CN117156547A - Positioning method and device - Google Patents
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- CN117156547A CN117156547A CN202310986774.5A CN202310986774A CN117156547A CN 117156547 A CN117156547 A CN 117156547A CN 202310986774 A CN202310986774 A CN 202310986774A CN 117156547 A CN117156547 A CN 117156547A
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- 238000005516 engineering process Methods 0.000 claims abstract description 228
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- 238000004590 computer program Methods 0.000 description 7
- 238000009825 accumulation Methods 0.000 description 3
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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Abstract
The application discloses a positioning method and a positioning device, wherein the method comprises the following steps: acquiring state information of a preset positioning technology, and judging whether the current moment meets an updating condition according to the state information, wherein the state information characterizes the positioning accuracy of the preset positioning technology. If yes, the preset positioning technology is indicated to meet the positioning requirement, and then a first position at the current moment is determined according to the preset positioning technology; updating an initial position of the Vslam positioning technology according to the first position; and positioning according to the updated Vslam positioning technology. The method has the advantages that the positioning result of the Vslam positioning technology is actively corrected, the positioning error of the Vslam positioning technology caused by track drift is eliminated, the accuracy of the initial position of the updated Vslam positioning technology is ensured, and the positioning accuracy of the updated Vslam positioning technology is further improved.
Description
Technical Field
The present application relates to the field of wireless communications technologies, and in particular, to a positioning method and apparatus.
Background
In an indoor scene, an indoor positioning technology is used as auxiliary positioning of satellite positioning, so that the problem that a satellite signal is weak and cannot penetrate a building when reaching the ground is solved, for example, the indoor positioning technology comprises a Vslam (Visual Simultaneous Localization and Mapping, visual synchronous positioning and drawing) positioning technology realized based on a visual navigation system.
The Vslam positioning technology is used for determining the current position and identifying the motion track by filtering and calculating the acquired adjacent frame images, so that indoor positioning is realized. However, along with the accumulation of the adjacent frame images, the Vslam positioning technology aggravates the track drift (drift), so as to reduce the accuracy of identifying the motion track by the Vslam positioning technology, which results in large positioning error and low accuracy of the Vslam positioning technology.
Therefore, how to reduce the positioning error of the Vslam positioning technology and improve the positioning accuracy of the Vslam positioning technology is a technical problem that needs to be solved at present.
Disclosure of Invention
The embodiment of the application provides a positioning method and a positioning device, which are used for reducing the positioning error of a Vslam positioning technology and improving the positioning accuracy of the Vslam positioning technology.
In a first aspect, an embodiment of the present application provides a positioning method, where the method is applied to a terminal device, and includes:
the terminal equipment acquires state information of a preset positioning technology, wherein the state information characterizes positioning accuracy of the preset positioning technology;
the terminal equipment judges whether the current moment meets the updating condition according to the state information, if so, the first position of the current moment is determined according to the preset positioning technology;
the terminal equipment updates the initial position of the Vslam positioning technology according to the first position;
and the terminal equipment performs positioning according to the updated Vslam positioning technology.
In the above technical solution, if the state information of the preset positioning technology is determined at the current time to meet the update condition, the positioning accuracy of the preset positioning technology at the current time is higher, the positioning requirement is met, the preset positioning technology is further called to obtain the positioning result (i.e., the first position) at the current time, then the initial position of the Vslam positioning technology is updated according to the first position, fusion of the preset positioning technology and the Vslam positioning technology is realized, the initial position of the Vslam positioning technology is actively updated, the track drift aggravation caused by accumulation of the Vslam positioning technology along with the adjacent frame images is avoided, the positioning error of the Vslam positioning technology is reduced, and the positioning accuracy of the Vslam positioning technology is improved.
Optionally, before acquiring the state information of the preset positioning technology, the method further includes:
determining a second position according to the preset positioning technology;
and taking the second position as an initial position of the Vslam positioning technology, and running the Vslam positioning technology.
Optionally, the preset positioning technology is a bluetooth positioning technology; the state information comprises first information and second information, wherein the first information represents the signal strength of the Bluetooth positioning technology, and the second information represents the angle information of the Bluetooth positioning technology;
the step of judging whether the current moment meets the update condition according to the state information comprises the following steps:
if the first information is larger than a first threshold value and the second information is smaller than a second threshold value, determining that the previous moment meets the updating condition;
and if the first information is smaller than or equal to the first threshold value or the second information is larger than or equal to the second threshold value, determining that the update condition is not met at the previous moment.
In the above technical solution, the state information of the preset positioning technology has a preset association with the positioning accuracy of the preset positioning technology. The first information of the preset positioning technology is in direct proportion to the positioning accuracy of the preset positioning technology, for example, the larger the first information is, the stronger the signal strength of the Bluetooth positioning technology is, so that the positioning accuracy of the Bluetooth positioning technology is higher; when the second information is smaller than the second threshold value, the positioning error teaching of the Bluetooth positioning technology is small, so that the positioning accuracy of the Bluetooth positioning technology is higher. Based on the above description, when the first information is determined to be greater than the first threshold value and the second information is determined to be less than the second threshold value, the positioning accuracy of the preset positioning technology at the current moment is higher, the positioning requirement is met, the preset positioning technology is further called to obtain the positioning result (namely the first position) at the current moment, then the initial position of the Vslam positioning technology is updated according to the first position, the initial position of the Vslam positioning technology is actively updated, the accuracy of the initial position of the updated Vslam positioning technology is ensured, and the positioning accuracy of the updated Vslam positioning technology is further improved.
Optionally, updating the initial position of the Vslam positioning technology according to the first position includes:
the first position is taken as an initial position of the Vslam positioning technology.
In a second aspect, an embodiment of the present application provides a positioning device, including:
the acquisition module is used for acquiring state information of a preset positioning technology, wherein the state information characterizes the positioning accuracy of the preset positioning technology;
the processing module is used for judging whether the current moment meets the updating condition according to the state information, if so, determining a first position of the current moment according to the preset positioning technology;
updating an initial position of a Vslam positioning technology according to the first position;
and positioning according to the updated Vslam positioning technology.
Optionally, the processing module is further configured to:
before acquiring state information of a preset positioning technology, determining a second position according to the preset positioning technology;
and taking the second position as an initial position of the Vslam positioning technology, and running the Vslam positioning technology.
Optionally, the preset positioning technology is a bluetooth positioning technology; the state information comprises first information and second information, wherein the first information represents the signal strength of the Bluetooth positioning technology, and the second information represents the angle information of the Bluetooth positioning technology;
the processing module is specifically configured to:
if the first information is larger than a first threshold value and the second information is smaller than a second threshold value, determining that the previous moment meets the updating condition;
and if the first information is smaller than or equal to the first threshold value or the second information is larger than or equal to the second threshold value, determining that the update condition is not met at the previous moment.
Optionally, the processing module is specifically configured to:
the first position is taken as an initial position of the Vslam positioning technology.
In a third aspect, an embodiment of the present application further provides a computer apparatus, including:
a memory for storing program instructions;
and the processor is used for calling the program instructions stored in the memory and executing the positioning method according to the obtained program.
In a fourth aspect, embodiments of the present application also provide a computer-readable storage medium storing computer-executable instructions for causing a computer to perform the above-described positioning method.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of a motion track based on a Vslam positioning technology according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a system architecture according to an embodiment of the present application;
FIG. 3 is a flow chart of a positioning method according to an embodiment of the present application;
fig. 4 is a flow chart of a positioning method according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of a positioning device according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of a positioning device according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be described in further detail below with reference to the accompanying drawings, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
The positioning technology is widely applied to various business scenes, such as markets, airport parking lots, hospitals, various factories and mining enterprises and the like. Positioning techniques can be divided into two types, one type being outdoor positioning techniques and the other type being indoor positioning techniques. For example, in an outdoor scene, an outdoor positioning technology (such as a beidou positioning technology) realized based on a satellite navigation system is used for positioning the position of the terminal equipment. Under an indoor scene, an indoor positioning technology is used as auxiliary positioning of an outdoor positioning technology, so that the problem of low positioning accuracy caused by the fact that satellite signals are weaker and cannot penetrate a building when reaching the ground is solved.
At present, indoor positioning technology is generally implemented by adopting technologies such as wireless communication, base stations and the like, and is used for positioning or monitoring the position of terminal equipment in an indoor space. Indoor wireless location technologies include, but are not limited to, wi-Fi location technologies, bluetooth location technologies, infrared location technologies, ultra wideband location technologies, RFID location technologies, zigBee location technologies, ultrasonic location technologies, vslam location technologies, and the like.
The Vslam positioning technology is realized based on a navigation system-visual navigation system of terminal equipment, the terminal equipment performs image acquisition on surrounding environment through a camera, then quantitatively estimates position change between adjacent frames according to adjacent frame images in the images, then connects the position change between a plurality of adjacent frame images to form a motion track of the terminal equipment, and further determines the motion track of the terminal equipment and the position of the terminal equipment.
However, along with the accumulation of the adjacent frame images, the track drift (drift) of the Vslam positioning technology is aggravated, so that the accuracy of identifying the motion track by the Vslam positioning technology is reduced, and the positioning error of the Vslam positioning technology is large and the accuracy is low. Referring to fig. 1, fig. 1 is a schematic diagram of a motion track based on a Vslam positioning technology according to an embodiment of the present application, where a solid line represents an actual motion track of a terminal device, and a dotted line represents a motion track (i.e., a drift track) identified by the Vslam positioning technology to the terminal device. It can be seen that over time, the Vslam positioning technique has increasingly larger positioning errors and lower accuracy. Therefore, the application provides a positioning scheme based on the Vslam positioning technology, which is used for reducing the positioning error of the Vslam positioning technology and improving the positioning accuracy of the Vslam positioning technology.
Fig. 2 schematically illustrates a system architecture to which embodiments of the present application are applied, the system architecture including a terminal device 210 and a base station 220.
The base station 220 is configured to perform signal interaction with the terminal device 210, and assist the terminal device 210 in determining state information of a preset positioning technology.
The terminal device 210 is provided with a Vslam positioning technology and a preset positioning technology, the terminal device 210 determines state information of the preset positioning technology through signal interaction with the base station 220, when the state information of the preset positioning technology is determined to meet the updating condition, the terminal device 210 is positioned according to the preset positioning technology to obtain a first position of the terminal device 210 at the current moment, then the initial position of the Vslam positioning technology is updated according to the first position, and finally the position of the terminal device 210 is positioned according to the updated Vslam positioning technology.
It will be appreciated that the terminal device 210 is a device of a User, and thus the terminal device 210 may be referred to as a UE (User Equipment), and the location of the terminal device 210 may be referred to as a location of the User corresponding to the terminal device 210, i.e. the location of the User. The terminal device 210 is a device having a man-machine interaction function with a base station and a core network, for example, the terminal device 210 may be a mobile phone, a tablet computer, a notebook computer, a netbook, a vehicle-mounted device, a business intelligent terminal (including a video phone, a conference desktop intelligent terminal, etc.), a personal digital assistant (personal digital assistant, PDA), an augmented reality (aug mented reality, AR) \virtual reality (VR) device, etc., and the embodiment of the present application does not limit the specific form of the terminal device 210.
It should be noted that the structure shown in fig. 2 is merely an example, and the embodiment of the present application is not limited thereto.
Based on the above description, fig. 3 is a schematic flow diagram schematically illustrating a positioning method according to an embodiment of the present application, where the flow is applied to the terminal device shown in the above, as shown in fig. 3, and the flow includes:
step 310, status information of a preset positioning technology is obtained.
In the embodiment of the application, before the state information of the preset positioning technology is acquired, the second position is determined according to the preset positioning technology. For example, the user may perform a touch operation or a voice operation on an application program corresponding to a preset positioning technology installed in the terminal device to trigger a positioning request, and then obtain a second position where the preset positioning technology positions the terminal device. After determining the second position, taking the second position as an initial position of the Vslam positioning technology, and running the Vslam positioning technology. Based on the above-mentioned fig. 1, it can be seen that the Vslam positioning technology is based on an initial position, uses an image corresponding to the initial position as an initial image, then collects the images frame by frame, and identifies a motion track of the terminal device according to the collected images.
The state information characterizes the positioning accuracy of a preset positioning technique. Illustratively, the preset positioning technology is a bluetooth positioning technology, and the state information of the bluetooth positioning technology includes first information and second information, where the first information indicates signal strength of the bluetooth positioning technology, and the second information indicates angle information of the bluetooth positioning technology, such as UL-AoA (Uplink Angles of Arrival, uplink arrival angle) and/or DL-AoD (Downlink Angle of Departure, downlink departure angle) of the bluetooth positioning technology. The UL-AoA is a direction of an uplink reference signal measured by the base station to reach the base station, and the DL-AoD is a transmitting beam direction of a downlink reference signal reported by the terminal device. It is understood that the preset positioning technology may be other positioning technologies, and the first information of the preset positioning technology represents the signal strength of the preset positioning technology running on the terminal device, and the second information represents the attribute information of the preset positioning technology. For example, the preset positioning technology may also be a WiFi positioning technology, and the second information of the WiFi positioning technology may be channel ratio information.
In a possible implementation manner, the state information of the preset positioning technology may be periodically acquired by the terminal device, for example, the terminal device acquires the first information and the second information of the bluetooth positioning technology according to a period of 1 minute.
In another possible implementation manner, the terminal device acquires the state information of the bluetooth positioning technology when the acquisition condition is triggered again. For example, when the terminal device is at the bluetooth beacon position, the acquisition condition is triggered, so as to acquire the first information and the second information of the bluetooth positioning technology.
Step 320, judging whether the current time meets the update condition according to the state information, if yes, determining the first position of the current time according to the preset positioning technology.
In the embodiment of the application, the state information of the preset positioning technology has preset correlation with the positioning accuracy of the preset positioning technology. The first information of the preset positioning technology is in direct proportion to the positioning accuracy of the preset positioning technology, for example, the larger the first information is, the stronger the signal strength of the Bluetooth positioning technology is, and further the higher the positioning accuracy of the Bluetooth positioning technology is; when the second information is smaller than the second threshold value, the positioning error of the Bluetooth positioning technology is smaller, and the positioning accuracy of the Bluetooth positioning technology is higher. Therefore, whether the current moment meets the update condition can be judged according to the first information and the second information of the preset positioning technology. For example, if the first information is greater than the first threshold and the second information is less than the second threshold, determining that the previous time satisfies the update condition; if the first information is smaller than or equal to the first threshold value or the second information is larger than or equal to the second threshold value, determining that the update condition is not met at the previous moment. The first threshold and the second threshold may be empirically preset values, for example, the first threshold is 10db, and the second threshold is 30 °, which is not particularly limited herein.
In a possible implementation manner, whether the current moment meets the update condition is judged according to first information of a preset positioning technology. For example, if the first information is greater than the first threshold, determining that the previous time satisfies the update condition; and if the first information is smaller than or equal to the first threshold value, determining that the previous moment does not meet the updating condition.
In another possible implementation manner, whether the current moment meets the update condition is judged according to second information of the preset positioning technology. For example, if the second information is smaller than the second threshold value, determining that the previous moment satisfies the update condition; and if the second information is larger than or equal to the second threshold value, determining that the previous moment does not meet the updating condition.
In still another possible implementation manner, priorities of the first information and the second information are preset, and whether the current moment meets the update condition is judged according to the first information and the second information of the preset positioning technology based on the priorities of the first information and the second information. For example, the priority of the first information is greater than the priority of the second information, if the first information is greater than the first threshold, the second information is greater than or equal to the second threshold, which indicates that the first information meets the update condition, and the second information does not meet the update condition, because the priority of the first information is greater than the priority of the second information, the update condition is met before the determination; if the first information is smaller than or equal to the first threshold value, the second information is smaller than the second threshold value, the first information does not meet the updating condition, and the second information meets the updating condition.
When the current moment is determined to meet the updating condition, the positioning accuracy of the preset positioning technology at the current moment is higher, the positioning requirement is met, the process of updating the initial position of the Vslam positioning technology is further indicated to be executed, then the preset positioning technology is called to obtain the positioning result (namely the first position) of the preset positioning technology at the moment, and the process of updating the initial position of the Vslam positioning technology is actively executed according to the first position, so that the positioning error of the Vslam positioning technology caused by track drift is actively eliminated, the accuracy of the initial position of the updated Vslam positioning technology is ensured, and the positioning accuracy of the updated Vslam positioning technology is further improved.
Step 330, updating the initial position of the Vslam positioning technique according to the first position.
In the embodiment of the application, after the first position is determined, the first position is used as the initial position of the Vslam positioning technology. Therefore, the first position represents higher positioning accuracy and meets the positioning result of the positioning requirement, and the first position is used as the initial position of the Vslam positioning technology, so that the positioning error of the Vslam positioning technology caused by track drift is actively eliminated, and the accuracy of the initial position of the Vslam positioning technology at the updated moment is ensured.
Step 340, the terminal device performs positioning according to the updated Vslam positioning technology.
In the embodiment of the application, the terminal equipment is positioned according to the updated Vslam positioning technology, and the positioning accuracy of the terminal equipment is improved.
Based on the technical scheme, when the positioning accuracy of the Bluetooth positioning technology is higher according to the first information and the second information of the Bluetooth positioning technology and the positioning requirement is met, the Bluetooth positioning technology is called to obtain the first position positioned by the Bluetooth positioning technology, then the initial position of the Vslam positioning technology is updated according to the first position, the active correction of the positioning result of the Vslam positioning technology is realized, the positioning error of the Vslam positioning technology caused by track drift is eliminated, and the accuracy of the initial position of the Vslam positioning technology at the updated moment is ensured.
In order to better explain the above technical solution, fig. 4 schematically illustrates a flowchart of a positioning method provided by an embodiment of the present application, where, as shown in fig. 4, the flowchart includes:
step 410, a first positioning result of a bluetooth positioning technique is obtained.
And the user calls an application program corresponding to the Bluetooth positioning technology installed by the user at the first moment through the terminal equipment to obtain a first positioning result (namely the second position) of the Bluetooth positioning technology for positioning the terminal equipment, and the position of the user at the first moment is obtained.
Step 420, setting the first positioning result to an initial position of the Vslam positioning technique.
After the terminal equipment sets the first positioning result as the initial position of the Vslam positioning technology, running an application program corresponding to the Vslam positioning technology, and positioning the terminal equipment.
Step 430, collecting first information and second information of the bluetooth positioning technology.
And at the second moment, when the terminal equipment determines that the acquisition condition is met according to the Bluetooth beacon corresponding to the Bluetooth positioning technology, acquiring the signal intensity (namely the first information) and the AoA/AoD (namely the second information) of the Bluetooth positioning technology of the terminal equipment. For example, at the second moment, the signal strength of the bluetooth positioning technology of the terminal device is 12, and the aoa is 15 °.
Step 440, determining whether the first information is greater than a first threshold; if yes, go to step 450, otherwise return to step 430.
Step 450, judging whether the second information is smaller than a second threshold; if yes, go to step 460, otherwise return to step 430.
Step 460, obtain a second positioning result of the bluetooth positioning technology.
And at a second moment, the terminal equipment invokes an application program corresponding to the Bluetooth positioning technology installed by the terminal equipment to obtain a second positioning result (namely the first position) of the Bluetooth positioning technology for positioning the terminal equipment, and the position of the user at the second moment is obtained.
Step 470, setting the second positioning result to the initial position of the Vslam positioning technique.
After the terminal equipment sets the second positioning result as the initial position of the Vslam positioning technology, updating the initial position of the Vslam positioning technology is realized, and an application program corresponding to the updated Vslam positioning technology is operated to position the terminal equipment.
Based on the technical scheme, when the Bluetooth positioning technology meets the positioning requirement according to the signal intensity of the Bluetooth positioning technology and the AoA/AoD, a first position positioned by the Bluetooth positioning technology is obtained, then the initial position of the Vslam positioning technology is updated according to the first position, the active correction of the positioning result of the Vslam positioning technology is realized, the positioning error of the Vslam positioning technology caused by track drift is eliminated, and the accuracy of the initial position of the Vslam positioning technology at the updated moment is ensured.
Based on the same technical concept, fig. 5 schematically illustrates a structural schematic diagram of a positioning device provided by an embodiment of the present application, where the device may execute the flow of the positioning method.
As shown in fig. 5, the apparatus specifically includes:
an obtaining module 510, configured to obtain state information of a preset positioning technology, where the state information characterizes positioning accuracy of the preset positioning technology;
the processing module 520 is configured to determine whether the current time meets an update condition according to the state information, and if yes, determine a first position of the current time according to the preset positioning technology;
updating an initial position of a Vslam positioning technology according to the first position;
and positioning according to the updated Vslam positioning technology.
Optionally, the processing module 520 is further configured to:
before acquiring state information of a preset positioning technology, determining a second position according to the preset positioning technology;
and taking the second position as an initial position of the Vslam positioning technology, and running the Vslam positioning technology.
Optionally, the preset positioning technology is a bluetooth positioning technology; the state information comprises first information and second information, wherein the first information represents the signal strength of the Bluetooth positioning technology, and the second information represents the angle information of the Bluetooth positioning technology;
the processing module 520 is specifically configured to:
if the first information is larger than a first threshold value and the second information is smaller than a second threshold value, determining that the previous moment meets the updating condition;
and if the first information is smaller than or equal to the first threshold value or the second information is larger than or equal to the second threshold value, determining that the update condition is not met at the previous moment.
Optionally, the processing module 520 is specifically configured to:
the first position is taken as an initial position of the Vslam positioning technology.
In a simple embodiment, one skilled in the art will appreciate that the grid query apparatus of the above embodiment may take the form shown in fig. 6. As shown in fig. 6, the apparatus 600 includes at least one processor 610 and an interface circuit 620. The processor 610 and the interface circuit 620 are coupled to each other. It is understood that the interface circuit 620 may be a transceiver or an input-output interface. Optionally, the apparatus 600 may further include a memory 630 for storing instructions executed by the processor 610 or for storing input data required by the processor 610 to execute instructions or for storing data generated after the processor 610 executes instructions. The specific connection medium between the processor 610 and the memory 630 is not limited in the embodiment of the application. The processor 610 may communicate with other devices via the interface circuit 620 for data transmission.
When the apparatus 600 is used to implement the positioning method flows shown in fig. 3 and fig. 4, the processor 610 is used to implement the functions of the processing module 520, and the interface circuit 620 is used to implement the functions of the obtaining module 510.
When the apparatus 600 is applied to a chip of a terminal, the terminal chip implements the functions of the terminal device in the above-described method embodiment. The terminal chip receives information from other modules (such as a radio frequency module or an antenna) in the terminal device, and the information is sent to the terminal device by the network device; alternatively, the terminal chip sends information to other modules (e.g., radio frequency modules or antennas) in the terminal device, which the terminal sends to the network device.
When the apparatus 600 is applied to a module of a network device, the network device module implements the functions of the network device in the above-described method embodiment. The network device module receives information from other modules (such as a radio frequency module or an antenna) in the network device, the information being transmitted to the network device by the terminal; alternatively, the network device module sends information to other modules in the network device (e.g., radio frequency modules or antennas), which the network device sends to the terminal device. The network device module may be a baseband chip of the network device, or may be a DU or other module, where the DU may be a DU under an open radio access network (open radio access network, O-RAN) architecture.
It is to be appreciated that the processor in embodiments of the application may be a central processing unit (Central Processing Unit, CPU), other general purpose processor, digital signal processor (Digital Signal Processor, DSP), application specific integrated circuit (Application Specific Integrated Circuit, ASIC), field programmable gate array (Field Programmable Gate Array, FPGA) or other programmable logic device, transistor logic device, hardware components, or any combination thereof. The general purpose processor may be a microprocessor, but in the alternative, it may be any conventional processor.
Based on the same technical concept, the embodiment of the application further provides a computer device, including:
a memory for storing program instructions;
and the processor is used for calling the program instructions stored in the memory and executing the positioning method according to the obtained program.
Based on the same technical idea, the embodiment of the present application further provides a computer-readable storage medium storing computer-executable instructions for causing a computer to execute the above positioning method.
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 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 data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, 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 data processing apparatus 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 data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
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, comprising:
acquiring state information of a preset positioning technology, wherein the state information characterizes positioning accuracy of the preset positioning technology;
judging whether the current moment meets the updating condition according to the state information, if so, determining a first position of the current moment according to the preset positioning technology;
updating an initial position of a Vslam positioning technology according to the first position;
and positioning according to the updated Vslam positioning technology.
2. The method of claim 1, further comprising, prior to obtaining the status information of the predetermined positioning technique:
determining a second position according to the preset positioning technology;
and taking the second position as an initial position of the Vslam positioning technology, and running the Vslam positioning technology.
3. The method of claim 1, wherein the predetermined positioning technique is a bluetooth positioning technique; the state information comprises first information and second information, wherein the first information represents the signal strength of the Bluetooth positioning technology, and the second information represents the angle information of the Bluetooth positioning technology;
the step of judging whether the current moment meets the update condition according to the state information comprises the following steps:
if the first information is larger than a first threshold value and the second information is smaller than a second threshold value, determining that the previous moment meets the updating condition;
and if the first information is smaller than or equal to the first threshold value or the second information is larger than or equal to the second threshold value, determining that the update condition is not met at the previous moment.
4. The method of claim 1, wherein updating an initial position of a Vslam positioning technique based on the first position comprises:
the first position is taken as an initial position of the Vslam positioning technology.
5. A positioning device, comprising:
the acquisition module is used for acquiring state information of a preset positioning technology, wherein the state information characterizes the positioning accuracy of the preset positioning technology;
the processing module is used for judging whether the current moment meets the updating condition according to the state information, if so, determining a first position of the current moment according to the preset positioning technology;
updating an initial position of a Vslam positioning technology according to the first position;
and positioning according to the updated Vslam positioning technology.
6. The apparatus of claim 5, wherein the processing module is further to:
before acquiring state information of a preset positioning technology, determining a second position according to the preset positioning technology;
and taking the second position as an initial position of the Vslam positioning technology, and running the Vslam positioning technology.
7. The apparatus of claim 5, wherein the predetermined positioning technique is a bluetooth positioning technique; the state information comprises first information and second information, wherein the first information represents the signal strength of the Bluetooth positioning technology, and the second information represents the angle information of the Bluetooth positioning technology;
the processing module is specifically configured to:
if the first information is larger than a first threshold value and the second information is smaller than a second threshold value, determining that the previous moment meets the updating condition;
and if the first information is smaller than or equal to the first threshold value or the second information is larger than or equal to the second threshold value, determining that the update condition is not met at the previous moment.
8. The apparatus of claim 5, wherein the processing module is specifically configured to:
the first position is taken as an initial position of the Vslam positioning technology.
9. A computer device, comprising:
a memory for storing program instructions;
a processor for invoking program instructions stored in said memory to perform the method of any of claims 1 to 4 in accordance with the obtained program.
10. A computer-readable storage medium storing computer-executable instructions for causing a computer to perform the method of any one of claims 1 to 4.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310986774.5A CN117156547A (en) | 2023-08-07 | 2023-08-07 | Positioning method and device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310986774.5A CN117156547A (en) | 2023-08-07 | 2023-08-07 | Positioning method and device |
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| CN117156547A true CN117156547A (en) | 2023-12-01 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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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