CN116953747A

CN116953747A - Positioning method, device, equipment and storage medium of mobile terminal

Info

Publication number: CN116953747A
Application number: CN202310119164.5A
Authority: CN
Inventors: 周启帆; 卞光宇; 童梦想; 袁义龙
Original assignee: Tencent Technology Shenzhen Co Ltd
Current assignee: Tencent Technology Shenzhen Co Ltd
Priority date: 2023-01-18
Filing date: 2023-01-18
Publication date: 2023-10-27

Abstract

The application discloses a positioning method, a device, equipment and a storage medium of a mobile terminal, and relates to the technical field of positioning. The embodiment of the application can be applied to the map field. The method comprises the following steps: acquiring building data and satellite position data around the approximate position according to the approximate position of the mobile terminal; for the ith grid cell in M grid cells around the probability position, determining measurement vision distance information corresponding to the ith grid cell according to building data and satellite position data; determining a comprehensive score corresponding to the ith grid cell according to the measurement line-of-sight information corresponding to the ith grid cell and the satellite signal measurement information corresponding to the ith grid cell; and determining a positioning result of the mobile terminal according to the comprehensive scores corresponding to the M grid cells. According to the application, by utilizing the three-dimensional building information around the mobile terminal, the positioning error generated when the mobile terminal is shielded by the building is reduced, and the positioning precision and accuracy are improved.

Description

Positioning method, device, equipment and storage medium of mobile terminal

Technical Field

The present application relates to the field of positioning technologies, and in particular, to a method, an apparatus, a device, and a storage medium for positioning a mobile terminal.

Background

Global satellite navigation systems (Global Navigation Satellite System, GNSS) are space-based radio navigation positioning systems that can provide all-weather 3-dimensional coordinates and velocity and time information to a user at any point on the earth's surface or near earth space. The mobile equipment such as vehicles, mobile phones and the like can be positioned through the global navigation satellite system, and children or old people can be positioned, so that the accurate azimuth of the children or the old people can be timely determined when the children or the old people get lost.

The related art includes a method for assisting satellite navigation and positioning in urban environment by using a virtual elevation model. And constructing corresponding virtual elevation observables according to different characteristics of elevation change in urban environment by utilizing elevation information in the urban 3D (3 Dimensions) model, fusing the constructed virtual elevation observables with original observables from a satellite navigation receiver, and finally obtaining a final solution of the user position by a weighted least square algorithm.

However, the above method uses only elevation information of the urban 3D model, which easily results in poor positioning accuracy.

Disclosure of Invention

The embodiment of the application provides a positioning method, a positioning device, positioning equipment and a storage medium of a mobile terminal. The technical scheme is as follows:

According to an aspect of an embodiment of the present application, there is provided a positioning method of a mobile terminal, the method including:

acquiring building data and satellite position data around a rough position according to the rough position of the mobile terminal; wherein the building data includes position and space information of at least one building around the approximate location, the satellite position data includes position coordinates of n satellites around the approximate location, n is a positive integer;

for an ith grid cell in M grid cells around the probability position, determining measurement line-of-sight information corresponding to the ith grid cell according to the building data and the satellite position data; the measurement sight distance information corresponding to the ith grid unit comprises measurement sight distance results of the satellites, wherein the measurement sight distance results are obtained by assuming that the mobile terminal is located in the ith grid unit, determining whether sight distance communication is performed between the satellites and the mobile terminal according to shielding conditions of the building, M is an integer greater than 1, and i is an integer less than or equal to M;

determining a comprehensive score corresponding to the ith grid unit according to the measured line-of-sight information corresponding to the ith grid unit and the satellite signal measurement information corresponding to the ith grid unit; the satellite signal measurement information corresponding to the ith grid cell comprises signal quality measurement values of the satellites at the position of the ith grid cell; the comprehensive score corresponding to the ith grid cell is used for indicating the probability that the mobile terminal is positioned in the ith grid cell;

And determining the positioning result of the mobile terminal according to the comprehensive scores corresponding to the M grid cells.

According to an aspect of an embodiment of the present application, there is provided a positioning apparatus of a mobile terminal, the apparatus including:

the data acquisition module is used for acquiring building data and satellite position data around the outline position according to the outline position of the mobile terminal; wherein the building data includes position and space information of at least one building around the approximate location, the satellite position data includes position coordinates of n satellites around the approximate location, n is a positive integer;

the measurement information determining module is used for determining measurement sight distance information corresponding to an ith grid cell in M grid cells around the probability position according to the building data and the satellite position data; the measurement sight distance information corresponding to the ith grid unit comprises measurement sight distance results of the satellites, wherein the measurement sight distance results are obtained by assuming that the mobile terminal is located in the ith grid unit, determining whether sight distance communication is performed between the satellites and the mobile terminal according to shielding conditions of the building, M is an integer greater than 1, and i is an integer less than or equal to M;

The comprehensive score determining module is used for determining a comprehensive score corresponding to the ith grid unit according to the measurement sight distance information corresponding to the ith grid unit and the satellite signal measurement information corresponding to the ith grid unit; the satellite signal measurement information corresponding to the ith grid cell comprises signal quality measurement values of the satellites at the position of the ith grid cell; the comprehensive score corresponding to the ith grid cell is used for indicating the probability that the mobile terminal is positioned in the ith grid cell;

and the positioning result determining module is used for determining the positioning result of the mobile terminal according to the comprehensive scores corresponding to the M grid cells.

According to an aspect of an embodiment of the present application, there is provided a computer device including a processor and a memory, in which a computer program is stored, the computer program being loaded and executed by the processor to implement the above-mentioned positioning method of a mobile terminal.

According to an aspect of the embodiments of the present application, there is provided a computer-readable storage medium having stored therein a computer program loaded and executed by a processor to implement the above-described positioning method of a mobile terminal.

According to an aspect of an embodiment of the present application, there is provided a computer program product comprising a computer program loaded and executed by a processor to implement the above-mentioned positioning method of a mobile terminal.

The technical scheme provided by the embodiment of the application can bring the following beneficial effects:

by utilizing the three-dimensional building information around the outline position of the mobile terminal, the sight distance or non-sight distance state of each satellite for the mobile terminal at different positions is determined, and the influence on satellite signals received by the mobile terminal when the mobile terminal is located at different positions in the urban environment can be judged, so that a positioning resolving program of the mobile terminal can correct a positioning result according to interference information of the mobile terminal shielded by the building, reduce positioning errors caused by the shielding of the mobile terminal by the building, and improve positioning precision and accuracy.

Drawings

FIG. 1 is a schematic illustration of an implementation environment for an embodiment of the present application;

fig. 2 is a flowchart of a positioning method of a mobile terminal according to an embodiment of the present application;

FIG. 3 is a schematic view of the altitude of a satellite versus the maximum altitude of a building provided in accordance with one embodiment of the present application;

FIG. 4 is a flow chart of a method for locating a mobile terminal according to an embodiment of the present application;

FIG. 5 is a schematic illustration of M grid cells provided in one embodiment of the application;

FIG. 6 is a grid schematic of line-of-sight matching scores based on building data and carrier-to-noise ratios provided by one embodiment of the present application;

FIG. 7 is a grid schematic diagram based on pseudorange residual scores provided by one embodiment of the application;

FIG. 8 is a grid schematic diagram of a composite score based on line-of-sight matching and pseudorange residual scores provided by one embodiment of the application;

fig. 9 is a flowchart of a positioning method of a mobile terminal according to an embodiment of the present application;

FIG. 10 is a schematic diagram showing a comparison of an actual location of a mobile terminal and a location of the mobile terminal obtained by using different location resolution methods according to an embodiment of the present application;

FIG. 11 is a schematic diagram of positioning errors and positioning effects according to an embodiment of the present application;

FIG. 12 is a schematic diagram showing the implementation of the technical solution of the present application in a product application according to one embodiment of the present application;

FIG. 13 is a block diagram of a method for locating a mobile terminal according to one embodiment of the present application;

fig. 14 is a schematic structural diagram of a computer device according to an embodiment of the present application.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the embodiments of the present application will be described in further detail with reference to the accompanying drawings.

Before describing embodiments of the present application, in order to facilitate understanding of the present solution, the following explanation is made on terms appearing in the present solution:

cors (Continuously Operating Reference Stations, satellite continuous operation reference station) system: is a product of multidirectional and deep crystallization of high-tech technologies such as global satellite navigation technology, computer network technology, digital communication technology and the like. The CORS system consists of five parts, namely a reference station network, a data processing center, a data transmission system, a positioning navigation data broadcasting system and a user application system, wherein the reference stations and the monitoring analysis center are connected into a whole through the data transmission system to form a special network. A plurality of continuous running permanent reference stations are established in a certain area range, and are interconnected through a network to form a new generation of networked GNSS comprehensive service system, so that precision and continuous space reference can be provided for mapping users at all levels, and various data services can be provided for departments of navigation, time, disaster prevention and control and the like.

2. Line of sight (LOS): propagation conditions of a wireless communication system are generally divided into two environments, line of sight (LOS) and non-line of sight (Not line of sight, NLOS). Under the line-of-sight condition, the wireless signal propagates in a straight line between the transmitting end and the receiving end without shielding. Under the non-line-of-sight condition, namely under the condition of an obstacle, the wireless signal can only reach the receiving end in the reflection, scattering and diffraction modes, and the wireless signal is received in various ways at the moment, and a series of problems such as time delay asynchronism, signal attenuation, polarization change, unstable link and the like can be caused by multipath effect.

Artificial intelligence (Artificial Intelligence, AI) is the theory, method, technique and application system that uses a digital computer or a machine controlled by a digital computer to simulate, extend and extend human intelligence, sense the environment, acquire knowledge and use the knowledge to obtain optimal results. In other words, artificial intelligence is an integrated technology of computer science that attempts to understand the essence of intelligence and to produce a new intelligent machine that can react in a similar way to human intelligence. Artificial intelligence, i.e. research on design principles and implementation methods of various intelligent machines, enables the machines to have functions of sensing, reasoning and decision.

The artificial intelligence technology is a comprehensive subject, and relates to the technology with wide fields, namely the technology with a hardware level and the technology with a software level. Artificial intelligence infrastructure technologies generally include technologies such as sensors, dedicated artificial intelligence chips, cloud computing, distributed storage, big data processing technologies, operation/interaction systems, mechatronics, and the like. The artificial intelligence software technology mainly comprises a computer vision technology, a voice processing technology, a natural language processing technology, machine learning/deep learning and other directions.

With research and advancement of artificial intelligence technology, research and application of artificial intelligence technology is being developed in various fields, such as common smart home, smart wearable devices, virtual assistants, smart speakers, smart marketing, unmanned, automatic driving, unmanned aerial vehicles, robots, smart medical treatment, smart customer service, etc., and it is believed that with the development of technology, artificial intelligence technology will be applied in more fields and with increasing importance value.

The technical scheme of the application mainly relates to a positioning resolving technology in an artificial intelligence technology, and mainly relates to a positioning technology of a mobile terminal.

Referring to fig. 1, a schematic diagram of an implementation environment of an embodiment of the present application is shown. The implementation environment of the scheme can be realized as a positioning system of the mobile terminal. The implementation environment of the scheme can comprise: a mobile terminal 101, a CORS system 102 and a server 103.

The mobile terminal 101 may be an electronic device such as a mobile phone, tablet computer, game console, electronic book reader, multimedia playing device, wearable device, PC (Personal Computer ), in-vehicle terminal, etc. A client of the location resolution program installed in the mobile terminal 101 may be used to obtain the location of the mobile terminal 101. The mobile terminal 101 may receive satellite signals sent by different satellites, and the global satellite navigation system may calculate the approximate location of the mobile terminal 101 according to the time information and the distance information of the carrier signals received by the mobile terminal 101, and the positioning resolving program in the mobile terminal 101 may obtain the approximate location of the mobile terminal 101 based on the global satellite navigation system.

The CORS system 102 is used to obtain building data around the general location of the mobile terminal 101, which may include, for example, building location and space information, and to obtain ephemeris data, which may be used to calculate the coordinate locations of all satellites in an ECEF (Earth-Centered, earth-Fixed) coordinate system. Based on the approximate location of the mobile terminal 101, the building data around the approximate location of the mobile terminal 101, and the coordinate locations of all satellites, the line-of-sight or non-line-of-sight condition of each satellite with respect to the mobile terminal 101 can be calculated.

The server 103 is used to provide background services for clients installing running positioning solutions in the mobile terminal 101. For example, the server 103 may be a background server of the above-described positioning calculation program. The server 103 may be a server, a server cluster formed by a plurality of servers, or a cloud computing service center. Alternatively, the server 103 provides background services to clients of the positioning resolution program in a plurality of mobile terminals 101 at the same time.

The mobile terminal 101 and the server 103 can communicate with each other via a network.

In the embodiment of the present application, a client of a positioning resolving program is installed in a mobile terminal 101, and a server 103 may generate a plurality of grid cells 104 according to a schematic position of the mobile terminal 101, and obtain probabilities that the mobile terminal 101 is located in each grid cell based on a line-of-sight or non-line-of-sight situation of each satellite to the mobile terminal 101, so as to determine a final positioning position of the mobile terminal 101.

Referring to fig. 2, a flowchart of a positioning method of a mobile terminal according to an embodiment of the application is shown. The subject of execution of the steps of the method may be a computer device. The method may include at least one of the following steps 210-240:

Step 210, obtaining building data and satellite position data around the approximate position according to the approximate position of the mobile terminal; the building data comprises the position and space information of at least one building around the approximate position, the satellite position data comprises the position coordinates of n satellites around the approximate position, and n is a positive integer.

The general position of the mobile terminal can be obtained through a global satellite navigation system, but in the scene of more buildings around an city, a canyon or the mobile terminal, satellite signals received by the mobile terminal are easily influenced by the surrounding buildings or three-dimensional landforms, so that larger errors are easily generated when the global satellite navigation system locates the position of the mobile terminal, for example, the situation that the position of the mobile terminal is incorrectly located to a street or an adjacent street opposite to a real place occurs. Therefore, the position obtained by the global satellite navigation system can be used as the approximate position, building data and satellite position data around the approximate position are fully utilized, the position of the mobile terminal is calculated, and the positioning accuracy of the mobile terminal under the condition that satellite signals are seriously influenced by urban buildings is improved.

The building data includes location and space information of at least one building around the approximate location, wherein the location of the building includes azimuth information and distance information of the building and the mobile terminal, and the space information of the building includes three-dimensional information of the building, such as lateral width information, longitudinal width information, and height information of the building, and the like.

The satellite position data includes position coordinates of n satellites surrounding the approximate position, where the n satellites include visible satellites with satellite signals transmitted to the mobile terminal unobstructed, and invisible satellites with satellite signals transmitted to the mobile terminal through obstructions. Satellites include, but are not limited to, BDS (BeiDou Navigation Satellite System, beidou satellite navigation system), GPS (Global Positioning System ), GALILEO (Galileo satellite navigation system, GALILEO satellite navigation system), GLONASS (Global Navigation Satellite System, GLONASS global navigation satellite system), and the like.

Step 220, for the ith grid cell of the M grid cells located around the probability position, determining measurement line of sight information corresponding to the ith grid cell according to the building data and the satellite position data; the measurement sight distance information corresponding to the ith grid unit comprises measurement sight distance results of all satellites, the measurement sight distance results are the results of whether sight distance communication is performed between the satellites and the mobile terminal or not, which are determined according to shielding conditions of a building, the mobile terminal is assumed to be located in the ith grid unit, M is an integer greater than 1, and i is an integer smaller than or equal to M.

The sight distance measurement information is to judge the sight distance or non-sight distance condition of each satellite to the mobile terminal positioned in different grid cells by utilizing the relative position relation between the positions of the grid cells and the buildings around the grid cells and the relative position relation between the positions of the grid cells and the satellite positions. From the ranging measurements for each satellite, a determination may be made as to whether each of the n satellites is in range communication with a mobile terminal located in a different grid cell.

It should be noted that the measured line of sight information may be presented as a measured line of sight vector in the form of a vector, where the measured line of sight vector includes measured line of sight results of each satellite for different grid cells.

If a grid cell in which a mobile terminal is located can receive satellite signals sent by a certain satellite without shielding, line of sight (LOS) communication is performed between the satellite and the mobile terminal located in the grid cell, and the satellite can be determined as a visible satellite for the grid cell. If a mobile terminal is located in a grid cell that can only receive satellite signals from a satellite that passes through an obstacle, then non line of sight communications (NLOS) are between the satellite and the mobile terminal located in the grid cell, and the satellite can be determined to be an invisible satellite to the grid cell.

i is an integer less than or equal to M, and the number of values of i is M. Alternatively, i may be a positive integer from 1 to M, or an integer from 0 to M-1, which is not limited in the present application.

In some embodiments, determining the measured line of sight information for the ith grid cell includes: for each of the n satellites, determining a predicted line-of-sight result of the satellite as a third value indicating that the satellite is an invisible satellite in non-line-of-sight communication with the mobile terminal in the case where the altitude of the satellite is less than the maximum altitude of the building; and in the case that the altitude of the satellite is greater than or equal to the maximum altitude of the building, determining that the predicted line-of-sight result of the satellite is a fourth value, wherein the fourth value is used for indicating that the satellite is a visible satellite in line-of-sight communication with the mobile terminal.

The altitude of a satellite refers to the angle from the plane towards the satellite. For each of the n satellites, in the event that the altitude of the satellite is less than the maximum altitude of the building, as shown in figure 3, sub-graph b,altitude angle for the j-th satellite of the n satellites, < >>For the height angle with the largest included angle value among the included angles of the surrounding buildings and the mobile terminal when the mobile terminal is positioned in the ith grid unit, namely when +. >When the satellite signal sent by the j-th satellite received by the mobile terminal positioned in the i-th grid unit passes through the obstacle, the j-th satellite can be judged to be an invisible satellite which is shielded for the mobile terminal positioned in the i-th grid unit, and the measured sight distance result of the j-th satellite for the mobile terminal positioned in the i-th grid unit is a third value.

In the case where the altitude of the satellite is greater than or equal to the maximum altitude of the building, as shown in figure 3, sub-figure a, i.e. whenWhen the mobile terminal is positioned in the ith grid cellThe satellite signal sent by the j satellite does not pass through any obstacle, and the j satellite can be judged to be a visible satellite without shielding for the mobile terminal positioned in the ith grid unit, and the measured line of sight result of the j satellite for the mobile terminal positioned in the ith grid unit is a fourth value.

It should be noted that, the third value and the fourth value are any values from 0 to 1, the values may include 0 and 1, the third value is smaller than the fourth value, the sum of the values of the third value and the fourth value is 1, and the specific values of the third value and the fourth value are not limited in the present application.

Illustratively, the measured line of sight results for n satellites based on building data may be expressed as:

Wherein i is an integer less than or equal to M, j is an integer less than or equal to n, the third value takes on a value of 0.2, and the fourth value takes on a value of 0.8. Alternatively, j may be a positive integer from 1 to n, or an integer from 0 to n-1, which is not limited in the present application.

According to the measured line of sight results of the n satellites based on the building data, corresponding measured line of sight vectors can be generated. For example, for n satellites and M grid cells, a measured line of sight vector of n×m specification may be generated, one element of the measured line of sight vector corresponding to a measured line of sight result of one satellite for a mobile terminal located in one grid cell.

By the relation between the altitude angle of each satellite and the maximum altitude angle of buildings around the mobile terminal, the measurement sight distance information corresponding to each grid unit can be determined, and the sight distance or non-sight distance result corresponding to each grid unit is obtained from another angle by combining building data, so that the obtained sight distance or non-sight distance result can be combined with the actual environment, and the system has more diversity.

Step 230, determining a composite score corresponding to the ith grid cell according to the measured line of sight information corresponding to the ith grid cell and the satellite signal measurement information corresponding to the ith grid cell; the satellite signal measurement information corresponding to the ith grid cell comprises signal quality measurement values of all satellites at the position of the ith grid cell; the composite score corresponding to the ith grid cell is used to indicate the probability that the mobile terminal is located in the ith grid cell.

The signal quality measurement may be, for example, a carrier-to-noise ratio (C/N0), in dB/Hz. The carrier-to-noise ratio is used to represent the ratio of satellite signal power to noise power density and is a standard measure of carrier-to-carrier noise relationship. A high carrier-to-noise ratio means that better network acceptance and signal transmission quality can be provided, i.e. the greater the value of the carrier-to-noise ratio, the better the signal transmission quality of the corresponding jth satellite for the ith grid cell.

According to the measured line of sight information corresponding to the ith grid cell and the signal quality measurement values of the satellites corresponding to the ith grid cell, the probability that the real position of the mobile terminal is located in the ith grid cell can be determined.

And step 240, determining a positioning result of the mobile terminal according to the comprehensive scores corresponding to the M grid cells.

The higher the comprehensive score value corresponding to the ith grid cell, the higher the probability that the real position of the mobile terminal is positioned in the grid cell; the lower the integrated score value corresponding to the ith grid cell, the lower the probability that the true location of the mobile terminal is located in that grid cell. Therefore, the positioning result of the mobile terminal can be determined according to the positions of a plurality of grid cells with higher integrated score values in the M grid cells.

According to the technical scheme provided by the embodiment of the application, the sight distance or non-sight distance state of each satellite to the mobile terminal at different positions is determined by utilizing the three-dimensional building information around the outline position of the mobile terminal, so that the influence on satellite signals received by the mobile terminal when the mobile terminal is positioned at different positions in the urban environment can be judged, the positioning calculation program of the mobile terminal can correct the positioning result according to the interference information of the mobile terminal shielded by the building, the positioning error generated by the shielding of the mobile terminal by the building is reduced, and the positioning precision and accuracy are improved.

Referring to fig. 4, a flowchart of a positioning method of a mobile terminal according to an embodiment of the application is shown. The subject of execution of the steps of the method may be a computer device. The method may include at least one of the following steps 410-450:

in step 410, building data and satellite position data around the approximate location are acquired based on the approximate location of the mobile terminal.

Step 420, generating M grid cells with the approximate position as the center, wherein the M grid cells are arranged in a row and b column, and a and b are positive integers. For an ith grid cell of the M grid cells positioned around the probability position, determining measurement line-of-sight information corresponding to the ith grid cell according to the building data and the satellite position data.

For example, centering on the outline position, a schematic diagram of generating M grid cells may refer to fig. 5, in which the M grid cells are arranged in 5 rows and 5 columns. Alternatively, a and b may be equal or unequal. If a and b are equal, a square grid cell of a x b can be generated; if a and b are not equal, a rectangular grid cell of a x b may be generated. Where m=a·b. The present application is not limited to the values of a and b, and for example, 80×80 square grid cells may be generated.

Alternatively, the M grid cells may not be generated centering on the outline position, where the M grid cells are arranged in a row and b column, and a and b are positive integers. The approximate position of the mobile terminal may be the center position of any one of the M grid cells, or may be any position included in any one grid cell, for example, may be the edge position of any one grid cell. Similarly, the position of the grid cell may be the center position of any one of the M-1 grid cells other than the grid cell of the outline position, or may be any position included in any one of the M-1 grid cells other than the grid cell, and for example, the edge position of the other grid cell may be the position of the grid cell.

The present application is not limited to the side length setting of each grid cell, and for example, the side length of each grid cell may be set to any length of 5 meters, 10 meters, or the like. The smaller the side length setting value of the grid unit is, the higher the accuracy of the final positioning calculation result is, and the final positioning calculation result can be set independently according to actual application requirements.

By generating M grid cells with the approximate position as the center, the possibility of the true position of the mobile terminal can be summarized more accurately, and the accuracy of the positioning result can be improved.

In some embodiments, for grid cells located outside the building for M grid cells, a corresponding composite score is determined; for grid cells located inside the building of the M grid cells, the corresponding composite score is not determined.

If the generated M grid cells have grid cells positioned inside the building, the grid cells positioned inside the building do not have satellite signal receiving problems of whether the grid cells are blocked by surrounding buildings, so that the grid cells positioned inside the building do not participate in the positioning resolving process of the mobile terminal, and the possibility that the true position of the mobile terminal is positioned in the grid cells positioned outside the building can be judged for the grid cells positioned outside the building.

If the generated M grid cells exist in the grid cells positioned in the building, i is an integer smaller than M, and the number of values of i is smaller than M.

By excluding the positioning resolving process of the grid cells located inside the building and calculating the respective corresponding comprehensive scores only for the grid cells located outside the building, unnecessary calculating processes can be reduced, thereby reducing the operating pressure of the server in resolving the true position of the mobile terminal and improving the efficiency of the server in determining the positioning result of the mobile terminal.

Step 430, determining a line-of-sight matching score corresponding to the ith grid cell according to the measured line-of-sight information corresponding to the ith grid cell and the satellite signal measurement information corresponding to the ith grid cell; the vision distance matching score corresponding to the ith grid cell is used for indicating the similarity between the measured vision distance information corresponding to the ith grid cell and the predicted vision distance information corresponding to the ith grid cell.

The satellite signal measurement information corresponding to the ith grid cell includes signal quality measurements for each satellite at the location of the ith grid cell. For example, the line-of-sight matching score corresponding to the ith grid cell may be determined according to the measured line-of-sight information corresponding to the ith grid cell and the carrier-to-noise ratio of the jth satellite corresponding to the ith grid cell.

The prediction line of sight information is to predict and calculate the line of sight or non-line of sight condition of each satellite for the mobile terminals located in different grid units according to the magnitude relation between the transmission quality of satellite signals sent by each satellite and the transmission quality of all satellite signals. Therefore, by combining the building data around the grid cells and the satellite signal transmission quality received by the grid cells, the situation that the ith grid cell is blocked by the building can be comprehensively obtained according to the similarity between the measurement line of sight information corresponding to the ith grid cell and the prediction line of sight information corresponding to the ith grid cell.

It should be noted that the predicted line of sight information may be presented in the form of vectors as predicted line of sight vectors, which include predicted line of sight results for different grid cells for each satellite. For example, an SSIM (Structural Similarity ) index may be used as a matching similarity between measured line of sight information and predicted line of sight information in each grid cell, i.e., a line of sight matching score corresponding to each grid cell.

The larger the line-of-sight matching score corresponding to the ith grid cell, the higher the similarity between the measured line-of-sight information corresponding to the ith grid cell and the predicted line-of-sight information corresponding to the ith grid cell, the smaller the error of the possibility that the mobile terminal is positioned in the ith grid cell, and the higher the probability that the true position is positioned in the ith grid cell. Conversely, the smaller the line-of-sight matching score corresponding to the ith grid cell, the lower the similarity between the measured line-of-sight information corresponding to the ith grid cell and the predicted line-of-sight information corresponding to the ith grid cell, the greater the error of the possibility that the mobile terminal is positioned in the ith grid cell, and the lower the probability that the true position is positioned in the ith grid cell.

Step 430 includes at least one of the following sub-steps:

step 431, determining predicted line-of-sight information corresponding to the ith grid cell according to satellite signal measurement information corresponding to the ith grid cell; the predicted line-of-sight information corresponding to the ith grid cell comprises predicted line-of-sight results of all satellites, wherein the predicted line-of-sight results refer to whether line-of-sight communication is performed between the satellite predicted according to the signal quality measurement value of the satellite and the mobile terminal, assuming that the mobile terminal is located in the ith grid cell.

Illustratively, the predicted line-of-sight result corresponding to the ith grid cell may be determined based on the carrier-to-noise ratio of the jth satellite corresponding to the ith grid cell. Based on the predicted line-of-sight results for each satellite, a determination may be made as to whether each of the n satellites is in line-of-sight communication with a mobile terminal located in a different grid cell.

In some embodiments, determining the predicted line of sight information for the ith grid cell includes: for each of the n satellites, determining a predicted line-of-sight result of the satellite as a first value indicating that the satellite is an invisible satellite in non-line-of-sight communication with the mobile terminal if the signal quality measurement of the satellite is less than a minimum threshold value; under the condition that the signal quality measured value of the satellite is larger than a maximum threshold value, determining a predicted line-of-sight result of the satellite as a second value, wherein the second value is used for indicating that the satellite is a visible satellite in line-of-sight communication with the mobile terminal; and under the condition that the signal quality measured value of the satellite is larger than the minimum threshold value and smaller than the maximum threshold value, determining the value of the predicted line-of-sight result of the satellite based on the signal quality measured value of the satellite by a linear regression fitting algorithm.

Illustratively, the predicted line-of-sight results for n satellites based on the carrier-to-noise ratio may be expressed as:

wherein a is ₀ 、a ₁ 、a ₂ Model fitting for linear regressionParameters, different satellites can fit different model parameters; min and max are thresholds of the carrier-to-noise ratio C/N0 in the prediction model, min represents the minimum value of the carrier-to-noise ratio measured values of all satellites for mobile terminals at different positions, and max represents the maximum value of the carrier-to-noise ratio measured values of all satellites for mobile terminals at different positions; the first value takes on a value of 0.2 and the second value takes on a value of 0.8.

According to the predicted line-of-sight results of the n satellites based on the carrier-to-noise ratios, corresponding predicted line-of-sight vectors can be generated. For example, for n satellites and M grid cells, a predicted line of sight vector of n×m specification may be generated, one element of the predicted line of sight vector corresponding to a predicted line of sight result of one satellite for a mobile terminal located in one grid cell.

The server is favorable for calculating the similarity between the measured line of sight information and the predicted line of sight information by generating the measured line of sight vector and the predicted line of sight vector with the same specification.

For each of the n satellites, when the measured value of the carrier-to-noise ratio of the jth satellite to the ith grid cell is less than a minimum threshold value (min), it may be determined that the jth satellite is an invisible satellite for non-line-of-sight communications for the mobile terminal located in the ith grid cell, and the predicted line-of-sight result of the jth satellite for the mobile terminal located in the ith grid cell is a first value (e.g., 0.2). When the measured value of the carrier-to-noise ratio of the jth satellite to the ith grid cell is greater than the minimum threshold value (max), it may be determined that the jth satellite is a visible satellite for line-of-sight communication for the mobile terminal located in the ith grid cell, and the predicted line-of-sight result of the jth satellite for the mobile terminal located in the ith grid cell is a second value (e.g., 0.8). When the measured value of the carrier-to-noise ratio of the jth satellite to the ith grid cell is greater than a minimum threshold value (such as 0.2) and less than a maximum threshold value (such as 0.8), a linear regression fitting algorithm (such as a ₀ ·C/N0 ² +a ₁ ·C/N0+a ₂ ) And obtaining a predicted line-of-sight result of the j-th satellite for the mobile terminal positioned in the i-th grid unit.

It should be noted that, the first value and the second value are any values from 0 to 1, the values may include 0 and 1, and the first value is smaller than the second value, and the sum of the values of the first value and the second value is 1. Alternatively, the first value may be the same as the third value, the second value may be the same as the fourth value, or the first value may be different from the third value, and the second value may be different from the fourth value.

The satellite signal transmission quality of each satellite for the mobile terminals at different positions can be used for predicting and obtaining the sight distance or non-sight distance result corresponding to each grid unit based on the carrier-to-noise ratio, so that the obtained sight distance or non-sight distance result is more diversified.

Step 432, determining the line-of-sight matching score corresponding to the ith grid cell according to the similarity between the measured line-of-sight information corresponding to the ith grid cell and the predicted line-of-sight information corresponding to the ith grid cell.

Illustratively, an SSIM (structural similarity) value corresponding to the ith grid cell may be determined from the measured line of sight information corresponding to the ith grid cell and the predicted line of sight information corresponding to the ith grid cell.

In some embodiments, determining the line-of-sight matching score for the ith grid cell includes:

1. calculating the average value of the measurement vision distance results of each satellite included in the measurement vision distance information corresponding to the ith grid unit to obtain a first average value; and calculating the average value of the predicted line-of-sight results of each satellite included in the predicted line-of-sight information corresponding to the ith grid cell to obtain a second average value.

Illustratively, from the measured line of sight results (LOS|building) of the satellites for the mobile terminals in different grid cells, a first average μ based on the measured line of sight results can be calculated _X For example, a first average μmay be derived based on the measured line-of-sight vector _X The method comprises the steps of carrying out a first treatment on the surface of the From the predicted line of sight results (LOS|C/N0) of each satellite on different grid cells of the mobile terminal, a second average mu based on the predicted line of sight results can be calculated _Y For example, a first average μmay be derived based on the predicted line-of-sight vector _Y . Wherein X corresponds to the measured line of sight result and Y corresponds to the measured line of sight result。

2. Calculating standard deviation of the measurement vision distance results of all satellites included in the measurement vision distance information corresponding to the ith grid unit to obtain a first standard deviation; and calculating standard deviation of the predicted line-of-sight results of each satellite included in the predicted line-of-sight information corresponding to the ith grid cell to obtain a second standard deviation.

Illustratively, from the measured line of sight results (LOS|building) of the satellites for the mobile terminals in different grid cells, a first standard deviation sigma based on the measured line of sight results can be calculated _X For example, a first standard deviation sigma may be derived based on the measured line-of-sight vector _X The method comprises the steps of carrying out a first treatment on the surface of the From the predicted line of sight results (LOS|C/N0) of each satellite at different grid cells for the mobile terminal, a second standard deviation sigma based on the predicted line of sight results may be calculated _Y For example, the second standard deviation sigma may be derived based on the measured line-of-sight vector _Y 。

3. And calculating to obtain a first similarity parameter according to the first average value and the second average value.

Illustratively, according to the first mean μ _X And a second mean value mu _Y The first similarity parameter L (X, Y) is calculated and can be expressed as:

wherein C is ₁ To customize the parameters, the parameters are introduced mainly to avoid the situation that the denominator is zero, C ₁ The value can be 0.01.

4. And calculating to obtain a second similarity parameter according to the first standard deviation and the second standard deviation.

Illustratively according to the first standard deviation sigma _X And a second standard deviation sigma _Y The second similarity parameter C (X, Y) is calculated and can be expressed as:

wherein C is ₂ To customize the parameters, the parameters are introduced mainly to avoid the situation that the denominator is zero, C ₂ Can take on a value of 0.02, optionally C ₂ Can be taken as C ₁ The same as C ₁ Different.

5. And calculating to obtain a third similarity parameter according to the first standard deviation, the second standard deviation and the covariance of the first mean value and the second mean value.

Illustratively, according to the first mean μ _X And a second mean value mu _Y And a first standard deviation sigma _X And a second standard deviation sigma _Y Calculating to obtain a first average value mu _X And a second mean value mu _Y Covariance sigma of (2) _XY Can be expressed as:

wherein E (X-mu) _X ) Represents a first mean mu _X Is a mathematical expectation of E (Y-. Mu. _Y ) Represents the second mean mu _Y Is a mathematical expectation of (a).

According to the first standard deviation sigma _X Second standard deviation sigma _Y First mean mu _X And a second mean value mu _Y Covariance sigma of (2) _XY The third similarity parameter S (X, Y) is calculated and can be expressed as:

wherein C is ₃ To customize the parameters, the parameters are introduced mainly to avoid the situation that the denominator is zero, C ₃ Can take the value of 0.03, alternatively C ₃ Can be taken as C ₁ Or C ₂ The same as C ₁ Or C ₂ Different.

6. And calculating the similarity between the measured line-of-sight information corresponding to the ith grid unit and the predicted line-of-sight information corresponding to the ith grid unit according to the first similarity parameter, the second similarity parameter and the third similarity parameter.

Illustratively, the SSIM value corresponding to the ith grid cell is calculated according to the first similarity parameter L (X, Y), the second similarity parameter C (X, Y), and the third similarity parameter S (X, Y), and may be expressed as:

SSIM＝L(X,Y)·C(X,Y)·S(X,Y)

according to the SSIM values corresponding to the M grid cells, a corresponding line-of-sight matching vector may be generated, for example, an m×1 line-of-sight matching vector may be generated, where one element in the line-of-sight matching vector corresponds to a line-of-sight matching score corresponding to one grid cell.

The larger the SSIM value is, the higher the similarity between the measured line of sight information and the predicted line of sight information in the grid unit is, and the larger the probability that the mobile terminal is positioned in the grid unit is; the smaller the SSIM value, the lower the similarity between the measured and predicted line of sight information in the grid cell, and the lower the probability that the mobile terminal is located in the grid cell.

By combining building data around the grid cells and satellite signal transmission quality received by the grid cells, the vision distance matching score corresponding to each grid cell is obtained, so that the obtained vision distance matching score can more accurately represent the probability that the mobile terminal is positioned in the grid cell, and the accuracy of a positioning result is improved.

Fig. 6 shows a grid schematic diagram of a line-of-sight matching score based on building data and carrier-to-noise ratio, and the lighter the corresponding color of the grid cell in fig. 6, the higher the similarity between measured line-of-sight information and predicted line-of-sight information in the grid cell, the greater the probability that the true position of the mobile terminal is located in the grid cell, and the light areas 601 shown in fig. 6 are areas with a greater probability of the true position of the mobile terminal. The darker the corresponding color of the grid cell, the lower the similarity between the measured line of sight information and the predicted line of sight information in the grid cell, and the lower the probability that the true position of the mobile terminal is located in the grid cell.

Step 440, determining a pseudo-range residual score corresponding to the ith grid cell according to the measured line-of-sight information corresponding to the ith grid cell and the satellite signal measurement information corresponding to the ith grid cell; the pseudo-range residual score corresponding to the ith grid unit is used for indicating the integrated pseudo-range residual of the visible satellite and the pseudo-range residual of the invisible satellite.

The reference satellite of the n satellites can be determined according to the measured line of sight information corresponding to the ith grid cell and the signal quality measurement value of each satellite corresponding to the ith grid cell. And then according to the positions of the satellites, the positions of the grid cells and the outline position of the mobile terminal, the pseudo-range residual error of each satellite can be determined, and then the pseudo-range residual error score corresponding to each grid cell can be obtained.

The pseudo-range residual score may be used to represent the probability that the mobile terminal is located in each grid cell, and the greater the pseudo-range residual score corresponding to the ith grid cell, the higher the probability that the true location of the mobile terminal is located in the ith grid cell. Conversely, the smaller the corresponding pseudo-range residual error score value of the ith grid cell, the lower the probability that the true position of the mobile terminal is located in the ith grid cell.

Step 440 includes at least one of the following sub-steps:

in step 441, a reference satellite is determined from the n satellites according to the signal quality measurement value and the altitude angle of each satellite at the position of the ith grid cell, wherein the reference satellite is a visible satellite with the lowest shielding probability for the mobile terminal from the n satellites.

And in the M grid cells, determining the shielding probability of each satellite in the n satellites for the mobile terminal in different grid cells according to the altitude angle and the carrier-to-noise ratio of each satellite, and selecting the satellite with the lowest shielding probability from the n shielding probabilities as the reference satellite.

In some embodiments, determining a reference satellite from the n satellites includes: for each of the n satellites, determining a measure of the shadowing condition of each of the satellites to the mobile terminal based on the signal quality measurements and the altitude angle of each of the satellites at the i-th grid cell location; and determining the visible satellite corresponding to the measurement index with the largest value in the measurement indexes as a reference satellite.

For example, the product of the carrier-to-noise ratio and the altitude angle of each visible satellite may be used as an index for measuring the blocked condition of each visible satellite for the mobile terminal located in the ith grid cell, and the measurement index may be expressed as:

score _i ＝θ _i ·C/N0 _i

Wherein θ _i Representing the elevation angle, C/N0, of the jth visible satellite to the ith grid cell _i Representing a measure of the carrier-to-noise ratio of the jth visible satellite to the ith grid cell. Altitude angle θ of satellite _i The larger the carrier-to-noise ratio C/N0 _i The larger the measurement index score _i The larger the value of (c) is, the lower the probability of being blocked for the ith grid cell by the jth visible satellite is.

According to the metrics of the jth visible satellite for the ith grid cell, the comprehensive metrics of each visible satellite for the M grid cells may be determined, for example, the metrics of each visible satellite for each grid cell may be added to obtain the comprehensive metrics of each visible satellite for the M grid cells. Further, the visible satellite corresponding to the comprehensive measurement index with the largest value can be selected from at least one comprehensive measurement index as the reference satellite.

By determining the reference satellite from the visible satellites in the n satellites, the step of calculating the measurement index of the invisible satellite is reduced, and an unnecessary calculation process is avoided, so that the operation pressure of the server for calculating the measurement index is reduced, and the operation efficiency of the server is improved.

Step 442, determining the receiver clock difference for the ith grid cell based on the distance between the ith grid cell and the reference satellite and the distance between the approximate location and the reference satellite.

Illustratively, the distance between the ith grid cell and the reference satellite, and the distance difference between the approximate location and the reference satellite, may be expressed as ||r _ref -r _{cell_ref} I. Wherein r is _ref Representing the distance between the approximate location of the mobile terminal and a reference satellite, r _{cell_ref} Represents the ithThe distances between the individual grid cells and the reference satellite.

Receiver clock error (user clock error) refers to the signal propagation time measurement error caused by the clock instability of the satellite navigation receiver. Since the reference satellite is the satellite with the lowest shielding probability for the M grid cells, the pseudo-range residual error of the reference satellite can be approximated to the receiver clock error when each grid cell receives satellite signals, and can be used for correcting the pseudo-range of other satellites.

Step 443, determining a pseudo-range residual score corresponding to the ith grid cell according to the receiver clock error of the ith grid cell and the pseudo-range of each satellite, wherein the pseudo-range of the satellite comprises the distance between the grid cell and the satellite and the distance between the approximate position and the satellite.

The pseudoranges for the j-th satellite include the distance between the i-th grid cell and the j-th satellite, and the approximate location of the mobile terminal and the distance between the j-th satellite.

By correcting the pseudo range of each satellite by using the receiver clock error, the pseudo range residual error of each satellite with higher accuracy can be obtained, and thus the pseudo range residual error score corresponding to each grid unit with higher accuracy can be obtained.

In some embodiments, determining the pseudorange residual score for the ith grid cell comprises:

1. according to the receiver clock difference and the distance difference value of the ith grid unit, determining a pseudo-range residual error corresponding to the ith grid unit; wherein the distance difference refers to the distance between the ith grid cell and the satellite and the distance difference between the approximate location and the satellite.

Illustratively, according to the receiver clock difference r _ref -r _{cell_ref} Calculating the distance difference between the I and the i grid cell to obtain a pseudo-range residual error v corresponding to the i grid cell _i Can be expressed as:

v _i ＝||r _i -r _{cell_i} ||-||r _ref -r _{cell_ref} ||

wherein ||r _i -r _{cell_i} I represents the distance difference, r, of the ith grid cell _i Outline of mobile terminalDistance between position and j-th satellite, r _{cell_i} Representing the distance between the ith grid cell and the jth satellite.

2. And determining the pseudo-range standard deviation of each satellite according to the altitude angle and the signal quality measured value of each satellite.

Illustratively, the altitude angle θ of the jth satellite to the ith grid cell is based on _i And the jth satellite for the ith grid cell C/N0 _i Calculating a pseudo-range standard deviation sigma of the jth satellite for the ith grid cell _i Can be expressed as:

wherein a and b are empirical parameters, the application is not limited to the values of a and b, for example, a may be 1 and b may be 281.

3. And determining a pseudo-range residual term of the visible satellite and a pseudo-range residual term of the invisible satellite according to the pseudo-range residual corresponding to the ith grid unit and the pseudo-range standard deviation of each satellite.

Illustratively, the pseudorange residuals v corresponding to the ith grid cell _i And the standard deviation sigma of the pseudorange of the jth satellite to the ith grid cell _i The pseudo-range residual error term of the visible satellite corresponding to the ith grid unit can be calculatedPseudo-range residual term of invisible satellite corresponding to ith grid cell +.>

Where s corresponds to a visible satellite and t corresponds to an invisible satellite. The pseudo-range residual terms of the visible satellites represent pseudo-range residual indexes of the visible satellites, and the pseudo-range residual terms of the invisible satellites represent pseudo-range residual indexes of the invisible satellites.

4. And determining a pseudo-range residual score corresponding to the ith grid unit according to the pseudo-range residual items of the visible satellites and the pseudo-range residual items of the satellites obtained by the pseudo-range residual items of the invisible satellites.

Illustratively, according to the pseudo-range residual terms of the visible satellite corresponding to the ith grid cell and the pseudo-range residual terms of the invisible satellite corresponding to the ith grid cell, the calculated satellite pseudo-range residual terms corresponding to the ith grid cell can be expressed as:

according to the satellite pseudo-range residual error term residual corresponding to the ith grid unit, calculating to obtain a pseudo-range residual error score res_score corresponding to the ith grid unit, which can be expressed as:

according to the pseudo-range residual scores corresponding to the M grid cells, corresponding pseudo-range residual vectors can be generated, for example, pseudo-range residual vectors of m×1 specification can be generated, and one element in the pseudo-range residual vectors corresponds to the pseudo-range residual score corresponding to one grid cell.

By generating the line-of-sight matching vector and the pseudo-range residual vector of the same specification, the server is facilitated to calculate the comprehensive score corresponding to each grid cell based on the line-of-sight matching vector and the pseudo-range residual vector.

In each grid cell, satellite signals from the receiving satellites can be undisturbed by surrounding buildings, while satellite signals from the receiving satellites can have larger measurement errors due to the influence of reflection or refraction of the buildings. Therefore, the apparent distance or non-apparent distance situation of the grid unit close to the real point better accords with the actual measurement characteristic, so that under the condition that the influence of the clock error of the receiver is reduced by effectively selecting the reference satellite, the pseudo-range residual error terms of the visible satellite and the invisible satellite calculated by the above formula are smaller, and the pseudo-range residual error score value corresponding to the grid unit is higher. In the grid cell far from the true value, since the probability of the apparent distance or non-apparent distance judging condition being inconsistent with the actual condition is higher, the probability of erroneously judging the visible satellite as the invisible satellite or the invisible satellite as the visible satellite is higher, so that the pseudo-range residual terms of the visible satellite and the invisible satellite are larger, and accordingly, the pseudo-range residual score corresponding to the grid cell is correspondingly lower.

By correcting the pseudo-range residual errors of each satellite through the clock difference of the calculation receiver, the accuracy of calculating the pseudo-range residual error items of the visible satellite and the invisible satellite is improved, so that the accuracy of calculating the pseudo-range residual error score corresponding to each grid unit is improved, and the accuracy of a positioning result is improved.

Fig. 7 shows a grid schematic diagram based on the pseudo-range residual score, and the lighter the color corresponding to the grid cell in fig. 7, the higher the pseudo-range residual score corresponding to the grid cell, the greater the probability that the true position of the mobile terminal is located in the grid cell, and the light-colored region 701 shown in fig. 7 is the region with the largest probability value of the true position of the mobile terminal. The darker the color corresponding to a grid cell, the lower the pseudo-range residual error score value corresponding to the grid cell, and the lower the probability that the true position of the mobile terminal is located in the grid cell.

Step 450, determining a composite score corresponding to the ith grid cell according to the line-of-sight matching score corresponding to the ith grid cell and the pseudo-range residual score corresponding to the ith grid cell.

And combining the line-of-sight matching score corresponding to each grid cell and the pseudo-range residual score corresponding to each grid cell to obtain the comprehensive score corresponding to each grid cell. The composite score may be used to comprehensively characterize the probability that the mobile terminal is located in each grid cell.

For example, the product of SSIM line-of-sight matching and pseudorange residual scores may be calculated and rooted in each grid as the composite score for the ith grid cell. The composite score for the ith grid cell may be expressed as:

the higher the integrated score value corresponding to the ith grid cell, the higher the probability that the true position of the mobile terminal is located in the ith grid cell, and the lower the integrated score value corresponding to the ith grid cell, the lower the probability that the true position of the mobile terminal is located in the ith grid cell.

Fig. 8 shows a grid schematic diagram of a composite score based on the line-of-sight matching degree and the pseudo-range residual score, and the lighter the color corresponding to the grid cell in fig. 8, the higher the composite score value corresponding to the grid cell, the greater the probability that the true position of the mobile terminal is located in the grid cell, and the light-colored region 801 shown in fig. 8 is the region with the largest probability value of the true position of the mobile terminal. The darker the color corresponding to a grid cell, the lower the composite score value corresponding to the grid cell, and the lower the probability that the true position of the mobile terminal is located in the grid cell.

According to the technical scheme provided by the embodiment, the comprehensive score which can comprehensively characterize the probability that the mobile terminal is positioned in each grid cell is obtained by combining the line-of-sight matching score corresponding to each grid cell and the pseudo-range residual score corresponding to each grid cell, the calculation source of the comprehensive score is more comprehensive, the accuracy of judging the probability that the mobile terminal is positioned in each grid cell is improved, and therefore the accuracy of a positioning result is improved.

Fig. 9 is a flowchart of a positioning method of a mobile terminal according to an embodiment of the application. The subject of execution of the steps of the method may be a computer device. The method may include at least one of the following steps 910-960:

in step 910, building data and satellite position data around the approximate location are acquired based on the approximate location of the mobile terminal.

In step 920, for the ith grid cell of the M grid cells located around the probability position, measurement line of sight information corresponding to the ith grid cell is determined according to the building data and the satellite position data.

Step 930, determining a composite score corresponding to the ith grid cell according to the measured line of sight information corresponding to the ith grid cell and the satellite signal measurement information corresponding to the ith grid cell.

For the description of steps 910 to 930, reference may be made to the above embodiments, and no further description is given here.

Step 940, selecting a grid cell corresponding to the composite score satisfying the first condition according to the composite scores corresponding to the M grid cells.

The first condition may be a threshold condition, for example. For example, the composite score satisfying the first condition may be a composite score satisfying a composite score greater than a first threshold value of the M composite scores, and as shown in the grid schematic diagram of the composite score shown in fig. 8, the first threshold value may be 0.150, 0.160, 0.175, or the like, and then a grid cell corresponding to the composite score having a value greater than the first threshold value of the M composite scores may be selected.

The composite score satisfying the first condition may be a composite score satisfying a second threshold before ranking, and the second threshold may be 5%, and then a grid cell corresponding to 5% of the composite scores before ranking may be selected from the M composite scores.

Step 950, dividing the selected grid cell into at least one connected area, wherein each connected area contains at least one selected grid cell.

The connected region refers to a grid region composed of selected grid cells that are adjacent in position. For example, a Two Pass scan (Two Pass Filter) may be used to divide the selected grid cells into at least one connected region, each connected region containing at least one selected grid cell.

Step 960, determining a positioning result of the mobile terminal according to the positions and the composite scores of the grid cells included in each connected area and the number of the grid cells included in each connected area.

The position of the grid cell may be the center position of each grid cell, or may be any position included in each grid cell, such as the edge position of the grid cell.

Step 960 comprises at least one of the following sub-steps:

Step 961, for each connected region, determining weights of the respective grid cells included in the connected region according to the maximum and minimum values in the composite score of the respective grid cells included in the connected region and the composite score satisfying the first condition.

Recording the maximum value in the composite score meeting the first condition as max _{grid_score} The minimum value in the composite score satisfying the first condition is recorded as min _{grid_score} . Illustratively, the weight w of the ith grid cell contained in each connected region _i Can be expressed as:

wherein, grid_score _i Representing the composite score corresponding to the ith grid cell, num represents the number of grid cells selected, i.e., the number of grid cells corresponding to the composite score satisfying the first condition.

In step 962, a probability value of the connected area is determined according to the weight of each grid cell included in the connected area and the number of grid cells included in the connected area, where the probability value of the connected area is used to indicate a probability that the mobile terminal is located in the connected area.

Illustratively, according to the weight w of the ith grid cell contained in the kth connected region _ki And the number of the grid cells contained in the kth connected region, calculating to obtain the probability value prob of the mobile terminal being positioned in the kth connected region _k Can be expressed as:

wherein, grid_num _k The number of mesh units included in the kth connected region is represented, and the maximum value of k is the number of mesh units selected.

In step 963, in the connected region having the largest probability value, the positioning result of the mobile terminal is determined based on the positions of the respective mesh units in the connected region having the largest probability value and the number of mesh units included in the connected region having the largest probability value by the proximity algorithm.

Selecting prob from probability values of k connected regions _k The connected region with the largest value may be exemplarily calculated based on a proximity algorithm (K-NearestNeighbor, KNN) according to the position of each grid cell in the connected region with the largest probability value and the number of grid cells included in the connected region with the largest probability value, and may be expressed as a positioning result of the mobile terminal:

wherein w is _i Represents the weight of the ith grid cell included in the connected region having the largest probability value, (lon) _i ,lat _i ) Grid_num represents the number of grid cells included in the connected region having the largest probability value, as the position coordinate value of the i-th grid cell in the connected region having the largest probability value, (lon) _final ,lat _final ) And finally, positioning the position coordinate value for the mobile terminal.

According to the technical scheme provided by the embodiment, after the comprehensive score corresponding to the mobile terminal is determined, the connected areas are divided again for the grid cells with higher scores, and the probability value of the mobile terminal in each connected area is calculated, so that the final positioning result is determined. The position of the mobile terminal is not located in the grid cell with the highest comprehensive score, errors generated in the calculation process of the comprehensive score are reduced, and the accuracy of the positioning result of the mobile terminal is improved.

Fig. 10 shows a schematic diagram of a comparison of the actual position of the mobile terminal and the position of the mobile terminal obtained using different position resolving methods, as shown in fig. 10, sub-graph a, with dark large dots representing the actual position of the mobile terminal, dark small dots representing the position obtained using GNSS, polygons in the figure representing surrounding buildings, and numerals on the polygons representing the heights of the respective buildings. It can be seen that the positioning position obtained by using GNSS is deviated to the opposite neighborhood of the actual position of the mobile terminal due to the shielding of surrounding buildings, and there is a large position difference between the actual position of the mobile terminal and the opposite neighborhood. As shown in fig. 10 b, the light dots represent the positioning positions obtained by using the technical scheme of the present application, and it can be seen that, compared with the positioning positions obtained by using the GNSS, the accuracy of the positioning positions obtained by using the technical scheme of the present application is significantly improved, and the positions where there are more light dots overlap with the positions where there are dark dots. The positioning position obtained by the technical scheme of the application has little deviation from the actual position of the mobile terminal, and is positioned on the same road of the same street, thereby effectively correcting the positioning error of the global navigation positioning system and improving the positioning precision.

In order to verify the practical effect of the technical scheme of the application, four different cities of Beijing, shanghai, shenzhen, hangzhou and the like are collected, and the situation that 700 total GNSS original measurement data and the actual position of the mobile terminal are available in more building shielding scenes, and the positioning error and the positioning effect of each data are calculated is shown in fig. 11:

fig. 11 a shows a comparison diagram of the positioning error and the GNSS positioning error in the technical solution of the present application, where the dark rectangular columns in the diagram represent the positioning error in the technical solution of the present application, and the light rectangular columns represent the positioning error in the GNSS positioning result, and as can be seen from the comparison result in fig. 11 a, except for the positioning result for the Shanghai, the dark rectangular columns in the Shenzhen, hangzhou and the background are lower than the light rectangular columns, so that, overall, the positioning error in the technical solution of the present application is smaller than the positioning error in the GNSS positioning result, and the positioning effect in the technical solution of the present application is better.

Fig. 11, subimage b, shows a schematic diagram of the positioning effect of the technical solution of the present application. The GNSS best indicates that the positioning effect of the GNSS is better than that of the technical scheme of the application, and the GNSS best accounts for 12.62%; the positioning effect of the technical scheme of the application deviates from the true positioning compared with the positioning effect of GNSS, and the severe positioning effect accounts for 6.38%; the positioning effect of the technical scheme of the application is greatly improved compared with the positioning effect of the GNSS, the positioning effect of the technical scheme of the application is greatly improved, the application occupies 15.74 percent, for example, if the positioning result of the GNSS is 100 meters different from the actual result, and the positioning effect of the technical scheme of the application is 10 meters different from the actual result, the positioning effect belongs to the application; the small-scale optimization of the application means that the positioning effect of the technical scheme of the application is improved by a small scale compared with the positioning effect of the GNSS, the application occupies 17.02 percent, for example, if the positioning result of the GNSS is 20 meters different from the actual result, the positioning effect of the technical scheme of the application is 10 meters different from the actual result, and the positioning effect belongs to the small-scale optimization of the application; the similar positioning effect of the technical scheme of the application is similar to the positioning effect of the GNSS, and the positioning effect of one side is not obviously improved.

As can be seen from the results in the sub-graph b of fig. 11, the duty ratio of the positioning result of the technical scheme of the present application is 32.78% that of the positioning result of the GNSS (i.e. the part including the small optimization of the present application and the large optimization of the present application), while the duty ratio of the positioning result of the technical scheme of the present application is 19% that of the positioning result of the GNSS (including the excellent and bad parts of the GNSS). It can be seen that the positioning effect of the technical scheme of the application under the urban multi-building shielding scene is better than that of GNSS.

Fig. 12 shows a schematic diagram of the embodiment of the present application in terms of product application. The reference numeral 1201 in fig. 12 denotes the actual position of the mobile terminal, the positioning reference numeral 1202 denotes the positioning calculation result based on GNSS of the mobile terminal, and the positioning reference numeral 1203 denotes the positioning calculation result based on the technical solution of the present application. As is apparent from fig. 12, compared with the positioning position obtained by using GNSS, the positioning position obtained by using the technical solution of the present application is closer to the real position of the mobile terminal, and the positioning precision and accuracy are significantly improved.

The following are examples of the apparatus of the present application that may be used to perform the method embodiments of the present application. For details not disclosed in the embodiments of the apparatus of the present application, please refer to the embodiments of the method of the present application.

Referring to fig. 13, a block diagram of a positioning device of a mobile terminal according to an embodiment of the application is shown. The device has the function of realizing the positioning method of the mobile terminal, and the function can be realized by hardware or by executing corresponding software by the hardware. The device may be the mobile terminal described above or may be provided in the mobile terminal. As shown in fig. 13, the apparatus 1300 may include: a data acquisition module 1310, a metrology information determination module 1320, a composite score determination module 1330, and a positioning result determination module 1340.

A data acquisition module 1310, configured to acquire building data and satellite position data around a rough position according to the rough position of the mobile terminal; wherein the building data includes location and spatial information of at least one building around the approximate location, the satellite location data includes location coordinates of n satellites around the approximate location, and n is a positive integer.

A measurement information determining module 1320, configured to determine, for an ith grid cell of M grid cells located around the probability position, measurement line of sight information corresponding to the ith grid cell according to the building data and the satellite position data; the measurement sight distance information corresponding to the ith grid unit comprises measurement sight distance results of the satellites, wherein the measurement sight distance results are obtained by assuming that the mobile terminal is located in the ith grid unit, determining whether sight distance communication is performed between the satellites and the mobile terminal according to shielding conditions of the building, M is an integer greater than 1, and i is an integer less than or equal to M.

A composite score determining module 1330, configured to determine a composite score corresponding to the ith grid cell according to the measured line of sight information corresponding to the ith grid cell and satellite signal measurement information corresponding to the ith grid cell; the satellite signal measurement information corresponding to the ith grid cell comprises signal quality measurement values of the satellites at the position of the ith grid cell; the integrated score corresponding to the ith grid cell is used for indicating the probability that the mobile terminal is located in the ith grid cell.

And a positioning result determining module 1340, configured to determine a positioning result of the mobile terminal according to the composite scores corresponding to the M grid cells.

In some embodiments, the composite score determination module 1330 includes:

the sight distance score determining unit is used for determining a sight distance matching score corresponding to the ith grid unit according to the measured sight distance information corresponding to the ith grid unit and the satellite signal measurement information corresponding to the ith grid unit; and the vision distance matching score corresponding to the ith grid unit is used for indicating the similarity between the measured vision distance information corresponding to the ith grid unit and the predicted vision distance information corresponding to the ith grid unit.

The pseudo-range score determining unit is used for determining a pseudo-range residual score corresponding to the ith grid unit according to the measurement line-of-sight information corresponding to the ith grid unit and the satellite signal measurement information corresponding to the ith grid unit; and the pseudo-range residual score corresponding to the ith grid unit is used for indicating the pseudo-range residual of the visible satellite and the integrated pseudo-range residual of the invisible satellite.

And the comprehensive score determining unit is used for determining the comprehensive score corresponding to the ith grid unit according to the sight distance matching score corresponding to the ith grid unit and the pseudo-range residual score corresponding to the ith grid unit.

In some embodiments, the stadia score determination unit comprises:

a predicted line-of-sight determining subunit, configured to determine predicted line-of-sight information corresponding to the ith grid unit according to satellite signal measurement information corresponding to the ith grid unit; the predicted line-of-sight information corresponding to the ith grid unit comprises predicted line-of-sight results of the satellites, wherein the predicted line-of-sight results refer to whether line-of-sight communication is performed between the satellites and the mobile terminal or not, which is predicted according to signal quality measurement values of the satellites, assuming that the mobile terminal is located in the ith grid unit.

And the vision distance score determining subunit is used for determining the vision distance matching score corresponding to the ith grid unit according to the similarity between the measured vision distance information corresponding to the ith grid unit and the predicted vision distance information corresponding to the ith grid unit.

In some embodiments, the predicted line-of-sight determination subunit is configured to:

for each of the n satellites, determining a predicted line-of-sight result of the satellite as a first value indicating that the satellite is an invisible satellite in non-line-of-sight communication with the mobile terminal if the signal quality measurement of the satellite is less than a minimum threshold value;

determining a predicted line-of-sight result of the satellite as a second value when the signal quality measurement value of the satellite is greater than a maximum threshold value, wherein the second value is used for indicating that the satellite is a visible satellite in line-of-sight communication with the mobile terminal;

and under the condition that the signal quality measured value of the satellite is larger than the minimum threshold value and smaller than the maximum threshold value, determining the value of the predicted line-of-sight result of the satellite based on the signal quality measured value of the satellite by a linear regression fitting algorithm.

In some embodiments, the line-of-sight score determination subunit is configured to:

calculating the average value of the measurement sight distance results of each satellite included in the measurement sight distance information corresponding to the ith grid unit to obtain a first average value; calculating the average value of the predicted line-of-sight results of each satellite included in the predicted line-of-sight information corresponding to the ith grid unit, and obtaining a second average value;

calculating standard deviation of the measurement vision distance results of each satellite included in the measurement vision distance information corresponding to the ith grid unit to obtain a first standard deviation; calculating standard deviations of the predicted line-of-sight results of the satellites included in the predicted line-of-sight information corresponding to the ith grid unit, and obtaining second standard deviations;

calculating to obtain a first similarity parameter according to the first average value and the second average value;

calculating to obtain a second similarity parameter according to the first standard deviation and the second standard deviation;

calculating a third similarity parameter according to the first standard deviation, the second standard deviation and the covariance of the first mean value and the second mean value;

and calculating the similarity between the measurement line-of-sight information corresponding to the ith grid unit and the prediction line-of-sight information corresponding to the ith grid unit according to the first similarity parameter, the second similarity parameter and the third similarity parameter.

In some embodiments, the pseudo-range score determining unit includes:

a reference satellite determining subunit, configured to determine a reference satellite from the n satellites according to the signal quality measurement value and the altitude angle of each satellite at the position of the ith grid unit, where the reference satellite is a visible satellite with the lowest occlusion probability for the mobile terminal in the n satellites.

And the receiver clock difference determining subunit is used for determining the receiver clock difference of the ith grid unit according to the distance between the ith grid unit and the reference satellite and the distance between the outline position and the reference satellite.

And the pseudo-range score determining subunit is used for determining a pseudo-range residual score corresponding to the ith grid unit according to the receiver clock error of the ith grid unit and the pseudo-range of each satellite, wherein the pseudo-range of the satellite refers to the distance between the grid unit and the satellite and the distance between the approximate position and the satellite.

In some embodiments, the pseudorange score determination subunit is configured to:

determining a pseudo-range residual error corresponding to the ith grid unit according to the receiver clock error and the distance difference value of the ith grid unit; wherein the distance difference refers to a distance between an ith grid cell and the satellite and a distance difference between the approximate location and the satellite;

Determining a pseudo-range standard deviation of each satellite according to the altitude angle and the signal quality measured value of each satellite;

according to the pseudo-range residual error corresponding to the ith grid unit and the pseudo-range standard deviation of each satellite, determining a pseudo-range residual error item of a visible satellite and a pseudo-range residual error item of an invisible satellite;

and determining a pseudo-range residual score corresponding to the ith grid unit according to the pseudo-range residual item of the visible satellite and the pseudo-range residual item of the satellite obtained by the pseudo-range residual item of the invisible satellite.

In some embodiments, the reference satellite determination subunit is configured to:

for each of the n satellites, determining a measure of the blocked condition of each of the visible satellites for the mobile terminal based on the signal quality measurements and altitude angles of each of the visible satellites at the location of the ith grid cell;

and determining the visible satellite corresponding to the measurement index with the largest value in the measurement indexes as the reference satellite.

In some embodiments, the metrology information determination module 1320 is further configured to:

for each of the n satellites, determining a predicted line-of-sight result of the satellite to be a third value indicating that the satellite is an invisible satellite in non-line-of-sight communication with the mobile terminal if an altitude of the satellite is less than a maximum altitude of the building;

And under the condition that the altitude angle of the satellite is larger than or equal to the maximum altitude angle of the building, determining a predicted line-of-sight result of the satellite as a fourth value, wherein the fourth value is used for indicating that the satellite is a visible satellite in line-of-sight communication with the mobile terminal.

In some embodiments, the positioning result determining module 1340 is further configured to:

selecting grid cells corresponding to the comprehensive scores meeting the first condition according to the comprehensive scores corresponding to the M grid cells respectively;

dividing the selected grid cells into at least one connected region, wherein each connected region comprises at least one selected grid cell;

and determining a positioning result of the mobile terminal according to the positions and the comprehensive scores of the grid cells contained in each connected area and the number of the grid cells contained in each connected area.

for each connected region, determining the weight of each grid cell contained in the connected region according to the maximum value and the minimum value in the comprehensive score of each grid cell contained in the connected region and the comprehensive score meeting the first condition;

Determining a probability value of the connected region according to the weight of each grid cell contained in the connected region and the number of the grid cells contained in the connected region, wherein the probability value of the connected region is used for indicating the probability that the mobile terminal is positioned in the connected region;

and determining a positioning result of the mobile terminal based on a proximity algorithm according to the positions of the grid cells in the connected region with the maximum probability value and the number of the grid cells contained in the connected region with the maximum probability value.

In some embodiments, the apparatus 1300 further comprises:

and the grid cell generating module is used for generating the M grid cells by taking the outline position as the center, wherein the M grid cells are arranged in a row and a column, and a and b are positive integers.

In some embodiments, for grid cells located outside the building of the M grid cells, determining a corresponding composite score; for grid cells located inside the building of the M grid cells, the corresponding composite score is not determined.

It should be noted that, in the apparatus provided in the foregoing embodiment, when implementing the functions thereof, only the division of the foregoing functional modules is used as an example, in practical application, the foregoing functional allocation may be implemented by different functional modules, that is, the content structure of the device is divided into different functional modules, so as to implement all or part of the functions described above. In addition, the apparatus and the method embodiments provided in the foregoing embodiments belong to the same concept, and specific implementation processes of the apparatus and the method embodiments are detailed in the method embodiments and are not repeated herein.

Referring to FIG. 14, a block diagram of a computer device 1400 is shown, according to one embodiment of the present application. The computer device 1400 may be any electronic device having data computing, processing, and storage functions. The computer apparatus 1400 may be used to implement the positioning method of the mobile terminal provided in the above-described embodiments.

In general, the computer device 1400 includes: a processor 1401 and a memory 1402.

Processor 1401 may include one or more processing cores, such as a 4-core processor, a 9-core processor, and the like. The processor 1401 may be implemented in at least one hardware form of DSP (Digital Signal Processing ), FPGA (Field Programmable Gate Array, field programmable gate array), PLA (Programmable Logic Array ). The processor 1401 may also include a main processor, which is a processor for processing data in an awake state, also called a CPU (Central Processing Unit ), and a coprocessor; a coprocessor is a low-power processor for processing data in a standby state. In some embodiments, the processor 1401 may be integrated with a GPU (Graphics Processing Unit, image processor) for rendering and rendering of content required to be displayed by the display screen. In some embodiments, the processor 1401 may also include an AI processor for processing computing operations related to machine learning.

Memory 1402 may include one or more computer-readable storage media, which may be non-transitory. Memory 1402 may also include high-speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In some embodiments, a non-transitory computer readable storage medium in memory 1402 is used to store a computer program configured to be executed by one or more processors to implement the positioning method of a mobile terminal described above.

Those skilled in the art will appreciate that the architecture shown in fig. 14 is not limiting as to the computer device 1400, and may include more or fewer components than shown, or may combine certain components, or employ a different arrangement of components.

In an exemplary embodiment, a computer readable storage medium is also provided, in which a computer program is stored, which computer program, when being executed by a processor of a computer device, implements the above-mentioned positioning method of a mobile terminal. Alternatively, the above-mentioned computer-readable storage medium may be a ROM (Read-Only Memory), a RAM (Random Access Memory ), a CD-ROM (Compact Disc Read-Only Memory), a magnetic tape, a floppy disk, an optical data storage device, or the like.

In an exemplary embodiment, a computer program product is also provided, the computer program product comprising a computer program stored in a computer readable storage medium. The processor of the computer device reads the computer program from the computer-readable storage medium, and the processor executes the computer program so that the computer device performs the positioning method of the mobile terminal.

It should be noted that, the information and data related to the present application (including but not limited to the general location of the mobile terminal, etc.) are all obtained under the authorization of the user or the full authorization of each party, and the collection, use and processing of the related information and data need to comply with the related laws and regulations and standards of the related country and region.

It should be understood that references herein to "a plurality" are to two or more. "and/or", describes an association relationship of an association object, and indicates that there may be three relationships, for example, a and/or B, and may indicate: a exists alone, A and B exist together, and B exists alone. The character "/" generally indicates that the context-dependent object is an "or" relationship. In addition, the step numbers described herein are merely exemplary of one possible execution sequence among steps, and in some other embodiments, the steps may be executed out of the order of numbers, such as two differently numbered steps being executed simultaneously, or two differently numbered steps being executed in an order opposite to that shown, which is not limiting.

The foregoing description of the exemplary embodiments of the application is not intended to limit the application to the particular embodiments disclosed, but on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the application.

Claims

1. A method for locating a mobile terminal, the method comprising:

2. The method of claim 1, wherein determining the composite score corresponding to the ith grid cell based on the measured line of sight information corresponding to the ith grid cell and the satellite signal measurement information corresponding to the ith grid cell comprises:

determining a vision distance matching score corresponding to the ith grid unit according to the measurement vision distance information corresponding to the ith grid unit and the satellite signal measurement information corresponding to the ith grid unit; the vision distance matching score corresponding to the ith grid unit is used for indicating the similarity between the measured vision distance information corresponding to the ith grid unit and the predicted vision distance information corresponding to the ith grid unit;

determining a pseudo-range residual score corresponding to the ith grid unit according to the measured line-of-sight information corresponding to the ith grid unit and the satellite signal measurement information corresponding to the ith grid unit; the pseudo-range residual score corresponding to the ith grid unit is used for indicating the pseudo-range residual of the visible satellite and the comprehensive pseudo-range residual of the invisible satellite;

And determining a comprehensive score corresponding to the ith grid cell according to the sight distance matching score corresponding to the ith grid cell and the pseudo-range residual score corresponding to the ith grid cell.

3. The method according to claim 2, wherein determining the line-of-sight matching score corresponding to the ith grid cell based on the measured line-of-sight information corresponding to the ith grid cell and the satellite signal measurement information corresponding to the ith grid cell comprises:

determining predicted line-of-sight information corresponding to the ith grid cell according to satellite signal measurement information corresponding to the ith grid cell; the predicted line-of-sight information corresponding to the ith grid unit comprises predicted line-of-sight results of each satellite, wherein the predicted line-of-sight results refer to whether line-of-sight communication is performed between the satellite and the mobile terminal or not, which is predicted according to signal quality measurement values of the satellites, assuming that the mobile terminal is located in the ith grid unit;

and determining the vision distance matching score corresponding to the ith grid unit according to the similarity between the measured vision distance information corresponding to the ith grid unit and the predicted vision distance information corresponding to the ith grid unit.

4. The method of claim 3, wherein determining the predicted line-of-sight information for the ith grid cell based on satellite signal measurement information for the ith grid cell comprises:

5. The method of claim 3, wherein said determining a similarity between measured line of sight information corresponding to said ith grid cell and predicted line of sight information corresponding to said ith grid cell comprises:

6. The method of claim 2, wherein determining the pseudorange residual score for the ith grid cell based on the measured line of sight information for the ith grid cell and the satellite signal measurement information for the ith grid cell comprises:

determining a reference satellite from the n satellites according to the signal quality measurement value and the altitude angle of each satellite at the position of the ith grid unit, wherein the reference satellite is a visible satellite with the lowest shielding probability for the mobile terminal in the n satellites;

determining a receiver clock difference of the ith grid cell based on a distance between the ith grid cell and the reference satellite and a distance between the approximate location and the reference satellite;

and determining a pseudo-range residual score corresponding to the ith grid unit according to the receiver clock error of the ith grid unit and the pseudo-range of each satellite, wherein the pseudo-range of each satellite comprises the distance between the grid unit and the satellite and the distance between the approximate position and the satellite.

7. The method of claim 6, wherein said determining a corresponding pseudorange residual score for said ith grid cell based on said ith grid cell's receiver clock bias and pseudoranges for each of said satellites, comprises:

Determining a pseudo-range residual error corresponding to the ith grid unit according to the receiver clock error and the distance difference value of the ith grid unit; wherein the distance difference is a difference between a distance between an i-th grid cell and the satellite and a distance between the approximate location and the satellite;

8. The method of claim 6, wherein said determining a reference satellite from said n satellites based on signal quality measurements and altitude angles of each of said satellites at the location of said i-th grid cell comprises:

9. The method of claim 1, wherein determining the measured line of sight information corresponding to the ith grid cell based on the building data and the satellite position data comprises:

10. The method according to claim 1, wherein determining the positioning result of the mobile terminal according to the composite scores corresponding to the M grid cells respectively includes:

11. The method of claim 10, wherein the determining the positioning result of the mobile terminal according to the positions and the composite scores of the grid cells included in each of the connected areas and the number of the grid cells included in each of the connected areas comprises:

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

and generating the M grid cells by taking the outline position as the center, wherein the M grid cells are arranged in a row and b column, and a and b are positive integers.

13. The method of claim 1, wherein for grid cells located outside the building for the M grid cells, determining a corresponding composite score; for grid cells located inside the building of the M grid cells, the corresponding composite score is not determined.

14. A positioning device of a mobile terminal, the device comprising:

15. A computer device, characterized in that it comprises a processor and a memory in which a computer program is stored, which computer program is loaded and executed by the processor to implement the positioning method of a mobile terminal according to any of claims 1 to 13.

16. A computer readable storage medium, characterized in that the computer readable storage medium has stored therein a computer program, which is loaded and executed by a processor to implement the positioning method of a mobile terminal according to any of claims 1 to 13.

17. A computer program product, characterized in that the computer program product comprises a computer program that is loaded and executed by a processor to implement a positioning method of a mobile terminal according to any of claims 1 to 13.