CN116222546B

CN116222546B - Method, device and equipment for generating map information in group navigation positioning

Info

Publication number: CN116222546B
Application number: CN202310519110.8A
Authority: CN
Inventors: 金朝
Original assignee: Beijing Baishui Technology Co ltd
Current assignee: Beijing Baishui Technology Co ltd
Priority date: 2023-05-10
Filing date: 2023-05-10
Publication date: 2023-07-25
Anticipated expiration: 2043-05-10
Also published as: CN116222546A

Abstract

The method, the device and the equipment for generating map information in group navigation positioning are applied to positioning equipment in a navigation system, and the method comprises the following steps: reporting node parameters of the positioning equipment at the current moment to a central controller; the node parameters include: location information of the positioning device; receiving grouping information issued by a central controller to determine the distance information between the positioning equipment and the target equipment; the target equipment is positioning equipment for carrying out pairwise positioning with the positioning equipment; receiving first update information sent by target equipment; the first updated information is sent when the target equipment determines that the positioning equipment and the non-first positioning equipment are subjected to pairwise positioning; generating map information of the positioning device according to the distance information and the first updating information, wherein the map information comprises: track information of the positioning device and track information of the target device. By the map information generation method, the demand of calculation force on the central controller in the group positioning process can be reduced.

Description

Method, device and equipment for generating map information in group navigation positioning

Technical Field

The present disclosure relates to the field of navigation positioning, and in particular, to a method, an apparatus, and a device for generating map information in group navigation positioning.

Background

Currently, when the respective map information of a plurality of positioning devices included in a group needs to be determined, each positioning device can upload data acquired by its own sensor to the same central server, and the central server calculates the map information corresponding to each positioning device by combining the data reported by the plurality of positioning devices, where the map information included in each positioning device includes the moving track of the positioning device itself.

However, the above map information generating method requires a high computing power of the central server, and when the central server is damaged, each positioning device in the group cannot acquire the map information corresponding to the positioning device. Therefore, a map information generation method is needed to avoid the above technical problems.

Disclosure of Invention

The application provides a method, a device and equipment for generating map information in group navigation positioning, which are used for solving the problem of higher calculation force requirement on a central server in the related technology.

In a first aspect, the present application provides a method for generating map information in group navigation positioning, applied to positioning devices in a navigation system, where the navigation system includes a central controller and a plurality of positioning devices, the method includes:

Reporting node parameters of the positioning equipment at the current moment to the central controller; the node parameters include: position information of the positioning device;

receiving grouping information issued by a central controller, wherein the grouping information is used for indicating positioning equipment requiring pairwise positioning at present; the grouping information is generated by the central controller according to the node parameters;

determining relative position information of the positioning device and the target device; the target equipment is positioning equipment which performs pairwise positioning with the positioning equipment;

receiving first update information sent by the target equipment; wherein the first update information is information observed in a positioning interval period of the target device; the positioning interval time period is the interval between the first positioning time and the second positioning time; the first positioning time is the determined time of the relative position information; the second positioning time is the time of determining the relative position information of the positioning equipment and the target equipment in the previous time; the first updating information is sent when the target equipment determines that the positioning equipment and the target equipment are not subjected to pairwise positioning for the first time;

generating map information of the positioning device according to the relative position information and the first updating information, wherein the map information comprises: track information of the positioning device and track information of the target device.

In one possible implementation, the first update information includes: first information and second information; wherein the first information characterizes track information of the target device in the positioning interval period; the second information indicates smart landmark devices observed by the target device during the positioning interval period;

the first information includes: first odometer increment information, error information, and first location information; the first odometer increment information characterizes the increment of the distance travelled by the target equipment in the positioning interval period; the error information characterizes the accuracy of the first odometer increment information; the first location information is a self-location determined by the target device at the first positioning time.

In one possible implementation manner, generating map information of the positioning device according to the relative position information and the first update information includes:

generating a first branch according to the first information and the second position information, wherein the second position information is the self position determined by the target equipment at the second positioning time; the edge of the first branch represents the incremental information and the error information of the first odometer; a first endpoint of the first branch represents first location information of the target device; a second endpoint of the first branch characterizes second location information of the target device;

Generating a second branch according to the relative position information; the edge of the second leg characterizes the relative position information;

grafting the first end of the second branch to the first end of a third branch in the initial probability map of the positioning device, wherein the first end of the third branch is used for representing third position information of the positioning device; the third position information is the position of the positioning equipment at the first positioning time; the second end of the third branch represents the position information determined by the positioning equipment at the first time; a side of the third leg characterizing a course increment traveled by the positioning device between the first time and the first positioning time, and an accuracy of the course increment; the initial probability map comprises at least one branch used for representing the track of the positioning equipment and/or at least one branch used for representing the track of the target equipment;

grafting the first end of the first branch to the second end of the second branch to obtain a first probability map;

and generating map information of the positioning equipment according to the first probability map and the second information.

In one possible implementation, the second information includes: identification information and fourth location information; the identification information indicates a first smart landmark device that the target device has passed within the positioning interval period; the fourth position information is position information when the target device passes through the first intelligent landmark device;

Generating map information of the positioning device according to the first probability map and the second information, wherein the map information comprises the following components:

if the positioning device is determined to pass through the first intelligent landmark device before the current moment, generating a fourth branch, wherein a first end of the fourth branch represents the fourth position information; the second end of the fourth branch represents fifth position information, wherein the fifth position information is position information when the positioning equipment passes through the first intelligent landmark equipment; the edge of the fourth branch represents a first preset distance value and a first variance value, wherein the first preset distance value is determined according to the maximum perceived distance corresponding to the positioning equipment when perceiving the first intelligent landmark equipment; the first variance value is used for representing the accuracy of the first preset distance value;

grafting the first end point and the second end point of the fourth branch to the end point belonging to the same position information in the first probability map to obtain an updated probability map;

and determining the generation information of the positioning equipment according to the updated probability map.

In one possible implementation, the method further includes:

In the operation process of the positioning equipment, if the second intelligent landmark equipment is determined to exist, determining sixth position information and seventh position information; the second intelligent landmark device is an intelligent landmark device which is subjected to multiple times of passing by the positioning device in the driving process; the sixth position information is the position when the positioning device passes through the second intelligent landmark device at the first moment; the seventh position information is the position of the positioning device when the positioning device passes through the intelligent landmark device at the second moment;

generating a fifth node in the current probability map of the positioning equipment according to the sixth position information, the seventh position information, a second preset distance value and a second variance value to obtain a second probability map; wherein the first end of the fifth leg characterizes the sixth location information; the second end of the fifth branch represents the seventh position information; the edge of the fifth branch represents the second preset distance value and the second variance value; the current probability map comprises at least one branch used for representing the track of the positioning equipment and/or at least one branch used for representing the track of the target equipment;

the second preset distance value is determined by the maximum perceived distance corresponding to the positioning equipment when perceiving the intelligent landmark equipment; the second variance value is used for representing the accuracy of the second preset distance value;

Generating map information of the positioning device according to the relative position information and the first update information, including:

and generating map information of the positioning equipment according to the second probability map, the relative position information and the first updating information.

In one possible implementation, the method further includes:

sending second update information to the target device; wherein the second updated information characterizes travel information of the positioning device within the positioning interval period; the second update information includes: third information, fourth information; wherein the third information characterizes track information of the positioning device in the positioning interval period; the fourth information characterizes smart landmark devices observed by the target device during the positioning interval period.

In one possible implementation, the method further includes:

determining real-time position information of the positioning equipment in real time in the operation process of the positioning equipment;

generating a sixth section in the current probability map of the positioning equipment according to the generated real-time position information, the generated real-time position information and the generated second milemeter increment information to obtain a third probability map; the second odometer increment information is the real-time position information generated at this time and the distance increment travelled by the positioning equipment during the previous generation of the real-time position information; the first end of the sixth section represents the real-time position information generated at this time; the second end of the sixth branch represents the real-time position information generated in the previous time; the edge of the sixth node represents the second odometer increment information and a second variance value; the second variance value characterizes the accuracy of the second odometer increment information; the current probability map comprises at least one branch used for representing the track of the positioning equipment and/or at least one branch used for representing the track of the target equipment;

and generating map information of the positioning equipment according to the third probability map, the relative position information and the first updating information.

In one possible implementation, information interaction and pairwise positioning are performed between positioning devices in a navigation system based on ultra-wideband radio communication technology.

In one possible implementation, the central controller issues packet information to the positioning device based on a narrowband radio communication technology.

In one possible implementation, the method further includes:

receiving third update information sent by the target equipment; the third updated information is sent when the target equipment determines that the positioning equipment performs pairwise positioning for the first time; the third update information includes current location information of the target device.

In a second aspect, the present application provides an apparatus for generating map information in group navigation positioning, applied to positioning devices in a navigation system, the navigation system including a central controller and a plurality of positioning devices, the apparatus comprising:

The first sending unit is used for reporting node parameters of the current moment of the positioning equipment to the central controller; the node parameters include: position information of the positioning device;

the first receiving unit is used for receiving grouping information issued by the central controller, wherein the grouping information is used for indicating positioning equipment which currently needs pairwise positioning; the grouping information is generated by the central controller according to the node parameters;

a first determining unit configured to determine relative position information of the positioning device and the target device; the target equipment is positioning equipment which performs pairwise positioning with the positioning equipment;

the second receiving unit is used for receiving the first updating information sent by the target equipment; wherein the first update information is information observed in a positioning interval period of the target device; the positioning interval time period is the interval between the first positioning time and the second positioning time; the first positioning time is the determined time of the relative position information; the second positioning time is the time of determining the relative position information of the positioning equipment and the target equipment in the previous time; the first updating information is sent when the target equipment determines that the positioning equipment and the target equipment are not subjected to pairwise positioning for the first time;

A first generation unit, configured to generate map information of the positioning device according to the relative position information and the first update information, where the map information includes: track information of the positioning device and track information of the target device.

In one possible implementation, the first generating unit includes:

the first generation module is used for generating a first branch according to the first information and the second position information, wherein the second position information is the self position determined by the target equipment at the second positioning time; the edge of the first branch represents the incremental information and the error information of the first odometer; a first endpoint of the first branch represents first location information of the target device; a second endpoint of the first branch characterizes second location information of the target device;

The second generation module is used for generating a second branch according to the relative position information; the edge of the second leg characterizes the relative position information;

a first grafting module, configured to graft a first end of the second branch to a first end of a third branch in an initial probability map of the positioning device, where the first end of the third branch is used to characterize third position information of the positioning device; the third position information is the position of the positioning equipment at the first positioning time; the second end of the third branch represents the position information determined by the positioning equipment at the first time; a side of the third leg characterizing a course increment traveled by the positioning device between the first time and the first positioning time, and an accuracy of the course increment; the initial probability map comprises at least one branch used for representing the track of the positioning equipment and/or at least one branch used for representing the track of the target equipment;

the second grafting module is used for grafting the first end of the first branch joint to the second end of the second branch joint to obtain a first probability map;

and the third generation module is used for generating map information of the positioning equipment according to the first probability map and the second information.

the third generation module is specifically configured to:

In one possible implementation, the apparatus further includes:

the second determining unit is used for determining sixth position information and seventh position information if the second intelligent landmark equipment is determined to exist in the operation process of the positioning equipment; the second intelligent landmark device is an intelligent landmark device which is subjected to multiple times of passing by the positioning device in the driving process; the sixth position information is the position when the positioning device passes through the second intelligent landmark device at the first moment; the seven-position information is the position of the positioning device when the positioning device passes through the intelligent landmark device at the second moment;

the second generating unit is used for generating a fifth branch in the current probability map of the positioning device according to the sixth position information, the seventh position information, a second preset distance value and a second variance value to obtain a second probability map; wherein the first end of the fifth leg characterizes the sixth location information; the second end of the fifth branch represents the seventh position information; the edge of the fifth branch represents the second preset distance value and the second variance value; the current probability map comprises at least one branch used for representing the track of the positioning equipment and/or at least one branch used for representing the track of the target equipment;

the first generation unit is specifically configured to: and generating map information of the positioning equipment according to the second probability map, the relative position information and the first updating information.

In one possible implementation, the apparatus further includes:

a second transmitting unit, configured to transmit second update information to the target device; wherein the second updated information characterizes travel information of the positioning device within the positioning interval period; the second update information includes: third information, fourth information; wherein the third information characterizes track information of the positioning device in the positioning interval period; the fourth information characterizes smart landmark devices observed by the target device during the positioning interval period.

In one possible implementation, the apparatus further includes:

the third determining unit is used for determining the real-time position information of the positioning equipment in real time in the operation process of the positioning equipment;

The third generation unit is used for generating a sixth node in the current probability map of the positioning equipment according to the generated real-time position information, the generated real-time position information and the generated second milemeter increment information to obtain a third probability map; the second odometer increment information is the real-time position information generated at this time and the distance increment travelled by the positioning equipment during the previous generation of the real-time position information; the first end of the sixth section represents the real-time position information generated at this time; the second end of the sixth branch represents the real-time position information generated in the previous time; the edge of the sixth node represents the second odometer increment information and a second variance value; the second variance value characterizes the accuracy of the second odometer increment information; the current probability map comprises at least one branch used for representing the track of the positioning equipment and/or at least one branch used for representing the track of the target equipment;

the first generation unit is specifically configured to: and generating map information of the positioning equipment according to the third probability map, the relative position information and the first updating information.

In one possible implementation, the apparatus further includes:

a third receiving unit, configured to receive third update information sent by the target device; the third updated information is sent when the target equipment determines that the positioning equipment performs pairwise positioning for the first time; the third update information includes current location information of the target device.

In a third aspect, the present application provides an electronic device, comprising: a memory, a processor;

a memory for storing the processor-executable instructions;

wherein the processor is configured to perform the method according to any of the first aspects according to the executable instructions.

In a fourth aspect, the present application provides a computer-readable storage medium having stored therein computer-executable instructions for performing the method of any of the first aspects when executed by a processor.

In a fifth aspect, the present application provides a computer program product comprising a computer program which, when executed by a processor, implements the method of any one of the first aspects.

In a sixth aspect, the present application provides a robot comprising a positioning device for implementing the method of any one of the first aspects.

The method, the device and the equipment for generating the map information in the group navigation positioning are applied to any positioning equipment in a plurality of positioning equipment contained in the navigation system, and the positioning equipment in the navigation system can determine the map information without depending on a central controller to generate the map information, so that the demand on calculation force of the central controller can be reduced. And when the positioning equipment cannot establish communication with the central controller, the positioning equipment can still determine that the positioning equipment and the target equipment need two-by-two positioning and information interaction. In addition, compared with the way that the central controller generates and transmits map information to each positioning device, the way in the embodiment can reduce the data volume transmitted between the positioning device and the central controller. In addition, along with the repeated circulation of the steps, the number of the target devices which are used for carrying out the pairwise positioning with the positioning devices is increased continuously in the continuous moving process of the positioning devices, namely, the first updating information transmission interaction can be carried out with a plurality of different positioning devices, so that the local tracks of the plurality of different positioning devices are generated in the positioning devices, and further, the local tracks of other devices generated by the positioning devices can also be used as backups of the tracks of the other devices. And the mode of using the received first updating information for determining the map information is equivalent to using other devices to sense the information, so as to restrict the calculation of the self track, and further be beneficial to improving the precision of the generated map information.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application.

Fig. 1 is a schematic view of a navigation system provided in the present application;

fig. 2 is a flow chart of a method for generating map information in group navigation positioning according to an embodiment of the present application;

fig. 3 is a flowchart of a method for generating map information in group navigation positioning according to an embodiment of the present application;

fig. 4 is an updated schematic diagram of a probability map provided in an embodiment of the present application, where fig. 4 (a) is a probability diagram intent before updating and fig. 4 (b) is a probability diagram intent after updating;

FIG. 5 is a schematic view of a strut according to an embodiment of the present disclosure;

fig. 6 is a schematic diagram of a sending buffer of a positioning device according to an embodiment of the present application;

fig. 7 is a flowchart of a method for generating map information in group navigation positioning according to an embodiment of the present application;

fig. 8 is a schematic diagram of an application scenario of group navigation positioning according to an embodiment of the present application;

fig. 9 is a schematic diagram of probability map updating provided in the embodiment of the present application, where fig. 9 (a) is a probability map illustration before updating and fig. 9 (b) is a probability map illustration after updating;

Fig. 10 is a schematic structural diagram of a map information generating device in group navigation positioning according to an embodiment of the present application;

fig. 11 is a schematic structural diagram of a map information generating device in group navigation positioning according to an embodiment of the present application;

fig. 12 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

Specific embodiments thereof have been shown by way of example in the drawings and will herein be described in more detail. These drawings and the written description are not intended to limit the scope of the inventive concepts in any way, but to illustrate the concepts of the present application to those skilled in the art by reference to specific embodiments.

Detailed Description

Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with aspects of the present application.

Noun interpretation:

preamble length: the preamble is transmitted by a transmitter, which is used by a receiver to extract critical information for establishing communication with the transmitter. The longer the preamble length (number of bits), the easier the receiver is to associate with the transmitter and the higher the receiver sensitivity.

Code rate: information transmission rate at which the transceiver communicates. The higher the rate, the faster the information transmission speed, the more power-saving, but the smaller the communication range. The lower the rate, the slower the information transmission speed, the more electricity consuming, but the larger the communication range.

Communication frequency: the higher the wireless communication frequency, the smaller the communication radius, the more susceptible to obstruction by obstacles.

Positioning every two times; the two positioning devices determine the distance between the two positioning devices and/or the azimuth relation between the two device positions through information interaction, namely, determine the relative position information.

Currently, in the field of navigation positioning, when it is required to perform group navigation positioning, the following methods may be generally adopted:

in one example, the group includes a plurality of positioning devices, where the process of resolving the map information of each positioning device needs to be completed by the plurality of positioning devices together, that is, each positioning device performs resolving according to the information perceived by itself and the information sent by the previous positioning device, so as to obtain a processing result, and sends the processing result to the next positioning device, so that the next positioning device can combine the received processing result with the information perceived by itself, further perform processing, and repeat the above process until the last positioning device is resolved, so that the map information of the positioning device can be obtained.

However, in the map information generation system, if one of the plurality of positioning devices fails, the device cannot transfer information to the next positioning device, and thus cannot generate map information. Moreover, the process map information is relatively long in calculation time.

In one example, the plurality of positioning devices in the group may send the acquired information to the same central server, and the central server combines the received information of each positioning device to perform the calculation of the map information corresponding to each positioning device.

However, the above-described map information generation method requires high reliability of the communication link between the central server and the positioning device, and when communication between the central server and the positioning device is impossible, the central server cannot perform calculation of the map information of the positioning device, the positioning device cannot determine its own map information, and the map information of the remaining devices cannot be acquired. In addition, the above-described approach requires high computational power on the central server.

In one example, each positioning device in the group firstly independently constructs own map information, and performs information interaction with the target device to obtain the map information of the target device, and fuses the map information of the target device and the own map information to generate final map information. However, the above-mentioned interaction of map information also easily occupies more transmission resources, and the final accuracy of map information cannot be ensured.

Fig. 1 is a schematic view of a navigation system provided in the present application. The navigation system comprises a central controller and a plurality of positioning devices (namely, positioning device 1, positioning device 2 to positioning device q in the figure, wherein q is a positive integer greater than 2). The plurality of positioning devices can perform information interaction with the central controller and the determined information interaction devices respectively so as to accurately determine the self-running track.

The generation method of map information in group navigation positioning is used for solving the technical problems.

The following describes the technical solutions of the present application and how the technical solutions of the present application solve the above technical problems in detail with specific embodiments. The following embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments. Embodiments of the present application will be described below with reference to the accompanying drawings.

Fig. 2 is a flowchart of a method for generating map information in group navigation positioning, which is applied to positioning devices in a navigation system, and the navigation system includes a central controller and a plurality of positioning devices, as shown in fig. 2, and the method includes the following steps:

S201, reporting node parameters of the positioning equipment at the current moment to a central controller; the node parameters include location information of the positioning device.

In this embodiment, each positioning device in the navigation system may report the node parameter corresponding to the positioning device when the group positioning is required. The node parameters may include current location information of the positioning device itself.

S202, receiving grouping information issued by a central controller, wherein the grouping information is used for indicating positioning equipment requiring pairwise positioning at present; the grouping information is generated by the central controller according to the node parameters.

In an exemplary embodiment, after the central controller receives the node parameters reported by the positioning device, the central controller may group the plurality of positioning devices in the navigation system according to the node parameters to obtain at least one group information, so that after the positioning device receives the group information, the positioning device may determine the target device that needs to perform pairwise positioning with itself according to the positioning device indicated in the group information. In this embodiment, one positioning device may perform positioning in pairs with a plurality of positioning devices, or may perform positioning in pairs with only one other positioning device, and the embodiment is not particularly limited.

In addition, in this embodiment, the manner of determining the grouping information by the central controller according to the node parameter is not particularly limited, for example, the grouping manner may be that the central controller determines the distance between two positioning devices according to the position information reported by each positioning device, and selects two devices with a relatively close distance as the devices requiring two-by-two positioning according to the distance. Alternatively, the packet information may be determined in association with the communication radius of each device.

S203, determining relative position information of the positioning device and the target device; the target equipment is positioning equipment which performs pairwise positioning with the positioning equipment.

In this embodiment, the positioning device determines, after receiving the packet information, the target device with which the positioning is required to be performed in pairs according to the packet information, and determines the relative position information between the positioning device and the target device.

It should be noted that, in the embodiment, the manner of determining the relative position information between the positioning devices is not limited in this embodiment, for example, the relative position information may be determined through an image captured by the positioning devices, or the positioning may be performed through laser; or, when the brightness of the environment where the positioning device is located is low in some disaster scenarios, the distance may also be determined by adopting a radio communication mode, wherein, the specific principle may be referred to the description in the related art, and the description is omitted here.

S204, receiving first update information sent by target equipment; the first updated information is information observed in a positioning interval period of the target equipment; the positioning interval time period is the interval between the first positioning time and the second positioning time; the first positioning time is the determination time of the relative position information; the second positioning time is the time of determining the relative position information of the positioning equipment and the target equipment in the previous time; the first updated information is sent when the target device determines that the positioning device and the non-first positioning device are subjected to pairwise positioning.

For example, after positioning, the positioning device can also interact with the target device. Specifically, in this embodiment, when it is determined that the positioning device and the target positioning device do not perform the positioning for the first time, the target positioning device sends information (i.e., the first updated information) observed in the time period of the positioning for two times to the positioning device. The time period of the two-by-two positioning may be a time period between a time when the relative position information is determined for the current two-by-two positioning (i.e., the first positioning time) and a second positioning time when the positioning device and the target positioning device previously perform two-by-two positioning before the first positioning time, i.e., a time period between the first positioning time and the second positioning time.

Further, the specific content included in the first update information is not limited in the present embodiment, and the first update information may be data generated by a sensor carried by the target device in the above-described positioning interval period, for example, a captured image, a detected obstacle, or the like.

S205, generating map information of the positioning device according to the relative position information and the first update information, where the map information includes: track information of the positioning device and track information of the target device.

For example, after the positioning device receives the first update information and determines the relative position information, the positioning device may determine the map information corresponding to the positioning device according to the information, and it should be noted that, in the map information generated by the positioning device in this embodiment, not only the track information of the positioning device may be included, but also the track information of the target device may be generated at the same time due to the received first update information of the target device, and it may be understood that, because the target device does not send the observation information of the target device in the whole driving process to the positioning device, the map information may include the local track information corresponding to the target device. For example, the track information of the target device in the map information may include location information of the positioning device and variance information, wherein the variance information characterizes the accuracy of the location information of the positioning device finally obtained by the calculation. After the above information is solved, steps S201-S205 may be repeated.

In addition, when the positioning device generates map information, the positioning device not only can calculate the map information according to the acquired relative position information and the first updated information, but also can combine the information sensed by the sensor configured by the positioning device itself, for example, when the first updated information includes the position information of the target device, the positioning device can determine the positions of the final target device and the positioning device in an information fusion manner according to the position information determined by the positioning device, the position information of the target device and the previously acquired relative position information, so that the positioning accuracy is improved in the information fusion manner.

In one example, the above steps S201-S205 are periodically performed in a loop so that the positioning device continuously updates its own map information.

It can be understood that in this embodiment, the positioning device in the navigation system can determine the map information by itself, and the central controller is only used for issuing the grouping information, so that the central controller is not required to generate the map information, and the demand on the computing force of the central controller can be reduced. And when the positioning equipment cannot establish communication with the central controller, the positioning equipment can still determine that the positioning equipment and the target equipment need two-by-two positioning and information interaction. In addition, compared with the way that the central controller generates and transmits map information to each positioning device, the way in the embodiment can reduce the data volume transmitted between the positioning device and the central controller. And along with the repeated circulation of the steps, the number of the target devices which are used for carrying out the pairwise positioning with the positioning devices is increased continuously in the continuous moving process of the positioning devices, namely, the first updating information transmission interaction can be carried out with a plurality of different positioning devices, so that the local tracks of the plurality of different positioning devices are generated in the positioning devices, and further, the local tracks of other devices generated by the positioning devices can also be used as backups of the tracks of the other devices. And the mode of using the received first updating information for determining the map information is equivalent to using other devices to sense the information, so as to restrict the calculation of the self track, thereby being beneficial to improving the precision of the generated map information.

On the basis of the above embodiment, in this embodiment, the first update information sent by the target device to the positioning device includes: first information and second information; the first information characterizes track information of the target equipment in a positioning interval period; the second information indicates smart landmark devices observed by the target device during the positioning interval period; the first information includes: first odometer increment information, error information, and first location information; the first odometer increment information characterizes the increment of the distance travelled by the target equipment in the positioning interval period; the error information characterizes the accuracy of the first odometer increment information; the first location information is a self-location determined by the target device at the first positioning time.

For example, when the target device sends first update information to the positioning device in the present embodiment, the first update information may include first information for characterizing track information of the target device in a period of two positioning intervals, and specifically, the first information may include: first odometer information, error information, and first location information. The first odometer information may be understood as an increment value of an odometer carried on the target device measured during the positioning interval period, for indicating a course increment of the target device during the positioning interval period. The error information is used to characterize the accuracy of the first odometer information, and in addition, the first position information can be understood as position information of the target device when the target device and the positioning device are positioned in pairs, and the position information is determined by the target device according to a sensor carried by the target device, for example, can be determined by the odometer sensor.

Further, when the target device travels within the positioning interval period, the transmitting station device (i.e., the above-described second information) of the smart landmark device that it has passed can be set to the device when it has passed the smart landmark device placed in the environment, so as to improve the device map information resolution accuracy. It should be noted that, the smart landmark device may be understood as an identifier that may be used for loop detection by the device in the field of navigation positioning.

It may be understood that, in this embodiment, the transmitted first update information may include first odometer information, error information and first location information, so that, after the positioning device acquires the first update information, the generation and calculation process of the self map information may be constrained by the data transmitted by the target device, so as to improve the accuracy of the obtained map information, and in addition, the position of the target positioning device obtained by the positioning device may also be used as a backup of the local map information of the target device, and in this embodiment, the increment of the odometer adopted when transmitting the odometer information, that is, the distance increment, compared with the plurality of original information measured by directly transmitting the odometer, the transmission amount of data between devices may be reduced.

Fig. 3 is a flowchart of a map information generating method in group navigation positioning, which is provided in the embodiment of the present application, and is applied to positioning devices in a navigation system, where the navigation system includes a central controller and a plurality of positioning devices, as shown in fig. 3, on the basis of the above embodiment, when first updated information includes first information and second information, the method in the embodiment includes the following steps:

s301, reporting node parameters of the positioning equipment at the current moment to a central controller; the node parameters include: location information of the positioning device.

S302, receiving grouping information issued by a central controller, wherein the grouping information is used for indicating positioning equipment requiring pairwise positioning at present; the grouping information is generated by the central controller according to the node parameters.

S303, determining relative position information of the positioning device and the target device; the target equipment is positioning equipment which performs pairwise positioning with the positioning equipment.

S304, receiving first update information sent by target equipment; the first updated information is information observed in a positioning interval period of the target equipment; the positioning interval time period is the interval between the first positioning time and the second positioning time; the first positioning time is the determination time of the relative position information; the second positioning time is the time of determining the relative position information of the positioning equipment and the target equipment in the previous time; the first updated information is sent when the target device determines that the positioning device and the non-first positioning device are subjected to pairwise positioning. Specifically, the first update information sent by the target device to the positioning device includes: first information and second information; the first information characterizes track information of the target equipment in a positioning interval period; the second information indicates smart landmark devices observed by the target device during the positioning interval period; the first information includes: first odometer increment information, error information, and first location information; the first odometer increment information characterizes the increment of the distance travelled by the target equipment in the positioning interval period; the error information characterizes the accuracy of the first odometer increment information; the first location information is a self-location determined by the target device at the first positioning time.

For example, the technical principles of steps S301 to S304 may be referred to the description in fig. 2, and will not be repeated here.

S305, generating a first branch according to the first information and the second position information, wherein the second position information is the self position determined by the target equipment at the second positioning time; the edge of the first branch represents the increment information and the error information of the first mileometer; the first end point of the first branch represents first position information of the target device; the second endpoint of the first leg characterizes second location information of the target device.

In this embodiment, the track of the positioning device and the track of the rest of the devices received by the positioning device are represented by a branch. When the positioning device receives the first update information sent by the target device, first, a first branch is generated according to first position information (i.e., the current position of the target device) in the first information contained in the first update information, second position information (i.e., the current position of the positioning device) of the target device, and first mileometer increment information. The second position information is sent to the positioning device by the target device after the previous two-by-two positioning is performed by the target device and the positioning device.

In addition, the first leg includes an edge, and the edge has two endpoints such that the first odometer increment information and the error information are characterized by the edge of the first leg. And, two endpoints on the edge of the first branch are used for representing the first position information and the second position information respectively. Further, the first branch is used for characterizing the driving information of the target equipment in the positioning interval period. Here, the first node is described as an example of the generation of the positioning device from the information transmitted from the target device. In some application scenarios, the first branch may be generated for the target device itself, and then sent to the positioning device by means of the branch, and then the positioning device may directly splice the first branch to an endpoint having the same meaning in the positioning device according to the meaning of the endpoint of the first branch.

S306, generating a second branch according to the relative position information; the edges of the second leg characterize the relative position information.

Illustratively, in this step, the positioning device may further generate a second branch according to the relative position information acquired in step S303, where an edge of the second branch is used to characterize the relative position information. Here, the second node is described as an example of the positioning device that generates the relative position information based on the two-by-two positioning. In some application scenarios, the second leg may also be generated by the target device according to the positioning information in pairs, and then sent to the positioning device by means of the leg, for example, the target device may send the first leg and the second leg to the positioning device together, where endpoints with the same meaning in the first leg and the second leg are spliced together, where endpoints with the same meaning are endpoints that characterize current position information of the target device. And then, the target device can directly splice the first branch joint and the second branch joint into the probability graph of the target device according to the meaning of each endpoint.

S307, grafting the first end of the second branch to the first end of a third branch in the initial probability map of the positioning equipment, wherein the first end of the third branch is used for representing third position information of the positioning equipment; the third position information is the position of the positioning equipment at the first positioning time; the second end of the third branch represents the position information determined by the positioning equipment at the first time; the edge of the third node represents the distance increment travelled by the positioning device between the first time and the first positioning time and the accuracy of the distance increment; the initial probability map includes at least one leg for characterizing the trajectory of the positioning device and/or at least one leg for characterizing the trajectory of the target device.

For example, after the second branch is generated, the first end of the second branch may be grafted to the first end of a third branch included in the probability map information currently stored by the positioning device (i.e., the initial probability map of the positioning device) for characterizing the current location information of the positioning device (i.e., the third location information described above).

It should be noted that the third node stored in the positioning device is obtained by the positioning device based on the information detected by the odometer carried by the positioning device. That is, the second end of the third leg may be understood as locating the position of the device at the first time. The first time is before the first positioning time, along with the movement of the positioning device, when the positioning device moves in the first positioning time (namely, the target device and the positioning device are positioned in the first positioning time, the distance increment corresponding to the target device and the positioning device can be determined through the odometer configured by the positioning device, the position of the positioning device in the first positioning time is determined, the third node can be further generated, and the edge of the third node is used for representing the first time and the distance increment corresponding to the positioning device in the first positioning time.

And S308, grafting the first end of the first branch to the second end of the second branch to obtain a first probability map.

In addition, the edge of the second branch node is characterized as the current relative position information of the target device and the positioning device, so that the second end of the second branch node and the first end of the first branch node can be further grafted, further updating of the probability map is realized, and the first probability map is obtained.

S309, map information of the positioning device, track information of the positioning device and track information of the target device are generated according to the first probability map and the second information.

In this embodiment, after the first probability map and the second information are obtained, the map information may be calculated according to the information represented by each node in the first probability map and the received second information.

For example, fig. 4 is an updated schematic diagram of a probability map according to an embodiment of the present application. The graph (a) in fig. 4 is used to characterize the third node, i.e. the position of the positioning device itself at the first time and the first positioning time (denoted a and B in the figure, respectively) and the course increment of the positioning device during the period. Fig. 4 (b) is a first schematic diagram after the grafting, where points C and D respectively represent the position of the target positioning device at the current positioning time and the position of the target device at the previous two-by-two positioning.

It can be understood that in this embodiment, the positioning device may store and maintain its own track and the track of the target device performing pairwise positioning and information interaction with the same in a manner of a strut, so as to facilitate subsequent calculation of map information.

In one example, on the basis of the above embodiment, the second information includes: identification information and fourth location information; the identification information indicates a first smart landmark device through which the target device passes in a positioning interval period; the fourth position information is the position information when the target equipment passes through the first intelligent landmark equipment;

in performing the above step S309, the following steps may be included:

a first step of: if the positioning device passes through the first intelligent landmark device before the current moment is determined, generating a fourth branch, wherein the first end of the fourth branch represents fourth position information; the second end of the fourth branch represents fifth position information, wherein the fifth position information is the position information when the positioning equipment passes through the first intelligent landmark equipment; the edge of the fourth branch represents a first preset distance value and a first variance value, wherein the first preset distance value is determined according to the maximum perceived distance corresponding to the positioning equipment when perceiving the first intelligent landmark equipment; the first variance value is used to characterize the accuracy of the first preset distance value.

Illustratively, in this embodiment, the second information sent by the target device to the positioning device includes identification information for indicating the first smart landmark device that the target device passes through during the positioning interval period, and location information (i.e., fourth location information) when the target device passes through the first smart landmark device during the positioning interval. After the positioning device receives the second information sent by the target device, if the positioning device determines that the positioning device has passed through the first smart landmark device before the current positioning, that is, the target device and the positioning device have passed through the same smart landmark device at different moments, a fourth section may be added to the probability map currently stored by the positioning device (i.e., the first probability map obtained in step S308).

Wherein the edge of the fourth leg may be determined by the maximum perceived distance of the locating device, i.e. the locating device may only detect smart landmark devices having a distance to it that is smaller than the maximum perceived distance. It can be appreciated that when the positioning device detects the smart landmark device, the distance between the two is characterized as being less than the maximum perceived distance; when it is determined that two positioning devices (for example, the positioning device and the target device) pass through the same smart landmark device at different moments, the distance between the two positioning devices and the position information of the two positioning devices passing through the smart landmark device is limited by the maximum perceived distance of the two positioning devices and the target device, and a certain limitation condition exists on the distance between the two positioning devices and the position information of the two positioning devices passing through the smart landmark device. Therefore, in this embodiment, it is determined that the distance between the respective location information (i.e., the fourth location information and the fifth location information) corresponding to the location device and the target device passing through the same first smart landmark device at different moments in time is a first preset distance value, and the first preset distance value is determined by the maximum perceived distance. When the maximum perceived distance between the target device and the positioning device is the same, the first preset distance value may be half of the maximum distance value. Furthermore, it is understood that the first preset distance value is a fixed value, but only one possible value of the distance between the first preset distance value and the second preset distance value, and therefore, the first variance value is further set to characterize the accuracy of the first preset distance value, that is, the possibility that the distance between the fourth position information and the fifth position information is the second preset distance value.

Further, the two endpoints of the fourth leg may be used to characterize the fourth location information described above (i.e., the location of the target device when passing the first smart landmark device) and the fifth location information (i.e., the location of the positioning device when passing the first smart landmark device), respectively. Fig. 5 is a schematic diagram of a branch provided in an embodiment of the present application, where, as shown in the fig., the branch is used to represent the fourth branch, an endpoint E of the fourth branch represents a position of the positioning device when the time E passes through the first smart landmark device, and an endpoint F of the fourth branch represents a position of the positioning device when the time F passes through the first smart landmark device.

And a second step of: grafting the first end point and the second end point of the fourth branch to the end point belonging to the same position information in the first probability map to obtain an updated probability map; the initial probability map comprises at least one branch used for representing the track of the positioning equipment and/or at least one branch used for representing the track of the target equipment;

for example, after the fourth branch is generated, the fourth branch may be added to the first probability map at the end points representing the same meaning according to the meaning represented by each end point in the fourth branch, thereby updating the first probability map.

And a third step of: and determining the generation information of the positioning equipment according to the updated probability map.

After the updated probability map is obtained, the positioning device can calculate the position information of the positioning device and the position information of the target device according to the meaning of the branch contained in the probability map, so as to obtain the position information of the positioning device with higher precision after the information fusion processing and the variance of the position information. Meanwhile, the positioning equipment can also calculate the position information corresponding to the target equipment and the variance of the position information. The variance of the above-mentioned position information characterizes the accuracy of the position information.

In one example, when map information is generated according to the probability map, a gaussian probability model may be constructed for each node in the probability map, for example, may be constructed according to the first variance value and the first preset distance value represented by the fourth node. For the branches representing the course increment of the device in a period of time, for example, the first branch (representing the course increment of the target device in the positioning interval) and the third branch (representing the course increment of the positioning device), the corresponding gaussian probability models can be constructed in the same way. In addition, for the second node, that is, the node representing the relative position information between two devices at the same time, the relative position information is measured by communication between the devices, for example, obtained by radio positioning, and the respective determined position information may be determined by an odometer carried by the device itself, so that the relative position information may also be used as a constraint condition for calculating the final position information. And then, carrying out joint calculation according to the model corresponding to the branch joint and the constraint condition, and further obtaining more accurate position information and variance.

It can be understood that in this embodiment, when it is determined that the target device and the positioning device pass through the same intelligent landmark device at different moments, the fourth section may be constructed at this time and used to characterize the possibility of the distance between the respective position information of the target device and the positioning device when they pass through the same intelligent landmark device at different moments, that is, the first preset distance value and the first variance value are used to characterize the distance, so that the fourth section may be used as a constraint condition when the position information is resolved, which is beneficial to further improving the resolving precision of the position information, that is, improving the accuracy of the finally determined map information.

In one example, on the basis of any of the above embodiments, when step S309 is performed to determine map information, the method further includes the steps of:

step one, in the operation process of the positioning equipment, if the second intelligent landmark equipment is determined to exist, determining sixth position information and seventh position information; the second intelligent landmark device is an intelligent landmark device which is subjected to multiple times of passing by the positioning device in the driving process; the sixth position information is the position when the positioning device passes through the second intelligent landmark device at the first moment; the seventh position information is the position of the positioning device when the positioning device passes through the intelligent landmark device at the second moment;

Step two, generating a fifth section in the current probability map of the positioning equipment according to the sixth position information, the seventh position information, a second preset distance value and a second variance value to obtain a second probability map; wherein the first end of the fifth leg characterizes the sixth location information; the second end of the fifth branch represents seventh position information; the edge of the fifth branch represents a second preset distance value and a second variance value; the current probability map comprises at least one branch used for representing the track of the positioning equipment and/or at least one branch used for representing the track of the target equipment; the second preset distance value is determined by the maximum perceived distance corresponding to the positioning equipment when perceiving the intelligent landmark equipment; the second variance value is used to characterize the accuracy of the second preset distance value.

In this embodiment, when the positioning device moves, at least one smart landmark device exists in the corresponding environmental information, and at this time, the positioning device detects whether there is a smart landmark device around the positioning device in real time. In addition, the probability map corresponding to the positioning equipment is continuously updated in the moving process of the positioning equipment. The probability map may include a branch node for characterizing a self track and/or a branch node for characterizing a movement track of other devices in the self movement process. Here, the specific branching section in the probability map may include the branching section mentioned in the above embodiment, which is not described herein.

When the positioning device moves, it is determined that the positioning device does not pass the second smart landmark device for the first time, that is, passes the same smart landmark device (that is, the second smart landmark device) passed before passing the positioning device again in the moving process, at this time, position information corresponding to when the positioning device passes the second smart landmark device at different moments, that is, the sixth position information and the seventh position information may be obtained. And adding a fifth branch in the probability map where the current positioning device is located, wherein a first end of the fifth branch is an endpoint with the same meaning determined in the probability map according to the sixth position information, a second end of the fifth branch is an endpoint with the same meaning determined in the probability map according to the seventh position information, and then connecting the two endpoints to serve as edges of the fifth branch to update the probability map, so as to obtain a second probability map. And the edge of the fifth node is used for carrying a second preset distance value and a second variance value. The second preset distance value is a fixed value, and may be determined according to a maximum perceived distance corresponding to the positioning device when the positioning device perceives whether the positioning device exists around the positioning device, for example, the second preset distance value may be a general maximum perceived distance. Furthermore, the second variance value may be used to characterize the accuracy of the second preset distance value, i.e. the likelihood that the distance of the sixth and seventh position information is the second preset distance value.

Similar to the fourth stub in the above embodiments, the fourth stub is generated when different devices pass the same smart landmark device at different times. And the fifth section is generated when the same device passes through the same intelligent landmark device at different moments. And a second preset distance value corresponding to the edge of the fifth node represents a possible value of the distance between the corresponding position information (i.e. the sixth position information and the seventh position information) when the same device passes through the same intelligent landmark device at different moments.

In addition, when the positioning device calculates the map information based on the first update information and the relative position information based on the first and second steps, that is, step S309 is performed, the map information may be calculated by combining the second probability map obtained in the first step. For example, in the map information resolving process, a constraint condition is added, so that the distance between the position information of the positioning device corresponding to the constraint positioning device passing through the same intelligent landmark device at different moments needs to meet a gaussian probability model constructed according to the carrying information of the edge of the fifth node, and the accuracy of the finally obtained map information, namely the accuracy of the finally determined position information, is improved by adding the constraint condition.

In some embodiments, on the basis of any one of the foregoing embodiments, in order to maintain a probability map corresponding to the positioning device, the positioning device may further include the following steps:

determining real-time position information of the positioning equipment in real time in the operation process of the positioning equipment; generating a sixth section in the current probability map of the positioning equipment according to the generated real-time position information, the generated real-time position information and the generated second milemeter increment information to obtain a third probability map; the second odometer increment information is the real-time position information generated at this time and the distance increment travelled by the positioning equipment during the previous generation of the real-time position information; the first end of the sixth section represents the generated real-time position information; the second end of the sixth section represents the real-time position information generated in the previous time; the edge of the sixth node represents the second odometer increment information and the second variance value; the second variance value characterizes the accuracy of the second odometer increment information; the current probability map includes at least one leg for characterizing the trajectory of the positioning device and/or at least one leg for characterizing the trajectory of the target device.

In this embodiment, during the movement of the positioning device, the distance travelled by the positioning device may be continuously recorded by the odometer configured by the positioning device, and the real-time location information of the positioning device may be determined. At the same time, a leg for characterizing the distance traveled by the vehicle, i.e., a sixth leg, is also generated. One end of the sixth node is real-time position information generated at the time; the other end of the sixth section represents the real-time position information generated before the current real-time position information is determined. The edge of the sixth node is used for representing the increment of the distance travelled by the positioning device in the process of determining the two real-time position information, namely the second odometer increment information, and the edge of the sixth node is also used for carrying a second variance value representing the accuracy of the second odometer increment information, for example, the second variance value may be an error of the second odometer increment information.

That is, the positioning device generates a branch for representing the track of the positioning device according to the real-time position information of the positioning device and the incremental information of the odometer in the driving process, and further continuously updates the stored probability map of the positioning device to obtain an updated third probability map.

In addition, when the positioning device calculates map information based on the first update information and the relative position information based on the above steps, the third probability map obtained in the above steps may be combined to calculate the map information. For example, by generating the branches and grafting the first updated information and the relative position information into a third probability map representing the own track, further calculating the own information according to the probability map, and by grafting and storing the information in the branches, the accuracy of the finally obtained map information, namely the accuracy of the finally determined position information, is improved.

In some embodiments, after the positioning device determines the target device with which the positioning device performs the pairwise positioning, the following steps may be further included, so that the target device may also learn the information perceived by the positioning device. Specifically, the method further comprises the following steps:

Transmitting second update information to the target device; wherein the second updated information characterizes the driving information of the positioning device in the positioning interval period; the second update information includes: third information, fourth information; the third information characterizes track information of the positioning equipment in a positioning interval period; the fourth information characterizes smart landmark devices observed by the target device during the positioning interval period.

For example, in this embodiment, after the positioning device and the target device perform the positioning in pairs, the second update information stored in the positioning device and the target device may also be sent to the target device. Similar to the second update information sent by the target device to the positioning device, the second update information may also include third information for characterizing track information of the target device driving in the positioning interval and fourth information for characterizing the smart landmark device perceived in the period of the positioning interval, which may be referred to herein for the description of the first update information, and the generation process of the map information after the target device receives the second update information may also be referred to the above process, which is not repeated in this embodiment.

It can be understood that, in the navigation positioning device of this embodiment, the relative position information between two positioning devices can be determined by two positioning devices, and respective update information can be interacted with each other, so as to improve the accuracy of map information of each positioning device.

For example, as shown in fig. 6, fig. 6 is a schematic diagram of a transmission buffer of a positioning device according to an embodiment of the present application. In the positioning device, a corresponding transmission buffer zone is set for each target device with which the positioning is performed in pairs, the transmission buffer zone is used for storing the incremental information of the odometer of the positioning device and the observed landmark information of the positioning device in a positioning interval period between the positioning device and the target device, the information is increased continuously along with the time, and when the positioning device encounters the target device again, all the information stored in the positioning period is transmitted to the target positioning device. Furthermore, through the setting of the sending buffer area, when a certain target device is met again, the corresponding sending buffer area can be directly searched, and the content in the sending buffer area is completely sent out, so that the data sending efficiency is improved. It should be noted that, in this embodiment, the information stored in the sending buffer may be stored and sent in the form of the foregoing branch, and specifically, reference may be made to the description in the foregoing embodiment, which is not repeated in this embodiment. In addition, all the generated incremental information of the odometer and the monitored information of the landmark equipment and the like can be stored in a corresponding transmission buffer area for generating subsequent map information.

For example, in fig. 6, it is assumed that the positioning device performs positioning with the target device 1, the target device 2, and the target device 3 two by two, and thus, one transmission buffer may be set for each of the three devices. The small square corresponding to each target device can be understood as the incremental information of the own odometer and the observed landmark information in a period. It can be understood that when the positioning device and the target devices 1, 2, and 3 perform pairwise positioning, the number of small blocks in the corresponding transmission buffers in each target device is also different, and the larger the number of small blocks, the longer the time interval between the positioning device and the target device, which characterizes the previous pairwise positioning, is, the larger the number of small blocks in each transmission buffer is, as time goes on, until the positioning device performs pairwise positioning with the target device again, and the positioning device can transmit all data in the transmission buffer corresponding to the target device.

In some embodiments, when the target device and the positioning device perform the positioning for the first time, the target device may send the position information at the time of positioning to the positioning device as the third update information. The positioning device may transmit the position information at the time of positioning to the target device as fourth update information.

In some embodiments, on the basis of any of the foregoing embodiments, information interaction (for example, transmission and reception of the first update information, the second update information, the third update information, and the like) and pairwise positioning may be performed between the positioning devices based on an ultra-wideband radio communication technology. In addition, the central controller transmits grouping information to the positioning device based on a narrow-band radio communication technology, and the positioning device can report node parameters to the central controller by adopting the narrow-band radio communication technology.

It can be appreciated that in this embodiment, the power consumption of the navigation positioning system can be reduced when the communication is performed between the central controller and the positioning device based on the narrowband radio communication technology. Moreover, the narrow-band radio communication technology has larger coverage range, so the method can be suitable for the scenes of higher moving speed and larger moving range of the positioning equipment, and can improve the reliability of the system. And because the ultra-wideband radio communication technology has stronger anti-interference capability, the ultra-wideband radio communication technology can be used for information interaction between positioning devices and positioning in pairs, so that the positioning devices can accurately receive information sent by other positioning devices. It should be noted that, when the above communication method is adopted to communicate with the plurality of positioning device groups included in the navigation system, the positioning method can be applied to positioning under special conditions without depending on external infrastructure, such as a base station, a satellite, WIFI, etc., for example, a disaster site (a scene of fire, an earthquake, etc.), or positioning in an internal scene of a building, for example, a plurality of disaster relief personnel can carry one positioning device each, and the positioning operation is performed by the positioning device, so that respective positions of personnel and disaster points (for example, fire points, collapse points, etc.) in the disaster relief scene can be known in time. In addition, it should be noted that the positioning device may be carried by not only a person but also various carriers, for example, a robot, a drone, or the like, which is not particularly limited in this application.

Fig. 7 is a flowchart of a method for generating map information in group navigation positioning according to an embodiment of the present application, as shown in fig. 7, the method includes the following steps:

s1001, positioning equipment in a navigation system reports node parameters of the positioning equipment at the current moment to a central controller; the node parameters include: variance information and position information, the variance information characterizes the accuracy of the positioning device position estimation; the navigation system comprises a plurality of positioning devices and a central controller.

Illustratively, in the navigation system in the present embodiment, radio communication, laser communication, and the like may be adopted between the positioning devices. For example, in some disaster situations, such as fire situations, fire fighters can carry the positioning device with them, so as to position the fire fighters. The reliability of the communication between the devices can be improved by adopting a radio communication mode. In this embodiment, the communication manner between the positioning devices is not particularly limited. In addition, the positioning device in the present embodiment may be one chip; the positioning device can be installed on any device needing positioning, or can be carried by a person for positioning the person or the device carrying the positioning device.

In this embodiment, in order to ensure information interaction between positioning devices, especially reliability of information interaction between positioning devices in pairs, first, each positioning device in a navigation system needs to report respective node parameters, where the node parameters include current self-estimated position information and variance information of the positioning device, and the variance information may be used to characterize accuracy of estimation of the positioning device on the self-position information. In practical application, the larger the value of the variance information is, the lower the accuracy of the positioning equipment to estimate the position information of the positioning equipment is.

For example, if the position estimation is performed only by the sensors carried by the positioning device during the running process of the positioning device, the errors of the data measured by the sensors are continuously increased along with the continuous accumulation of time, so that the calibration is required to be performed in combination with the information collected by the sensors of the other devices. The accuracy of the position estimation result obtained after calibration is improved.

S1002, the central controller determines and transmits at least one initial group information to the positioning devices according to the node parameters reported by the positioning devices, wherein the initial group information comprises positioning devices for indicating that the positioning devices need to be positioned pairwise; the initial grouping information includes a group leader and at least one group member; panelists are locating devices with panelist identity; the group leader is a positioning device which needs to carry out pairwise positioning with the group members in the initial group; the variance information of the group leader is smaller than the variance information of the group member.

Illustratively, step S1002 may be implemented by:

a first step of step S1002, determining grade information corresponding to the positioning device according to the variance information; wherein, the values of the variance information corresponding to the positioning devices with the same level information are positioned in the same value range.

For example, after the central controller obtains the variance information reported by each positioning device, the grade information corresponding to each positioning device may be determined according to the value of the variance information corresponding to each positioning device. And, the value of the variance information of the positioning equipment corresponding to the same level information is located in the same value range.

For example, the possible value interval corresponding to the variance information may be divided into a plurality of value ranges, and the values corresponding to any two value ranges in the plurality of value ranges do not have the same value. And, a value range corresponds to a grade information one by one, after the central controller receives the variance information reported by each positioning device, grade information corresponding to a plurality of positioning devices can be obtained according to the value of the variance information.

A second step of step S1002, grouping a plurality of positioning devices according to the node parameters and the level information, to obtain at least one initial grouping information; the initial grouping information includes a group leader and at least one group member; the group leader is a positioning device which needs to carry out pairwise positioning with the group members in the initial group; panelists are locating devices with panelist identity; the variance information of the group leader is smaller than the variance information of the group member; the initial packet information is used to indicate the positioning device that needs to perform pairwise positioning.

After determining the level information corresponding to each positioning device, the central processing unit may further group each positioning device according to the location information included in the node parameter reported by each positioning device, so as to obtain at least one initial group information. In the initial grouping information, a positioning device as a group leader and at least one positioning device as a group member may be included. In the initial grouping information, variance information corresponding to the group leader is smaller than variance information corresponding to the group member. That is, the panelist needs to perform positioning in pairs with a panelist having a higher accuracy of position estimation than the panelist.

In one example, when determining the initial packet information, the distance between every two positioning devices may be determined according to the position information reported by each positioning device. If the distance between the two positioning devices is smaller than the preset value and the grade information corresponding to the two positioning devices is different, at this time, the two positioning devices can be divided into the same group, and the positioning device with smaller variance information is used as a group leader in the group.

It can be understood that in this embodiment, when determining the grouping information corresponding to each positioning device in the navigation system, the central controller may divide the positioning device with smaller variance information and the positioning device with larger variance information into the same grouping through the node parameter reported by each positioning device, so as to facilitate the positioning device to improve the accuracy of estimating the position of the positioning device through two-by-two positioning and/or information interaction, and further improve the accuracy of estimating the map information of the positioning device. In addition, in the method, networking operation is not required to be performed among the positioning devices in a networking mode provided in the related technology, so that the problem that grouping time is long due to networking operation is effectively avoided, waste of communication resources due to frequent networking operation is avoided, and meanwhile, the method is also suitable for a scene that the positioning devices move rapidly.

In one example, the second step of step S1002 includes the steps of:

the first substep of the second step of step S1002 determines that the positioning device in the level information corresponding to the smallest value range is the group leader.

In this embodiment, after determining the level information corresponding to each positioning device, the central controller may determine the positioning device indicated by the level information corresponding to the variance information with the smallest value range as the group length, that is, when the variance information is divided into three value ranges, where the positioning device corresponding to the level information corresponding to the smallest value range among the three value ranges may be used as the group length, that is, the positioning device with higher position estimation accuracy may be used as the group length in the initial group information.

A second sub-step of the second step of step S1002, determining a communication radius of the group leader; the communication radius is used to characterize the communication distance of the group leader.

Illustratively, after the central controller determines the group leader based on the rank information, it continues to determine the communication radius corresponding to each group leader, respectively.

In one example, the communication radius corresponding to each positioning device is pre-stored in each positioning device, and when the positioning device reports its own node parameter, the node parameter may carry the communication radius corresponding to the positioning device; or the communication radius of the positioning equipment is carried when the positioning equipment reports the node parameters to the central controller for the first time, and then, when the positioning equipment reports the node parameters again, the communication radius is not required to be carried again.

In one example, the second sub-step of the second step of step S1002 includes the steps of:

"based on the first preamble length and the first code rate, the sensitivity of the receiver corresponding to the group leader is determined. Determining the communication radius of the group leader according to preset communication frequency, sensitivity, output power of a transmitter corresponding to the group leader, antenna gain information, system loss information and environment loss information; the system loss information characterizes the loss of electric waves from a transmitter to an antenna in the radio communication process; the environmental loss information characterizes the loss of the electrical wave as it propagates in the environment. "

Illustratively, determining the communication radius corresponding to the group leader at the central controller is, first, required to determine the sensitivity of the receiver set in the group member communicating with the group leader. In this embodiment, when determining the sensitivity of the receiver, the sensitivity may be determined according to the correspondence relationship among the preamble length, the communication code rate, and the sensitivity. The first preamble length and the first code rate may be preset values.

When the sensitivity of the receiver is determined, at this time, the communication frequency, the determined sensitivity of the receiver, the output power of the transmitter corresponding to the group leader, the antenna gain information, the system loss information and the environmental loss information may be preset, and the communication radius corresponding to the group leader may be further determined. The environmental loss information may be understood as a loss when the electric wave is transmitted in the environment, and the corresponding value may be specified by the user or may be 0, which is not limited herein. The preset communication frequency may be understood as an operating frequency at which the group leader and the remaining positioning devices (i.e., group members) communicate. The antenna gain information is used to characterize the ratio of the power densities of signals produced by the actual antenna and the ideal antenna at the same point in space, with equal input power.

In practical applications, the correspondence between the signal power when the signal arrives at the receiver and the communication radius of the transmitter can be represented by the following formula: wherein the signal power of the signal arriving at the receiver is characterized; pt characterizes the output power of the transmitter; ga characterizes the antenna gain; los characterizes system loss information; freq characterizes a preset communication frequency; c, representing the light speed; r represents a communication radius; elos characterizes environmental loss information.

And the transmitter and the receiver can communicate only when the power of the signal reaching the receiver is greater than the sensitivity of the receiver. Thus, the communication radius of the transmitter can be determined in combination with the communication conditions between the transmitter and the receiver described above and the above formula.

It will be appreciated that in this embodiment, the sensitivity of the receiver may be determined by the preamble length and code rate corresponding to the signals transmitted by the transmitter and the receiver. And combining the determined sensitivity, the preset communication frequency, the output power of the transmitter, the antenna gain, the system loss information and the environment loss information, and estimating the communication radius corresponding to the equipment so that the positioning equipment can be grouped by combining the communication radius later.

A third sub-step of the second step of step S1002, obtaining at least one initial grouping information according to the communication radius of the group leader and the position information of the positioning device in the remaining level information, wherein the remaining level information is level information except the level information of the group leader; the initial grouping information includes a group leader and at least one group member; the group leader is a positioning device which needs to carry out pairwise positioning with the group members in the initial group; panelists are locating devices with panelist identity; the variance information of the group leader is smaller than the variance information of the group member; the initial grouping information is used for indicating positioning equipment needing to perform information interaction in pairs.

In this embodiment, when the central controller takes the positioning device having the level information corresponding to the smallest value range as the group leader, the initial grouping information may be further determined according to the communication radius corresponding to the group leader and the position information of the positioning device corresponding to the remaining level information.

For example, when the central controller has the locating device corresponding to the smallest value range as the group leader, the distance between the group leader and the locating device corresponding to the remaining level information may be determined respectively, and if the determined distance is smaller than the communication radius corresponding to the group leader, the locating device in the remaining level information may be allocated as the group leader to the same initial group information as the group leader. And if the distance between the positioning equipment in the residual grade information and any group of determined length is larger than or equal to the communication radius corresponding to the group length, determining that the positioning equipment in the residual grade information does not perform pairwise positioning with the residual equipment at the present time.

It can be understood that when the central controller determines the grouping information, the communication radius of the group leader is combined, so that the group leader and the group member in the same grouping after grouping can be further ensured to perform pairwise positioning.

In one example, the third sub-step of the second step of step S1002: the method comprises the following steps:

first step of third substep: determining that an ith group leader and first positioning equipment are positioned in the same initial group aiming at the ith group leader in the grade information corresponding to the minimum value range; the first positioning device is a positioning device with the distance between the first positioning device and the ith group leader in the residual grade information being smaller than the communication radius of the group leader; i is a positive integer.

In this embodiment, when the positioning information in the navigation system is grouped in combination with the determined group length corresponding to the first sub-step of the second step of step S1002 and the position information of the positioning device corresponding to the remaining level information, for each group length in the level information corresponding to the level information having the smallest value range, the distance between the group length and each positioning device in the remaining level information is determined, and if the distance between the two is smaller than the communication radius of the group length, the positioning device is used as the group member (i.e., the first positioning device) corresponding to the group length, that is, the group length and the positioning device are divided into the same initial group. And each of the above operations is repeated until the traversal of each group leader is finished, and further, the group member corresponding to each group leader can be determined. It should be noted that, in this embodiment, each group of lengths may determine a distance with each positioning device in the remaining level information, so as to provide a possibility that a first positioning device may be divided into multiple initial groups, so that the first positioning device may perform information interaction with multiple group lengths whose position estimation accuracy is higher than that of the first positioning device, thereby improving accuracy of self positioning.

Second step of third sub-step: aiming at the kth positioning equipment to be grouped in the mth residual level information, if the distance between the first positioning equipment and the kth positioning equipment to be grouped in the nth residual level information is smaller than a first value, determining that the first positioning equipment and the kth positioning equipment to be grouped are positioned in the same initial group, wherein the first positioning equipment is used as a group length in the initial group; wherein m is a positive integer, and the value range corresponding to the value of m and the residual grade information is in positive correlation; k is a positive integer; n is a positive integer less than or equal to m; the kth positioning device to be grouped is the rest positioning devices except the first positioning device in the mth rest level information.

For example, if after the first step of the third sub-step, there is still a positioning device to be grouped in the remaining level information, where the positioning device to be grouped may be understood as a positioning device whose distance from each group length determined in the first sub-step of the second step of step S1002 exceeds a communication radius corresponding to the group length, that is, a device other than the first positioning device in the remaining level information; at this time, a corresponding order may be set for each remaining level information, that is, the more the order of the remaining level information is, the smaller the value range of the variance information corresponding to the positioning device corresponding to the remaining level information, that is, the more accurate the position information estimation is.

For the kth positioning device to be grouped in the mth residual level information, at this time, searching whether a first positioning device conforming to a communication condition exists in a first positioning device in the nth level information, wherein the value of n is less than or equal to m, that is, the group length can be searched in the first positioning device which is determined before, and the order of the level information corresponding to the first positioning device is less than or equal to the level information of the current positioning device to be grouped; the communication condition is understood to be that the distance between the positioning device to be grouped and the first positioning device is smaller than the communication radius corresponding to the first positioning device. If it is determined that the first positioning device meeting the above conditions can be found, the first positioning device may be used as a group leader, and the positioning device to be grouped may be determined as a group member corresponding to the first positioning device. It should be noted that, when the positioning devices to be grouped are grouped, the positioning devices to be grouped can be preferentially searched in the first positioning device in the rest level information smaller than the order of the level information of the positioning devices to be grouped, that is, the positioning devices to be grouped can be preferentially ensured to interact with the positioning devices with the position estimation precision higher than that of the positioning devices to be grouped, so that the accuracy of the map information determined by the subsequent positioning devices is improved.

It can be understood that in this embodiment, for each group leader in the level information corresponding to the smallest value range, the positions of the locating devices in the remaining level information may be determined, and whether the locating devices may be divided into the same initial group may be determined, so that a possibility that one locating device may be divided into multiple initial groups is provided, which is beneficial for the subsequent locating device to obtain more interaction information, so as to improve accuracy of self map information construction. In addition, the group length can be searched in the first positioning equipment in the grade information higher than the grade information of the positioning equipment to be grouped (namely, the order of the grade information is smaller) or the same grade information, so that the possibility of information interaction between the positioning equipment is improved, and the positioning equipment in the navigation system can accurately maintain the position information of the positioning equipment.

In one example, if m is smaller than a preset value, n is a positive integer smaller than or equal to m; if m is equal to the preset value, n is a positive integer smaller than m.

In this embodiment, further, if the corresponding group length is searched for the to-be-grouped positioning device in the m-th remaining level information, it is further required to determine whether the value of m is smaller than a preset value, where the preset value is the number of remaining level information, that is, a result obtained by subtracting 1 from the obtained multiple level information. When the value of m is smaller than the preset value, the level information is not the level information with the lowest position estimation accuracy, and the value of n can be made to be smaller than or equal to a positive integer of m, namely, the group length corresponding to the positioning equipment to be grouped can be searched in the same level information, so that the possibility that the positioning equipment is divided into one group is improved.

When the value of m is equal to a preset value, the level information is the level information with the lowest position estimation accuracy, and the positive integer of the value of m can be made, namely, the group length corresponding to the equipment to be grouped can not be searched in the same level information, so that the accuracy of the obtained map information can not be ensured when information interaction is carried out between the equipment with poor position estimation accuracy.

In one example, the second step of step S1002 further includes the steps of:

for the kth positioning equipment to be grouped in the mth residual level information, if the fact that the first positioning equipment with the distance smaller than a first value from the kth positioning equipment to be grouped does not exist in the first positioning equipment corresponding to the level set is determined, and the fact that the distance between the second positioning equipment and the kth positioning equipment to be grouped in the jth residual level information is determined to be smaller than a second value is determined, the fact that the second positioning equipment and the kth positioning equipment to be grouped are located in the same initial grouping is determined, and the second positioning equipment is a group length in the initial grouping; wherein j is a positive integer, and j is smaller than m; the second positioning device is the rest positioning devices except the first positioning device of the j-th rest level information; the level set includes remaining level information in order of less than m.

In this embodiment, when it is determined that the kth positioning device to be grouped in the mth remaining level information cannot communicate with any first positioning device in the remaining level information with the order smaller than or equal to m, that is, the distance between the kth positioning device and any first positioning device in the remaining level information with the order smaller than or equal to m does not satisfy the communication radius (that is, the first value) of the first positioning device, at this time, in the remaining level information with the order before m (that is, the jth remaining level information, j is smaller than m), a second positioning device (that is, a positioning device other than the first positioning device) is searched, it is determined whether the distance between the positioning device to be grouped and the searched second positioning device satisfies the communication radius (that is, the second value) of the second positioning device, and if so, the second positioning device is determined as a member corresponding to the positioning device to be grouped, that is divided into the same initial grouping information, and the positioning device to be grouped in the initial grouping information is a member, and the second positioning device to be grouped is a long.

It can be understood that by the grouping mode, initial grouping information corresponding to the positioning equipment can be determined as much as possible, the possibility of two-by-two communication and/or two-by-two positioning between the positioning equipment is improved, and the accuracy of maintaining map information of each equipment can be improved based on information interacted by the positioning equipment with higher position estimation accuracy.

A third step of step S1002, in which a plurality of initial packet information is issued to the positioning device, where the plurality of initial packet information includes at least one first packet information and at least one second packet information, and the first packet information is the initial packet information including the positioning device; the second packet information is initial packet information that does not include the positioning device.

In this embodiment, when the central controller determines that the plurality of initial packet information is included, the central controller may issue the plurality of initial packet information to the positioning device, and in the initial packet information received by the positioning device, there may be initial packet information including the self or initial packet information not including the self. For example, all initial grouping information determined may be issued to the respective positioning devices included in the navigation system. That is, a positioning device may receive not only the initial packet information in which it is located, but also initial packet information that does not include the positioning device. When the positioning equipment determines that the information interaction with the group leader in the initial group information can not be performed, whether the information interaction with the group leader in the second group information which does not comprise the positioning equipment can be performed or not can be determined, and therefore the possibility that information interaction between subsequent positioning equipment can be performed is improved.

In one example, the number of initial packet information is a plurality; the initial packet information has ordering information; the ordering information is used for representing the sequence of the positioning equipment in the initial grouping information for carrying out pairwise positioning.

For example, when the number of the determined initial group information is plural, the central controller may be further configured to indicate an order of ordering the book group information, that is, an order of starting two-by-two positioning between the group owner and the group member in the initial group information. That is, after the group leader in the initial group information ranked earlier and the group member in the initial group information are aligned two by two, the group leader and the group member in the initial group information next to the ranked group member start alignment. Furthermore, each piece of initial grouping information is sequentially positioned, so that when one positioning device is positioned in a plurality of pieces of initial grouping information, every two pieces of positioning can be performed in each piece of initial grouping information, the possibility of performing every two pieces of positioning between the devices is increased, the maintenance of map information of the positioning device can be conveniently performed by combining the distances between every two pieces of positioning devices obtained by every two pieces of positioning, and the accuracy of the maintained map information is improved.

In this embodiment, when the central controller determines the grouping information, the communication radius of the group leader is also combined, so that it is further beneficial to further ensure that the group leader and the group member in the same grouping after grouping can perform pairwise positioning. In addition, for each group of the grade information corresponding to the minimum value range, the positions of the locating devices in the rest grade information can be determined, whether the locating devices can be divided into the same initial group or not is determined, and the possibility that one locating device can be divided into a plurality of initial groups is further provided, so that the following locating devices can acquire more interaction information, and the accuracy of self map information construction is improved. In addition, the group length can be searched in the first positioning equipment in the grade information higher than the grade information of the positioning equipment to be grouped (namely, the order of the grade information is smaller) or the same grade information, so that the possibility of information interaction between the positioning equipment is improved, and the positioning equipment in the navigation system can accurately maintain the position information of the positioning equipment.

For example, in practical application, when grouping is performed, the central controller may divide the positioning devices into three levels according to the variance information reported by each positioning device, where the three levels are represented by green, yellow and red, and the position estimation accuracy of the positioning device corresponding to the red level is the lowest in the three levels; the position estimation precision of the positioning equipment corresponding to the green level is highest. When grouping, the grouping may be performed according to the following rules:

rule 1: and information interaction is not performed between the positioning devices corresponding to the green level, namely, the positioning devices of the green level can be used as group members as far as possible, and cannot be used as group members, so that the resource consumption of communication between the positioning devices is reduced.

Rule 2: the yellow level or the red level can interact with a plurality of positioning devices corresponding to the green level, namely, the yellow or red level positioning devices can be added into a plurality of initial groups taking the green level positioning devices as group owners, so that the yellow or red level positioning devices can interact with a plurality of group owners through information in a plurality of group information, and further, the maintenance precision of the map is improved.

Rule 3: positioning devices of yellow level which have been positioned with positioning devices of green level are not positioned, but positioning devices of yellow level which have been positioned with positioning devices of green level can also be used as group leader, but the corresponding group member needs to be positioning devices of red level or positioning devices of yellow level which have not become a group member with positioning devices of green level. And further, when information interaction or positioning cannot be performed with the positioning equipment corresponding to the level information with the highest position estimation precision, positioning can still be performed with the positioning equipment with the higher residual precision, and the possibility of grouping is improved.

Rule 4: yellow-rated pointing devices that are not in-test with green-rated pointing devices may only be used as red-rated pointing devices.

Rule 5: a red-rated pointing device may not act as a group leader in the initial grouping information. It can be understood that through the arrangement of the grouping rules, the grouping rationality can be improved, the possibility that the positioning equipment is grouped can be increased as much as possible, the map information of the follow-up equipment can be constructed by combining information obtained through interaction, and the accuracy of the map information is improved.

S1003, if the positioning device determines that the positioning device is a member in the initial grouping information, determining and sending a confidence coefficient set of the positioning device to the central controller, wherein the confidence coefficient set comprises at least one confidence coefficient, and the confidence coefficient characterizes the positioning success rate when the positioning device and a group leader in the initial grouping information perform pairwise positioning.

For example, in order to avoid that reliable communication cannot be performed between a group owner and a group member in initial packet information due to inaccurate division of the initial packet information, and further, communication resources are wasted, in this embodiment, when the positioning device receives the initial packet information, if it is determined that the positioning device is a positioning device serving as the group member in the initial packet information, a confidence level set corresponding to the positioning device may be determined. That is, the positioning success rate of the current pairwise positioning between the positioning device and the group leader in the initial group information is determined.

Here, in this embodiment, the determination of the confidence level of the positioning device with which group leader in the initial group information is not particularly limited, that is, the positioning device may determine the confidence level with the group leader in the initial group information in which the positioning device is located, or may determine the confidence level with the group leader in the initial group information not including the positioning device. The determination of the confidence level may also be made by determining the group leader in each initial group message in the locating device.

In one example, when determining the confidence level corresponding to the positioning device by two positioning devices, at this time, the current positions of the two positioning devices and the pre-stored environment information of the positioning devices can be determined, for example, whether the two linear communication paths are blocked by more obstacle objects can be determined by combining the environment information and the position information of the two positioning devices, if so, it can be determined that the quality of the communication channel is poor when the two positioning devices perform positioning, the success rate and the accuracy of the subsequent two positioning devices are low, i.e. the confidence level can take a smaller value. If the two positioning signals do not exist, the communication channel quality is better when the two positioning signals are positioned, the possibility of successful positioning of the two subsequent positioning signals is higher, and the accuracy is higher, namely the confidence coefficient can take a larger value.

In one example, when performing the above step S1003, the following steps may be included:

in the first step of step S1003, if it is determined that the positioning device has a member identity and can receive the first name signal sent by the group leader in the nth first packet information, the confidence level between the positioning device and the group leader is determined according to the first name signal. Wherein the first click signal is used for determining whether communication can be established between the group leader and the received first click signal; n is a positive integer; the first packet information is initial packet information including a positioning device.

Illustratively, in this embodiment, each team member in the initial grouping information may perform the above-described confidence set determination step. When the positioning device determines that the positioning device has the group leader identity according to the initial grouping information issued by the central control device, the group leader sends out a first point name signal for detecting whether a group member in the same initial grouping information can establish communication with the positioning device. A locating device with panelist identity (hereinafter panelist) will first in turn listen to signals transmitted by the panelist in the same initial packet information (i.e., first packet information) as the panelist. It should be noted that, in this embodiment, a panelist may make the panelist in one or more pieces of initial grouping information, where the maximum value of N, that is, the number of pieces of initial grouping information of the panelist, including the positioning device corresponding to the panelist, is determined by the central controller.

When a panelist listens to a first point name signal transmitted by a panelist in the same initial packet information, if the received first point name signal is determined, a confidence level between the panelist and the panelist transmitting the first point name signal can be determined according to the received first point name signal.

In one example, when determining the confidence level between two devices that receive and transmit the first name signal according to the first name signal, it can be understood that, when the member receives the first name signal, the first name signal will receive the influence of the channel environment during the transmission process, so that the signal characteristics of the received first name signal can be analyzed to determine the channel environment characteristics, and further, whether the current channel environment characteristics can support reliable information interaction during two-by-two positioning between the two devices. It should be noted that, when determining the confidence level, the confidence level between the two may be determined through a pre-trained model and the signal characteristics of the currently received first name signal. Wherein a pre-trained model may be used to predict the confidence level between devices.

In one example, in the process that the positioning device listens to the first name signal sent by the group leader in the first packet information, the method may further include the following steps: if the positioning equipment is determined to have the identity of the group member and the first point name signal sent by the group leader in the Nth first grouping information is not received within the preset time interval, the value of N is increased by 1.

In this embodiment, when the positioning device listens to the first name signal sent by the nth first packet information, if it is determined that the listening time exceeds the preset period, and when the first name signal is still not monitored, the value of N may be increased by 1. For example, when the panelist knows the time when the panelist monitors the first roll call signal and the time period occupied by the roll call signal, if the panelist determines that the panelist has transmitted W roll call signals, when the roll call signal transmitted by the panelist is still not monitored, the preset time period may be considered to be exceeded, where W is a positive integer, the value of W may be determined according to the number Y of roll call signals that the panelist needs to transmit together, for example, W may be equal to Y, or W is half of Y, etc., where the value of W is not limited. If it is determined that the total number of the first packet information is not exceeded after the value of N is increased by 1, the first step of step S1003 may be returned to be executed to monitor the first name signal sent by the group leader in the next first packet information. It can be appreciated that the problem of low packet efficiency caused by long waiting time when the positioning device continuously monitors the first name signal sent by a certain first packet information can be avoided by the method. Similarly, when monitoring the second roll call signal, the above manner may be adopted, that is, if the second roll call signal sent by one group leader is not heard for a long time, the method is switched to monitor another group leader. In practical application, when radio communication is adopted between positioning devices, a team member can switch the monitored team leader by switching the corresponding communication parameters.

The second step of step S1003 is to determine whether or not a first stop condition is satisfied, and the first stop condition is the end of the first packet information traversal.

For example, when a panelist determines a confidence level between panelists in the same initial grouping information as the panelist, it may be determined whether the panelist has made a confidence determination with all of the panelists in the same initial grouping information as the panelist.

If so, the fourth step may be directly performed, otherwise the third step may be performed.

A third step of adding 1 to the value of N in the step S1003; repeating the first step to the third step until the first stop condition is reached.

For example, if it is determined that the first stop condition is not currently satisfied, then the next first packet information may be traversed at this time, that is, a confidence level corresponding to the group leader in the current positioning device and the other first packet information is determined. That is, the value of N is increased by 1, and the first step is executed again.

A fourth step of step S1003, wherein if it is determined that the confidence coefficient determined by the positioning device has a candidate confidence coefficient, the candidate confidence coefficient is used as an element included in the confidence coefficient set of the positioning device, and the candidate confidence coefficient is a confidence coefficient with a value greater than or equal to a first threshold value; the confidence coefficient set comprises at least one confidence coefficient, and the confidence coefficient characterizes the positioning success rate when the positioning equipment and the group leader in the initial group information perform pairwise positioning.

Illustratively, when it is determined that the first stopping condition is reached, the confidence level of the confidence level determined by the positioning device through the repeated process of the steps is selected as the candidate confidence level, the selected candidate confidence level is used as an element in the confidence level set of the positioning device,

it will be appreciated that in this embodiment, in determining the confidence set, the panelist may be preferentially determined, and the confidence set corresponding to the panelist in the same initial grouping information as the panelist. When the confidence coefficient is determined to be greater than or equal to the first threshold value, reliable positioning can be performed between the team member and the team leader corresponding to the confidence coefficient. And, at this time, the confidence determination with the group leader in the remaining first grouping information may not be necessary. At this time, the confidence coefficient with the value greater than or equal to the first threshold value may be reported to the central controller, so as to inform the central controller that the two devices indicated by the confidence coefficient may perform reliable positioning. Furthermore, the step of determining the group leader in the rest of the original group information not including the group member is avoided, and the grouping efficiency is improved.

In one example, after the third step of step S1003, the following steps may be further included:

fifth step of step S1003: repeating the following steps until a second stop condition is reached: if the confidence coefficient between the positioning equipment and the group leader in each piece of first grouping information is smaller than a first threshold value, and a second roll call signal sent by the group leader in the Mth piece of second grouping information can be received, the confidence coefficient between the positioning equipment and the group leader is determined according to the second roll call signal; adding 1 to the value of M, and repeating the steps until a second stopping condition is reached; the second grouping information is initial grouping information which does not comprise positioning equipment; determining a confidence level set of the positioning equipment according to the confidence level determined by the positioning equipment, wherein the second roll call signal is used for indicating whether the group leader and a group member receiving the second roll call signal can establish communication or not; m is a positive integer; the second stop condition is the end of the second packet information traversal.

In this embodiment, the positioning device as a panelist may further monitor a second roll call signal sent by the panelist in the second grouping information, where the second grouping information is the initial grouping information that does not include the panelist, if the confidence levels between the positioning device as the panelist and the group leader included in the first grouping information are less than the first threshold, which indicates that the quality of a communication channel corresponding to the positioning device and the group leader in the first grouping information is poor when the positioning success rate is low.

Further, when the panelist monitors the second roll call signal transmitted from the panelist in the second packet information, the confidence level between the panelist and the panelist transmitting the second roll call signal may be determined based on the received second roll call signal. The confidence level may be determined by referring to the description in the above embodiments, which is not repeated here.

And repeatedly monitoring second roll call signals sent by the group leader in each piece of second grouping information, and determining the confidence level between the second roll call signals and the group leader sending the second roll call signals when the second roll call signals are received until all pieces of second grouping information are traversed. It should be noted that, in practical application, the second stopping condition may also be set such that the confidence value is greater than or equal to the first threshold, or the second packet information traversal is ended. In other words, in the repeated monitoring process, if the confidence value determined by the current panelist is determined to be greater than the first threshold, reliable pairwise positioning can be performed between the panelist corresponding to the characterization confidence, and further judgment is not needed.

After the second packet information is traversed, further a confidence coefficient set corresponding to the positioning device can be determined according to the confidence coefficient determined by the positioning device.

For example, the confidence degrees determined by the group length in the positioning device and the first grouping information and the confidence degrees determined by the group length in the positioning device and the second grouping information may be added to the confidence degree set, and the central controller determines the group length corresponding to the positioning device after the positioning device is secondarily grouped.

Or, the positioning device may also screen out the maximum confidence in the confidence corresponding to the group leader in the first group information and the confidence corresponding to the group leader in the second group information, as an element in the confidence set, so as to reduce the data transmission amount between the positioning device and the central controller.

It can be understood that when the positioning device determines that the confidence values are smaller than the first threshold value by determining the confidence levels between the group lengths in the first grouping information respectively, this time indicates that the positioning success rate of the positioning device and the group lengths in each first grouping information is not high when two-by-two positioning is performed, so that the confidence level determination can be further performed with the group lengths in the second grouping information, so that the group length corresponding to the highest confidence level or the group length corresponding to the confidence level greater than the first threshold value can be determined according to the determined multiple confidence levels later, and the group length in the secondary grouping information obtained after the secondary grouping by the group member can be used as the group length in order to further improve the grouping accuracy.

In one example, the number of second roll call signals transmitted by the group leader in the second group information is greater than the number of group members contained in the second group information.

In this embodiment, when the group leader transmits the second roll call signal, the number of the second roll call signals may be greater than the number of the group members included in the second group information. Similarly, when the group leader in the first group information transmits the first point name signal outward, the number of the group leader transmitting the first point name signal is larger than the number of the group members contained in the first group information. In addition, in practical applications, when the group leader transmits roll call signals (i.e., the first roll call signal and the second roll call signal are all roll call signals mentioned herein), the transceiver parameters corresponding to the group leader and the group member can be configured by adopting a larger preamble length and a lower code rate, so as to improve the communication reliability between the group leader and the group member as much as possible.

It can be understood that in this embodiment, by setting the number of the first click signals in the above manner, it is possible to meet each group member in the first group information as much as possible, and the excessive first click signals may also be monitored by the group members in the rest of the group information that do not belong to the first group information, so when the group member cannot establish reliable pairwise positioning (i.e., the confidence value is greater than or equal to the first threshold value) with the group member in the initial group information including the group member, at this time, the click signals sent by the rest of the group members may also be monitored, thereby further improving the possibility of positioning between devices and the accuracy of device grouping.

S1004, the central controller performs secondary grouping processing according to the received confidence coefficient set, determines and transmits at least one piece of secondary grouping information to the positioning equipment, wherein the secondary grouping information is used for indicating the positioning equipment needing pairwise information interaction; the secondary grouping information includes a target group length and at least one group member.

In this embodiment, when the positioning device as a team member determines the confidence level set corresponding to the positioning device, the central controller may redetermine the target team leader corresponding to the positioning device according to the confidence level set corresponding to the positioning device.

For example, when the confidence coefficient set includes a plurality of confidence coefficients, at this time, a group leader corresponding to any confidence coefficient having a value larger than a preset threshold value may be selected as the group leader in the member secondary grouping information. Or if the confidence coefficient set comprises a plurality of confidence coefficients, if the confidence coefficients with the values larger than the preset threshold value exist, the reliable positioning between the group member and a plurality of group members can be indicated, and at the moment, the central controller can determine the group members in the secondary group information of the group member according to the number of the group members corresponding to each group member. For example, a group leader with the smallest number of currently corresponding group members can be selected, so that when the number of group members corresponding to the group leader in the secondary grouping is larger, more communication resources of the group members are occupied.

It can be understood that in this embodiment, in order to avoid the problem that reliable communication cannot be performed between positioning devices, for example, two-by-two positioning cannot be performed, caused by inaccurate initial packet information issued by the central controller, in this embodiment, when the positioning device receives the initial packet information and determines that its identity is a member, at this time, the success rate of positioning with a group leader in the initial packet information, that is, the confidence level, is also determined, and the determined confidence level is reported to the central controller, so that the central controller re-determines, based on the initial packet information, a target group length corresponding to each member in combination with a confidence level set reported by the positioning device, that is, whether the member needs to change a group, thereby obtaining secondary packet information. Furthermore, by the method, the success rate of positioning and carrying out pairwise positioning between devices can be improved.

In one example, when step S1004 is performed, acquiring the secondary packet information may be performed by:

in this example, the secondary grouping information includes a target group leader and at least one panelist, where the target group leader corresponding to the panelist in the secondary grouping information is determined according to the preset value when the preset value included in the confidence coefficient set reported by the panelist is determined to be greater than or equal to the second threshold by the central controller; presetting a value as the confidence coefficient with the maximum value in the confidence coefficient set; the target group length in the secondary grouping information is used for carrying out pairwise positioning with the group member in the secondary grouping information.

In this embodiment, after the central controller receives the confidence coefficient set reported by the positioning device, the confidence coefficient with the largest value is first determined in the confidence coefficient set as the preset value mentioned in this example. And then, the central controller compares the preset value with a second threshold value, and if the preset value is determined to be greater than or equal to the second threshold value, the group length indicated by the preset value is considered to be the target group length of the positioning equipment in the secondary grouping information. It will be appreciated that since the confidence characterizes the success rate of locating a position between two devices, one confidence will correspond to two locating devices. That is, in this embodiment, one positioning device is included in the secondary grouping information as the target group leader and at least one positioning device is included as the group leader, and the value of the confidence between the target group leader and the group leader is larger than the second threshold. It should be noted that the second threshold herein is larger than the first threshold mentioned in the present application.

It can be understood that in this embodiment, the central controller determines, according to the confidence level set, the target group length corresponding to the group member, and selects, from the confidence levels greater than the second threshold, the group length corresponding to the confidence level with the largest value as the target group length corresponding to the group member, thereby improving the accuracy of the grouping and ensuring the success of the pairwise positioning between devices.

In one example, the secondary grouping information further comprises communication parameters of a group member in the secondary grouping information; the communication parameters are determined by the central controller according to the confidence coefficient set reported by the panelists; wherein the communication parameters are determined by the target confidence of the central controller; the target confidence is the confidence between the panelist and the panelist corresponding to the panelist; the communication parameters are used for indicating parameters of the transceivers respectively configured when the group members in the secondary grouping information and the target group members corresponding to the group members are positioned pairwise; the length of the preamble contained in the communication parameter is inversely related to the target confidence coefficient; the code rate and the target confidence level contained in the communication parameters are positively correlated.

In this embodiment, the secondary packet information generated by the central controller further includes communication parameters of the transceiver used when each group member in the secondary packet information and its corresponding target group length perform pairwise positioning. The transceiver herein may include a receiver and a transmitter in practical applications.

Specifically, in determining the communication parameter corresponding to a panelist, the communication parameter may be determined according to the value of the target confidence level between the panelist and the target group leader corresponding to the panelist. Because the group leader and the target group member of the target confidence token can have the positioning success rate between the group leader and the target group member, the higher the value of the target confidence token, namely the higher the communication channel quality and the higher the positioning success rate, the smaller the corresponding preamble length in the corresponding communication parameters can be, the higher the code rate can be, and the time consumption of pairwise positioning is further reduced. Similarly, the smaller the target confidence value is, the larger the preamble length in the communication parameter is, the lower the code rate is, and further the reliability of pairwise positioning is improved. The central controller can set the corresponding relation between the target confidence coefficient and the length and the code rate of the lead code in the communication parameters according to the rule of the communication parameters, so that the communication parameters needing to be configured can be directly determined according to the corresponding relation.

In one example, on the basis of the foregoing example, a method for determining communication parameters by a central controller is provided, that is, if the target confidence coefficient is greater than or equal to a second threshold value and less than a first threshold value, the respective communication parameters of the group member and the group leader corresponding to the target confidence coefficient include a first preamble length and a first code rate; the second threshold is less than the first threshold;

if the target confidence coefficient is greater than or equal to a first threshold value, the respective communication parameters of the group member and the group leader corresponding to the target confidence coefficient comprise a second preamble length and a second code rate, wherein the second preamble length is smaller than the first preamble length; the second code rate is less than the first code rate.

In this embodiment, when the central controller determines the communication parameters between the group member and the corresponding target group member, if the target confidence coefficient between the group member and the corresponding target group member is greater than the second threshold value and less than the first threshold value, the central controller may use the first preamble length and the first code rate as the communication parameters between the group member and the target group member;

if the confidence value between the two is larger than or equal to the first threshold value, the central controller can take the second lead code length and the second code rate as the communication parameters of the group member and the target group member; wherein the second preamble length is less than the first preamble length; the second code rate is less than the first code rate. Furthermore, by the determination mode of the communication parameters, the problem of slower determination speed of the communication parameters caused by more corresponding relations to be matched when a plurality of sets of corresponding relations of confidence coefficients and the communication parameters are set is avoided. In addition, the above arrangement of the communication parameters can reduce the time required for positioning by two pairs while ensuring the reliability of positioning by two pairs. For example, when the radio communication mode is adopted between the devices to perform the two-to-two positioning, if the value of the target confidence coefficient is greater than or equal to the first threshold value, it indicates that there are unobstructed linear wireless channels for the two positioning devices corresponding to the target confidence coefficient, the quality of the communication channel is the highest, and the positioning success rate is the highest. If the value of the target confidence coefficient is greater than or equal to the second threshold value and smaller than the first threshold value, the situation that two positioning devices corresponding to the target confidence coefficient have obstacle linear wireless channels is indicated, and a longer preamble length and a smaller code rate are generally adopted so as to improve the quality of the two subsequent communication channels.

In one example, on the basis of any one of the above embodiments, the central controller further includes the following steps, in addition to issuing the secondary packet information: the central controller sends a termination signal to the positioning equipment, wherein the termination signal is used for indicating that the positioning equipment does not need to perform pairwise positioning with a group leader in any initial group information at this time; the termination signal is sent when the central controller determines that the preset value contained in the confidence coefficient set reported by the positioning equipment is smaller than a second threshold value; the preset value is the value of the confidence coefficient with the maximum value in the confidence coefficient set.

In this embodiment, when the central controller determines that the preset value in the confidence coefficient set reported by the positioning device is smaller than the second threshold, that is, the confidence coefficient with the largest value in the confidence coefficient set is smaller than the second threshold, at this time, the central controller may determine that the positioning device cannot perform reliable two-by-two positioning with the group leader for which the confidence coefficient determination is performed, so at this time, the central controller may send a termination signal to the positioning device to instruct the positioning device to perform two-by-two positioning with the group leader in any secondary grouping information. For example, when the two-by-two positioning is performed by adopting a radio communication mode between the devices, when the maximum confidence in the confidence set reported by the positioning device is smaller than the second threshold value, the positioning device and any group of the devices are not provided with reliable straight line wireless communication channels.

It can be understood that when the central controller determines that the positioning device and any group of users cannot reliably perform the two-by-two positioning, the two-by-two positioning is not needed, so that communication resources are saved.

S1005, the positioning equipment determines relative position information of the positioning equipment and the target equipment according to the secondary grouping information; the target equipment is the positioning equipment which needs to carry out pairwise positioning with the positioning equipment and is indicated by the secondary grouping information received by the positioning equipment.

For example, the specific principle of step S1005 may be referred to the description of the related steps in fig. 2, which is not repeated here.

In one example, when the secondary grouping information includes a target group leader and at least one group member; the target group length corresponding to the group member in the secondary grouping information is determined by the central controller according to a preset value contained in the confidence coefficient set reported by the group member; presetting a value as the confidence coefficient with the maximum value in the confidence coefficient set; the target group length in the secondary grouping information is used for carrying out pairwise positioning with the group member in the secondary grouping information; the panelists in the secondary grouping information have numbering information; when the number information is used for indicating the order of two-by-two positioning of the group member and the target group member corresponding to the group member, at this time, after the positioning device receives the secondary grouping information, the following steps are firstly executed to determine the positioning time, and then, when the positioning time is reached, the relative position information is determined again: the step of determining the positioning time is as follows:

According to the number information, the positioning duration and the starting time, determining positioning equipment and positioning time for carrying out pairwise positioning on target group length in secondary group information where the positioning equipment is located; the positioning time length is the time of positioning every two times between the target group length and the positioning equipment; the initial time is the time of the target group leader to perform pairwise positioning with the first group member in the secondary grouping information; at the positioning time, the relative position information between the target group length and the positioning time is determined. "

In this embodiment, when the positioning device receives the secondary grouping information issued by the central controller, if it is determined that the positioning device is a member in the secondary grouping information, the time when the positioning device performs the pairwise positioning with respect to the target group length in the secondary grouping information can be estimated according to the number corresponding to the secondary grouping information.

Specifically, the secondary grouping information issued by the central controller includes the target group length and the starting time of the first group member for two-by-two positioning in each secondary grouping information. And, the two-by-two positioning is carried out in turn to a plurality of secondary grouping information, and then the same positioning equipment can be ensured to be divided into a plurality of secondary grouping information, and two-by-two positioning is carried out with a plurality of equipment.

And when the positioning device receives the secondary grouping information comprising the positioning device, at this time, the positioning device can determine the pairwise positioning time corresponding to the positioning device, namely the positioning time according to the positioning time length of pairwise positioning between devices, the number information of the positioning device in the secondary grouping information and the starting time corresponding to the secondary grouping information.

When the positioning time is not reached, the positioning device may be in a sleep state, for example, the receiver and the transmitter included in the positioning device may be in a sleep state, so as to reduce the energy consumption of the navigation system. When the positioning time of the positioning device arrives, the positioning device may return to the normal working state from the sleep state, so as to perform positioning with the target group length corresponding to the positioning device, determine the relative position information between the positioning device and the target group length, and store the relative position information for use as the construction of the map information of the positioning device, where the construction of the map information may refer to the manner in the related art, and the embodiment is not limited specifically.

It can be understood that in this embodiment, when the positioning device receives the secondary packet information, if the positioning device is a team member, the positioning time corresponding to the secondary packet information can be determined according to the number information, the positioning duration and the start time of the positioning device. And when the positioning time is not reached, the navigation system can enter a dormant state so as to reduce the energy consumption of the navigation system.

S1006, receiving first update information sent by target equipment; the first updated information is information observed in a positioning interval period of the target equipment; the positioning interval time period is the interval between the first positioning time and the second positioning time; the first positioning time is the determination time of the relative position information; the second positioning time is the time of determining the relative position information of the positioning equipment and the target equipment in the previous time; the first updated information is sent when the target device determines that the positioning device and the non-first positioning device are subjected to pairwise positioning.

S1007, generating map information of the positioning device according to the relative position information and the first update information, the map information including: track information of the positioning device and track information of the target device.

For example, the technical principles of step S1006 and step S1007 may be referred to the description of the related steps in fig. 2, and are not described herein.

On the basis of the embodiment, the positioning device can perform information interaction with the device indicated by the received secondary grouping information, namely, exchange respective update information (namely, the first update information and the second update information); in addition, the positioning device can also perform information interaction with the intelligent landmark device passing by the positioning device in the running process, specifically, the interaction of the following node information can be seen, and when the positioning device calculates the own map information, that is, when the step S1007 is executed, the positioning device can calculate the map information by combining the route information recorded in real time by the odometer, the position information, the update information obtained by the information interaction of the two pairs, the relative position information obtained by the two pairs of positioning and the node information sent by the intelligent landmark device. In particular, the information interaction process between the smart landmark device and the positioning device may refer to the following embodiments.

Fig. 8 is a schematic diagram of an application scenario of group navigation positioning according to an embodiment of the present application. Based on the application scenario, the figure comprises a central controller, a plurality of positioning devices (3 positioning devices are illustrated in the figure) and at least one intelligent landmark device (one intelligent landmark device is illustrated in the figure). In the figure, every two positioning devices can perform information interaction, and the intelligent landmark device and each positioning device passing through the intelligent landmark device can also perform information interaction. Information interaction between each positioning device and the central controller is possible. The smart landmark device in fig. 8 can be used for loop-back detection of the positioning device, namely, determining whether the smart landmark device has arrived, and the smart landmark device can also perform information interaction with the positioning device. It should be noted that the numbers of the positioning devices, the central controller, and the smart landmark devices in the figures are only illustrative. Moreover, the architecture is only one application scene corresponding to the intelligent landmark device, and is not the only application scene corresponding to the intelligent landmark device in the application. In another application scenario, the system also does not include a central controller, and only includes a plurality of positioning devices needing group positioning; or include only one locating device.

In one example, the smart landmark device includes: a tag unit, a memory, a receiver, and a transmitter; wherein, the receiver and the transmitter are respectively connected with the memory; the navigation system comprises a receiver, a navigation device and a navigation device, wherein the receiver is used for receiving first node information sent by the positioning device in the navigation system, the first node information comprises first indication information and eighth position information, and the first indication information is used for indicating the positioning device to pass through the intelligent landmark device at the current time; the navigation system comprises a plurality of positioning devices; the eighth position information is used for representing the position information of the positioning equipment when passing through the intelligent landmark equipment; a memory for storing first node information; the transmitter is used for transmitting second node information to the positioning equipment, wherein the second node information is first node information transmitted by other positioning equipment stored in the memory; the second node information is used for indicating the positioning equipment to generate virtual positioning information and constructing map information of the positioning equipment based on the virtual positioning information, wherein the virtual positioning information characterizes the relative position relationship between the positioning equipment and other positioning equipment at different moments; and the tag unit is used for storing the unique identification information of the intelligent landmark device.

The smart landmark device provided in this embodiment is provided with a tag unit, where the tag unit stores unique identification information for identifying the smart landmark device, so that when a positioning device passes near the smart landmark device, the passing smart landmark device can be identified. It should be noted that, in the embodiment, the specific structure of the tag unit is not limited, and in practical application, the tag unit may be a two-dimensional code tag provided in the related art.

In addition, the smart landmark device in this embodiment further includes a memory, a transmitter connected to the memory, and a receiver connected to the memory. When the smart landmark device is applied to the application scenario shown in fig. 8, at this time, the receiver in the smart surface device is configured to send first node information through the positioning device of the smart landmark device, where the first node information may be used to characterize first indication information that the positioning device passes through the smart landmark device at the current moment, for example, in practical application, the first indication information includes: the time of passing through the intelligent landmark device and the identification of the positioning device are determined by the positioning device. In addition, the first node information sent to the intelligent landmark device by the positioning device also comprises the position of the positioning device, namely eighth position information, determined by the positioning device when the positioning device passes through the intelligent landmark device.

After the receiver of the smart landmark device receives the first node information, the first node information may be stored into a memory of the smart landmark device. That is, the memory contained in the smart landmark device may be used to store first node information transmitted by the locating device of the smart landmark device.

In addition, the smart landmark device may send the second node information in the memory of the smart landmark device to the positioning device based on the transmitter, where the second node information may be understood as the first node information sent by the rest of the positioning devices to the smart landmark device before the current time.

After the positioning device receives the second node information sent by the intelligent landmark device, the positioning device can determine that the positioning device and other positioning devices corresponding to the second node information pass through the same intelligent landmark device at different moments. Because, when the positioning device detects that the intelligent landmark device exists nearby, the distance between the characterization positioning device and the intelligent landmark device is smaller than the maximum perceived distance that the positioning device can detect the intelligent landmark device. For example, when two positioning apparatuses pass through the same smart landmark apparatus under two different apparatuses, assume that positioning apparatus a is the smart positioning apparatus detected under time 1, and that positioning apparatus a is the position information under time 1 is the position information 1; the positioning device B is an intelligent positioning device detected at the moment 2, and the positioning device B is the position information at the moment 2 and is the position information 2; it can be determined that there is also a relative positional relationship between the position information 1 and the position information 2, i.e. the virtual positioning information. In practical applications, the relative positional relationship may be that the distance between the two pieces of positional information is smaller than a preset value, where the preset value is determined by the perceived distances of the two positioning devices, and then the positioning device may learn that the positioning device a is the virtual positioning information with the distance between the positional information at time 1 and the positional information at time 2 being smaller than the preset value.

Therefore, the virtual positioning information can be used as a constraint condition for solving the map information of the positioning device, so that the positioning device A in the solved map information is the position information at the time 1, and the positioning device B is the position at the time 2, thereby being beneficial to improving the accuracy of the map information.

It will be appreciated that the smart landmark device in this embodiment may be configured to receive and store the first node information sent by the positioning device, and may also send to the positioning device the second node information previously stored in the smart landmark device by the remaining positioning devices. Furthermore, the intelligent landmark device in the embodiment can be used as a carrier for information forwarding, so that the positioning device can acquire node information of more other positioning devices, and the environment sensing range of the positioning device is improved. For example, when two positioning devices are limited by communication (for example, the distance is far, or the quality of a communication channel is poor) and cannot directly perform information interaction, at this time, information can be forwarded according to the intelligent landmark device, and relative position information of the two positioning devices passing through the same intelligent landmark device at different moments is generated, so that the positioning device is beneficial to improving the accuracy of map information finally obtained by the positioning device.

In some embodiments, if the positioning device is a first-pass intelligent landmark device, the first node information further includes: second indication information, ninth location information, first mileage information, and first error information; the second indication information is used for indicating the rest intelligent landmark devices which the positioning device passes by before the current moment; the ninth position information represents the position information when the positioning device starts to operate; the first mileage information is used for representing the distance increment of the positioning equipment from the beginning of the operation to the current moment; the first error information characterizes an accuracy of the first mileage information.

In this embodiment, when the positioning device determines that the positioning device has not passed through the smart landmark device before the current time, the positioning device may further include the following information when sending the first node information:

the first mileage information, i.e., the course increment of the course the positioning device moves during the period from when the positioning device starts to run (i.e., when it starts to move) to when it is at the current time (i.e., when it passes the smart landmark device).

The first error information, i.e. the accuracy characterizing the first mileage information described above.

And ninth position information, namely position information corresponding to the positioning equipment when the positioning equipment starts to operate, namely starting time.

The second indication information, i.e. the remaining positioning devices that the positioning device passes during the period from when it starts to run (i.e. when it starts to move) to when it is at the current moment (i.e. when it passes the smart landmark device). For example, the second indication information may include: the location of the locating device when passing through the remaining smart landmark devices, the time when passing through the remaining smart landmark devices, the identity of the passing remaining smart landmark devices, etc.

It may be appreciated that, in this embodiment, the first node information may further include second indication information, ninth location information, first mileage information, and first error information, so that the driving track of the positioning device may be backed up to the intelligent landmark device by sending the first node information to the intelligent positioning device, and further may also be backed up to other positioning devices by the intelligent landmark device, so as to avoid a problem that when one positioning device is destroyed, the driving track of the positioning device cannot be obtained. In addition, in this embodiment, the information transmitted is the integrated path increment information, which is further beneficial to reducing the information transmission amount.

On the basis of the above embodiment, when each positioning device transmits the first node information, each positioning device includes: when the positioning device receives first node information (namely second node information) of other positioning devices, the second node information is specifically used for instructing the positioning device to generate virtual positioning information, and map information of the positioning device is constructed based on the virtual positioning information, second indication information, ninth position information, first mileage information and first error information, wherein the second indication information, the eighth position information, the second indication information, the ninth position information, the first mileage information and the first error information are included in the second node information; the map information includes track information of the positioning device and partial track information of the rest of the positioning devices corresponding to the second node information.

In this embodiment, after the positioning device generates the virtual positioning information according to the first node information sent by the smart landmark device, the positioning device may also generate its own map information in combination with the rest of the second node information. It should be noted that the generated map information includes not only the track position of the map information itself but also part of track positions of the rest of positioning devices.

For example, after the positioning device receives the second node information, the information in the second node may be spliced into the self probability map. As shown in fig. 9, fig. 9 is a schematic diagram of updating a probability map according to an embodiment of the present application. In fig. 9 (a), the self probability diagram of the positioning device includes a branch 1, where the length of the branch 1 is used to characterize the first mileage information (i.e. the increment of the odometer of the positioning device from the starting time to the current time), and the first error information (i.e. the credibility of the first mileage information). The end point (1) of the support section 1 is the position of the positioning equipment at the starting moment, and the end point (2) characterizes the position of the positioning equipment at the current moment. Then, generating a branch 2 according to the received second node information, wherein an endpoint (1) of the branch 2 is the position of the rest of positioning devices sending the second node information at the starting moment (namely, ninth position information in the second node information); the end point (2) of the branch 2 is the position information of the rest positioning equipment when the rest positioning equipment passes through the intelligent landmark equipment for the first time (namely, the eighth position information of the rest positioning equipment); the edges of the branch 2 characterize the increment of the distance travelled by the remaining positioning devices at the start time and within the interval of first meeting the smart landmark device (i.e. the first mileage information) and the accuracy of the distance increment (i.e. the first error information). In addition, the side formed by the end point (2) of the branch 2 and the end point (2) of the branch 1, namely, virtual positioning information represented by the branch is adopted. Further, the probability map shown in the graph (b) in fig. 9 in the combination is obtained. The map information may then be determined by way of the probability map of Jie Suanshang.

In addition, in the probability map splicing process, if the positioning device determines that the positioning device has passed through the rest of the intelligent landmark devices from the starting time to the current time according to the rest of the intelligent landmark devices indicated in the second indication information, a branch 3 can be constructed in the probability map, wherein one end of the branch 3 is the position when the positioning device passes through the rest of the intelligent landmark devices; the other end of the branch 3 is the position when other positioning devices pass through the same other intelligent landmark devices. The meaning of the edge of the branch 3 is similar to the virtual positioning information, namely, the relative position relation between the position information of different positioning devices when encountering the same rest intelligent landmark devices at two different moments is represented. That is, the above-described second node information may serve as a constraint condition for the positioning device to resolve the own position information, so as to improve the resolution accuracy of the map information. It should be noted that, when the positioning device sends the first node information to the intelligent landmark device, the first node information can be sent in the form of the branch node, and the intelligent landmark device can also store and forward in the form of the branch node; and the end positions of the knuckles in fig. 9, the lengths of the sides of the knuckles are merely illustrative.

In some embodiments, if the positioning device is not the first pass through the smart landmark device, the first node information further includes: third indication information, tenth position information, second mileage information and second error information; the third indication information is used for indicating the rest intelligent landmark devices which the positioning device passes during the period from the previous passing of the intelligent landmark devices to the current moment; the tenth position information is used for representing the position information of the positioning device when the positioning device passes through the intelligent landmark device for the previous time; the second mileage information is used for representing the distance increment of the positioning device, which is driven by the positioning device during the previous time from the intelligent landmark device to the current moment; the second error information characterizes an accuracy of the second mileage information.

For example, in this embodiment, when the positioning device determines that the current passing smart landmark device is not the first passing landmark device, at this time, the updated information of the smart landmark device may be sent to the smart landmark device between the time when the current passing smart landmark device (i.e., the current time) and the time when the same smart landmark device passes the previous time (hereinafter referred to as the first time interval). Specifically, the transmitted first node information may further include a distance increment (i.e., the second mileage information) of the positioning device and an accuracy of the distance increment (i.e., the second error information) in a first time interval; indication information (i.e., third indication information) of the remaining smart landmark devices that have passed within the first time interval; position information (i.e., tenth position information) of the previous time the smart landmark device was traversed.

It can be understood that, by sending the first node information, the update information of the same intelligent landmark device in two different intelligent landmark devices can be stored in the intelligent landmark device and forwarded to other positioning devices which can meet the intelligent landmark device later by the intelligent landmark device, so that backup of map information of the positioning devices in group navigation is facilitated, and accuracy of map information generated by the positioning devices is improved. In addition, in this embodiment, the mileage information transmitted is the integrated distance increment information, which is further beneficial to reducing the information transmission amount. It should be noted that, the generation of the map information may refer to the description of the foregoing embodiments by way of example, and will not be repeated herein.

In some embodiments, on the basis of the foregoing embodiments, the virtual positioning information generated by the positioning device according to the second node information sent by the smart landmark device includes: a second distance value and a second variance value; wherein the second distance value is used to characterize a distance between the eighth location information (i.e., the location of the locating device when it is currently passing the smart landmark) and the tenth location information; the tenth position information is the positions of other positioning devices when the other positioning devices pass through the intelligent landmark before the current moment; the value of the second distance value is determined by the maximum sensing distance corresponding to the positioning device when sensing the tag unit, and in practical application, the second distance value can be half of the maximum sensing distance. Furthermore, it is understood that the second distance value is a fixed value, but only one possible value of the distance between the two values, and therefore, a second variance value is also set to characterize the reliability of the second distance value, that is, the probability that the distance between the eighth position information and the tenth position information is the second distance value.

It can be understood that when it is determined that two positioning devices pass through the same intelligent landmark device at different moments, the virtual positioning information can be constructed at the moment, so that the constraint condition of the final positioning device in the map information can be used for resolving the position information of the final positioning device, and further improvement of the resolving precision of the map information is facilitated.

In some embodiments, the tag unit in the smart landmark device is further configured to send feedback information to the positioning device if it is determined that the radio frequency signal sent by the positioning device is received, where the feedback information includes unique identification information of the smart landmark device. In other words, in this embodiment, the positioning device may continuously send the radio frequency signal outwards during the driving process, and when the intelligent landmark device receives the radio frequency signal, the feedback information carrying the unique identification information of the intelligent landmark device may be directly sent to the positioning device. In one example, if the smart landmark device stores the accurate position corresponding to the smart landmark device, the tag unit may also send the position of the smart landmark device to the outside.

In some embodiments, on the basis of the above embodiments, after the positioning device receives the feedback information of the smart landmark device, the feedback information is further used to instruct the positioning device to generate landmark observation information; the landmark observation information characterizes the relative position relation between the position information of the positioning equipment when the positioning equipment passes through the intelligent landmark equipment at two different moments; the landmark observation information comprises: a first distance value and a first variance value; wherein the first distance value characterizes a distance between the eighth position information and the ninth position information; the eighth position information is the position of the positioning device passing through the intelligent landmark device at the current moment; the ninth position information is the position of the positioning device when the positioning device passes through the intelligent landmark device before the current moment; the first variance value is used for representing the credibility of the first distance value; the first distance value is determined by the maximum perceived distance corresponding to the locating device when perceiving the tag unit.

In this embodiment, when the positioning device determines, through feedback information sent by the smart landmark device, that the positioning device does not pass through the smart landmark device for the first time, that is, the same smart landmark device that the positioning device passes through before passing through again in the moving process, similar to the case that different positioning devices encounter the same smart landmark device at two moments, in this embodiment, when the same positioning device encounters the same smart landmark device at two different moments, it is assumed that the positioning device passes through the smart landmark device 1 at moment 1, and at this moment, the position determined by the positioning device is position 1; the positioning equipment passes through the intelligent landmark equipment 1 again at the moment 2, and the position determined by the positioning equipment is the position 2; the relative positional relationship between the position 1 and the position 2, that is, the landmark observation information, may also be represented by a first distance value and a first variance value, where the first distance value is determined according to a maximum perceived distance that the positioning device can perceive when perceiving the intelligent landmark device, and in practical application, the first distance value may be half of the maximum perceived distance. It will be appreciated that the first distance value is a fixed value, but is only one possible value of the distance between the positions 1 and 2, and therefore, a first variance value is also provided to characterize the confidence level of the first distance value.

In practical application, when the positioning device continuously generates a branch node for representing the increment of the distance of the positioning device in the moving process, at the moment, when the landmark observation information is added in the branch node, the two position information corresponding to the positioning device when the positioning device encounters the same positioning device twice can be connected by the branch node, and the landmark observation information can be carried by the edge of the branch node for connecting the two position information.

It can be understood that the generation of the landmark observation information is equivalent to adding a constraint condition in the map information resolving process, so that the distance between the position information of the positioning device corresponding to the situation that the positioning device passes through the same intelligent landmark device at different moments needs to meet the landmark observation information, for example, a gaussian probability model constructed by meeting a first distance value and a first variance value needs to be met, and further, the addition of the constraint condition is beneficial to improving the precision of the finally obtained map information, namely, the precision of the finally determined position information.

In some embodiments, the tag unit in the intelligent positioning device is a radio frequency identification tag (Radio Frequency Identification, RFID for short), and when the tag unit is adopted, the phenomenon that the two-dimensional code cannot be identified and collected in dark, smoke and other environments can be avoided, so that the positioning device can perform reliable loop detection, and the loop detection accuracy is improved.

In some embodiments, the intelligent landmark device is a device carried by the positioning device when the positioning device starts to operate, and when the positioning device determines that the value of the variance information of the positioning device is smaller than a preset threshold value in the operation process of the positioning device, the intelligent landmark device is put in the driving environment of the positioning device by the positioning device; the variance information is used to indicate the accuracy of the positioning device to its own position estimate.

For example, the smart landmark device in the embodiment can be carried by the positioning device, the positioning device puts the smart landmark device in the running movement, and the position information of the positioning device when the smart landmark device is put in can be regarded as the position estimation value of the smart landmark device. And when the positioning equipment puts in the intelligent landmark equipment, the intelligent landmark equipment can be put in when the positioning equipment determines that the positioning equipment can accurately estimate the position information of the positioning equipment, namely, when the positioning equipment determines that the variance information of the positioning equipment is smaller than a preset threshold value, the intelligent landmark equipment is put in, and the method is beneficial to improving the position accuracy of the determined intelligent landmark equipment.

In some embodiments, the receiver and the transmitter respectively communicate with the positioning device through a bluetooth communication manner, which can be understood that, because the bluetooth module has a smaller volume, the integration level of the positioning device and the intelligent landmark device is convenient to be improved, and in addition, the bluetooth communication manner can also reduce the power consumption of the whole group navigation system. Moreover, when radio communication is adopted between the positioning devices in the group, the Bluetooth communication mode can also play a role in stronger anti-interference so as to improve the communication reliability between the positioning devices and the intelligent landmark devices.

It should be noted that, in the embodiment of the present application, in addition to the data that may be detected by the sensor carried by the positioning device itself and included in the first node information, the positioning device may also send, to the intelligent landmark device, final map information that is obtained by resolving the data detected by the sensor itself, so that different subsequent positioning devices may obtain global map information. Alternatively, the map information reported by the positioning device may include, in addition to the track information of the positioning device itself, environmental information around the track on which the positioning device is traveling, for example, objects in the environment, object placement positions, object sizes, and the like. Alternatively, in some embodiments, when the positioning device passes by one of the smart landmark devices, the smart landmark device may also send its own status information, such as calculation information, storage space information, etc., so that the smart landmark device may determine the information sent to the smart landmark device according to the status information of the positioning device. For example, if it is determined that the current smart landmark device has fewer spatial computing resources, the second node information of part of the rest of positioning devices may be sent to the smart landmark device, so as to avoid the problem that the positioning device needs to solve the computing resources tension caused by more information, and thus causes the device to crash.

In some embodiments, when the above step S1003 is performed, if the two positioning devices communicate by radio, the confidence level (hereinafter referred to as the ranging confidence level) of the two positioning devices may be determined as follows:

the method comprises the steps of firstly, acquiring a first channel impulse response generated by positioning equipment in a navigation system; the first channel impulse response characterizes the signal amplitude received by the positioning equipment at different moments when the positioning equipment receives roll call signals sent by other positioning equipment; the roll call signal is used to determine whether the locating device and the remaining locating devices can perform radio ranging.

Illustratively, in the present embodiment, in order to determine no ranging confidence between two positioning devices currently requiring radio ranging, i.e., whether radio ranging can be successfully performed based on the current wireless communication channel environment. Firstly, one of two positioning devices can send a roll call signal to the other positioning device in a wireless communication mode, then the positioning device serving as a signal receiving party determines a first channel impulse response corresponding to the signal according to the received signal, and determines whether radio ranging can be successfully performed between the two positioning devices based on the received signal. It should be noted that, in the navigation system of this embodiment, a plurality of positioning devices may be included.

In practical applications, a receiver of the positioning device may be provided with a channel impulse response filter, where a signal received by the receiver may be processed by the channel impulse response filter, and the first channel impulse response may be a signal output by a preamble in the signal received by the receiver after passing through the channel impulse response filter.

Extracting a signal characteristic set of the impulse response of the first channel; the signal characteristic set comprises first characteristic information, second characteristic information, third characteristic information and fourth characteristic information; the first characteristic information characterizes a time interval of the first peak and the second peak; the first peak value is the peak value with the largest value in the peak values of the impulse response of the first channel and is larger than a first preset value; the second peak value is a peak value which is larger than a first preset value in the peak values of the impulse response of the first channel and has the minimum peak value time; the second characteristic information characterizes a duty cycle of the second peak in the first peak; the third characteristic information is the peak value number of which the value is larger than a first preset value in the peak value of the impulse response of the first channel; the fourth characteristic information is determined based on the peak value of the first channel impulse response, which is larger than the second preset value, in the preset period; the preset period is a period before the time corresponding to the second peak.

The first channel impulse response obtained typically includes a plurality of peaks corresponding to different moments. And the peaks can correspond to a main path signal and a plurality of multipath signals in the signals received by the receiver, wherein the main path signal is a signal which can be transmitted to the receiver along a straight line, and the multipath signals are signals which reach the receiver after passing by in the signal transmission process. Also, since the signal transmission path of the multipath signal is long, the arrival time of the main path signal is earlier than that of the multipath signal. Therefore, if the receiver can accurately identify the time corresponding to the peak value corresponding to the main path signal in the acquired first channel impulse response, the receiver can determine the transmission time of the main path signal according to the time of the peak value of the main path signal and the time of the sender sending the roll call signal. Further combining the speed of light, the distance between the receiver and the sender can be determined.

And after the first channel impulse response is acquired, the signal characteristic corresponding to the first channel impulse response can be acquired. Specifically, in this embodiment, the signal feature set corresponding to the extracted first channel impulse response includes 4 features.

Wherein, when determining the first characteristic information in the signal characteristic set, the peak value contained in the first channel impulse response can be determined first. And screening out the peak value which has the maximum value and is larger than a first preset value from the contained peak values as a first peak value. And then, further searching the peak value with the first value larger than the first preset value in the peak values contained in the first channel impulse response, namely, the peak value with the minimum corresponding peak time in the peak values larger than the first preset value, and then, taking information used for representing the time interval between the time corresponding to the first peak value and the time corresponding to the second peak value as first characteristic information at the position, for example, directly subtracting the time corresponding to the second peak value from the time corresponding to the first peak value to be taken as the first characteristic information at the position.

The second characteristic information in the signal characteristic set may be used to characterize the duty ratio of the second peak value in the first peak value, for example, the ratio of the second peak value to the first peak value may be directly used as the second characteristic information herein.

The third characteristic information in the signal characteristic set may be used to characterize a number of peaks of the first channel impulse response that have a value greater than a first preset value.

And firstly searching the second peak value and finding a peak value with a value larger than a second preset value in a preset period before the peak time corresponding to the second peak value in the fourth characteristic information in the signal characteristic set. Thereafter, fourth characteristic information may be further determined according to the peak selected during the period. For example, the number of peaks having a value greater than the second preset value in the above period may be selected. The selection manner of the fourth feature information in the present embodiment is not particularly limited.

In practical application, when determining how to extract the signal features from the first channel impulse response, a plurality of features may be selected first, and based on the feature screening technology in the related art, several features with a larger influence on the waveform of the first channel impulse response are screened out from the plurality of features. Here, the method of feature screening is not particularly limited, and feature screening may be performed by, for example, dimension reduction in the related art.

In some embodiments, when determining the first characteristic information in the second step is performed, the following procedure may be adopted:

"determining a first peak value, a second peak value, a first peak value time corresponding to the first peak value, and a second peak value time corresponding to the second peak value; determining a time difference between the first peak time and the second peak time; determining the number of preset time intervals contained in the time difference value as first characteristic information' in the signal characteristic set "

In this embodiment, when determining the first characteristic information corresponding to the first channel impulse response, the peak value of the first channel impulse response, which is the peak value greater than the first preset value and is the first peak value, may be determined to be the largest value in the peak values of the first channel impulse response; the time corresponding to the first peak value, namely the first peak value time; the peak value of the first channel impulse response is larger than a first preset value, and the peak value with the smallest peak time, namely the second peak value, and the time of the second peak value, namely the second peak time. Note that, the peak determination method may be a method in the related art, and the present embodiment is not limited thereto. After determining the first peak time and the second peak time, a corresponding difference between the two may be further determined, i.e., an immediate difference. After the time difference is obtained, the time difference may be converted, i.e. it is determined how many preset time intervals are included in the time difference. For example, when the time difference is 15s, if the preset time interval is 3s, 5 preset time intervals are included, so 5 can be used as the second characteristic information. It can be appreciated that by the above manner, the value of the first feature information can be reduced, so that the computational complexity in the model operation process can be reduced. Meanwhile, in the model training process, the calculation complexity and the model training time can be reduced, and the consumption of equipment resources in the model training and model application processes can be reduced.

In some embodiments, when performing the second step of extracting the second characteristic information of the signal characteristic set of the first channel impulse response, the following steps may be adopted:

"determining the ratio between the second peak and the first peak as a first ratio; determining the ratio between the first ratio and a third preset value as a second ratio; the third preset value is a positive number smaller than 1; and rounding the second ratio to obtain second characteristic information. "

Illustratively, in extracting the second characteristic information, first a first peak value and a second peak value may be determined in the first channel impulse response, where the first peak value and the second peak value may be referred to as the description in the above embodiments. And then, determining a first ratio of the second peak value to the first peak value, wherein the value of the first peak value is larger than that of the second peak value, so that the determined first ratio is a positive number smaller than 1, and in order to avoid increasing the computational complexity of the model, further determining a second ratio corresponding to the first ratio and a third preset value, wherein the value of the third preset value is a positive number smaller than 1, further converting the ratio between the first ratio and the third preset value into a number larger than 1, and then rounding the second ratio to obtain an integer serving as second characteristic information. It can be appreciated that rounding is favorable for converting the values of the second ratios into the same integer, is favorable for reducing the possible value number corresponding to the second characteristic information in the model training process, and is favorable for reducing the number corresponding to the characteristic information set used in the training process and improving the model training efficiency. And the calculation complexity of the model in the training and application process can be avoided by converting the model into the integer, and the model efficiency is improved.

In some embodiments, when performing the extracting the fourth characteristic information of the signal characteristic set of the first channel impulse response in the second step, the following steps may be adopted:

"determining a first peak time corresponding to the first peak; in the first channel impulse response, determining the number of peaks with values larger than a second preset value in a preset period before a first peak time as a first number; determining a second number according to the preset time period and the preset time interval, wherein the second number characterizes the maximum number of possible peaks in the preset time period; the preset signal time represents a sampling interval corresponding to the impulse response of the first channel; determining fourth characteristic information according to the first quantity and the second quantity; the fourth characteristic information characterizes a duty cycle of the first quantity in the second quantity. "

In the present embodiment, for example, when the fourth characteristic information is extracted, first the first peak time is determined, and the number of peaks greater than the second preset value among peaks in a preset period before the first peak time,

thereafter, the maximum number of peaks (i.e., the second number) that may occur is determined within a preset period of time; when the preset time period includes 10 preset time intervals, and at most 5 peaks may occur in the 10 preset time intervals, the value of 5 may be used as the second number. In practical application, after the first number and the second number are determined, the ratio of the first number to the second number may be used as the fourth feature information.

In some embodiments, the step of "determining the fourth characteristic information according to the first number and the second number" may include the steps of:

"determining a ratio between the first number and the second number as a third ratio; determining the ratio between the third ratio and a fourth preset value as a fourth ratio; the fourth preset value is a positive number smaller than 1; and rounding the fourth ratio to obtain fourth characteristic information. In this embodiment, the third ratio corresponding to the first number and the second number is smaller than 1 after the first number and the second number are determined based on the embodiment of determining the fourth feature information, so the third ratio may be converted into a number having a value greater than 1 by dividing the third ratio by a fourth preset value, where the fourth preset value is a positive number smaller than 1. And then, further rounding the fourth ratio obtained by the division processing, and taking the rounded integer as fourth characteristic information.

It can be appreciated that rounding is favorable for converting the values of the fourth ratios into the same integer, is favorable for reducing the possible value number corresponding to the fourth characteristic information in the model training process, and is favorable for reducing the number corresponding to the characteristic information set used in the training process and improving the model training efficiency. And the calculation complexity of the model in the training and application process can be avoided by converting the model into the integer, and the model efficiency is improved.

Thirdly, obtaining a distance measurement confidence coefficient according to the signal characteristic set and a preset model; the positioning device comprises a positioning device, a preset model, a positioning confidence coefficient, a positioning module and a positioning module, wherein the positioning confidence coefficient characterizes the positioning success rate of the positioning device and other positioning devices in the pairwise positioning process, the preset model is used for determining the positioning confidence coefficient, and the positioning confidence coefficient is used for carrying out grouping processing on the positioning device.

For example, after the signal feature set corresponding to the first impulse response is obtained, the obtained signal feature set may be input into a pre-trained model, and it is determined, based on the pre-trained model, whether the positioning devices can successfully implement radio ranging based on the current wireless communication channel. In this embodiment, the model architecture of the preset model is not particularly limited, and a machine learning model, a deep learning model, and the like in the related art may be used.

It should be noted that, in this embodiment, based on the above manner, the confidence level of ranging between two positioning devices in a navigation system including a plurality of positioning devices may be determined, so that it may be determined, according to the determined confidence level, which positioning devices may perform radio ranging therebetween, thereby implementing grouping of the positioning devices.

It can be appreciated that in this embodiment, by extracting the characteristics of the first channel impulse response corresponding to the signal received by the positioning device and combining with the pre-trained model, the ranging confidence coefficient between the positioning devices is predicted, so as to be beneficial to grouping the positioning devices in the navigation system, that is, determining which devices can successfully perform radio ranging, so that the communication waste of the positioning devices can be avoided, and the power consumption of the navigation system is reduced. In addition, since whether the peak value corresponding to the main path signal has a higher influence on the accuracy of the subsequent radio ranging can be accurately identified in the first channel impulse response, in this embodiment, when the signal feature set is acquired, the peak value is screened based on the first preset value and the second preset value, and the signal feature is determined, so that the determined signal feature can accurately reflect the influence of the current wireless communication channel on the signal.

In some embodiments, before the first step of acquiring the first channel impulse response generated by the positioning device in the navigation system, in order to acquire the preset model, the following steps may be implemented:

The initial step one: acquiring a plurality of training samples and actual distance information corresponding to the training samples, wherein the training samples are distance information determined based on a radio ranging mode in the positioning equipment two-by-two positioning process; the actual distance information characterizes the actual distance between the positioning devices of the two-by-two positioning.

For example, in the present embodiment, when training a model for preset ranging confidence, a plurality of positioning devices may first perform radio ranging between two by two (i.e., two by two positioning), so as to obtain a plurality of distance information, i.e., a plurality of training samples. In order to improve the adaptability of the model obtained by the final training, the radio ranging may be performed in different environments. In addition, in the process of acquiring the training samples, the actual distance information between the positioning devices can be recorded, namely, each training sample corresponds to one actual distance information.

The initial step two: and determining a first sample from the plurality of training samples, wherein the first sample is the training sample with the same actual distance information as the training sample.

For example, after obtaining a plurality of training samples, a screening process may be performed on the training samples, that is, training samples having actual distance information as well as distance information obtained based on radio distance are screened out as screened samples, that is, first samples. It should be noted that, the training samples and the actual distance information are the same, which is understood that the difference between the training samples and the actual distance information is smaller than the preset difference.

The initial step three: and determining a preset model according to a second channel impulse response corresponding to the first sample, wherein the second channel impulse response characterizes signal amplitude values received by the positioning equipment at different moments in the process of generating the first sample.

In an exemplary embodiment, after the first samples are screened, since each first sample corresponds to the ranging information of the two positioning devices for performing radio ranging, in the process of obtaining the first samples, a second channel impulse response determined by the positioning device as the signal receiving party in the two positioning devices corresponding to the first samples according to the received signal may also be recorded, where the obtaining manner of the second channel impulse response is the same as that of the first channel impulse response, and is not described herein again.

And then, performing model training according to the second channel impulse responses corresponding to the first samples so as to acquire a preset model for predicting the range-finding confidence coefficient.

It can be understood that in this embodiment, when training the model, the second channel impulse response corresponding to the sample with accurate ranging result is obtained to train the model, so as to improve the accuracy of the obtained model.

In one example, when the initial step three is performed, the following steps may be implemented:

the first step of the initial step three: determining a target feature set of a second channel impulse response corresponding to the first sample; wherein the target feature set comprises a plurality of sample feature information; wherein, the features corresponding to the different sample feature information in the same target feature set are different.

In an exemplary embodiment, when training a model according to a second channel impulse response corresponding to a first sample, first, a target feature set corresponding to the second channel impulse response corresponding to each first sample is extracted. That is, one second channel impulse response corresponds to one target feature set, and a plurality of sample feature information is included in the target feature set. Here, the extraction of the plurality of sample feature information included in the target feature set may refer to the extraction manner of the 4 feature information in the signal feature set provided in the above embodiment, which is not described herein.

In this embodiment, a gaussian joint probability density model is taken as an example.Where Bel characterizes the range confidence. d represents the number of sample feature information contained in the target feature set; x represents a target feature set. u represents a mean set of sample feature information of the same meaning in the plurality of target feature sets. / >And characterizing correlations among the sample feature information in the plurality of target feature sets as covariance matrices.

A second step of the initial step three: determining a mean value set according to a plurality of target feature sets corresponding to the first samples, wherein the mean value set comprises a plurality of mean values; the mean value characterizes the mean value of sample feature information having the same feature meaning among a plurality of target feature sets.

Illustratively, on the basis of the above model, a gaussian joint probability density model is trained, i.e. the u and covariance matrices in the model are determined. In determining u, the calculation may be performed according to the following formula:the u includes d parameters, wherein each parameter in u is calculated by the formula above, +.>Characterizing the ith sample characteristic information in the target characteristic set corresponding to the t first sample, wherein Npre is the number of training samples; n characterizes the number of first samples.

Third step of initial step three: according to the mean value set, covariance matrixes corresponding to the target feature sets are determined; elements included in the covariance matrix are used to indicate correlations between sample feature information in the plurality of target feature sets.

IllustrativelyIn determining the covariance matrix, the covariance matrix may be characterized by the following formula: />

The calculation formula of the parameters on the diagonal is as follows:the remaining parameters in the covariance matrix can be calculated using the following formula:fourth step of initial step three: and obtaining a preset model according to the covariance matrix, the mean value set and the Gaussian joint probability density function model.

Illustratively, after the covariance matrix and the mean set are determined, the covariance matrix and the mean set are respectively used as corresponding parameters in the gaussian joint probability density function model, and a trained model can be obtained. And then, in the actual application of the model, the signal characteristic set corresponding to the extracted first channel impulse response can be used as X in a formula, and the distance measurement confidence degree can be determined.

It can be appreciated that in this embodiment, the gaussian probability density function model is used to predict the ranging confidence, so that the model training mode is simple, and the time consumed in model training can be reduced.

In some embodiments, based on any of the above embodiments, prior to the initial step one, it is first determined which features to extract as sample feature information in the target feature set. In this embodiment, in order to screen out feature information that needs to be extracted in the subsequent training and application process from the plurality of candidate features, feature extraction performed by a principal component analysis method is adopted. Specifically, a plurality of channel impulse responses can be obtained through multiple radio ranging experiments, M candidate features corresponding to each channel impulse response are determined, and M is a positive integer greater than 1. After that, in determining covariance matrices of a plurality of candidate features corresponding to a plurality of channel impulse responses, the covariance matrices may be calculated by referring to the above-mentioned real The calculation method in the embodiment is not described here again. And then, determining the feature importance corresponding to each candidate feature according to the principal component analysis mode, wherein the larger the value of the feature importance is, the larger the waveform influence of the feature on the channel impulse response is indicated. Thereafter, a feature screening can be performed with how the formula.In the formula, POV characterizes the influence degree of the selected characteristics in the subsequent formula molecules on the channel impulse response waveform; />The feature importance of the kth candidate feature is characterized. By combining the formulas, one feature combination is selected from a plurality of candidate features by continuously changing the importance of the selected candidate features in the molecule and the number of the feature importance contained in the molecule, so that the proportion of the sum of the feature importance corresponding to the feature combination in the sum of all kinds of candidate feature importance is larger than a preset value, and the number of the feature combinations also meets the preset requirement, thereby determining the final feature information. Fig. 10 is a schematic structural diagram of a map information generating apparatus in group navigation positioning according to an embodiment of the present application, which is applied to positioning devices in a navigation system, where the navigation system includes a central controller and a plurality of positioning devices, and as shown in fig. 10, the generating apparatus includes:

A first sending unit 71, configured to report a node parameter of the positioning device at a current time to a central controller; the node parameters include: location information of the positioning device;

a first receiving unit 72, configured to receive packet information sent by the central controller, where the packet information is used to indicate a positioning device that currently needs two-by-two positioning; the grouping information is generated by the central controller according to the node parameters;

a first determining unit 73 for determining relative position information of the positioning device and the target device; the target equipment is positioning equipment for carrying out pairwise positioning with the positioning equipment;

a second receiving unit 74, configured to receive the first update information sent by the target device; the first updated information is information observed in a positioning interval period of the target equipment; the positioning interval time period is the interval between the first positioning time and the second positioning time; the first positioning time is the determination time of the relative position information; the second positioning time is the time of determining the relative position information of the positioning equipment and the target equipment in the previous time; the first updated information is sent when the target equipment determines that the positioning equipment and the non-first positioning equipment are subjected to pairwise positioning;

a first generation unit 75 for generating map information of the positioning device based on the relative position information and the first update information, the map information including: track information of the positioning device and track information of the target device.

The device provided in this embodiment is configured to implement the technical scheme provided by the method, and the implementation principle and the technical effect are similar and are not repeated.

In one possible implementation, the first update information includes: first information and second information; the first information characterizes track information of the target equipment in a positioning interval period; the second information indicates smart landmark devices observed by the target device during the positioning interval period;

Fig. 11 is a schematic structural diagram of a map information generating apparatus in group navigation positioning according to an embodiment of the present application, which is applied to positioning devices in a navigation system, where the navigation system includes a central controller and a plurality of positioning devices, as shown in fig. 11, based on the apparatus structure shown in fig. 10,

the first generation unit 75 includes:

A first generating module 751, configured to generate a first branch according to first information and second location information, where the second location information is a self-location determined by the target device at a second positioning time; the edge of the first branch represents the increment information and the error information of the first mileometer; the first end point of the first branch represents first position information of the target device; the second endpoint of the first branch characterizes second location information of the target device;

a second generating module 752, configured to generate a second branch according to the relative position information; the edge of the second branch represents relative position information;

a first grafting module 753, configured to graft a first end of the second branch to a first end of a third branch in the initial probability map of the positioning device, where the first end of the third branch is used to characterize third location information of the positioning device; the third position information is the position of the positioning equipment at the first positioning time; the second end of the third branch represents the position information determined by the positioning equipment at the first time; a third leg edge characterizing a course increment traveled by the positioning device between the first time and the first positioning time, and an accuracy of the course increment; the initial probability map comprises at least one branch used for representing the track of the positioning equipment and/or at least one branch used for representing the track of the target equipment;

The second grafting module 754 is used for grafting the first end of the first branch joint to the second end of the second branch joint to obtain a first probability map;

and a third generation module 755, configured to generate map information of the positioning device according to the first probability map and the second information.

In one possible implementation, the second information includes: identification information and fourth location information; the identification information indicates a first smart landmark device through which the target device passes in a positioning interval period; the fourth position information is the position information when the target equipment passes through the first intelligent landmark equipment;

the third generating module 755 is specifically configured to:

if the positioning device passes through the first intelligent landmark device before the current moment is determined, generating a fourth branch, wherein the first end of the fourth branch represents fourth position information; the second end of the fourth branch represents fifth position information, wherein the fifth position information is the position information when the positioning equipment passes through the first intelligent landmark equipment; the edge of the fourth branch represents a first preset distance value and a first variance value, wherein the first preset distance value is determined according to the maximum perceived distance corresponding to the positioning equipment when perceiving the first intelligent landmark equipment; the first variance value is used for representing the accuracy of the first preset distance value;

In one possible implementation, the apparatus further includes:

a second determining unit 76, configured to determine, during operation of the positioning device, sixth location information and seventh location information if it is determined that the second smart landmark device exists; the second intelligent landmark device is an intelligent landmark device which is subjected to multiple times of passing by the positioning device in the driving process; the sixth position information is the position when the positioning device passes through the second intelligent landmark device at the first moment; the seven-position information is the position of the positioning device when passing through the intelligent landmark device at the second moment;

a second generating unit 77, configured to generate a fifth node in the current probability map of the positioning device according to the sixth location information, the seventh location information, the second preset distance value, and the second variance value, to obtain a second probability map; wherein the first end of the fifth leg characterizes the sixth location information; the second end of the fifth branch represents seventh position information; the edge of the fifth branch represents a second preset distance value and a second variance value; the current probability map comprises at least one branch used for representing the track of the positioning equipment and/or at least one branch used for representing the track of the target equipment;

The second preset distance value is determined by the maximum perceived distance corresponding to the positioning equipment when perceiving the intelligent landmark equipment; the second variance value is used for representing the accuracy of a second preset distance value;

the first generating unit 75 is specifically configured to: and generating map information of the positioning equipment according to the second probability map, the relative position information and the first updating information.

In one possible implementation, the apparatus further includes:

a second transmitting unit 78 for transmitting second update information to the target device; wherein the second updated information characterizes the driving information of the positioning device in the positioning interval period; the second update information includes: third information, fourth information; the third information characterizes track information of the positioning equipment in a positioning interval period; the fourth information characterizes smart landmark devices observed by the target device during the positioning interval period.

In one possible implementation, the apparatus further includes:

a third determining unit 79, configured to determine, in real time, real-time location information of the positioning device during operation of the positioning device;

a third generating unit 80, configured to generate a sixth node in the current probability map of the positioning device according to the real-time position information generated at this time, the real-time position information generated at the previous time, and the second odometer increment information, to obtain a third probability map; the second odometer increment information is the real-time position information generated at this time and the distance increment travelled by the positioning equipment during the previous generation of the real-time position information; the first end of the sixth section represents the generated real-time position information; the second end of the sixth section represents the real-time position information generated in the previous time; the edge of the sixth node represents the second odometer increment information and the second variance value; the second variance value characterizes the accuracy of the second odometer increment information; the current probability map comprises at least one branch used for representing the track of the positioning equipment and/or at least one branch used for representing the track of the target equipment;

The first generating unit 75 is specifically configured to: and generating map information of the positioning equipment according to the third probability map, the relative position information and the first updating information.

In one possible implementation, the central controller issues packet information to the positioning device based on narrowband radio communication technology.

In one possible implementation, the apparatus further includes:

a third receiving unit 81, configured to receive third update information sent by the target device; the third updated information is sent when the target equipment determines that the positioning equipment performs pairwise positioning for the first time; the third update information includes current location information of the target device.

The application provides an electronic device, comprising: a memory, a processor;

a memory for storing processor-executable instructions;

the processor is used for executing the method according to the executable instructions.

Fig. 12 is a schematic structural diagram of an electronic device provided in an embodiment of the present application, as shown in fig. 12, where the electronic device includes:

A processor 291, the electronic device further comprising a memory 292; a communication interface (Communication Interface) 293 and bus 294 may also be included. The processor 291, the memory 292, and the communication interface 293 may communicate with each other via the bus 294. Communication interface 293 may be used for information transfer. The processor 291 may call logic instructions in the memory 292 to perform the methods of the above-described embodiments.

Further, the logic instructions in memory 292 described above may be implemented in the form of software functional units and stored in a computer-readable storage medium when sold or used as a stand-alone product.

The memory 292 is a computer readable storage medium, and may be used to store a software program, a computer executable program, and program instructions/modules corresponding to the methods in the embodiments of the present application. The processor 291 executes functional applications and data processing by running software programs, instructions and modules stored in the memory 292, i.e., implements the methods of the method embodiments described above.

Memory 292 may include a storage program area that may store an operating system, at least one application program required for functionality, and a storage data area; the storage data area may store data created according to the use of the terminal device, etc. Further, memory 292 may include high-speed random access memory, and may also include non-volatile memory.

The present application provides a computer-readable storage medium having stored therein computer-executable instructions that, when executed by a processor, perform the method of any one of the above.

The present application provides a computer program product comprising a computer program which, when executed by a processor, implements the method of any one of the claims.

The application provides a robot comprising a positioning device for implementing the method in the above embodiments.

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 application 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 application pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.

It is to be understood that the present application is not limited to the precise arrangements and instrumentalities shown in the drawings, which have been described above, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the application is limited only by the appended claims.

Claims

1. A method of generating map information in group navigation positioning, characterized by being applied to positioning devices in a navigation system comprising a central controller and a plurality of positioning devices, the method comprising:

2. The method of claim 1, wherein the first update information comprises: first information and second information; wherein the first information characterizes track information of the target device in the positioning interval period; the second information indicates smart landmark devices observed by the target device during the positioning interval period;

3. The method of claim 2, wherein generating map information for the positioning device based on the relative location information and the first update information comprises:

4. A method according to claim 3, wherein the second information comprises: identification information and fourth location information; the identification information indicates a first smart landmark device that the target device has passed within the positioning interval period; the fourth position information is position information when the target device passes through the first intelligent landmark device;

5. The method according to claim 1, wherein the method further comprises:

6. The method according to claim 1, wherein the method further comprises:

7. The method according to any one of claims 1-6, further comprising:

8. The method of claim 7, wherein information interaction and pairwise positioning are performed between positioning devices in the navigation system based on ultra wideband radio communication technology.

9. The method according to any of claims 1-6, wherein the central controller issues packet information to the positioning device based on narrowband radio communication technology.

10. The method according to any one of claims 1-6, further comprising:

11. A generation apparatus of map information in group navigation positioning, characterized by being applied to positioning devices in a navigation system including a central controller and a plurality of positioning devices, the apparatus comprising:

12. An electronic device, comprising: a memory and a processor;

a memory for storing the processor-executable instructions;

wherein the processor is configured to perform the method of any of claims 1-10 according to the executable instructions.

13. A computer readable storage medium having stored therein computer executable instructions which when executed by a processor are adapted to carry out the method of any one of claims 1-10.

14. A robot comprising a positioning device for implementing the method according to any of claims 1-10.