioning time period is higher than a preset accuracy rate, for example, the preset time period may be 3 minutes, 5 minutes, 10 minutes, and the like.

Step S120: and acquiring second data acquired by the second acquisition module in the target duration, wherein the second data comprises positioning data of the electronic equipment and a second timestamp corresponding to the positioning data, the second timestamp and the first timestamp are generated based on the same clock, and the first data and the second data are used for verifying the accuracy of a preset dead reckoning algorithm of the pedestrian dead reckoning.

In the embodiment of the application, the electronic device can acquire the positioning data for verifying the accuracy of the calculated position data in the target duration through the second acquisition module while acquiring the first data in the target duration through the first acquisition module. The electronic device can control the first acquisition module and the second acquisition module to start acquiring data at the same time so as to ensure that the first data and the second data are corresponding in time.

In some embodiments, since the accuracy of the position data output by performing the pedestrian dead reckoning is high (typically, in the centimeter level), the accuracy of the positioning data acquired by the second acquisition module also needs to be guaranteed, so the accuracy of the positioning data of the second acquisition module can be matched with the accuracy of the position data output by the pedestrian dead reckoning.

In some embodiments, the second data may also include positioning data acquired at different times within the target duration, and a second timestamp corresponding to the positioning data acquired at each time. Optionally, the second data may include a plurality of pieces of data, each piece of data is positioning data of a certain time and a second timestamp of the certain time generated based on the above clock (that is, a second timestamp corresponding to the positioning data), and for example, each piece of data may be in the form of: (second timestamp, location coordinates).

In some embodiments, when the first data and the second data are used for verifying the accuracy of the preset estimation algorithm for pedestrian dead reckoning, the electronic device may estimate position data based on the preset estimation algorithm and the first data, and then determine the accuracy of the preset estimation algorithm according to the estimated position data and the second data; the first data and the second data may also be sent to other devices, for example, to a server, and the other devices may determine the accuracy of the preset calculation algorithm according to the first data and the second data.

In some embodiments, after acquiring the first data acquired by the first acquisition module within the target duration and the second data acquired by the second acquisition module within the target duration, the electronic device may store the first data and the second data, so that when the accuracy of the preset dead reckoning algorithm for pedestrian dead reckoning needs to be verified according to the first data and the second data, the stored first data and the stored second data may be read for verification.

According to the data acquisition method provided by the embodiment of the application, under the condition that the first acquisition module and the second acquisition module of the electronic equipment share the same clock, because the sensor data for pedestrian dead reckoning and the acquired positioning data generate the time stamp based on the same clock when the data for verifying the algorithm precision of the pedestrian dead reckoning are acquired, the correspondence between the sensor data and the positioning data can be accurately ensured, and the accuracy of the acquired data for verifying the algorithm precision of the pedestrian dead reckoning is improved.

Referring to fig. 3, fig. 3 is a schematic flow chart illustrating a data acquisition method according to another embodiment of the present application. The data acquisition method is applied to the electronic equipment, the electronic equipment comprises a first acquisition module and a second acquisition module, and the first acquisition module and the second acquisition module share the same clock. As will be described in detail with respect to the flow shown in fig. 3, the data acquisition method may specifically include the following steps:

step S210: the method comprises the steps of obtaining first data collected by a first collection module in a target time length, wherein the first data comprises sensor data used for pedestrian dead reckoning and a first timestamp corresponding to the sensor data.

In the embodiment of the present application, step S210 may refer to the contents of other embodiments, which are not described herein again.

Step S220: and acquiring second data acquired by the second acquisition module in the target duration, wherein the second data comprises positioning data of the electronic equipment and a second timestamp corresponding to the positioning data, the second timestamp and the first timestamp are generated based on the same clock, and the first data and the second data are used for verifying the accuracy of a preset dead reckoning algorithm of the pedestrian dead reckoning.

In the embodiment of the present application, since the accuracy of the position data output by performing the pedestrian dead reckoning is higher (generally, in the centimeter level), the accuracy of the positioning data of the second acquisition module may be greater than the preset accuracy.

In some embodiments, the second acquisition module may acquire the positioning data based on a Real-time kinematic (RTK) carrier-phase differential technology, and generate a second timestamp corresponding to the positioning data based on the clock, so as to obtain the second data. The RTK carrier phase differential technology is a measuring method capable of obtaining centimeter-level positioning accuracy in real time in the field. The working principle of the RTK carrier phase difference technology is as follows: the base station uses a fixed coordinate as reference, the base station compares the fixed coordinate with a coordinate calculated by receiving the satellite to obtain a difference value, then the difference value is sent to the mobile station, and the mobile station uses the coordinate received by the satellite to subtract the difference value sent by the base station to obtain the corrected coordinate.

The second acquisition module can acquire positioning data based on a traditional RTK carrier phase difference technology, can also be realized based on a Continuously Operating Reference Stations (CORS) evolved by the RTK carrier phase difference technology, and can also acquire the positioning data based on a real-time dynamic positioning RTK (PPP-RTK) wave phase difference technology. The specific RTK carrier phase division technique may not be limited.

In other embodiments, the second acquiring module may also acquire the positioning data Based on a wide-area differential-Based Augmentation System (SBAS), and generate a second timestamp corresponding to the positioning data Based on the clock, so as to obtain the second data. The SBAS positioning principle is as follows: a large number of widely distributed differential stations (with known positions) monitor a navigation satellite to obtain original positioning data (pseudo range, carrier phase observed values and the like) and send the original positioning data to a central processing facility (a main control station), the main control station obtains various positioning correction information of each satellite through calculation, the positioning correction information is sent to a GEO satellite through an uplink injection station, and finally the correction information is sent to user equipment, so that the purpose of improving the positioning accuracy is achieved.

In a possible embodiment, the second acquisition module has a higher requirement on the signal strength of the positioning signal because of the higher accuracy required for acquiring the positioning data. Based on this, please refer to fig. 4, the antenna 150 corresponding to the second collecting module may be disposed on the head-mounted device 200, and the antenna 150 is connected to the electronic device 100, when the first data and the second data are collected, the user may wear the head-mounted device 200 and hold the electronic device 100 to move, so as to collect data for verifying the accuracy of the preset calculation algorithm. As can be appreciated, since the antenna 150 is disposed on the head-mounted device 200 and worn on the head of the user, the signal strength of the positioning signal can be effectively ensured.

In a possible implementation manner, the above second acquisition module may include a plurality of positioning modules with positioning accuracy greater than a preset accuracy, for example, a first positioning module based on an RTK carrier phase difference technology, a second positioning module based on a CORS, and a third positioning module based on an SBAS. The positioning data in the second data collected by the second collecting module may be positioning data generated based on the positioning data collected by the above positioning modules. Optionally, an average value of the positioning data acquired by the plurality of positioning modules at the same time may be obtained, or the positioning data acquired by the plurality of positioning modules at the same time may be subjected to weighted calculation to obtain the positioning data in the second data. Therefore, the accuracy of the collected positioning data can be ensured.

In some embodiments, the first acquisition module acquires the first data at a corresponding acquisition frequency and the second acquisition module acquires the second data at a corresponding acquisition frequency, and corresponding positioning data are acquired for ensuring that the subsequent position data calculated according to the sensor data at each moment in the first data, so that the acquisition frequency of the first acquisition module for acquiring the first data is the same as the acquisition frequency of the second acquisition module for acquiring the second data. That is to say, each piece of sensor data in the first data and the second data has the same positioning data collected at the same time, and because the first timestamp corresponding to the sensor data in the first data and the second timestamp corresponding to the positioning data in the second data are generated based on the same clock, the first timestamp of each piece of sensor data in the first data is the same as the second timestamp of the positioning data in the second data corresponding to the piece of sensor data.

Step S230: and converting the positioning data in the second data into positioning data under a preset coordinate system, wherein the preset coordinate system is a coordinate system corresponding to predicted position data obtained based on the preset calculation algorithm.

In the embodiment of the present application, since the coordinate system of the positioning data obtained by normal positioning is different from the coordinate system of the position data obtained by pedestrian dead reckoning, after the above second data is obtained, the positioning data in the second data may be pre-converted to convert the positioning data in the second data into the positioning data in the preset coordinate system, where the preset coordinate system is the coordinate system corresponding to the predicted position data obtained based on the preset reckoning algorithm.

In some embodiments, the coordinate system corresponding to the position data obtained by the pedestrian dead reckoning is generally a center-of-station coordinate system (i.e., a northeast coordinate system), that is, the above predetermined coordinate system is a center-of-station coordinate system, and the positioning data obtained by the positioning is generally data in a geodetic coordinate system (i.e., a longitude and latitude high coordinate system). Therefore, the positioning data in the second data needs to be converted from the geodetic coordinate system into the cardioid coordinate system. Specifically, the positioning data in the second data can be converted into the positioning data in the geocentric-geostationary coordinate system; and then, converting the positioning data under the geocentric geostationary coordinate system into the positioning data under the station-centric coordinate system.

The positioning data in the second data is converted into the positioning data in the geocentric-geostationary coordinate system, and the positioning data can be converted through the following formula:

x _e ＝(R _N +h)cosLcosλ

y _e ＝(R _N +h)cosLsinλ

z _e ＝[R _N (1-e ² )+h]sinL

wherein x is _e 、y _e And z _e Is the coordinate of geocentric geocoded coordinate system, λ is longitude, L is latitude, h is height, e is eccentricity, R _N Is half a fourth prime circleThe above parameters are all calculable or known quantities.

The positioning data under the geocentric geostationary coordinate system is converted into the positioning data under the station-centered coordinate system, and the conversion can be carried out through the following formula:

wherein E, N and U are coordinates under the standing-center coordinate system, lambda is longitude, L is latitude, h is height, and x _e 、y _e And z _e Is the coordinate of the earth center and the earth fixation coordinate system. Because the station center coordinate system is a relative coordinate system, when the transformation is carried out, the positioning data obtained by the transformation under the first geocentric coordinate system can be defined as (x) ₀ ,y ₀ ,z ₀ ) The data in the centroid coordinate system obtained from the positioning data in the first centroid geo-stationary coordinate system is defined as the origin of the planar coordinate system, and thus the integrated output can be obtained as:

according to the data acquisition method provided by the embodiment of the application, when the data for verifying the algorithm precision of the pedestrian dead reckoning is acquired, the sensor data for the pedestrian dead reckoning and the acquired positioning data generate the time stamps based on the same clock, so that the correspondence between the sensor data and the positioning data can be accurately ensured, and the accuracy of the acquired data for verifying the algorithm precision of the pedestrian dead reckoning is improved; in addition, the collected positioning data is converted into data matched with a coordinate system of the position data of the pedestrian dead reckoning so as to verify the accuracy of the position data of the pedestrian dead reckoning; in addition, the truth value of the accuracy of the calculated position data is verified through optical motion capture collection in the related art, so that the cost is high, the spatial limitation is large, the positioning data in the embodiment of the application is collected through a real-time dynamic carrier phase difference technology and a wide area difference enhancement system, the problems of high cost and large spatial limitation can be avoided, and the precision of the positioning data can be guaranteed.

Referring to fig. 5, fig. 5 is a schematic flowchart illustrating a data acquisition method according to another embodiment of the present application. The data acquisition method is applied to the electronic equipment, the electronic equipment comprises a first acquisition module and a second acquisition module, and the first acquisition module and the second acquisition module share the same clock. As will be described in detail with respect to the flow shown in fig. 5, the data acquisition method may specifically include the following steps:

step S310: the method comprises the steps of obtaining first data collected by a first collection module in a target time length, wherein the first data comprises sensor data used for pedestrian dead reckoning and a first timestamp corresponding to the sensor data.

Step S320: and acquiring second data acquired by the second acquisition module in the target duration, wherein the second data comprises positioning data of the electronic equipment and a second timestamp corresponding to the positioning data, the second timestamp and the first timestamp are generated based on the same clock, and the first data and the second data are used for verifying the accuracy of a preset dead reckoning algorithm of the pedestrian dead reckoning.

In the embodiment of the present application, step S310 and step S320 may refer to the contents of other embodiments, which are not described herein again.

Step S330: and determining whether the second data has lost positioning data or not according to the acquisition frequency of the data acquired by the second acquisition module and the second timestamp in the second data.

In this embodiment of the application, after the above second data is obtained, it may also be checked whether there is lost positioning data in the second data, that is, whether there is lost positioning data at a certain time. The electronic device can determine whether the second data has lost positioning data according to the acquisition frequency of the data acquired by the second acquisition module and the second timestamp in the second data.

In a possible implementation manner, the electronic device may determine a plurality of times at which the positioning data is to be acquired within the above target time length according to the time (determined based on the above clock) at which the second data starts to be acquired and the acquisition frequency at which the second acquisition module acquires the data; then, comparing the plurality of determined moments with each second timestamp in the second data, and determining whether each of the plurality of moments corresponds to the same second timestamp according to a comparison result; if the target time does not correspond to the same second timestamp among the plurality of times, the target time is any one of the plurality of times, indicating that the positioning data of the target time is missing.

In another possible implementation, the electronic device may also determine, according to each second timestamp in the second data, a time length of a phase difference between adjacent second timestamps; then, according to the acquisition frequency of the data acquired by the second acquisition module, determining the interval duration of the interval between two adjacent acquisitions; comparing the determined time length of the phase difference between every two adjacent second timestamps with the determined interval time length; if the time difference between any two adjacent second timestamps is greater than the interval time, it indicates that the positioning data is missing between the moments corresponding to the adjacent second timestamps.

Step S340: and if the lost positioning data exist, compensating the lost positioning data in the second data.

In the embodiment of the present application, after determining whether there is lost positioning data in the second data, it may be determined whether to perform compensation processing on the second data according to a determination result. Specifically, if there is lost positioning data, the lost positioning data in the second data is compensated to supplement the lost positioning data.

In some embodiments, if the electronic device determines that there is lost positioning data, interpolation processing may be performed based on the positioning data in the second data to obtain the lost positioning data; adding the lost positioning data to the second data.

In this embodiment, the electronic device may sort the positioning data in the second data according to the second timestamps from morning to evening, and then perform interpolation processing on the target time of the missing positioning data according to the sorted positioning data, so as to obtain the positioning data at the target time, generate a second timestamp for the obtained positioning data at the target time, and then add the positioning data at the target time and the corresponding second timestamp into the second data. The specific manner of the interpolation process may not be limited, and it may be a linear interpolation method, such as a first-order linear interpolation method, or a nonlinear interpolation method.

According to the data acquisition method provided by the embodiment of the application, when the data for verifying the algorithm precision of the pedestrian dead reckoning is acquired, the time stamps are generated on the basis of the same clock for the sensor data for the pedestrian dead reckoning and the acquired positioning data, so that the correspondence between the sensor data and the positioning data can be accurately ensured, and the accuracy of the acquired data for verifying the algorithm precision of the pedestrian dead reckoning is improved; in addition, after the second data are acquired, whether the second data have lost positioning data or not is checked, and the second data are compensated in a targeted manner, so that the integrity of the acquired positioning data is effectively guaranteed.

Referring to fig. 6, fig. 6 is a schematic flowchart illustrating a data acquisition method according to still another embodiment of the present application. The data acquisition method is applied to the electronic equipment, the electronic equipment comprises a first acquisition module and a second acquisition module, and the first acquisition module and the second acquisition module share the same clock. As will be described in detail with respect to the flow shown in fig. 6, the data acquisition method may specifically include the following steps:

step S410: the method comprises the steps of obtaining first data collected by a first collection module in a target time length, wherein the first data comprise sensor data used for pedestrian dead reckoning and a first timestamp corresponding to the sensor data.

Step S420: and acquiring second data acquired by the second acquisition module in the target duration, wherein the second data comprises positioning data of the electronic equipment and a second timestamp corresponding to the positioning data, the second timestamp and the first timestamp are generated based on the same clock, and the first data and the second data are used for verifying the accuracy of a preset dead reckoning algorithm of the pedestrian dead reckoning.

Step S430: and carrying out pedestrian dead reckoning on the basis of the first data by utilizing the preset reckoning algorithm to obtain predicted position data of the electronic equipment at the moment corresponding to the first timestamp.

In the embodiment of the present application, the verification of the accuracy of the preset estimation algorithm for pedestrian dead reckoning may be performed by an electronic device. The electronic equipment can utilize the preset dead reckoning algorithm to carry out pedestrian dead reckoning on the basis of the first data, so that the predicted position data of the electronic equipment at the moment corresponding to the first timestamp can be obtained. The preset calculation algorithm is a pedestrian dead reckoning algorithm with accuracy to be verified. As can be appreciated, since the first data includes sensor data of first time stamps corresponding to a plurality of times within the target time period, performing pedestrian dead reckoning based on the first data can obtain predicted position data of the times corresponding to the plurality of first time stamps.

Step S440: based on the second timestamp, the predicted location data and the positioning data at the same time are determined.

In this application embodiment, after carrying out pedestrian dead reckoning based on first data, obtaining the predicted position data of electronic equipment at the moment that first time stamp corresponds, then can be according to the second time stamp that each positioning data corresponds in the second data, determine the positioning data when each first time stamp corresponds the moment, obtain predicted position data and positioning data at each moment from this.

Step S450: and determining the precision of the preset calculation algorithm based on the predicted position data and the positioning data at the same moment.

In the embodiment of the present application, after the predicted position data and the positioning data at the same time are obtained, the predicted position data and the positioning data at the same time may be compared to determine whether the predicted position data and the positioning data at the same time are matched. The predicted position data and the positioning data are matched, wherein the difference between the predicted position data and the positioning data is smaller than a preset difference. After determining whether the predicted position data and the positioning data at each moment are matched, the proportion of the moments at which the predicted position data and the positioning data are matched in all moments can be obtained, and the proportions are determined as the precision of a preset calculation algorithm.

In some embodiments, the electronic device may further determine an error of the preset calculation algorithm according to a difference between the predicted position data and the positioning data at the same time. For example, a difference between the predicted position data and the positioning data at each time may be obtained to obtain a plurality of differences, and then an average value of the plurality of differences may be obtained and used as an error of the preset estimation algorithm.

In some embodiments, after acquiring the first data and the second data, the electronic device may also send the first data and the second data to the server, so that the server verifies the accuracy of the preset calculation algorithm. Optionally, the server may obtain first data and second data obtained by the plurality of electronic devices, and verify the accuracy of the preset calculation algorithm for the first data and the second data obtained by each electronic device, respectively, to obtain a plurality of accuracies; then, the final precision of the preset calculation algorithm is determined according to the obtained multiple precisions, for example, the median can be obtained according to the multiple precisions, or the average value can be obtained, so as to obtain the final precision of the preset calculation algorithm.

According to the data acquisition method provided by the embodiment of the application, when the data for verifying the accuracy of the algorithm of the pedestrian dead reckoning is acquired, the time stamps are generated on the basis of the same clock for the sensor data for the pedestrian dead reckoning and the acquired positioning data, so that the correspondence between the sensor data and the positioning data can be accurately ensured, the accuracy of the acquired data for verifying the accuracy of the algorithm of the pedestrian dead reckoning is improved, and further, when the accuracy of a preset reckoning algorithm is verified by using the acquired sensor data and the positioning data, the accuracy and the effectiveness of accuracy verification can be improved.

Referring to fig. 7, a block diagram of a data acquisition apparatus 400 according to an embodiment of the present disclosure is shown. The data acquisition device 400 applies the above-mentioned electronic device, which includes a first acquisition module and a second acquisition module, where the first acquisition module and the second acquisition module share the same clock. The data acquisition apparatus 400 includes: a first acquisition module 410 and a second acquisition module 420. The first acquiring module 410 is configured to acquire first data acquired by the first acquiring module within a target time period, where the first data includes sensor data for pedestrian dead reckoning and a first timestamp corresponding to the sensor data; the second obtaining module 420 is configured to obtain second data that is collected by the second collecting module in the target duration, where the second data includes positioning data of the electronic device and a second timestamp corresponding to the positioning data, the second timestamp and the first timestamp are generated based on the same clock, and the first data and the second data are used to verify accuracy of a preset dead reckoning algorithm for pedestrian dead reckoning.

In some embodiments, the data acquisition device 400 may further include a data conversion module. The data conversion module is used for converting the positioning data in the second data into positioning data under a preset coordinate system after the second data acquired by the second acquisition module in the target duration is acquired, wherein the preset coordinate system is a coordinate system corresponding to predicted position data obtained based on the preset calculation algorithm.

In a possible implementation, the positioning data is data in a geodetic coordinate system, and the preset coordinate system is a center-of-gravity coordinate system. The data conversion module may be specifically configured to: converting the positioning data in the second data into positioning data in a geocentric and geostationary coordinate system; and converting the positioning data under the geocentric geostationary coordinate system into the positioning data under the station-centered coordinate system.

In some embodiments, the second obtaining module 420 may be specifically configured to: and acquiring second data acquired by the second acquisition module based on a real-time dynamic carrier phase differential technology within the target time length.

In some embodiments, the second obtaining module 420 may be specifically configured to: and acquiring second data acquired by the second acquisition module based on a wide area difference enhancement system in the target duration.

In some embodiments, the data acquisition device 400 may further include a data verification module and a data compensation module. The data checking module is used for determining whether the second data has lost positioning data according to the acquisition frequency of the data acquired by the second acquisition module and the second timestamp in the second data after the second data acquired by the second acquisition module in the target time length is acquired; and the data compensation module is used for compensating the lost positioning data in the second data if the lost positioning data exists.

In a possible implementation, the data compensation module may be specifically configured to: if the lost positioning data exist, carrying out interpolation processing based on the positioning data in the second data to obtain the lost positioning data; adding the lost positioning data to the second data.

In some embodiments, the first data is acquired by the first acquisition module at the same acquisition frequency as the second data is acquired by the second acquisition module.

In some embodiments, the data acquisition device 400 may further include a dead reckoning module, a data determination module, and an accuracy acquisition module. The position calculation module is used for performing pedestrian dead calculation by using the preset calculation algorithm and based on the first data after acquiring second data acquired by the second acquisition module within the target duration to obtain predicted position data of the electronic equipment at a moment corresponding to the first timestamp; the data determination module is used for determining the predicted position data and the positioning data at the same moment based on the second timestamp; the precision obtaining module is used for determining the precision of the preset calculation algorithm based on the predicted position data and the positioning data at the same moment.

In some embodiments, the data acquisition device 400 may further include a data transmission module. The data sending module is used for sending the first data and the second data to a server, and the server is used for verifying the precision of the preset calculation algorithm according to the first data and the second data.

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

In the several embodiments provided in the present application, the coupling between the modules may be electrical, mechanical or other type of coupling.

In addition, functional modules in the embodiments of the present application may be integrated into one processing module, or each module may exist alone physically, or two or more modules are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode.

To sum up, the scheme that this application provided, under the condition of same clock of first collection module and second collection module sharing of electronic equipment, through obtaining the first data that first collection module gathered in the target duration, this first data includes the sensor data that are used for pedestrian's dead reckoning and the first time stamp that sensor data corresponds, obtain the second data that second collection module gathered in the target duration, the second data includes electronic equipment's the locating data and the second time stamp that the locating data corresponds, first time stamp and second time stamp are based on above same clock and are generated to be used for verifying the precision of the predetermined calculation algorithm of pedestrian's dead reckoning. When data used for verifying the algorithm precision of the pedestrian dead reckoning is collected, the sensor data used for the pedestrian dead reckoning and the collected positioning data generate timestamps based on the same clock, so that the correspondence between the sensor data and the positioning data can be accurately ensured, and the accuracy of the obtained data used for verifying the algorithm precision of the pedestrian dead reckoning is improved.

Referring to fig. 8, a block diagram of an electronic device according to an embodiment of the present disclosure is shown. The electronic device 100 may be a smart phone, a tablet computer, an electronic book, a notebook computer, or other electronic devices capable of running an application program. The electronic device 100 in the present application may include one or more of the following components: a processor 110, a memory 120, and one or more applications, wherein the one or more applications may be stored in the memory 120 and configured to be executed by the one or more processors 110, the one or more applications configured to perform the methods as described in the aforementioned method embodiments.

Processor 110 may include one or more processing cores. The processor 110 interfaces with various components throughout the electronic device 100 using various interfaces and lines to perform various functions of the electronic device 100 and process data by executing or executing instructions, programs, code sets, or instruction sets stored in the memory 120 and invoking data stored in the memory 120. Alternatively, the processor 110 may be implemented in hardware using at least one of Digital Signal Processing (DSP), field-Programmable Gate Array (FPGA), and Programmable Logic Array (PLA). The processor 110 may integrate one or more of a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), a modem, and the like. The CPU mainly processes an operating system, a user interface, an application program and the like; the GPU is used for rendering and drawing display content; the modem is used to handle wireless communications. It is understood that the modem may not be integrated into the processor 110, but may be implemented by a communication chip.

The Memory 120 may include a Random Access Memory (RAM) or a Read-Only Memory (Read-Only Memory). The memory 120 may be used to store instructions, programs, code sets, or instruction sets. The memory 120 may include a stored program area and a stored data area, wherein the stored program area may store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playing function, an image playing function, etc.), instructions for implementing various method embodiments described below, and the like. The data storage area may also store data created by the electronic device 100 during use (e.g., phone book, audio-video data, chat log data), and the like.

Referring to fig. 9, a block diagram of a computer-readable storage medium provided in an embodiment of the present application is shown. The computer-readable medium 800 has stored therein a program code that can be called by a processor to execute the method described in the above method embodiments.

The computer-readable storage medium 800 may be an electronic memory such as a flash memory, an EEPROM (electrically erasable programmable read only memory), an EPROM, a hard disk, or a ROM. Alternatively, the computer-readable storage medium 800 includes a non-volatile computer-readable storage medium. The computer readable storage medium 800 has storage space for program code 810 to perform any of the method steps of the method described above. The program code can be read from or written to one or more computer program products. The program code 810 may be compressed, for example, in a suitable form.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art will understand that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not necessarily depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.

Claims

1. A data acquisition method is applied to electronic equipment, the electronic equipment comprises a first acquisition module and a second acquisition module, the first acquisition module and the second acquisition module share the same clock, and the method comprises the following steps:

acquiring first data acquired by the first acquisition module within a target time length, wherein the first data comprises sensor data used for pedestrian dead reckoning and a first timestamp corresponding to the sensor data;

and acquiring second data acquired by the second acquisition module in the target duration, wherein the second data comprises positioning data of the electronic equipment and a second timestamp corresponding to the positioning data, the second timestamp and the first timestamp are generated based on the same clock, and the first data and the second data are used for verifying the accuracy of a preset dead reckoning algorithm of the pedestrian dead reckoning.

2. The method of claim 1, wherein after said obtaining second data acquired by said second acquisition module for said target length of time, said method further comprises:

and converting the positioning data in the second data into positioning data under a preset coordinate system, wherein the preset coordinate system is a coordinate system corresponding to predicted position data obtained based on the preset calculation algorithm.

3. The method according to claim 2, wherein the positioning data is data in a geodetic coordinate system, the predetermined coordinate system is a centroid coordinate system, and the converting the positioning data in the second data into the positioning data in the predetermined coordinate system comprises:

converting the positioning data in the second data into positioning data in a geocentric and geostationary coordinate system;

and converting the positioning data under the geocentric geostationary coordinate system into the positioning data under the station-centered coordinate system.

4. The method of claim 1, wherein said obtaining second data acquired by said second acquisition module for said target duration comprises:

and acquiring second data acquired by the second acquisition module based on a real-time dynamic carrier phase differential technology within the target time length.

5. The method of claim 1, wherein said obtaining second data acquired by said second acquisition module for said target duration comprises:

and acquiring second data acquired by the second acquisition module based on a wide area difference enhancement system in the target time length.

6. The method of claim 1, wherein after the obtaining the second data acquired by the second acquisition module for the target duration, the method further comprises:

determining whether the second data has lost positioning data according to the acquisition frequency of the data acquired by the second acquisition module and the second timestamp in the second data;

and if the lost positioning data exist, compensating the lost positioning data in the second data.

7. The method according to claim 6, wherein the compensating for the lost positioning data in the second data if there is lost positioning data comprises:

if the lost positioning data exist, carrying out interpolation processing based on the positioning data in the second data to obtain the lost positioning data;

adding the lost positioning data to the second data.

8. The method of any one of claims 1-7, wherein the first data is acquired by the first acquisition module at the same frequency as the second data is acquired by the second acquisition module.

9. The method of any of claims 1-7, wherein after said obtaining second data acquired by said second acquisition module over said target duration, said method further comprises:

performing pedestrian dead reckoning based on the first data by using the preset reckoning algorithm to obtain predicted position data of the electronic equipment at a moment corresponding to the first timestamp;

determining the predicted position data and the positioning data at the same time based on the second timestamp;

and determining the precision of the preset calculation algorithm based on the predicted position data and the positioning data at the same moment.

10. The method of any of claims 1-7, wherein after said obtaining second data acquired by said second acquisition module over said target duration, said method further comprises:

and sending the first data and the second data to a server, wherein the server is used for verifying the precision of the preset calculation algorithm according to the first data and the second data.

11. The utility model provides a data acquisition device which characterized in that is applied to electronic equipment, electronic equipment includes first collection module and second collection module, first collection module with the same clock of second collection module sharing, the device includes: a first obtaining module and a second obtaining module, wherein,

the first acquisition module is used for acquiring first data acquired by the first acquisition module within a target time length, wherein the first data comprises sensor data used for pedestrian dead reckoning and a first timestamp corresponding to the sensor data;

the second acquisition module is used for acquiring second data acquired by the second acquisition module in the target duration, the second data comprise positioning data of the electronic equipment and a second timestamp corresponding to the positioning data, the second timestamp and the first timestamp are generated based on the same clock, and the first data and the second data are used for verifying the accuracy of a preset dead reckoning algorithm of pedestrian dead reckoning.

12. An electronic device, comprising:

one or more processors;

a memory;

one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs configured to perform the method of any of claims 1-10.

13. A computer-readable storage medium, having stored thereon program code that can be invoked by a processor to perform the method according to any one of claims 1 to 10.