CN115835139A - Positioning method, positioning device, computer readable medium and electronic equipment - Google Patents
Positioning method, positioning device, computer readable medium and electronic equipment Download PDFInfo
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Abstract
The application relates to a positioning method device, a computer readable medium and an electronic device, wherein the method comprises the following steps: acquiring the position coordinates of a target mobile terminal and determining a positioning grid where the target mobile terminal is located; determining a corresponding multi-element interpolation model according to the positioning grid where the target mobile terminal is located; obtaining a measurement report of the target mobile terminal at the current moment, obtaining a signal value of the target mobile terminal through the measurement report, and inputting the signal value into a multivariate interpolation model corresponding to a positioning grid where the target mobile terminal is located to obtain a corrected position coordinate of the target mobile terminal at the current moment; and if the measurement report of the target mobile terminal at the current moment fails to be obtained, obtaining a historical measurement report of the target mobile terminal, and obtaining the corrected position coordinate of the target mobile terminal at the current moment according to the historical measurement report. This application has improved the accuracy of location through combining together initiative location and passive location.
Description
Technical Field
The present application relates to the field of mobile communications technologies, and in particular, to a positioning method, an apparatus, a computer-readable medium, and an electronic device.
Background
In recent years, with the wide application and development of intelligent terminals such as smart phones and the internet and wireless network technologies, scenes such as delivery tracks of couriers, real-time position information of take-out personnel, working conditions of field personnel and the like need to be accurately positioned, and therefore, the requirement for confirming accurate activity tracks of personnel through an operator network is increasingly promoted.
It is to be noted that the information disclosed in the above background section is only for enhancement of understanding of the background of the present application and therefore may include information that does not constitute prior art known to a person of ordinary skill in the art.
Disclosure of Invention
The present application aims to provide a positioning method, which at least to some extent overcomes the technical problems of inaccurate positioning and the like in the related art.
Other features and advantages of the present application will be apparent from the following detailed description, or may be learned by practice of the application.
According to an aspect of an embodiment of the present application, there is provided a positioning method, including: acquiring the position coordinate of a target mobile terminal, and determining a positioning grid where the target mobile terminal is located according to the position coordinate of the target mobile terminal; determining a corresponding multi-element interpolation model according to the positioning grid where the target mobile terminal is located; obtaining a measurement report of the target mobile terminal at the current moment, obtaining a signal value of the target mobile terminal through the measurement report, inputting the signal value into a multivariate interpolation model corresponding to a positioning grid where the target mobile terminal is located, and obtaining a corrected position coordinate of the target mobile terminal at the current moment, wherein the signal value represents the signal strength of the target mobile terminal; and if the measurement report of the target mobile terminal at the current moment fails to be obtained, obtaining a historical measurement report of the target mobile terminal, and obtaining the corrected position coordinate of the target mobile terminal at the current moment according to the historical measurement report, wherein the historical measurement report is a plurality of measurement reports which are correspondingly obtained in a historical time period.
In an embodiment, the obtaining a historical measurement report of the target mobile terminal and obtaining a corrected position coordinate of the target mobile terminal at a current time according to the historical measurement report includes: analyzing the base station type correspondingly connected with the target mobile terminal through the historical measurement report; if the base station type correspondingly connected with the target mobile terminal is a substation, acquiring the position coordinate of the substation, and determining the corrected position coordinate of the target mobile terminal at the current moment according to the position coordinate of the substation; if the base station type correspondingly connected with the target mobile terminal is an outdoor station, analyzing a historical movement track of the target mobile terminal through the historical measurement report, and determining a corrected position coordinate of the target mobile terminal at the current moment according to the historical movement track, wherein the historical movement track comprises a plurality of movement position points.
In an embodiment, the obtaining the position coordinates of the indoor substations, and determining the corrected position coordinates of the target mobile terminal at the current time according to the position coordinates of the indoor substations includes: respectively analyzing the position coordinates of the room substations which are correspondingly connected with the target mobile terminal each time through the historical measurement report; and determining central position coordinates of the plurality of indoor substations according to the position coordinates of the plurality of indoor substations, and determining the central position coordinates as corrected position coordinates of the target mobile terminal at the current moment.
In an embodiment, the analyzing, by the historical measurement report, the historical movement track of the target mobile terminal, and the determining, according to the historical movement track, the corrected position coordinate of the target mobile terminal at the current time includes: determining whether an average movement speed of the historical movement trajectory is less than a speed threshold; if the average moving speed is smaller than the speed threshold, acquiring a proximity measurement report of the historical measurement report, analyzing a proximity position coordinate of the target mobile terminal through the proximity measurement report, and determining the proximity position coordinate as a corrected position coordinate of the target mobile terminal at the current moment, wherein the proximity measurement report is a measurement report acquired last time in a historical time period; and if the average moving speed is greater than or equal to the speed threshold, acquiring a historical moving angle of the historical moving track, and determining a corrected position coordinate of the target mobile terminal at the current moment according to the historical moving angle, wherein the historical moving angle is an included angle between a starting point and an end point of the historical moving track in the moving direction.
In an embodiment, the obtaining a historical movement angle of the historical movement trajectory, and determining the corrected position coordinate of the target mobile terminal at the current time according to the historical movement angle includes: determining whether the historical movement angle is less than an angle threshold; if the historical movement angle is smaller than the angle threshold, acquiring a proximity measurement report of the historical measurement report, analyzing the proximity movement angle of the target mobile terminal through the proximity measurement report, and determining the corrected position coordinate of the target mobile terminal at the current moment according to the proximity movement angle; if the historical movement angle is larger than or equal to the angle threshold, calculating an average movement angle of the historical movement angle, and determining a corrected position coordinate of the target mobile terminal at the current moment according to the average movement angle, wherein the average movement angle is an average value of included angles of movement directions among all movement position points of the historical movement track.
In an embodiment, determining the corrected location coordinate of the target mobile terminal at the current time according to the neighboring movement angle or the average movement angle includes: acquiring the proximity time of the proximity measurement report; performing difference operation on the adjacent time and the current moment to obtain a time difference between the adjacent time and the current moment; multiplying the time difference and the average moving speed to obtain the moving distance of the target mobile terminal; and determining the corrected position coordinate of the target mobile terminal at the current moment according to the adjacent moving angle and the moving distance, or determining the corrected position coordinate of the target mobile terminal at the current moment according to the average moving angle and the moving distance.
In an embodiment, the method further comprises: in the area range, carrying out grid division on the area range to obtain a positioning grid of the area range; acquiring the position coordinates of each mobile terminal in the area range through a global positioning system, and determining the mobile terminal in each positioning grid according to the position coordinates of each mobile terminal; and acquiring a signal value of the mobile terminal in each positioning grid, and establishing a multivariate interpolation model of each positioning grid according to the signal value of the mobile terminal in each positioning grid.
According to an aspect of an embodiment of the present application, there is provided a positioning apparatus including: the mobile terminal comprises a first determining unit, a second determining unit and a control unit, wherein the first determining unit is used for acquiring the position coordinate of a target mobile terminal and determining a positioning grid where the target mobile terminal is located according to the position coordinate of the target mobile terminal; the second determining unit is used for determining a corresponding multi-element interpolation model according to the positioning grid where the target mobile terminal is located; a correction unit, configured to obtain a measurement report of the target mobile terminal at a current time, obtain a signal value of the target mobile terminal through the measurement report, input the signal value into a multi-element interpolation model corresponding to a positioning grid where the target mobile terminal is located, and obtain a corrected position coordinate of the target mobile terminal at the current time, where the signal value represents a signal strength of the target mobile terminal; and if the measurement report of the target mobile terminal at the current moment fails to be obtained, obtaining a historical measurement report of the target mobile terminal, and obtaining the corrected position coordinate of the target mobile terminal at the current moment according to the historical measurement report, wherein the historical measurement report is a plurality of corresponding measurement reports in a historical time period.
According to an aspect of the embodiments of the present application, there is provided a computer-readable medium, on which a computer program is stored, which when executed by a processor implements the positioning method as in the above technical solution.
According to an aspect of an embodiment of the present application, there is provided an electronic device including: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to execute the positioning method as in the above technical solution via executing the executable instructions.
According to an aspect of embodiments herein, there is provided a computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer readable storage medium, and the processor executes the computer instructions, so that the computer device executes the positioning method as in the above technical solution.
In the technical scheme provided by the embodiment of the application, the active positioning and the passive positioning MR are combined, and the corrected position coordinates of the target mobile terminal are obtained through a multivariate interpolation model, so that the positioning accuracy is improved. According to the method and the device, when the MR data of the target mobile terminal cannot be acquired at the current moment, the corrected position coordinates of the target mobile terminal can be calculated through the historical MR data, and the positioning accuracy of the target mobile terminal is further improved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application. It is obvious that the drawings in the following description are only some embodiments of the application, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
Fig. 1 schematically shows a block diagram of an exemplary system architecture to which the solution of the present application applies.
Fig. 2 schematically shows a flow chart of a positioning method according to an embodiment of the present application.
Fig. 3 schematically shows a historical movement trace diagram of an embodiment of the present application.
Fig. 4 schematically shows a flow chart of a positioning method of a further embodiment of the present application.
Fig. 5 schematically shows a block diagram of a positioning device provided in an embodiment of the present application.
Fig. 6 schematically shows a structural block diagram of a computer system of an electronic device for implementing the embodiment of the present application.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art.
Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the application. One skilled in the relevant art will recognize, however, that the subject matter of the present application can be practiced without one or more of the specific details, or with other methods, components, devices, steps, and so forth. In other instances, well-known methods, devices, implementations, or operations have not been shown or described in detail to avoid obscuring aspects of the application.
The block diagrams shown in the figures are functional entities only and do not necessarily correspond to physically separate entities. I.e. these functional entities may be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor means and/or microcontroller means.
The flow charts shown in the drawings are merely illustrative and do not necessarily include all of the contents and operations/steps, nor do they necessarily have to be performed in the order described. For example, some operations/steps may be decomposed, and some operations/steps may be combined or partially combined, so that the actual execution sequence may be changed according to the actual situation.
It should be noted that: reference herein to "a plurality" means two or more. "and/or" describe the association relationship of the associated objects, meaning that there may be three relationships, e.g., A and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship.
Currently, from the perspective of positioning, positioning is mainly divided into two ways: active positioning and passive positioning. The active positioning refers to a positioning action which can be performed only when the mobile terminal sends out positioning information, and the main implementation mode is to acquire longitude and latitude in a Global Positioning System (GPS) mode and then upload the longitude and latitude. The passive positioning means that the mobile terminal is authorized, and can directly track the positioning information of the mobile terminal, and the passive positioning mode mainly comprises a charging ticket, a base station signaling positioning mode, a measurement report MR (magnetic resonance) mode-based positioning mode and a point per inch (DPI) mode-based positioning mode.
The method and the device for acquiring the positioning data combine the active positioning mode and the passive positioning mode to acquire the positioning data, and can predict the real-time position of the mobile terminal based on historical positioning information when the accurate positioning information is lost, so that the position of a user is acquired. For ease of understanding, the following first explains several terms referred to in this application.
Global Positioning System (GPS): the positioning system is a high-precision radio navigation positioning system based on artificial earth satellites, and can provide accurate geographic position, vehicle running speed and precise time information in any place of the world and in the near-earth space.
Measurement Report (MR): MR is one of the main bases for evaluating the quality of a wireless environment, MR refers to that information is sent once every 480ms (470 ms on a signaling channel) on a traffic channel, and MR is the main means for obtaining wireless information of a mobile terminal on a network side, and mainly includes uplink signal information and downlink signal information.
Signal value (Received Signal Strength Indication, RSSI): the positioning technology is used for indicating the received signal strength, measuring the distance between a signal point and a receiving point according to the received signal strength and further performing positioning calculation according to corresponding data.
The following detailed description is provided to illustrate the positioning method provided in the present application with reference to specific embodiments.
Fig. 1 schematically shows a block diagram of an exemplary system architecture to which the solution of the present application applies.
As shown in fig. 1, system architecture 100 may include a terminal device 110, a network 120, and a server 130. The terminal device 110 may include various electronic devices such as a smart phone, a tablet computer, a notebook computer, and a desktop computer. The server 130 may be an independent physical server, a server cluster or a distributed system formed by a plurality of physical servers, or a cloud server providing a cloud computing service. An application program for providing the positioning method of the present application may be installed in the terminal device 110. Network 120 may be a communication medium of various connection types capable of providing a communication link between terminal device 110 and server 130, such as a wired communication link or a wireless communication link.
The system architecture in the embodiments of the present application may have any number of terminal devices, networks, and servers, according to implementation needs. For example, the server 130 may be a server group composed of a plurality of server devices. In some alternative embodiments, the server 130 is used to store MR data information.
Fig. 2 schematically shows a flowchart of a positioning method according to an embodiment of the present application, and as shown in fig. 1, the positioning method of the present application at least includes steps S210 to S240.
Step S210, obtaining the position coordinates of the target mobile terminal, and determining the positioning grid where the target mobile terminal is located according to the position coordinates of the target mobile terminal.
Positioning grids refer to the division of space into regular grids, one grid representing one positioning grid, for example, within a specific area, 50m positioning grids are established, and each grid is numbered, so that each position within the specific area is covered by one 50m positioning grid.
According to the method and the device, the position coordinate of the target mobile terminal is obtained through active positioning, for example, the position coordinate of the target mobile terminal is obtained through a GPS, and the position of the target mobile terminal in the grid and the positioning grid where the target mobile terminal is located are obtained through the obtained position coordinate.
Step S220, determining a corresponding multi-element interpolation model according to the positioning grid where the target mobile terminal is located.
It should be noted that each location grid has its corresponding multivariate interpolation model.
Step S230, obtaining a measurement report of the target mobile terminal at the current time, obtaining a signal value of the target mobile terminal through the measurement report, inputting the signal value into a multi-element interpolation model corresponding to a positioning grid where the target mobile terminal is located, and obtaining a corrected position coordinate of the target mobile terminal at the current time, where the signal value represents a signal strength of the target mobile terminal.
Obtaining MR data of a target mobile terminal at the current moment, calculating a signal value at the current moment through the MR data, inputting the signal value into a multi-element interpolation model corresponding to a positioning grid where the target mobile terminal is located, and obtaining n effective solutions, namely M 1 ，M 2 ，M 3 ，M 4 8230, (8230) \ 8230and (Mn), and then calculating the corrected position coordinate M (x, y) of the target mobile terminal at the current moment by the following formula:
in an embodiment, an automatic positioning and MR data acquisition module may be built in the target mobile terminal, and then the active positioning GPS and MR data at the same time are uploaded to the server through an APP of the target mobile terminal.
Step S240, if the measurement report of the target mobile terminal at the current time fails to be obtained, obtaining a historical measurement report of the target mobile terminal, and obtaining the corrected position coordinates of the target mobile terminal at the current time according to the historical measurement report, where the historical measurement report is a plurality of measurement reports correspondingly obtained in a historical time period.
The measurement report MR is obtained in real time, if the measurement report MR of the target mobile terminal at the current moment fails to be obtained, a historical measurement report MR of the target mobile terminal is obtained, and the historical measurement report MR is a plurality of measurement reports MR which are correspondingly obtained in a historical time period. For example, the historical measurement report MR may be MR data reported by a user in a last 2 hours, or 20 MR data reported by the user in a last 2 hours may be acquired, and if the number of MR data exceeds 20, the 20 MR data may be acquired at a certain interval, and the interval may be, for example, one MR data every 300 seconds. It is understood that the near 2 hours means 2 hours before the time of MR acquisition failure.
Generally, the failure of MR acquisition of a measurement report is caused by a network signal difference of a location where a target mobile terminal is located, so that the target mobile terminal is in a silent state and cannot upload MR data.
In an embodiment, obtaining the corrected location coordinates of the target mobile terminal at the current time according to the historical measurement report includes: analyzing the base station category correspondingly connected with the target mobile terminal through the historical measurement report; if the base station type correspondingly connected with the target mobile terminal is an indoor substation, acquiring the position coordinate of the indoor substation, and determining the corrected position coordinate of the target mobile terminal at the current moment according to the position coordinate of the indoor substation; if the base station type correspondingly connected with the target mobile terminal is an outdoor station, analyzing the historical movement track of the target mobile terminal through the historical measurement report, and determining the corrected position coordinate of the target mobile terminal at the current moment according to the historical movement track, wherein the historical movement track comprises a plurality of movement position points.
The indoor substation refers to an indoor distribution system, and is a successful scheme for improving a mobile communication environment in a building aiming at an indoor user group, and signals of mobile communication base stations are uniformly distributed at every corner in a room by using a related technical means, so that an indoor area is ensured to have ideal signal coverage.
Each historical measurement report MR can resolve the position of a target mobile terminal, so that a plurality of historical measurement reports MR can resolve a historical movement track comprising a plurality of movement position points.
Fig. 3 schematically shows a historical movement trace diagram of an embodiment of the present application, and as shown in fig. 3, 6 historical measurement reports MR resolve 6 movement location points D of a target mobile terminal 1 ，D 2 ，D 3 ，D 4 ，D 5 And D 6 The 6 moving position points constitute a history moving track, wherein D 1 To D 2 Is a distance L 1 ，D 2 To D 3 Is a distance L 2 ，D 3 To D 4 Is a distance L 3 ，D 4 To D 5 Is a distance L 4 ，D 5 To D 6 Is a distance L 5 。
In one embodiment, the obtaining the position coordinates of the indoor substations, and the determining the corrected position coordinates of the target mobile terminal at the current time according to the position coordinates of the indoor substations includes: respectively analyzing the position coordinates of the room substations which are correspondingly connected with the target mobile terminal each time through the historical measurement report; and determining the central position coordinates of the plurality of indoor substations according to the position coordinates of the plurality of indoor substations, and determining the central position coordinates as the corrected position coordinates of the target mobile terminal at the current moment.
Each historical measurement report MR can analyze the position coordinates of the indoor substations correspondingly connected with one target mobile terminal, the plurality of historical measurement reports MR respectively have the position coordinates of the plurality of indoor substations correspondingly connected, and the center position coordinates of the plurality of indoor substations are the corrected position coordinates of the target mobile terminal at the current moment.
In an embodiment, if the base station category to which the target mobile terminal is correspondingly connected is an indoor substation, the position coordinates of the indoor substations connected last three times are obtained, and it is assumed that the position coordinates of the indoor substations connected last three times are respectively a = (X) 1 ，Y 1 )，B＝(X 2 ，Y 2 ) And C = (X) 3 ，Y 3 ) If the corrected position coordinate of the target mobile terminal at the current time is M = ((X) 1 +X 2 +X 3 )/3，(Y 1 +Y 2 +Y 3 )/3). If the last three connected room substations are the same room substation, the position coordinate of the room substation is the corrected position of the target mobile terminal at the current momentAnd (4) coordinates.
In one embodiment, analyzing the historical movement track of the target mobile terminal through the historical measurement report, and determining the corrected position coordinates of the target mobile terminal at the current time according to the historical movement track includes: determining whether the average moving speed of the historical moving track is less than a speed threshold; if the average moving speed is smaller than the speed threshold, acquiring a proximity measurement report of a historical measurement report, analyzing a proximity position coordinate of the target mobile terminal through the proximity measurement report, and determining the proximity position coordinate as a corrected position coordinate of the target mobile terminal at the current moment, wherein the proximity measurement report is the last acquired measurement report in a historical time period; and if the average moving speed is greater than or equal to the speed threshold, acquiring a historical moving angle of the historical moving track, and determining the corrected position coordinate of the target mobile terminal at the current moment according to the historical moving angle, wherein the historical moving angle is an included angle between the starting point and the end point of the historical moving track in the moving direction.
Please continue to refer to fig. 3, d 1 To D 2 Has a velocity of V 1 ，D 2 To D 3 Has a velocity of V 2 ，D 3 To D 4 Has a velocity of V 3 ，D 4 To D 5 Has a velocity of V 4 ，D 5 To D 6 Has a velocity of V 5 The average moving speed of the historical moving track is (V) 1 +V 2 +V 3 +V 4 +V 5 )/5. The moving speed can be calculated according to the acquisition time of the historical measurement report MR and the distance between the moving position points, which is not described herein again.
In one embodiment, the speed threshold value ranges from 1km/h to 5km/h.
For example, the speed threshold is 1km/h, and if the average moving speed is less than 1km/h, it indicates that the moving speed of the target mobile terminal is very slow or in a stationary state. The neighboring position coordinates can thus be approximately regarded as the corrected position coordinates of the target mobile terminal at the present moment, i.e. in fig. 3, D 6 The position coordinates of (2) are corrected position coordinates of the target mobile terminal at the current moment. If the average moving speed is greater than or equal toAnd 1km/h indicates that the moving speed of the target mobile terminal is high, and the corrected position coordinates of the target mobile terminal at the current moment need to be determined according to the historical moving angle, the average moving speed, the moving distance and the time.
Referring to fig. 3, the historical moving angle is an included angle between the starting point and the ending point of the historical moving track, i.e. D 1 And D 6 The angle alpha of the extension line of the moving direction of the two points.
In an embodiment, the obtaining a historical movement angle of the historical movement track, and the determining the corrected position coordinate of the target mobile terminal at the current time according to the historical movement angle includes: determining whether the historical movement angle is less than an angle threshold; if the historical movement angle is smaller than the angle threshold, acquiring a proximity measurement report of the historical measurement report, analyzing the proximity movement angle of the target mobile terminal through the proximity measurement report, and determining the corrected position coordinate of the target mobile terminal at the current moment according to the proximity movement angle; and if the historical movement angle is larger than or equal to the angle threshold, calculating the average movement angle of the historical movement angle, and determining the corrected position coordinate of the target mobile terminal at the current moment according to the average movement angle, wherein the average movement angle is the average value of included angles of the movement directions among all the movement position points of the historical movement track.
In one embodiment, the angle threshold ranges from 40 degrees to 50 degrees.
For example, the angle threshold is 45 degrees. If the historical moving angle is smaller than 45 degrees, it indicates that the changing angle of the moving direction of the target mobile terminal after the MR acquisition fails is small or unchanged, so the corrected position coordinate of the target mobile terminal at the current moment can be determined according to the adjacent moving angle, wherein the adjacent moving angle refers to the last moving direction of the target mobile terminal. For example, with continued reference to FIG. 3 5 And D 6 The moving direction of the two points is the adjacent moving angle, so that the moving direction of the target mobile terminal can be determined. The moving distance of the target mobile terminal can be obtained by multiplying the average moving speed by the time difference between the current time and the last measurement report MR (i.e. the proximity measurement report MR), so that the target is known to moveAnd the corrected position coordinates of the target mobile terminal at the current moment can be obtained according to the moving direction and the moving distance of the terminal.
If the historical movement angle is greater than or equal to 45 degrees, the change angle of the movement direction of the target mobile terminal after MR acquisition failure is large, and in order to acquire a more accurate movement direction of the target mobile terminal, the corrected position coordinate of the target mobile terminal at the current moment is determined according to the average movement angle, wherein the average movement angle is the average value of the included angles of the movement directions among all the movement position points of the historical movement track. For example, with continued reference to FIG. 3, L is calculated separately 1 And L 2 Angle L of 2 And L 3 Angle L of 3 And L 4 Angle L of 4 And L 5 The average value of the four included angles is the average moving angle, so that the moving direction of the target mobile terminal can be determined. The moving distance of the target mobile terminal can be obtained by multiplying the average moving speed by the time difference between the current time and the last measurement report MR (i.e. the proximity measurement report MR), and therefore, knowing the moving direction and the moving distance of the target mobile terminal, the corrected position coordinates of the target mobile terminal at the current time can be obtained.
In one embodiment, determining the corrected position coordinates of the target mobile terminal at the current moment according to the adjacent movement angle or the average movement angle includes: acquiring the proximity time of obtaining a proximity measurement report; performing difference operation on the adjacent time and the current moment to obtain a time difference between the adjacent time and the current moment; multiplying the time difference and the average moving speed to obtain the moving distance of the target mobile terminal; and determining the corrected position coordinate of the target mobile terminal at the current moment according to the adjacent moving angle and the moving distance, or determining the corrected position coordinate of the target mobile terminal at the current moment according to the average moving angle and the moving distance.
For example, if the average moving speed of the target mobile terminal is 6km/h, the current time is 3 pm, and the proximity time for obtaining the proximity measurement report is 50 minutes at 2 pm, so that the time difference between the proximity time and the current time is 10 minutes, the moving distance of the target mobile terminal is 1km as a result of multiplying the time difference by the average moving speed, and thus the corrected position coordinate of the target mobile terminal at the current time can be determined according to the proximity moving angle and the moving distance 1km, or the corrected position coordinate of the target mobile terminal at the current time can be determined according to the average moving angle and the moving distance 1 km. In the above embodiments, how to obtain the neighboring moving angle and the average moving angle is illustrated, and details are not described herein.
Fig. 4 schematically shows a flowchart of a positioning method according to another embodiment of the present application, and as shown in fig. 4, the method at least includes the following steps:
in step S410, a historical measurement report MR is acquired.
Step S420, determining whether the base station type to which the target mobile terminal is connected is an outdoor station, if so, performing step S430, and if not, performing step S421.
Step S421, determining whether the base station type corresponding to the target mobile terminal is a cell substation, if so, executing step S422.
Step S422, respectively analyzing the position coordinates of the indoor substations correspondingly connected with the target mobile terminal each time according to the historical MR, and determining the central position coordinates of the plurality of indoor substations.
In step S430, it is determined whether the average moving speed of the historical moving track is less than a speed threshold, if so, step S431 is executed, and if not, step S440 is executed.
In step S431, the proximity location coordinates of the target mobile terminal are resolved through the proximity MR.
In step S440, a historical movement angle of the historical movement path is obtained.
Step S450, determining whether the historical movement angle is smaller than the angle threshold, if so, performing step S460, and if so, performing step S451.
In step S451, the average movement angle of the historical movement angles is calculated.
And step S460, resolving the proximity movement angle of the target mobile terminal through the proximity MR.
Step S470, determining the corrected position coordinates of the target mobile terminal at the current time.
In an embodiment, the positioning method of the present application further includes: in the region range, performing grid division on the region range to obtain a positioning grid of the region range; acquiring the position coordinates of each mobile terminal in the area range through a global positioning system, and determining the mobile terminal in each positioning grid according to the position coordinates of each mobile terminal; and acquiring a signal value of the mobile terminal in each positioning grid, and establishing a multivariate interpolation model of each positioning grid according to the signal value of the mobile terminal in each positioning grid.
The grid division refers to the process of rasterizing a specific area range and numbering each grid so as to ensure that each position in the specific area range is covered by one grid.
The longitude and latitude coordinates of each mobile terminal are mapped into the grids through the GPS, the longitude and latitude coordinates of each mobile terminal collected in one grid and an information set S of corresponding MR data are obtained, the coordinates of each element and the corresponding signal value RSSI obtained through the MR data are taken out from the set S, and a multivariate interpolation model of the grids is established through a multivariate nonlinear regression mode. And for example, the set S = { a, b, c \8230n }, then the coordinates of the element a and the corresponding signal value RSSI thereof are a (x) respectively 1 ，y 1 ) And z 1 The coordinates of the element b and the corresponding signal value RSSI are respectively b (x) 2 ，y 2 ) And z 2 The coordinate of element c and its corresponding signal value RSSI are c (x) respectively 3 ，y 3 ) And z 3 The coordinates of the element n and the corresponding signal value RSSI are n (x) respectively n ，y n ) And z n Thus, the multivariate interpolation model established by means of multivariate nonlinear regression is z = f (x, y), and thus the above steps are repeated to establish a multivariate interpolation model for each grid in the region. It will be appreciated that each element of the set S includes latitude and longitude coordinates and their corresponding MR data. By constructing the multi-element nonlinear interpolation model, the positioning accuracy of each mobile terminal is comprehensively improved.
It should be noted that the raster data is a data form in which a space is divided into regular grids, each grid is called a cell, and each cell is assigned with a corresponding attribute value to represent an entity. The location of each element is defined by its row and column number, the physical location represented is implicit in the grid row and column location, and each datum in the data organization represents a non-geometric attribute of a feature or phenomenon or a pointer to its attribute.
It should be noted that although the various steps of the methods in this application are depicted in the drawings in a particular order, this does not require or imply that these steps must be performed in this particular order, or that all of the shown steps must be performed, to achieve desirable results. Additionally or alternatively, certain steps may be omitted, multiple steps combined into one step execution, and/or one step broken into multiple step executions, etc.
Embodiments of the apparatus of the present application are described below, which may be used to perform the positioning method in the above-described embodiments of the present application. Fig. 5 schematically shows a block diagram of a positioning device provided in an embodiment of the present application. As shown in fig. 5, the positioning apparatus 500 of the present application includes the following units:
the first determining unit 510 is configured to obtain a position coordinate of the target mobile terminal, and determine a positioning grid where the target mobile terminal is located according to the position coordinate of the target mobile terminal.
The second determining unit 520 is configured to determine a corresponding multi-element interpolation model according to the positioning grid where the target mobile terminal is located.
A correcting unit 530, configured to obtain a measurement report of a target mobile terminal at a current time, obtain a signal value of the target mobile terminal through the measurement report, input the signal value into a multivariate interpolation model corresponding to a positioning grid where the target mobile terminal is located, and obtain a corrected position coordinate of the target mobile terminal at the current time, where the signal value represents a signal strength of the target mobile terminal; and if the measurement report of the target mobile terminal at the current moment fails to be obtained, obtaining a historical measurement report of the target mobile terminal, and obtaining the corrected position coordinate of the target mobile terminal at the current moment according to the historical measurement report, wherein the historical measurement report is a plurality of corresponding measurement reports in a historical time period.
The specific details of the positioning device provided in each embodiment of the present application have been described in detail in the corresponding method embodiment, and are not described herein again.
The present application also provides a computer-readable medium, on which a computer program is stored, which computer program, when being executed by a processor, realizes the positioning method of the present application.
The present application further provides an electronic device, comprising: a processor and a memory for storing executable instructions of the processor; wherein the processor is configured to perform the positioning method of the present application via execution of the executable instructions.
Fig. 6 schematically shows a structural block diagram of a computer system of an electronic device for implementing the embodiment of the present application.
It should be noted that the computer system 600 of the electronic device shown in fig. 6 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present application.
As shown in fig. 6, the computer system 600 includes a Central Processing Unit (CPU) 601, which can perform various appropriate actions and processes according to a program stored in a Read-Only Memory (ROM) 602 or a program loaded from a storage section 608 into a Random Access Memory (RAM) 603. In the random access memory 603, various programs and data necessary for system operation are also stored. The cpu 601, the rom 602 and the ram 603 are connected to each other via a bus 604. An Input/Output interface 605 (Input/Output interface, i.e., I/O interface) is also connected to the bus 604.
The following components are connected to the input/output interface 605: an input portion 606 including a keyboard, a mouse, and the like; an output section 607 including a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, a speaker, and the like; a storage section 608 including a hard disk and the like; and a communication section 609 including a network interface card such as a local area network card, modem, or the like. The communication section 609 performs communication processing via a network such as the internet. The driver 610 is also connected to the input/output interface 605 as necessary. A removable medium 611 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 610 as necessary, so that the computer program read out therefrom is mounted in the storage section 608 as necessary.
In particular, according to embodiments of the present application, the processes described in the various method flowcharts may be implemented as computer software programs. For example, embodiments of the present application include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method illustrated by the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network through the communication section 609, and/or installed from the removable medium 611. The computer program, when executed by the central processor 601, performs various functions defined in the system of the present application.
It should be noted that the computer readable medium shown in the embodiments of the present application may be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a Read-Only Memory (ROM), an Erasable Programmable Read-Only Memory (EPROM), a flash Memory, an optical fiber, a portable Compact Disc Read-Only Memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present application, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In this application, however, a computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the foregoing.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems that perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
It should be noted that although in the above detailed description several modules or units of the device for action execution are mentioned, such a division is not mandatory. Indeed, the features and functionality of two or more modules or units described above may be embodied in one module or unit, according to embodiments of the application. Conversely, the features and functions of one module or unit described above may be further divided into embodiments by a plurality of modules or units.
Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein may be implemented by software, or by software in combination with necessary hardware. Therefore, the technical solution according to the embodiments of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a usb disk, a removable hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which can be a personal computer, a server, a touch terminal, or a network device, etc.) to execute the method according to the embodiments of the present application.
Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains.
It will be understood that the present application is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the application is limited only by the appended claims.
Claims (10)
1. A method of positioning, comprising:
acquiring the position coordinate of a target mobile terminal, and determining a positioning grid where the target mobile terminal is located according to the position coordinate of the target mobile terminal;
determining a corresponding multi-element interpolation model according to the positioning grid where the target mobile terminal is located;
obtaining a measurement report of the target mobile terminal at the current moment, obtaining a signal value of the target mobile terminal through the measurement report, inputting the signal value into a multivariate interpolation model corresponding to a positioning grid where the target mobile terminal is located, and obtaining a corrected position coordinate of the target mobile terminal at the current moment, wherein the signal value represents the signal intensity of the target mobile terminal;
and if the measurement report of the target mobile terminal at the current moment fails to be obtained, obtaining a historical measurement report of the target mobile terminal, and obtaining the corrected position coordinate of the target mobile terminal at the current moment according to the historical measurement report, wherein the historical measurement report is a plurality of measurement reports which are correspondingly obtained in a historical time period.
2. The method according to claim 1, wherein the obtaining a historical measurement report of the target mobile terminal and obtaining a corrected location coordinate of the target mobile terminal at a current time according to the historical measurement report comprises:
analyzing the base station type correspondingly connected with the target mobile terminal through the historical measurement report;
if the base station type correspondingly connected with the target mobile terminal is an indoor substation, acquiring the position coordinate of the indoor substation, and determining the corrected position coordinate of the target mobile terminal at the current moment according to the position coordinate of the indoor substation;
if the base station type correspondingly connected with the target mobile terminal is an outdoor station, analyzing a historical movement track of the target mobile terminal through the historical measurement report, and determining a corrected position coordinate of the target mobile terminal at the current moment according to the historical movement track, wherein the historical movement track comprises a plurality of movement position points.
3. The method according to claim 2, wherein the obtaining of the position coordinates of the indoor substation, and the determining of the corrected position coordinates of the target mobile terminal at the current time according to the position coordinates of the indoor substation comprises:
respectively analyzing the position coordinates of the indoor substations correspondingly connected with the target mobile terminal each time through the historical measurement report;
and determining the central position coordinates of the plurality of indoor substations according to the position coordinates of the plurality of indoor substations, and determining the central position coordinates as the corrected position coordinates of the target mobile terminal at the current moment.
4. The positioning method according to claim 2, wherein the analyzing a historical movement track of the target mobile terminal through the historical measurement report, and the determining the revised position coordinates of the target mobile terminal at the current time according to the historical movement track comprises:
determining whether an average movement speed of the historical movement trajectory is less than a speed threshold;
if the average moving speed is smaller than the speed threshold, acquiring a proximity measurement report of the historical measurement report, analyzing a proximity position coordinate of the target mobile terminal through the proximity measurement report, and determining the proximity position coordinate as a corrected position coordinate of the target mobile terminal at the current moment, wherein the proximity measurement report is a measurement report acquired last time in a historical time period;
and if the average moving speed is greater than or equal to the speed threshold, acquiring a historical moving angle of the historical moving track, and determining a corrected position coordinate of the target mobile terminal at the current moment according to the historical moving angle, wherein the historical moving angle is an included angle between a starting point and an end point of the historical moving track in the moving direction.
5. The method according to claim 4, wherein obtaining a historical movement angle of the historical movement trajectory, and determining the revised position coordinates of the target mobile terminal at the current time according to the historical movement angle comprises:
determining whether the historical movement angle is less than an angle threshold;
if the historical movement angle is smaller than the angle threshold, acquiring a proximity measurement report of the historical measurement report, analyzing the proximity movement angle of the target mobile terminal through the proximity measurement report, and determining the corrected position coordinate of the target mobile terminal at the current moment according to the proximity movement angle;
if the historical movement angle is larger than or equal to the angle threshold, calculating an average movement angle of the historical movement angle, and determining a corrected position coordinate of the target mobile terminal at the current moment according to the average movement angle, wherein the average movement angle is an average value of included angles of movement directions among all movement position points of the historical movement track.
6. The method according to claim 5, wherein determining the revised position coordinates of the target mobile terminal at the current time according to the neighboring moving angle or the average moving angle comprises:
acquiring the proximity time of the proximity measurement report;
performing difference operation on the adjacent time and the current moment to obtain a time difference between the adjacent time and the current moment;
multiplying the time difference and the average moving speed to obtain the moving distance of the target mobile terminal;
and determining the corrected position coordinate of the target mobile terminal at the current moment according to the adjacent moving angle and the moving distance, or determining the corrected position coordinate of the target mobile terminal at the current moment according to the average moving angle and the moving distance.
7. The method of claim 1, further comprising:
in the area range, carrying out grid division on the area range to obtain a positioning grid of the area range;
acquiring the position coordinates of each mobile terminal in the area range through a global positioning system, and determining the mobile terminal in each positioning grid according to the position coordinates of each mobile terminal;
and acquiring a signal value of the mobile terminal in each positioning grid, and establishing a multivariate interpolation model of each positioning grid according to the signal value of the mobile terminal in each positioning grid.
8. A positioning device, comprising:
the mobile terminal comprises a first determining unit, a second determining unit and a control unit, wherein the first determining unit is used for acquiring the position coordinate of a target mobile terminal and determining a positioning grid where the target mobile terminal is located according to the position coordinate of the target mobile terminal;
the second determining unit is used for determining a corresponding multi-element interpolation model according to the positioning grid where the target mobile terminal is located;
a correction unit, configured to obtain a measurement report of the target mobile terminal at a current time, obtain a signal value of the target mobile terminal through the measurement report, input the signal value into a multi-element interpolation model corresponding to a positioning grid where the target mobile terminal is located, and obtain a corrected position coordinate of the target mobile terminal at the current time, where the signal value represents a signal strength of the target mobile terminal; and if the measurement report of the target mobile terminal at the current moment fails to be obtained, obtaining a historical measurement report of the target mobile terminal, and obtaining the corrected position coordinate of the target mobile terminal at the current moment according to the historical measurement report, wherein the historical measurement report is a plurality of corresponding measurement reports in a historical time period.
9. A computer-readable medium, on which a computer program is stored which, when being executed by a processor, carries out the positioning method of any one of claims 1 to 7.
10. An electronic device, comprising:
a processor; and
a memory for storing executable instructions of the processor;
wherein the processor is configured to perform the positioning method of any one of claims 1 to 7 via execution of the executable instructions.
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|---|---|---|---|
| CN202111094029.7A CN115835139A (en) | 2021-09-17 | 2021-09-17 | Positioning method, positioning device, computer readable medium and electronic equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111094029.7A CN115835139A (en) | 2021-09-17 | 2021-09-17 | Positioning method, positioning device, computer readable medium and electronic equipment |
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| CN115835139A true CN115835139A (en) | 2023-03-21 |
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