CN116224394A - Positioning updating method and device, electronic equipment and storage medium - Google Patents
Positioning updating method and device, electronic equipment and storage medium Download PDFInfo
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- CN116224394A CN116224394A CN202111475066.2A CN202111475066A CN116224394A CN 116224394 A CN116224394 A CN 116224394A CN 202111475066 A CN202111475066 A CN 202111475066A CN 116224394 A CN116224394 A CN 116224394A
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- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
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Abstract
The application discloses a positioning updating method, a positioning updating device, electronic equipment and a storage medium. The embodiment of the application can be applied to the map field, the traffic field and the like. The method comprises the following steps: acquiring a current position point of a target object; when the current position point does not accord with a preset positioning rule, a plurality of candidate position points are determined in an associated area to which the current position point belongs; respectively determining pseudo-range observation values between each candidate position point and the position point of the target satellite; obtaining associated position points corresponding to each candidate position point by using pseudo-range observation values corresponding to each candidate position point respectively so as to obtain an associated position point set; and determining a target associated position point matched with the current position point from the associated position point set, and updating the current position point by utilizing the candidate position point corresponding to the target associated position point. The method and the device can improve the efficiency of positioning update and can not depend on historical data.
Description
Technical Field
The present disclosure relates to the field of internet communications technologies, and in particular, to a positioning update method, a positioning update device, an electronic device, and a storage medium.
Background
With the development of internet communication technology, various internet products are layered endlessly, and the use services that internet products can provide for users are also increasingly abundant. The location service or positioning service is one of the usage services. The determined current location point may have an update requirement, subject to the scene. In the related art, the current location point is often updated by relying on historical data, and the updating process often involves complicated steps of inverting the signal receiving type, inverting the pseudo range, predicting by utilizing rules determined by the historical data, comparing the inversion result with the prediction result, and the like, so that the updating efficiency of the current location point is easy to be low.
Disclosure of Invention
In order to solve the problems of low updating efficiency, dependency on historical data and the like when the current position point is updated in the prior art, the application provides a positioning updating method, a positioning updating device, electronic equipment and a storage medium:
according to a first aspect of the present application, there is provided a positioning update method, the method comprising:
acquiring a current position point of a target object; wherein the current location point is determined based on satellite positioning signals;
when the current position point does not accord with a preset positioning rule, a plurality of candidate position points are determined in an association area to which the current position point belongs;
Determining pseudo-range observation values between each candidate position point and a position point of a target satellite respectively; wherein the target satellite is the sender of the satellite positioning signal;
obtaining associated position points corresponding to each candidate position point by using pseudo-range observation values corresponding to each candidate position point respectively so as to obtain an associated position point set; the associated position points are obtained by fitting based on the pseudo-range observation values;
and determining a target associated position point matched with the current position point from the associated position point set, and updating the current position point by utilizing a candidate position point corresponding to the target associated position point.
According to a second aspect of the present application, there is provided a location updating device, the device comprising:
the current position point acquisition module: the method comprises the steps of obtaining a current position point of a target object; wherein the current location point is determined based on satellite positioning signals;
candidate location point determination module: when the current position point does not accord with a preset positioning rule, determining a plurality of candidate position points in an association area to which the current position point belongs;
a pseudo-range observation value determining module: for determining pseudorange observations between each of said candidate location points and a location point of a target satellite, respectively; wherein the target satellite is the sender of the satellite positioning signal;
The collection obtaining module: the pseudo-range observation values corresponding to the candidate position points are used for obtaining associated position points corresponding to the candidate position points respectively so as to obtain an associated position point set; the associated position points are obtained by fitting based on the pseudo-range observation values;
and an updating module: and the method is used for determining a target associated position point matched with the current position point from the associated position point set and updating the current position point by utilizing a candidate position point corresponding to the target associated position point.
According to a third aspect of the present application, there is provided an electronic device comprising a processor and a memory, the memory having stored therein at least one instruction or at least one program, the at least one instruction or the at least one program being loaded and executed by the processor to implement the location updating method as described in the first aspect.
According to a fourth aspect of the present application, there is provided a computer readable storage medium having stored therein at least one instruction or at least one program, the at least one instruction or the at least one program being loaded and executed by a processor to implement the location updating method as described in the first aspect.
According to a fifth aspect of the present application, there is provided a computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer readable storage medium, the processor executing the computer instructions, causing the computer device to perform the location updating method as described in the first aspect.
The positioning updating method, the positioning updating device, the electronic equipment and the storage medium have the following technical effects:
the method comprises the steps of obtaining a current position point of a target object; then, when the current position point does not accord with a preset positioning rule, determining a plurality of candidate position points in an associated area to which the current position point belongs; further, determining pseudorange observations between each candidate location point and a location point of the target satellite, respectively; then, obtaining associated position points corresponding to each candidate position point by using pseudo-range observation values corresponding to each candidate position point respectively so as to obtain an associated position point set; further, a target associated location point that matches the current location point is determined from the set of associated location points, and the current location point is updated with the candidate location point corresponding to the target associated location point. When the current position point does not accord with a preset positioning rule, the point nearby the point is used as a candidate position point and is fitted based on a pseudo-range observation value to obtain a corresponding associated position point, the associated position point is matched with the current position point, and the candidate position point corresponding to the most matched associated position point is used for updating the current position point. Under the condition that the positioning is biased, the adjacent points are taken as samples to obtain the associated position points which can be matched with the current position point in the same dimension, so that the efficiency of positioning updating can be improved. Compared with the dependence of the related technology on a large amount of priori data and complex calculation process, the method and the device can not depend on historical data, reduce calculation complexity and improve calculation convenience and flexibility.
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In order to more clearly illustrate the technical solutions and advantages of embodiments of the present application or of the prior art, the following description will briefly introduce the drawings that are required to be used in the embodiments or the prior art descriptions, it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of an application environment provided by an embodiment of the present application;
fig. 2 is a flow chart of a positioning update method according to an embodiment of the present application;
FIG. 3 is a schematic flow chart of determining a plurality of candidate location points in an association region to which a current location point belongs according to an embodiment of the present application;
FIG. 4 is a schematic flow chart of obtaining a set of associated location points according to an embodiment of the present application;
FIG. 5 is a schematic illustration of a building existing between a candidate location point and a location point of a target satellite provided by an embodiment of the present application;
FIG. 6 is a block diagram of a positioning update apparatus according to an embodiment of the present application;
fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present application based on the embodiments herein.
It is noted that the terms "comprises" and "comprising," and any variations thereof, in the description and claims of the present application and in the foregoing figures, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or server comprising a list of steps or elements is not necessarily limited to those steps or elements expressly listed or inherent to such process, method, article, or apparatus.
Referring to fig. 1, fig. 1 is a schematic diagram of an application environment provided in an embodiment of the present application, where the application environment may include a client 10 and a server 20, and the client 10 and the server 20 may be directly or indirectly connected through a wired or wireless communication manner. The client 10 or the server 20 may acquire the current location point of the target object; then, when the current position point does not accord with a preset positioning rule, determining a plurality of candidate position points in an associated area to which the current position point belongs; further, determining pseudorange observations between each candidate location point and a location point of the target satellite, respectively; then, obtaining associated position points corresponding to each candidate position point by using pseudo-range observation values corresponding to each candidate position point respectively so as to obtain an associated position point set; further, a target associated location point that matches the current location point is determined from the set of associated location points, and the current location point is updated with the candidate location point corresponding to the target associated location point. It should be noted that fig. 1 is only an example.
The client 10 may be a smart phone, a computer (such as a desktop computer, a tablet computer, and a notebook computer), an augmented reality (augmented reality, AR)/Virtual Reality (VR) device, a digital assistant, a smart voice interaction device (such as a smart speaker), a smart wearable device, a smart home appliance, a vehicle terminal, or other type of physical device, or may be software running in the physical device, such as a computer program. The operating system corresponding to the client may be an Android system, an iOS system (a mobile operating system developed by apple corporation), a linux system (an operating system), a microsoft windows system (microsoft windows operating system), and the like.
The server 20 may be an independent physical server, a server cluster or a distributed system formed by a plurality of physical servers, or a cloud server providing cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, CDNs (Content DeliveryNetwork, content delivery networks), basic cloud computing services such as big data and artificial intelligence platforms, and the like. Wherein the server may comprise a network communication unit, a processor, a memory, etc. The server side can provide background services for the corresponding client side.
In practical application, the positioning updating method provided by the embodiment of the application can be independently executed by the client, can be independently executed by the server, and can be executed by the interaction between the client and the server.
The positioning updating system can be constructed by a client and a server, and the system can belong to an intelligent transportation system and the like. The intelligent transportation system (Intelligent Traffic System, ITS) is also called an intelligent transportation system (IntelligentTransportation System), and is an integrated transportation system for effectively and comprehensively applying advanced scientific technologies (information technology, computer technology, data communication technology, sensor technology, electronic control technology, automatic control theory, operation study, artificial intelligence and the like) to transportation, service control and vehicle manufacturing, and enhancing the connection among vehicles, roads and users, thereby forming a comprehensive transportation system for guaranteeing safety, improving efficiency, improving environment and saving energy.
The determination or updating of the current location point may be an implementation of a location service in the associated internet product. The related internet products may be cloud technology products, artificial intelligence products, intelligent transportation products, driving assistance products, live broadcast products, online office products, e-commerce products, game products, local living products, instant messaging products, social products, and the like.
The current location point may be generated by a related object (e.g., user, simulator, etc.) using a related internet product. It should be noted that, for the current location point, even the candidate location point, the associated location point, which have an association relationship with the user information in the embodiment of the present application, when the embodiment of the present application is applied to a specific product or technology, user permission or consent needs to be obtained, and the collection, use and processing of the relevant data need to comply with relevant laws and regulations and standards of relevant countries and regions.
In the following, a specific embodiment of a positioning updating method according to the present application is described, and fig. 2 is a schematic flow chart of a positioning updating method according to an embodiment of the present application, where the method operation steps described in the embodiment or the flowchart are provided, but more or fewer operation steps may be included based on conventional or non-inventive labor. The order of steps recited in the embodiments is merely one way of performing the order of steps and does not represent a unique order of execution. In actual system or product execution, the methods illustrated in the embodiments or figures may be performed sequentially or in parallel (e.g., in a parallel processor or multi-threaded processing environment). As shown in fig. 2, the method may include:
S201: acquiring a current position point of a target object; wherein the current location point is determined based on satellite positioning signals;
in the embodiment of the application, the client or the server acquires the current position point of the target object. It will be appreciated that the client and server sides are the constituent objects of the location update system. The client may independently execute steps S201 to S205, the server may independently execute steps S201 to S205, and the client may interact with the server to execute steps S201 to S205. Both the client and server side may be direct recipients of satellite positioning signals. The client (or server) may be an indirect receiver of the satellite positioning signal, where the direct receiver may be the server (or client) or a third party. The current location point is determined based on satellite positioning signals. The determination of the current location point may be made by a client, server or third party. The embodiments of the present application do not limit the execution body that receives satellite positioning signals and determines the current location point. There may be at least two satellite positioning signals for determining the current location point, and the satellite positioning signals for determining the current location point may originate from at least two satellites. The current location point may indicate a location (such as longitude, latitude, and elevation) in a preset coordinate system, which may be a world coordinate system, a geodetic coordinate system, a local horizontal coordinate system of the region to which the current location point belongs, and the like. For example, if the client is an application that can provide location services and is running on an entity device such as a mobile phone, the application may process satellite positioning signals through a global satellite navigation system (GNSS, global Navigation Satellite System) module integrated with the entity device to determine the current location point.
In an exemplary embodiment, after the obtaining the current location point of the target object, the method further includes the steps of: firstly, determining scene attributes corresponding to the current position points; then, judging whether the scene attribute is matched with a preset positioning scene appointed by the preset positioning rule; and finally, when the scene attribute is not matched with the preset positioning scene, judging that the current position point is not in accordance with the preset positioning rule.
The scene attribute corresponding to the current location point may indicate whether the current location point is located in the outdoor positioning environment, and whether the shielding degree of the outdoor positioning environment is lower than a preset threshold value in the case of being located in the outdoor positioning environment. Because the preset positioning scene agreed by the preset positioning rule describes an outdoor positioning environment with the shielding degree lower than the preset threshold, the judgment on whether the scene attribute is matched with the preset positioning scene comprises the following situations: 1) Matching: the scene attribute indicates whether the current position point is positioned in an outdoor positioning environment or not, and whether the shielding degree of the outdoor positioning environment is lower than a preset threshold value or not; 2) Mismatch: the scene attribute indicates that the current location point is located in an indoor positioning environment, such as the interior of a building; 3) Mismatch: the scene attribute indicates that the current location point is located in the outdoor positioning environment, but the shielding degree of the outdoor positioning environment is not lower than a preset threshold, such as between high buildings. Taking the example that the position service is used for pedestrian navigation, the current position point should hit the road surface in the outdoor positioning environment, and if the current position point does not belong to the road surface point, the current position point does not accord with the preset positioning rule.
In the case 2) and 3), the current location point is determined not to conform to the preset positioning rule, and the execution of the subsequent steps S202-S205 may be triggered to update the current location point. And in the case 1), the current position point is judged to accord with the preset positioning rule, and the current position point can be continuously maintained. Whether the current position point needs to be updated is judged by whether the scene attribute is matched with a preset positioning scene or not, so that the current position point which does not need to be updated can be effectively filtered, and the utilization rate of computing resources for executing the updating step can be improved.
S202: when the current position point does not accord with a preset positioning rule, a plurality of candidate position points are determined in an association area to which the current position point belongs;
in the embodiment of the application, when the current location point does not conform to a preset positioning rule, the client or the server determines a plurality of candidate location points in an association area to which the current location point belongs. The determined candidate location point may be a point near the current location point.
In an exemplary embodiment, as shown in fig. 3, the determining a plurality of candidate location points in the association area to which the current location point belongs includes:
s301: determining an associated area to which the current position point belongs in a preset three-dimensional model according to preset dividing parameters;
S302: determining a plurality of candidate position points in the association area based on a preset selection rule; wherein, the selection information related to the preset selection rule comprises at least one of the following: adjacent point spacing, belonging to the road points, number of position points.
The preset dividing parameter may be used to define a boundary of the association region in the preset three-dimensional model, for example, define a size of a space/plane constructed in the preset three-dimensional model centering on the current location point, that is, the association region, wherein a unit of the size (for example, decimeter, meter, kilometer, etc.) may be determined according to actual needs. Taking the space constructed as an example, the dimensions may take the order of 100 x 10 meters. The preset three-dimensional model can be a three-dimensional model of a region to which the current position point belongs, and the dimension of the region can be determined according to actual needs, so that the region to which the current position point belongs can be province, city, district and the like.
Taking the distance between adjacent points as the selection information as an example, the candidate position points can be determined one by one in a preset direction according to the distance between the adjacent points by taking the current position point as a reference position point. Of course, a plurality of preset directions may be included with the interval of "adjacent dot pitch". It will be appreciated that if the predetermined direction is merged into the association region, a plurality of grids may be obtained, and the determination of candidate location points may be performed based on these grids.
Taking the road surface points as selected information as an example, if the associated area has covered road surface points, determining candidate position points from the road surface points; if the associated area does not cover the road surface points, determining the projection area of the associated area on the road surface, and further determining the candidate position points from the road surface points covered by the projection area.
Taking the number of location points as the selection information as an example, the determination of the candidate location points can be performed from a plurality of location points covered by the association area according to the number of location points.
The association region can cover a plurality of position points, a plurality of candidate position points are determined based on a preset selection rule, the corresponding association position points are not required to be determined based on the plurality of position points so as to update the current position points, the data processing amount for determining and matching the association position points later can be reduced, and the efficiency of positioning update is further improved. The utilization of the preset selection rules also ensures that the determination of the candidate position points from the association region gives consideration to the global property, so that the determined candidate position points can be ensured to be used for the determination of the association position points, and the accuracy brought by the matching for positioning update can be ensured.
S203: determining pseudo-range observation values between each candidate position point and a position point of a target satellite respectively; wherein the target satellite is the sender of the satellite positioning signal;
In the embodiment of the application, the client side respectively determines pseudo-range observation values between each candidate position point and the position point of the target satellite; or the server side respectively determines the pseudo-range observation value between each candidate position point and the position point of the target satellite.
When there is an occluding object (such as a building) between the candidate location point and the location point of the target satellite, the pseudorange observations need to be integrated into the range increase due to reflection. A preset three-dimensional model may be utilized to determine whether an occluding object exists between the candidate location point and the location point of the target satellite. For the definition of the preset three-dimensional model, reference may be made to the descriptions of the foregoing steps S301 to S302, and details are not repeated. The manner of calculation of the different pseudo-range observations taken based on the presence or absence of an occluding object will be described below:
1) When an occlusion object exists, determining a first type of pseudo-range observation value between the candidate position point and the position point of the target satellite;
2) When a non-occlusion object exists, determining a second type of pseudo-range observation value between the candidate position point and the position point of the target satellite; the first type of pseudorange observations carry range information associated with the reflection as compared to the second type of pseudorange observations.
Wherein, (x) w ，y w ，z w ) Indicating the location point of the target satellite, (x h ，y h ，z h ) Indicating candidate location points. Epsilon First kind And epsilon Second kind All indicate errors but with respect to ε Second kind ，ε First kind Incorporating errors related to reflection. When the pseudo-range observation value of the candidate position point pair is determined, different calculation methods are adopted due to the existence of the shielding object, so that an accurate and effective data source can be provided for fitting of the subsequent associated position point, and the accuracy of positioning update is ensured. It should be noted that the increase in distance due to reflection into which the first type of pseudo-range observation is incorporated is determined based on the shortest reflection path.
There are typically at least two target satellites that are the transmitters of the satellite positioning signals. The determining of the pseudorange observations between each of the candidate position points and the position point of the target satellite, respectively, may comprise the steps of: firstly, respectively determining sub-pseudo-range observation values between the candidate position points and the position points of each target satellite; then, obtaining said pseudorange observations based on sub-pseudorange observations associated with each of said target satellites; wherein the sub-pseudorange observations associated with each of the target satellites are either the first type of pseudorange observations or the second type of pseudorange observations.
Taking n (n is a positive integer greater than or equal to 2) target satellites and m candidate location points as examples, the pseudo-range observation value between a certain candidate location point and n target satellites can be obtained by the following equation:
wherein p is i Indicating sub-pseudo-range observations between a candidate location point and a target satellite, wherein i ranges from 1 to n. An occluding object may exist between a candidate location point and the location of one target satellite, and no occluding object may exist between the same candidate location point and the location of another target satellite, thus p i The first type of pseudo-range observations may be used, or the second type of pseudo-range observations may be used.
There is typically more than one target satellite that is the sender of the satellite positioning signals. On the basis, a first type pseudo-range observation value or a second type pseudo-range observation value between a single candidate position point and a single target satellite position point is determined, and then pseudo-range observation values between the single candidate position point and a plurality of target satellite position points are determined, so that the determination of the pseudo-range observation values can be ensured to be effectively integrated with the information of the number of the target satellites, whether shielding objects exist between the pseudo-range observation values and the target satellite position points or not, the information quantity carried by the determined pseudo-range observation values can be improved, and effective data support can be provided for the associated position points for subsequent fitting.
The following description will be made of "determination of a position point of a target satellite" and "determination of whether or not an occluding object is present", respectively:
a) Determination of position point of target satellite "
If the client is an application that can provide location services, it runs on a physical device such as a cell phone. The entity device may acquire satellite positioning signals and satellite navigation ephemeris. The entity device may also obtain raw data of the satellite positioning signals, so as to obtain distance observations between the entity device and each target satellite respectively from the raw data. The entity device can determine relevant transmitting time according to the distance observation value and the receiving time of the satellite positioning signals; and determining the position of the target satellite at the transmitting time according to the transmitting time and the satellite navigation ephemeris. Since there are at least two target satellites, the positioning of the target satellites can be performed by satellite numbering in the process of determining the position points of the target satellites.
B) "determination of whether or not an occluding object is present"
Whether an occluding object is present between the candidate location point and the location point of the target satellite may be determined by comparing the satellite altitude and the reference altitude (Eld) between the candidate location point and the location point of the target satellite. If the satellite altitude is greater than the reference altitude, indicating that no shielding object exists; and if the satellite altitude is smaller than or equal to the reference altitude, indicating that the shielding object exists. Wherein the reference altitude refers to an altitude between the candidate location point and the building intersection.
Regarding the calculation of satellite altitude, the following formula may be employed:
wherein t is r Indicating the time of reception of satellite positioning signals, t s Representing the time of transmission of satellite positioning signals, r s (t s ) Representing the position of the target satellite at the time of transmission, r r (t r ) Indicating the location of the physical device at the time of receipt, r is |r s (t s )-r r (t r ) The distance between the guard and the ground is denoted. Note that this formula ignores the earth rotation effect.
With respect to the calculation of the reference altitude angle, it is necessary to determine the building intersection first. Referring to fig. 5, if a building exists between the candidate location point and the location point of the target satellite, then the building intersection is determined by the reference plane and the correlation plane of the building. The reference plane is a plane formed based on the candidate location point, the location point of the target satellite, and a line perpendicular to the earth upward. When the reference plane indicates an intersection with the building's associated surface, the building intersection is the highest point on the intersection that is farther from the ground. After determining the building intersection, the reference altitude angle may be determined by the following equations five through seven:
wherein (e) e ，e n ，e u ) Indicating candidate location points.
And->
Calculation formulas indicating the azimuth angle and the altitude angle, respectively. E (E) r Is a transformation matrix that transforms a geocentric Earth-Fixed (ECEF) coordinate system into a local horizontal coordinate system. The conversion matrix can be calculated according to the longitude and latitude of the user, and the formula is as follows:
Wherein the longitude and latitude of the user can indicate the longitude lambda corresponding to the candidate coordinate point r And latitude phi r 。
S204: obtaining associated position points corresponding to each candidate position point by using pseudo-range observation values corresponding to each candidate position point respectively so as to obtain an associated position point set; the associated position points are obtained by fitting based on the pseudo-range observation values;
in the embodiment of the application, the client obtains the associated position point corresponding to each candidate position point by using the pseudo-range observation value corresponding to each candidate position point respectively so as to obtain an associated position point set; or the server side obtains the associated position point corresponding to each candidate position point by using the pseudo-range observation value corresponding to each candidate position point respectively so as to obtain an associated position point set. The associated position points are fitted based on the pseudo-range observations. It can be appreciated that when the current position point does not meet the preset positioning rule, the positioning is biased, and then the deviation between the actual position point and the current position point may be caused by a scene error. The process of obtaining the corresponding associated location point from the candidate location points may be regarded as a calculation process considering the cause of the scene error. Thus, the current location point and the associated location point are products of the true location point and the candidate location point, respectively, under the influence of a scene error. Thus, a foundation is laid for matching the associated position point with the current position point subsequently and updating the current position point by utilizing the related candidate position point.
In an exemplary embodiment, as shown in fig. 4, the obtaining, by using the pseudo-range observed values corresponding to each of the candidate location points, an associated location point corresponding to each of the candidate location points, to obtain an associated location point set includes:
s401: obtaining error characterization corresponding to the candidate position point by using the pseudo-range observation value and the reference distance corresponding to the candidate position point according to the dimension of the candidate position point; wherein the reference distance corresponding to the candidate location point describes a direct distance between the candidate location point and the location point of the target satellite;
s402: when the position correction number indicated by the difference result of the error characterization is larger than or equal to a preset threshold value, obtaining a reference position point based on the position correction number and the candidate position point;
s403: updating the error characterization by using the pseudo-range observation value and the reference distance corresponding to the reference position point;
s404: performing differential processing on the updated error characterization;
s405: stopping repeating the step of obtaining the reference position point until the updated error characterization is subjected to differential processing when the result of the last differential processing is smaller than the preset threshold value;
S406: obtaining associated position points corresponding to the candidate position points based on the result of the last differential processing and the last obtained reference position;
s407: and obtaining the associated position point set based on the associated position point corresponding to each candidate position point.
In combination with the above example, in the candidate location point (x h ，y h ，z h ) In the dimension of (a) the (c) is,
sub-pseudorange observations between a candidate location point and a target satellite may be described. />
Can describe a certain candidate location point (x hj ，y hj ，z hj ) Sub-reference distances to a certain target satellite. Note that j indicates the number of iterations, when j takes 0, (x) hj ，y hj ，z hj ) Can take (x) h ，y h ，z h ). Accordingly, sub-error characterization
The position correction number indicated by the difference result is (dx hj ，dy hj ，dz hj ). When the position correction number is greater than or equal to a preset threshold value, a reference position point (x) is obtained based on the position correction number and the candidate position point hj ，y hj ，z hj ). For the reference position point (x hj ，y hj ，z hj ) J is a positive integer greater than or equal to 1. Thus, in the candidate position point (x h ，y h ，z h ) For error characterization, see the following set of equations: />
The number of iterations may indicate the number of differential processes, which may indicate the least squares method. The process of determining the associated position point corresponding to a certain candidate position point is given above, so that the associated position point corresponding to each candidate position point can be determined respectively, and the associated position point set is obtained. And obtaining error characterization according to the pseudo-range observation value and the geometric distance (corresponding to the reference distance), obtaining a position correction number aiming at the difference processing of the error characterization, and further gradually correcting the reference position points from the candidate position points by utilizing the gradually obtained position correction number to obtain the associated position points. According to the positioning updating scheme provided by the embodiment of the application, the reliability and stability of the determination of the associated position points can be ensured through the step of fitting the associated position points with high applicability.
S205: and determining a target associated position point matched with the current position point from the associated position point set, and updating the current position point by utilizing a candidate position point corresponding to the target associated position point.
In the embodiment of the application, a client or a server determines a target associated position point matched with a current position point from an associated position point set, and updates the current position point by using candidate position points corresponding to the target associated position point.
Whether the associated position point is matched with the current position point or not can be judged through the similarity between the associated position point and the current position point. The similarity between the two can be determined by the distance between the two, and then the associated position point corresponding to the nearest distance is taken as the target associated position point, and the following steps can be seen: firstly, respectively determining the distance between each associated position point in the associated position point set and the current position point; and then, determining the associated position point corresponding to the nearest distance as a target associated position point matched with the current position point.
The distance herein may refer to a straight line distance. If the straight line distance between the two associated position points and the current position point is the same, and the straight line distance is the nearest distance, the associated position point of the corresponding candidate position point meeting the preset positioning rule can be preferentially selected as the target associated position point. Taking the example that the current position point and the associated position point both indicate positions (such as longitude, latitude and altitude) in a preset coordinate system, the current position point (x d ，y d ，z d ) And associated location point (x gi ，y gi ，z gi ) The linear distance between them can be determined by the following equation ten:
in combination with the description about the scene error in the foregoing step S204, since the current location point and the associated location point are products of the actual location point and the candidate location point under the influence of the scene error, respectively, the target candidate location point for updating the current location point is determined from the plurality of candidate location points by matching the current location point and the associated location point, so that the efficiency and the accuracy of the positioning update can be improved under the condition of small calculation amount.
In practical application, the positioning updating scheme provided by the embodiment of the application is suitable for urban canyon areas, and the candidate position points determined through matching of the associated position points are positions with highest probability of hitting the real position points. Building reflection is considered when the pseudo-range observation value corresponding to the candidate position point is determined, and the multipath effect corresponding to the point can be reflected. The rough difference of the satellite observation value can be eliminated without means such as signal-to-noise ratio, and the like, because under the environment of building reflection, even if the satellite observation value has obvious multipath, the signal-to-noise ratio observation value is high.
As can be seen from the technical solutions provided in the embodiments of the present application, the embodiments of the present application obtain a current location point of a target object; then, when the current position point does not accord with a preset positioning rule, determining a plurality of candidate position points in an associated area to which the current position point belongs; further, determining pseudorange observations between each candidate location point and a location point of the target satellite, respectively; then, obtaining associated position points corresponding to each candidate position point by using pseudo-range observation values corresponding to each candidate position point respectively so as to obtain an associated position point set; further, a target associated location point that matches the current location point is determined from the set of associated location points, and the current location point is updated with the candidate location point corresponding to the target associated location point. When the current position point does not accord with a preset positioning rule, the point nearby the point is used as a candidate position point and is fitted based on a pseudo-range observation value to obtain a corresponding associated position point, the associated position point is matched with the current position point, and the candidate position point corresponding to the most matched associated position point is used for updating the current position point. Under the condition that the positioning is biased, the adjacent points are taken as samples to obtain the associated position points which can be matched with the current position point in the same dimension, so that the efficiency of positioning updating can be improved. Compared with the dependence of the related technology on a large amount of priori data and complex calculation process, the method and the device can not depend on historical data, reduce calculation complexity and improve calculation convenience and flexibility. Positioning accuracy can also be improved by timely positioning update.
The embodiment of the present application further provides a location updating device, as shown in fig. 6, the location updating device 60 includes:
the current location point acquisition module 601: the method comprises the steps of obtaining a current position point of a target object; wherein the current location point is determined based on satellite positioning signals;
candidate location point determination module 602: when the current position point does not accord with a preset positioning rule, determining a plurality of candidate position points in an association area to which the current position point belongs;
pseudo-range observation determination module 603: for determining pseudorange observations between each of said candidate location points and a location point of a target satellite, respectively; wherein the target satellite is the sender of the satellite positioning signal;
the set obtaining module 604: the pseudo-range observation values corresponding to the candidate position points are used for obtaining associated position points corresponding to the candidate position points respectively so as to obtain an associated position point set; the associated position points are obtained by fitting based on the pseudo-range observation values;
update module 605: and the method is used for determining a target associated position point matched with the current position point from the associated position point set and updating the current position point by utilizing a candidate position point corresponding to the target associated position point.
It should be noted that the apparatus and method embodiments in the apparatus embodiments are based on the same inventive concept.
The embodiment of the application provides an electronic device, which comprises a processor and a memory, wherein at least one instruction or at least one section of program is stored in the memory, and the at least one instruction or the at least one section of program is loaded and executed by the processor to realize the positioning updating method provided by the embodiment of the method.
Further, fig. 7 is a schematic hardware structure of an electronic device for implementing the positioning updating method provided by the embodiment of the present application, where the electronic device may participate in forming or including the positioning updating apparatus provided by the embodiment of the present application. As shown in fig. 7, the electronic device 100 may include one or more (shown as 1002a, 1002b, … …,1002 n) processors 1002 (the processors 1002 may include, but are not limited to, processing means such as a microprocessor MCU or a programmable logic device FPGA), a memory 1004 for storing data, and a transmission means 1006 for communication functions. In addition, the method may further include: a display, an input/output interface (I/O interface), a Universal Serial Bus (USB) port (which may be included as one of the ports of the I/O interface), a network interface, a power supply, and/or a camera. It will be appreciated by those of ordinary skill in the art that the configuration shown in fig. 7 is merely illustrative and is not intended to limit the configuration of the electronic device described above. For example, the electronic device 100 may also include more or fewer components than shown in fig. 7, or have a different configuration than shown in fig. 7.
It should be noted that the one or more processors 1002 and/or other data processing circuits described above may be referred to herein generally as "data processing circuits. The data processing circuit may be embodied in whole or in part in software, hardware, firmware, or any other combination. Further, the data processing circuitry may be a single stand-alone processing module, or incorporated, in whole or in part, into any of the other elements in the electronic device 100 (or mobile device). As referred to in the embodiments of the present application, the data processing circuit acts as a processor control (e.g., selection of the path of the variable resistor termination to interface).
The memory 1004 may be used to store software programs and modules of application software, such as program instructions/data storage devices corresponding to the location updating method described in the embodiments of the present application, and the processor 1002 executes the software programs and modules stored in the memory 1004, thereby performing various functional applications and data processing, that is, implementing one of the location updating methods described above. Memory 1004 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 1004 may further include memory remotely located relative to the processor 1002, which may be connected to the electronic device 100 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The transmission means 1006 is for receiving or transmitting data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider of the electronic device 100. In one example, the transmission means 1006 includes a network adapter (NetworkInterfaceController, NIC) that can be connected to other network devices via a base station to communicate with the internet. In one embodiment, the transmission means 1006 may be a radio frequency (RadioFrequency, RF) module for communicating wirelessly with the internet.
The display may be, for example, a touch screen type Liquid Crystal Display (LCD) that may enable a user to interact with a user interface of the electronic device 100 (or mobile device).
Embodiments of the present application also provide a computer readable storage medium that may be provided in an electronic device to store at least one instruction or at least one program related to implementing a location updating method in a method embodiment, where the at least one instruction or the at least one program is loaded and executed by the processor to implement the location updating method provided in the method embodiment.
Alternatively, in this embodiment, the storage medium may be located in at least one network server among a plurality of network servers of the computer network. Alternatively, in the present embodiment, the storage medium may include, but is not limited to: a U-disk, a Read-only memory (ROM), a random access memory (RandomAccess Memory, RAM), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.
It should be noted that: the foregoing sequence of the embodiments of the present application is only for describing, and does not represent the advantages and disadvantages of the embodiments. And the foregoing description has been directed to specific embodiments of this application. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims can be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.
All embodiments in the application are described in a progressive manner, and identical and similar parts of all embodiments are mutually referred, so that each embodiment mainly describes differences from other embodiments. In particular, for the apparatus and electronic device embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and references to the parts of the description of the method embodiments are only required.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program for instructing relevant hardware, where the program may be stored in a computer readable storage medium, and the storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
The foregoing description of the preferred embodiments of the present application is not intended to limit the invention to the particular embodiments of the present application, but to limit the scope of the invention to the particular embodiments of the present application.
Claims (11)
1. A method of location updating, the method comprising:
acquiring a current position point of a target object; wherein the current location point is determined based on satellite positioning signals;
when the current position point does not accord with a preset positioning rule, a plurality of candidate position points are determined in an association area to which the current position point belongs;
determining pseudo-range observation values between each candidate position point and a position point of a target satellite respectively; wherein the target satellite is the sender of the satellite positioning signal;
obtaining associated position points corresponding to each candidate position point by using pseudo-range observation values corresponding to each candidate position point respectively so as to obtain an associated position point set; the associated position points are obtained by fitting based on the pseudo-range observation values;
and determining a target associated position point matched with the current position point from the associated position point set, and updating the current position point by utilizing a candidate position point corresponding to the target associated position point.
2. The method of claim 1, wherein after the obtaining the current location point of the target object, the method further comprises:
determining scene attributes corresponding to the current position points;
judging whether the scene attribute is matched with a preset positioning scene appointed by the preset positioning rule; the preset positioning scene describes an outdoor positioning environment with shielding degree lower than a preset threshold value;
and when the scene attribute is not matched with the preset positioning scene, judging that the current position point does not accord with the preset positioning rule.
3. The method of claim 1, wherein the determining a plurality of candidate location points within the association region to which the current location point belongs comprises:
determining an associated area to which the current position point belongs in a preset three-dimensional model according to preset dividing parameters; the preset dividing parameters are used for limiting the boundary of the association area in the preset three-dimensional model;
determining a plurality of candidate position points in the association area based on a preset selection rule; wherein, the selection information related to the preset selection rule comprises at least one of the following: adjacent point spacing, belonging to the road points, number of position points.
4. The method according to claim 1, characterized in that:
before said determining pseudorange observations between each of said candidate position points and a position point of a target satellite, respectively, said method further comprises:
determining whether an occlusion object exists between the candidate position point and the position point of the target satellite or not by using a preset three-dimensional model;
the method further comprises determining pseudorange observations between each of the candidate position points and a position point of a target satellite, respectively:
when an occlusion object exists, determining a first type of pseudo-range observation value between the candidate position point and the position point of the target satellite;
when a non-occlusion object exists, determining a second type of pseudo-range observation value between the candidate position point and the position point of the target satellite; and the first pseudo-range observation carries reflection-related distance information compared with the second pseudo-range observation.
5. The method of claim 4, wherein there are at least two of said target satellites; the determining pseudo-range observations between each of the candidate location points and a location point of a target satellite, respectively, includes:
determining sub-pseudo-range observations between the candidate location points and the location points of each of the target satellites, respectively;
Obtaining said pseudorange observations based on sub-pseudorange observations associated with each said target satellite; wherein the sub-pseudorange observations associated with each of the target satellites are either the first type of pseudorange observations or the second type of pseudorange observations.
6. The method according to claim 1, 4 or 5, wherein said obtaining, using the pseudo-range observations corresponding to each of the candidate location points, respectively, an associated location point corresponding to each of the candidate location points, to obtain an associated location point set, comprises:
obtaining error characterization corresponding to the candidate position point by using the pseudo-range observation value and the reference distance corresponding to the candidate position point according to the dimension of the candidate position point; wherein the reference distance corresponding to the candidate location point describes a direct distance between the candidate location point and the location point of the target satellite;
when the position correction number indicated by the difference result of the error characterization is larger than or equal to a preset threshold value, obtaining a reference position point based on the position correction number and the candidate position point;
updating the error characterization by using the pseudo-range observation value and the reference distance corresponding to the reference position point;
Performing differential processing on the updated error characterization;
stopping repeating the step of obtaining the reference position point until the updated error characterization is subjected to differential processing when the result of the last differential processing is smaller than the preset threshold value;
obtaining associated position points corresponding to the candidate position points based on the result of the last differential processing and the last obtained reference position;
and obtaining the associated position point set based on the associated position point corresponding to each candidate position point.
7. The method of claim 1, wherein the determining a target associated location point from the set of associated location points that matches the current location point comprises:
respectively determining the distance between each associated position point in the associated position point set and the current position point;
and determining the associated position point corresponding to the nearest distance as a target associated position point matched with the current position point.
8. A location updating device, the device comprising:
the current position point acquisition module: the method comprises the steps of obtaining a current position point of a target object; wherein the current location point is determined based on satellite positioning signals;
Candidate location point determination module: when the current position point does not accord with a preset positioning rule, determining a plurality of candidate position points in an association area to which the current position point belongs;
a pseudo-range observation value determining module: for determining pseudorange observations between each of said candidate location points and a location point of a target satellite, respectively; wherein the target satellite is the sender of the satellite positioning signal;
the collection obtaining module: the pseudo-range observation values corresponding to the candidate position points are used for obtaining associated position points corresponding to the candidate position points respectively so as to obtain an associated position point set; the associated position points are obtained by fitting based on the pseudo-range observation values;
and an updating module: and the method is used for determining a target associated position point matched with the current position point from the associated position point set and updating the current position point by utilizing a candidate position point corresponding to the target associated position point.
9. An electronic device comprising a processor and a memory, wherein the memory has stored therein at least one instruction or at least one program that is loaded and executed by the processor to implement the location updating method of any of claims 1-7.
10. A computer readable storage medium, characterized in that at least one instruction or at least one program is stored in the storage medium, which is loaded and executed by a processor to implement the location updating method according to any of claims 1-7.
11. A computer program product, characterized in that it comprises at least one instruction or at least one program, which is loaded and executed by a processor to implement the location updating method according to any of claims 1-7.
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