CN117062003A - Positioning method and related device based on radio frequency signals and Vslam - Google Patents
Positioning method and related device based on radio frequency signals and Vslam Download PDFInfo
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- CN117062003A CN117062003A CN202310972643.1A CN202310972643A CN117062003A CN 117062003 A CN117062003 A CN 117062003A CN 202310972643 A CN202310972643 A CN 202310972643A CN 117062003 A CN117062003 A CN 117062003A
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- 238000004590 computer program Methods 0.000 description 11
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- 230000003287 optical effect Effects 0.000 description 5
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- 238000004891 communication Methods 0.000 description 3
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B1/00—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission
- H04B1/02—Transmitters
- H04B1/04—Circuits
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
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Abstract
The application discloses a positioning method and a related device based on radio frequency signals and Vslam. And finally, acquiring at least one target parameter value of the radio frequency signal in real time, and adjusting the position information of the Vslam positioning based on the at least one target parameter value to obtain the final position information of the terminal equipment. According to the method, the first position information determined according to the radio frequency signals is used as initial position information of the Vslam, the problem that the initial position information of the Vslam positioning is inaccurate is solved, the Vslam positioning is adjusted through at least one target parameter value of the radio frequency signals obtained in real time, and the problem that the track accumulated drifting is caused by the Vslam positioning is solved.
Description
Technical Field
The application relates to the technical field of communication positioning, in particular to a positioning method and a related device based on radio frequency signals and Vslam.
Background
Currently, positioning technology is widely applied to various business scenarios, such as markets, airports, parking lots, hospitals, various factories and mining enterprises, and the like. The positioning problem in the outdoor scene can be generally solved through a satellite navigation system, and the positioning problem in the indoor scene can be solved through a navigation system-vision synchronous positioning and mapping (Visual Simultaneous Localization and Mapping, vslam) of the intelligent terminal. However, in an indoor scene, the Vslam is used for collecting images of the surrounding environment through a camera, and the positioning of the Vslam is not dependent on the positioning of a satellite navigation system, so that the problems of inaccurate initial position and accumulated track drift exist in the positioning of the Vslam.
Disclosure of Invention
The embodiment of the application provides a positioning method and a related device based on radio frequency signals and Vslam, which can accurately determine initial position information of terminal equipment and solve the problem of track accumulated drift.
In a first aspect, an embodiment of the present application provides a positioning method based on a radio frequency signal and Vslam, where the method includes:
acquiring a radio frequency signal at the current moment, and determining first position information of terminal equipment according to the radio frequency signal;
taking the first position information as initial position information of Vslam, and positioning the terminal equipment in real time through the Vslam;
acquiring at least one target parameter value of the radio frequency signal in real time;
and adjusting the position information of the Vslam positioning based on the at least one target parameter value to obtain the final position information of the terminal equipment.
Compared with the prior art, the method and the device have the advantages that the first position information determined according to the radio frequency signals is used as the initial position information of the Vslam, the problem that the initial position information of the Vslam positioning is inaccurate is solved, the Vslam positioning is adjusted through at least one target parameter value of the radio frequency signals obtained in real time, and the problem that the track accumulated drift is caused by the Vslam positioning is solved.
In one possible design, the at least one target parameter value includes one or more of the following parameter values:
the signal-to-noise ratio of the radio frequency signal, the signal strength of the radio frequency signal, and the MAC address of the radio frequency signal.
The application enables the adjustment of the Vslam positioning to be more accurate by setting at least one target parameter value.
In one possible design, the adjusting the position information of the Vslam positioning based on the at least one target parameter value to obtain final position information of the terminal device includes:
and when each target parameter value in the at least one target parameter value is larger than a corresponding preset threshold value, adjusting the position information of the Vslam positioning according to each target parameter value to obtain the final position information of the terminal equipment.
According to the application, the corresponding preset threshold value is set for each target parameter value, so that the Vslam positioning is more accurately regulated, and the final position information of the terminal equipment is more accurate.
In one possible design, the radio frequency signal is any one radio frequency signal of a WIFI radio frequency signal, a bluetooth radio frequency signal, a UWB radio frequency signal, and a ZigBee radio frequency signal.
The application can accurately determine the first position information of the terminal equipment by setting the radio frequency signal type.
In a second aspect, an embodiment of the present application provides a positioning device based on a radio frequency signal and Vslam, the device comprising:
the first acquisition module is used for acquiring a radio frequency signal at the current moment and determining first position information of the terminal equipment according to the radio frequency signal;
the positioning module is used for taking the first position information as initial position information of the Vslam and positioning the terminal equipment in real time through the Vslam;
the second acquisition module is used for acquiring at least one target parameter value of the radio frequency signal in real time;
and the position determining module is used for adjusting the position information of the Vslam positioning based on the at least one target parameter value to obtain the final position information of the terminal equipment.
In one possible design, the at least one target parameter value includes one or more of the following parameter values:
the signal-to-noise ratio of the radio frequency signal, the signal strength of the radio frequency signal, and the MAC address of the radio frequency signal.
In one possible design, the location determining module is specifically configured to:
and when each target parameter value in the at least one target parameter value is larger than a corresponding preset threshold value, adjusting the position information of the Vslam positioning according to each target parameter value to obtain the final position information of the terminal equipment.
In one possible design, the radio frequency signal is any one radio frequency signal of a WIFI radio frequency signal, a bluetooth radio frequency signal, a UWB radio frequency signal, and a ZigBee radio frequency signal.
In a third aspect, an embodiment of the present application provides a terminal device, including:
a processor and a display;
the display is used for displaying a user operation interface;
the processor is configured to perform any of the methods as provided in the first aspect above.
In a fourth aspect, an embodiment of the application also provides a computer readable storage medium, which when executed by a processor of a terminal device, enables the terminal device to perform any of the methods as provided in the first aspect above.
In a fifth aspect, an embodiment of the application provides a computer program product comprising computer programs/instructions which when executed by a processor implement any of the methods as provided in the first aspect of the application.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments of the present application will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of an application scenario of a positioning system based on a radio frequency signal and Vslam according to an embodiment of the present application;
fig. 2 is a flow chart of a positioning method based on a radio frequency signal and Vslam according to an embodiment of the present application;
FIG. 3 is a schematic view of a Vslam frame structure according to an embodiment of the application;
fig. 4 is a schematic diagram of position adjustment of a terminal device according to an embodiment of the present application;
fig. 5 is a flowchart of a positioning method based on a radio frequency signal and Vslam according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of a positioning device based on a radio frequency signal and Vslam according to an embodiment of the present application;
fig. 7 is a schematic diagram of a terminal device according to an embodiment of the present application.
Detailed Description
In order to enable a person skilled in the art to better understand the technical solutions of the present application, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the application described herein may be implemented in other sequences than those illustrated or otherwise described herein. The implementations described in the following exemplary examples do not represent all implementations consistent with the application. Rather, they are merely examples of apparatus and methods consistent with aspects of the application as detailed in the accompanying claims.
In the following, some terms in the embodiments of the present application are explained for easy understanding by those skilled in the art.
(1) The term "plurality" in embodiments of the present application means two or more, and other adjectives are similar.
(2) "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.
(3) A server serving the terminal, the content of the service such as determining first location information of the terminal device based on the radio frequency signal; the server corresponds to the application program installed on the terminal and operates in cooperation with the application program on the terminal.
(4) The terminal device may refer to APP (Application) of a software class or a client. The system has a visual display interface, and can interact with a user; corresponding to the server, providing local service for clients. Applications for software classes, except for some applications that only run locally, are typically installed on a common client terminal and need to run in conjunction with a server.
Currently, positioning technology is widely applied to various business scenarios, such as markets, airports, parking lots, hospitals, various factories and mining enterprises, and the like. The positioning problem in the outdoor scene can be generally solved through a satellite navigation system, and the positioning problem in the indoor scene can be solved through a navigation system-Vslam of the intelligent terminal. However, in an indoor scene, the Vslam is used for collecting images of the surrounding environment through a camera, and the positioning of the Vslam is not dependent on the positioning of a satellite navigation system, so that the problems of inaccurate initial position and accumulated track drift exist in the positioning of the Vslam.
The application provides a positioning method and a related device based on radio frequency signals and Vslam, which solve the problem of inaccurate Vslam positioning initial position information by taking first position information determined according to the radio frequency signals as Vslam initial position information, and solve the problem of track accumulated drift caused by Vslam positioning by adjusting the Vslam positioning through at least one target parameter value of the radio frequency signals acquired in real time.
After the design idea of the embodiment of the present application is introduced, some simple descriptions are made below for application scenarios applicable to the technical solution of the embodiment of the present application, and it should be noted that the application scenarios described below are only used for illustrating the embodiment of the present application and are not limiting. In the specific implementation, the technical scheme provided by the embodiment of the application can be flexibly applied according to actual needs.
Referring to fig. 1, an application scenario diagram of a positioning system based on a radio frequency signal and Vslam according to an embodiment of the present application is shown. The application scene comprises: a plurality of terminal apparatuses 101 (including terminal apparatus 101-1, terminal apparatus 101-2, … … terminal apparatus 101-n), a server 102, and a camera 103. The terminal device 101, the server 102, and the camera 103 are connected through a wireless or wired network, and the terminal device 101 includes, but is not limited to, electronic devices such as a desktop computer, a mobile phone, a mobile computer, a tablet computer, a media player, an intelligent wearable device, and an intelligent television. Server 102 may be a server, a server cluster formed by a plurality of servers, or a cloud computing center. The server 102 may be an independent physical server, a server cluster or a distributed system formed by a plurality of physical servers, or a cloud server providing cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, CDNs, basic cloud computing services such as big data and artificial intelligence platforms, and the like.
Taking the interaction among the terminal device 101-1, the server 102 and the camera 103 as an example for explanation, the server 102 obtains the radio frequency signal at the current moment, determines the first position information of the terminal device 101-1 according to the radio frequency signal, and uses the first position information as the initial position information of the Vslam. Meanwhile, image information acquired by the camera 103 is acquired, the terminal equipment 101-1 is positioned in real time through the Vslam, at least one target parameter value of the radio frequency signal is acquired in real time, and the position information of the Vslam positioning is adjusted based on the at least one target parameter value, so that final position information of the terminal equipment 101-1 is obtained. The final location information is transmitted to the terminal device 101-1, and the actual location information is displayed in the terminal device 101-1.
Here, the first location information and the positioning by Vslam may be determined in the terminal device 101-1, or the first location information and the positioning by Vslam may be determined in part in the terminal device 101-1 and in part in the server 102, and the present application is not limited to a specific manner of determining the first location information and the positioning by Vslam.
Of course, the method provided by the embodiment of the present application is not limited to the application scenario shown in fig. 1, but may be used in other possible application scenarios, and the embodiment of the present application is not limited. The functions that can be implemented by each device in the application scenario shown in fig. 1 will be described together in the following method embodiments, which are not described in detail herein.
In order to further explain the technical solution provided by the embodiments of the present application, the following details are described with reference to the accompanying drawings and the detailed description. Although embodiments of the present application provide the method operational steps shown in the following embodiments or figures, more or fewer operational steps may be included in the method, either on a routine or non-inventive basis. In steps where there is logically no necessary causal relationship, the execution order of the steps is not limited to the execution order provided by the embodiments of the present application.
The technical scheme provided by the embodiment of the application is described below with reference to an application scenario shown in fig. 1.
Referring to fig. 2, an embodiment of the present application provides a positioning method based on a radio frequency signal and Vslam, the method including the steps of:
s201, acquiring a radio frequency signal at the current moment, and determining first position information of the terminal equipment according to the radio frequency signal.
Here, the radio frequency signal may be any one of a WIFI radio frequency signal, a bluetooth radio frequency signal, a UWB radio frequency signal, and a ZigBee radio frequency signal. It should be noted that the present application is not limited to a specific manner of determining the first location information of the terminal device according to the radio frequency signal, and may be adjusted according to actual situations.
S202, taking the first position information as initial position information of Vslam, and positioning the terminal equipment in real time through the Vslam.
As shown in fig. 3, the Vslam framework includes a sensor data unit 301, a front-end visual odometer unit 302, a back-end nonlinear optimization unit 303, a mapping unit 304, and a loop detection unit 305. The Vslam positioning can be that the camera is used for collecting images of surrounding environment, then filtering and calculating the collected images to finish position information determination and path identification of the terminal equipment, and further determine a navigation decision result.
Further, vslam quantitatively estimates the motion of an inter-frame camera according to the images of the adjacent frames, and the motion tracks of the adjacent frames are connected in series to form the motion track, so that real-time positioning is realized. It should be appreciated that the present application is not limited to the specific manner of positioning the Vslam, and may be adjusted according to practical situations.
S203, at least one target parameter value of the radio frequency signal is acquired in real time.
Optionally, the at least one target parameter value comprises one or more of the following parameter values: the signal-to-noise ratio of the radio frequency signal, the signal strength of the radio frequency signal, the MAC address of the radio frequency signal.
S204, adjusting the position information of the Vslam positioning based on at least one target parameter value to obtain the final position information of the terminal equipment.
Optionally, when each target parameter value in the at least one target parameter value is greater than a corresponding preset threshold, adjusting the position information of the Vslam positioning according to each target parameter value to obtain final position information of the terminal device. As shown in fig. 4, by adjusting the track accumulated error, the determined final position information of the terminal device can be more accurate.
Referring to fig. 5, an embodiment of the present application provides a positioning method based on a radio frequency signal and Vslam, the method including the steps of:
s501, acquiring a radio frequency signal at the current moment, and determining first position information of terminal equipment according to the radio frequency signal;
s502, taking the first position information as initial position information of Vslam, and positioning the terminal equipment in real time through the Vslam;
s503, acquiring at least one target parameter value of the radio frequency signal in real time;
s504, judging whether the signal-to-noise ratio of the radio frequency signal is larger than a first preset threshold value;
if yes, go to step S505, if no, go to step S503;
s505, judging whether the signal intensity of the radio frequency signal is larger than a second preset threshold value;
if yes, go to step S506, if no, go to step S503;
s506, adjusting the position information of the Vslam positioning based on the at least one target parameter value.
The implementation and execution process of the above method may refer to the above description of the positioning method based on the radio frequency signal and Vslam, which is not repeated here.
Referring to fig. 6, an embodiment of the present application provides a positioning device based on a radio frequency signal and Vslam, the device 600 includes:
a first obtaining module 601, configured to obtain a radio frequency signal at a current time, and determine first location information of a terminal device according to the radio frequency signal;
the positioning module 602 is configured to use the first location information as initial location information of Vslam, and perform real-time positioning on the terminal device through the Vslam;
a second obtaining module 603, configured to obtain at least one target parameter value of the radio frequency signal in real time;
the position determining module 604 is configured to adjust the position information of the Vslam positioning based on at least one target parameter value, so as to obtain final position information of the terminal device.
In one possible design, the at least one target parameter value includes one or more of the following parameter values:
the signal-to-noise ratio of the radio frequency signal, the signal strength of the radio frequency signal, the MAC address of the radio frequency signal.
In one possible design, the location determination module 604 is specifically configured to:
and when each target parameter value in the at least one target parameter value is larger than a corresponding preset threshold value, adjusting the position information of the Vslam positioning according to each target parameter value to obtain the final position information of the terminal equipment.
In one possible design, the radio frequency signal is any one of a WIFI radio frequency signal, a bluetooth radio frequency signal, a UWB radio frequency signal, and a ZigBee radio frequency signal.
Having described the radio frequency signal and Vslam-based positioning method and related apparatus according to an exemplary embodiment of the present application, next, a terminal device according to another exemplary embodiment of the present application will be described.
Those skilled in the art will appreciate that the various aspects of the application may be implemented as a system, method, or program product. Accordingly, aspects of the application may be embodied in the following forms, namely: an entirely hardware embodiment, an entirely software embodiment (including firmware, micro-code, etc.) or an embodiment combining hardware and software aspects may be referred to herein as a "circuit," module "or" system.
In some possible embodiments, a terminal device according to the application may comprise at least one processor and at least one memory. The memory stores therein program code that, when executed by the processor, causes the processor to perform the steps in the above-described positioning method based on radio frequency signals and Vslam according to various exemplary embodiments of the present application. For example, the processor may perform steps as in a positioning method based on radio frequency signals and Vslam.
A terminal device 70 according to this embodiment of the present application is described below with reference to fig. 7. The terminal device 70 shown in fig. 7 is only an example, and should not impose any limitation on the functions and scope of use of the embodiments of the present application.
As shown in fig. 7, the terminal device 70 is in the form of a general-purpose terminal device. The components of the terminal device 70 may include, but are not limited to: the at least one processor 71, the at least one memory 72, a bus 73 connecting the various system components, including the memory 72 and the processor 71.
Bus 73 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, a processor, and a local bus using any of a variety of bus architectures.
Memory 72 may include readable media in the form of volatile memory such as Random Access Memory (RAM) 721 and/or cache memory 722, and may further include Read Only Memory (ROM) 723.
Memory 72 may also include a program/utility 725 having a set (at least one) of program modules 724, such program modules 724 including, but not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment.
The terminal device 70 may also communicate with one or more external devices 74 (e.g., keyboard, pointing device, etc.), one or more devices that enable a user to interact with the terminal device 70, and/or any device (e.g., router, modem, etc.) that enables the terminal device 70 to communicate with one or more other terminal devices. Such communication may occur through an input/output (I/O) interface 75. Also, the terminal device 70 may communicate with one or more networks such as a Local Area Network (LAN), a Wide Area Network (WAN) and/or a public network, such as the Internet, through a network adapter 76. As shown, network adapter 76 communicates with other modules for terminal device 70 over bus 73. It should be understood that although not shown, other hardware and/or software modules may be used in connection with terminal device 70, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID systems, tape drives, data backup storage systems, and the like.
In an exemplary embodiment, a computer readable storage medium is also provided, such as a memory 72, comprising instructions executable by the processor 71 to perform the above-described method. Alternatively, the computer readable storage medium may be ROM, random Access Memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, etc.
In an exemplary embodiment, a computer program product is also provided, comprising a computer program/instructions which, when executed by the processor 71, implements any of the radio frequency signal and Vslam based positioning methods as provided by the application.
In an exemplary embodiment, aspects of a positioning method based on radio frequency signals and Vslam provided by the present application may also be implemented in the form of a program product comprising program code for causing a computer device to carry out the steps of a positioning method based on radio frequency signals and Vslam according to the various exemplary embodiments of the application as described herein above when the program product is run on a computer device.
The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium would include the following: an electrical connection having one or more wires, a portable disk, a hard disk, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The program product for unlocking a terminal device according to embodiments of the present application may employ a portable compact disc read only memory (CD-ROM) and comprise program code and may run on the terminal device. However, the program product of the present application is not limited thereto, and in this document, a readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The readable signal medium may include a data signal propagated in baseband or as part of a carrier wave with readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A readable signal medium may also be any readable medium that is not a readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Program code for carrying out operations of the present application may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user terminal device, partly on the user device, as a stand-alone software package, partly on the user terminal device, partly on the remote terminal device, or entirely on the remote terminal device or the server. In the case of remote terminal devices, the remote terminal device may be connected to the user terminal device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external terminal device (e.g., connected through the internet using an internet service provider).
It should be noted that although several units or sub-units of the apparatus are mentioned in the above detailed description, such a division is merely exemplary and not mandatory. Indeed, the features and functions of two or more of the elements described above may be embodied in one element in accordance with embodiments of the present application. Conversely, the features and functions of one unit described above may be further divided into a plurality of units to be embodied.
Furthermore, although the operations of the methods of the present application are depicted in the drawings in a particular order, this is not required to either imply that the operations must be performed in that particular order or that all of the illustrated operations be performed to achieve desirable results. Additionally or alternatively, certain steps may be omitted, multiple steps combined into one step to perform, and/or one step decomposed into multiple steps to perform.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable terminal device, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable terminal device to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable terminal device to cause a series of operational steps to be performed on the computer or other programmable device to produce a computer implemented process such that the instructions which execute on the computer or other programmable device provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the application.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present application without departing from the spirit or scope of the application. Thus, it is intended that the present application also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (10)
1. A positioning method based on radio frequency signals and Vslam, the method comprising:
acquiring a radio frequency signal at the current moment, and determining first position information of terminal equipment according to the radio frequency signal;
taking the first position information as initial position information of Vslam, and positioning the terminal equipment in real time through the Vslam;
acquiring at least one target parameter value of the radio frequency signal in real time;
and adjusting the position information of the Vslam positioning based on the at least one target parameter value to obtain the final position information of the terminal equipment.
2. The method of claim 1, wherein the at least one target parameter value comprises one or more of the following parameter values:
the signal-to-noise ratio of the radio frequency signal, the signal strength of the radio frequency signal, and the MAC address of the radio frequency signal.
3. The method according to claim 1, wherein adjusting the position information of the Vslam location based on the at least one target parameter value, to obtain final position information of the terminal device, comprises:
and when each target parameter value in the at least one target parameter value is larger than a corresponding preset threshold value, adjusting the position information of the Vslam positioning according to each target parameter value to obtain the final position information of the terminal equipment.
4. The method of claim 1, wherein the radio frequency signal is any one of a WIFI radio frequency signal, a bluetooth radio frequency signal, a UWB radio frequency signal, and a ZigBee radio frequency signal.
5. A positioning device based on radio frequency signals and Vslam, the device comprising:
the first acquisition module is used for acquiring a radio frequency signal at the current moment and determining first position information of the terminal equipment according to the radio frequency signal;
the positioning module is used for taking the first position information as initial position information of the Vslam and positioning the terminal equipment in real time through the Vslam;
the second acquisition module is used for acquiring at least one target parameter value of the radio frequency signal in real time;
and the position determining module is used for adjusting the position information of the Vslam positioning based on the at least one target parameter value to obtain the final position information of the terminal equipment.
6. The apparatus of claim 5, wherein the at least one target parameter value comprises one or more of the following parameter values:
the signal-to-noise ratio of the radio frequency signal, the signal strength of the radio frequency signal, and the MAC address of the radio frequency signal.
7. The apparatus of claim 5, wherein the location determination module is specifically configured to:
and when each target parameter value in the at least one target parameter value is larger than a corresponding preset threshold value, adjusting the position information of the Vslam positioning according to each target parameter value to obtain the final position information of the terminal equipment.
8. The device of claim 5, wherein the radio frequency signal is any one of a WIFI radio frequency signal, a bluetooth radio frequency signal, a UWB radio frequency signal, and a ZigBee radio frequency signal.
9. A terminal device, comprising:
a processor and a display;
the display is used for displaying a user operation interface;
the processor configured to perform the method of any of claims 1-4.
10. A computer readable storage medium, characterized in that instructions in the computer readable storage medium, when executed by a processor of a terminal device, enable the terminal device to perform the method of any of claims 1-4.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN118075872A (en) * | 2024-04-19 | 2024-05-24 | 中国电信股份有限公司 | Positioning data processing method, device, program product and electronic equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN118075872A (en) * | 2024-04-19 | 2024-05-24 | 中国电信股份有限公司 | Positioning data processing method, device, program product and electronic equipment |
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