WO2013071885A1 - 基于位置预取的定位方法及系统 - Google Patents

基于位置预取的定位方法及系统 Download PDF

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Publication number
WO2013071885A1
WO2013071885A1 PCT/CN2012/084774 CN2012084774W WO2013071885A1 WO 2013071885 A1 WO2013071885 A1 WO 2013071885A1 CN 2012084774 W CN2012084774 W CN 2012084774W WO 2013071885 A1 WO2013071885 A1 WO 2013071885A1
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WIPO (PCT)
Prior art keywords
terminal
trajectory
positioning
location
module
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PCT/CN2012/084774
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English (en)
French (fr)
Inventor
殷磊
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北京百度网讯科技有限公司
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Application filed by 北京百度网讯科技有限公司 filed Critical 北京百度网讯科技有限公司
Priority to US14/358,236 priority Critical patent/US9107181B2/en
Publication of WO2013071885A1 publication Critical patent/WO2013071885A1/zh

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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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • G01C21/30—Map- or contour-matching
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0294—Trajectory determination or predictive filtering, e.g. target tracking or Kalman filtering
    • 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
    • H04W4/027—Services making use of location information using location based information parameters using movement velocity, acceleration information

Definitions

  • the invention relates to a mobile positioning technology, in particular to a positioning pre-fetching based positioning method and system.
  • Mobile positioning refers to acquiring the location information (latitude and longitude coordinates) of a mobile phone or terminal user through a specific positioning technology, and marking the location or location of the object to be located on the electronic map.
  • GPS Global Positioning System
  • GPS Global Positioning System
  • GPS Global Positioning System
  • Base Station Wireless Fidelity, the wireless network
  • the positioning success rate, positioning accuracy and positioning speed are generally used to describe the characteristics of the three positioning technologies.
  • the positioning success rate refers to the probability of successfully receiving the positioning information after the positioning request signal is transmitted.
  • the positioning accuracy refers to the deviation of the received positioning information from the position where the actual positioning request signal is issued.
  • the positioning speed refers to the time interval from when the positioning request signal is sent to when the positioning information is received.
  • the GPS-based positioning method uses the GPS positioning module on the mobile phone to transmit its own position signal to the positioning background to realize the positioning of the mobile mobile phone.
  • the GPS positioning accuracy is high, but the speed is slow.
  • the base station positioning is to determine the location of the mobile phone by using the measured distance of the base station to the distance of the mobile phone. Base station positioning does not require the mobile phone to have GPS positioning capability, but the accuracy depends largely on the distribution and coverage of the base station, and sometimes the error will exceed one kilometer.
  • WIFI positioning is a way to locate in a small range by using WIFI. The accuracy of WIFI positioning is second only to GPS positioning, but the speed is higher than GPS positioning.
  • the user's location is determined according to the GPS; if the user's mobile phone does not have GPS or the GPS is not turned on, the location is determined by the current base station and the WIFI hotspot of the user. If the user is not in the coverage of the base station and WIFI, such as the user in a high-speed moving train, car or subway, the location cannot be collected due to poor signal coverage or missing signal due to incomplete coverage of the base station or the base station along the track. Information, the result of positioning failure may occur, resulting in poor positioning success rate. Even if the positioning is successful, its positioning accuracy and positioning speed can not meet the user's positioning needs.
  • the present invention provides a positioning pre-fetching positioning method and system, prefetching positioning information on a motion trajectory according to current position information, and providing positioning service by prefetching positioning information when a positioning signal cannot be obtained. Improve the positioning success rate and correct the pre-fetched positioning information to improve positioning accuracy and positioning speed.
  • the positioning request information of the receiving terminal is used to determine the location and the moving track of the terminal.
  • the positioning request information of the terminal is received at the correcting point, and the moving direction and the moving speed of the terminal are determined according to the position of the correcting point and the predicted trajectory;
  • the traffic route of the terminal location is acquired as the predicted trajectory in the road network information.
  • the traffic line is used as the predicted track, and specifically includes:
  • step S202 Determine whether the terminal location is associated with a POI of the road network information. If the association is performed, execute step S203. If no, perform step S204.
  • the POI is a line that can change or convert the traffic line in the road network information. Change point
  • the moving track is associated with a traffic line in the road network information, including:
  • the movement trajectory coincides with the traffic line
  • the movement trajectory moves onto a traffic line.
  • the POI comprises a junction of a rail transit station, a highway station, and a road segment.
  • the correction point is a point on the predicted trajectory that can be located by a GPS signal or a base station signal or a WIFI hotspot signal.
  • the step S3 specifically includes:
  • S301 Receive positioning request information of the terminal at a correction point, and record a time when the first correction point is reached and a position of the correction point.
  • the step S4 specifically includes:
  • step S403 when receiving the positioning request information at the next moment, if the receiving time exceeds the fixed period of the terminal transmitting the positioning signal, the positioning request information is not received, then The prefetch location is taken as an updated location.
  • the movement trajectory of the terminal is determined according to the IMEI number recorded in the received positioning request information.
  • an embodiment of the present invention provides a location pre-fetching based positioning system, including:
  • Receiving a request module configured to receive positioning request information of the terminal, and determine the terminal location and the moving track;
  • a trajectory prediction module configured to calculate a predicted trajectory according to the moving trajectory and the road network information
  • a track confirmation module configured to determine a moving direction and a moving speed of the terminal according to the position of the correcting point and the predicted trajectory after receiving the positioning request information of the terminal at the correcting point;
  • a positioning module configured to pre-fetch the predicted trajectory of the terminal in the moving direction according to the moving direction and the moving speed of the terminal.
  • the trajectory prediction module acquires the traffic line of the terminal location as the predicted trajectory in the road network information after the movement trajectory is interrupted.
  • the trajectory prediction module uses the traffic line as a predicted trajectory when the trajectory is associated with the traffic line in the road network information, and specifically includes:
  • An update module configured to acquire or update a traffic line of the terminal location according to the movement trajectory
  • An association module configured to determine whether the terminal location is associated with a POI of a traffic line
  • a trajectory module configured to retrieve the road network information as a predicted trajectory according to the association result of the associated module, and if relevant, retrieve the running trajectory of the traffic line on the POI as a predicted trajectory; if not, retrieve the The traffic line of the moving track is used as the predicted trajectory.
  • the moving track is associated with a traffic line in the road network information, including:
  • the movement trajectory coincides with the traffic line
  • the movement trajectory moves onto a traffic line.
  • the POI comprises a junction of a rail transit station, a highway station, and a road segment.
  • the correction point is a point on the predicted trajectory that can be located by a GPS signal or a base station signal or a WIFI hotspot signal.
  • the track confirmation module specifically includes:
  • a acknowledgment direction module configured to determine, according to the positioning request information received by the receiving request module at the correcting point, a direction of motion of the terminal along a predicted trajectory to a direction in which the correcting point is located;
  • a speed calculation module configured to calculate a motion speed of the terminal according to the positioning request information received by the receiving request module at the correction point.
  • the positioning module specifically includes:
  • a pre-fetching trajectory module configured to pre-fetch a predicted trajectory of the terminal in the moving direction according to a motion direction determined by the trajectory confirmation module;
  • a position pre-fetching module configured to calculate a moving speed calculated by the trajectory confirmation module, and calculate a position reached at a next moment as a pre-fetching position on the pre-fetched predicted trajectory;
  • a location confirmation module configured to receive location request information at a next moment, determine a location of the terminal at this time, and determine whether the location is on the predicted trajectory, and if so, update the location location to the location, otherwise , the prefetch location is used as the updated location.
  • the location confirmation module when receiving the positioning request information at the next moment, does not receive the positioning request information if the receiving time exceeds a fixed period of the terminal transmitting the positioning signal, The pre-fetch position is used as the positioning position.
  • the receiving request module determines the movement trajectory of the terminal according to the IMEI number recorded in the received positioning request information.
  • the positioning pre-fetching positioning method and system provided by the present invention predicts the user's motion trajectory according to the current location information, and pre-fetches the positioning information on the motion trajectory, which is not identifiable on the motion route.
  • the user provides a location service, and can also provide location information display results to improve the location success rate.
  • the position pre-fetching is used to provide the positioning service.
  • the wrong position information can be corrected in time, and the positioning accuracy and the positioning speed are improved.
  • FIG. 1 is a flowchart of a location prefetch based positioning method according to an embodiment of the present invention
  • FIG. 2 is a specific flowchart of a location prefetch-based positioning method according to an embodiment of the present invention
  • FIG. 3 is a circuit diagram of Embodiment 1 of the present invention.
  • FIG. 4 is a block diagram of a location prefetch based positioning system according to an embodiment of the present invention.
  • the present invention provides a location prefetch-based positioning method, as shown in FIG. 1 and FIG. 2, including the following steps:
  • the positioning request information of the receiving terminal determines the terminal location and the moving track.
  • the location information of the terminal may be determined, and the distance and time of the location of the location are obtained by at least two times of positioning, that is, the current direction and speed of the terminal may be calculated, thereby The movement track of the terminal is tracked. After multiple positioning, the determined movement trajectory is more accurate.
  • the positioning request information may be received by any one of a GPS, a base station, or a WIFI hotspot.
  • the information may be switched according to actual conditions.
  • the road network information may use the road network data information provided by the traffic information center, or may also collect or collect the positioning information of the sections along the rail transit line and the expressway along the road, calculate the coordinate information along the line and the running speed of each section, and the like. Pre-stored in the road network database.
  • Road network information consists of various types of transportation networks, generally including primary and secondary trunk roads, branch roads, rail transit (such as subways, light rails, etc.), expressways and highways, etc., according to traffic roads. Geometry, length, and road identification, POI (Point Of Interest, points of interest, etc. are indicated on the map.
  • the direction along the road and the road along the road can better constrain the movement direction and movement speed of the end user. Therefore, in the process of positioning, position prediction is performed in combination with the traffic line in the road network information.
  • the traffic lines include rail transit, highways, and sections.
  • the combination of the movement trajectory and the road network information may acquire the terminal according to the movement trajectory in the road network information after the movement trajectory is interrupted, that is, when the positioning request signal is temporarily unavailable.
  • the location of the traffic line as a predicted trajectory.
  • the moving trajectory associated with the traffic line in the road network information includes: the moving trajectory coincides with the traffic line; or the moving trajectory moves onto the traffic line.
  • using the traffic line as the predicted track specifically includes the following steps:
  • the POI is a change point that can change or convert a traffic line in the road network information, and generally includes a transit point of a rail transit station, a highway station, and a road section, for example, a subway station name, an intersection, and a forked intersection.
  • a transit point of a rail transit station for example, a subway station name, an intersection, and a forked intersection.
  • the name of the subway station such as “Zhongguancun” subway station, “Xizhimen” subway station, and the intersection of “Qianmen Bridge” intersection.
  • the coordinate information of the terminal location is consistent with the coordinate information of the POI, and if they are consistent, it is considered to be associated. In practical applications, it can be set to a reasonable error range. If the distance between two coordinate points is smaller than the error range, it is determined to be consistent.
  • the direction of motion of the terminal may change.
  • the most likely direction of motion is along the direction of the traffic line. Therefore, the trajectory of the traffic line on the POI is retrieved as the predicted trajectory.
  • the terminal location is associated with the POI of the subway station
  • the subway running track of the subway station is retrieved as a predicted trajectory.
  • the current location is associated with the POI of the highway toll station
  • the highway where the toll booth is located is retrieved as the predicted trajectory.
  • the point of interest includes a plurality of traffic lines, all lines associated with the POI are retrieved as predicted trajectories.
  • the terminal position When the terminal position is not associated with the POI, it indicates that the movement trajectory of the terminal is moving on the traffic route, and the movement direction of the terminal usually does not change, and the movement continues along the original movement direction. Therefore, the traffic line where the moving track is located can be retrieved as the predicted track. For example, the previously tracked trajectory is on the “North Third Ring Road West” road in the road network information, and the “North Third Ring Road West” route is taken as the predicted trajectory.
  • the positioning request information of the terminal is received at the correcting point, and the moving direction and the moving speed of the terminal are determined according to the position of the correcting point and the predicted trajectory.
  • the direction of motion of the terminal cannot be determined at this time, and it needs to be determined by the positioning request signal received again. In this process, the direction of motion of the terminal can be determined by receiving the positioning request information again.
  • the correction point is a point on the predicted trajectory that can be located by a GPS signal or a base station signal or a WIFI hotspot signal.
  • a number of correction points are marked on each predicted trajectory to facilitate confirmation of the predicted position and to derive the direction of motion and the speed of movement of the terminal.
  • the correcting point is a point on the predicted trajectory.
  • a correcting point can be marked at a certain distance (such as several meters or tens of meters), and the correcting point can be marked on all possible moving directions on the predicted trajectory.
  • step S3 specifically includes the following steps:
  • S301 Receive positioning request information of the terminal at a correction point, and record a time when the correction point is first reached and a position of the correction point.
  • the correcting point is a point marked in each direction on the trajectory.
  • the moving direction can be determined, and the moving speed is obtained according to the time interval and the distance of the position.
  • the received positioning request information may first determine whether the obtained positioning position is on the selected predicted trajectory, and if so, determine the moving direction of the terminal, and The motion speed is calculated by the positioning position and the time interval. If not on any predicted trajectory, determining, according to the positioning position, the direction closest to the predicted trajectory as the moving direction of the terminal, the moving speed may temporarily take the average speed on the pre-stored trajectory, or according to the determined trajectory The moving speed is calculated by the projection distance and time interval in the direction.
  • the predicted trajectory in the direction is selected as the trajectory of the terminal for pre-fetching, and the trajectory data in other directions may be discarded.
  • the positioning request information of the next moment is received, if the receiving time exceeds the fixed period of the terminal transmitting the positioning signal, the positioning request information is not received, and the positioning signal is considered to be absent. As a positioning location.
  • the present invention is a process of continuously performing position pre-fetching, and predicting the motion trajectory of the terminal by using the position information and the motion trajectory of the current time, combined with the traffic route trajectory in the road network information, and obtaining the positioning again.
  • a request is made to confirm the direction and speed of the motion trajectory while updating and correcting the predicted position at the next moment.
  • Embodiment 1 as shown in FIG. 3, taking a mobile phone user as an example, the figure shows a schematic diagram of the user going to the subway station 1.
  • the user's location request information is received, the current location of the user is determined, the current direction and speed of the terminal are recorded, and the user's movement trajectory is tracked.
  • the movement trajectory of the user is determined according to the IMEI number recorded in the received positioning request information.
  • IMEI number is the international mobile device ID (International Mobile Equipment Identity) is an "electronic serial number" consisting of 15 digits, uniquely corresponding to each mobile phone.
  • the IMEI number is recorded in the positioning request information sent by the user.
  • the positioning request information of the user is continuously sent at intervals, and generally the positioning request information is sent once every 0.5s or 1s.
  • the positioning request information sent by the user the current position, direction and speed of the user are determined, so that the user's movement trajectory is approached to the direction of the subway station, and when the user enters the subway station, the movement trajectory can be determined.
  • the user is entering the subway station instead of coming out of the subway station.
  • the mobile phone Before entering the subway station, the mobile phone can also search for GPS positioning satellites. GPS signals can be preferably used for positioning. When entering the subway station, GPS positioning satellites cannot be searched, and base station signals or WIFI hotspot signals can be used for positioning.
  • the positioning coordinates of the user at this time are associated with the POI (the coordinate information of the subway station) in the road network information, and the associated POI is the subway station 1, which is a subway station name, then
  • the geographic location along the subway station of the subway station 1 is taken as the predicted trajectory of the user, and a plurality of correction points are marked on the trajectory, and the correction points 11, 12, 13, 21, 22 and 23 are shown in the figure.
  • the correction point is a position covered by the positioning signal, and the positioning signal may be any one of a GPS signal, a base station signal, and a WIFI signal.
  • the correction points are marked in each possible direction of motion before the direction of motion of the user is determined. Determine the direction in which the marking needs to be based on the possible direction of travel of the subway. If the subway has two running directions, the correcting points are marked in both running directions. The correcting points are points along the subway line. You can mark one at a certain distance (such as several meters or tens of meters). In the figure, there are 2 Direction, including correction points 11, 12, 13, 21, 22, 23, and the like. If the subway has four running directions, the correcting points are marked in all four running directions. Similarly, according to the number of directions of the traffic lines in the road network information N (N is a positive integer), the correction points can be marked in N directions.
  • the positioning request information of the user is received at the correction point, and the moving direction of the user is determined according to the position of the correction point where the positioning request information is located at this time.
  • the received user request information reaches the correction point for the first time, the time when the first correction point is reached and the position of the correction point are recorded. If the correction point 11 is reached in FIG. 3, the position information and time according to the correction point 11 are recorded. It is determined that the direction of movement of the user is along the direction of the subway station 1 from the subway station 1 to the correction point 11, that is, from the subway station 1 to the direction of the subway station 2.
  • the movement speed of the user is calculated according to the position of the correction point 11 on the subway and the time of arrival.
  • the coordinate information along the subway line in the direction is pre-fetched, and the coordinate information along the subway line in other directions is discarded, and only one direction of motion is reserved. Coordinate information.
  • the position reached at the next moment is calculated along the pre-fetched subway as the pre-fetch position.
  • Receiving the positioning request information at the next moment determining the location of the user at this time, and determining whether the location is on the predicted trajectory, if yes, updating the locating location to the location; otherwise, using the pre-fetching location as Updated targeting location.
  • the positioning request information When receiving the positioning request information at the next moment, if the receiving time exceeds the fixed period of the positioning signal sent by the terminal, the positioning request information is not received, and the positioning signal is considered as the updated positioning position. .
  • the signal of the train traveling at a high speed is not good, and communication may be temporarily lost.
  • the user's position information can be predicted by the user's motion direction and motion speed, and the predicted location information is displayed when the communication is temporarily lost, and the second positioning is performed according to the available positioning information.
  • To correct the predicted position information and calculate the user's motion speed in real time, so as to perform position prefetching and rectification at the next moment.
  • the average speed of each section along the subway line can be predicted to predict the position of the next moment.
  • the direction is not yet determined, one direction can be selected as the predicted position. . Since the time interval for temporarily losing communication is not too long, the prediction can be performed according to the current motion state, and the positioning success rate and the positioning speed are improved.
  • the positioning signal can be acquired again, the position information of the positioning can be corrected.
  • the base station When the user is on the subway train, there is no way to use GPS positioning because the GPS satellite cannot be searched, and the base station performs positioning. However, when the location pre-fetching method is not used, since the positioning accuracy of the base station is not high, the user may be located on the subway but is located in the area around the subway, such as the base station positioning point in FIG.
  • the position pre-fetching mode can predict that the user's moving direction is moving along the trajectory of the subway, and the positioning position can be corrected from the base station positioning point in the figure to the subway line.
  • the positioning position can be corrected from the base station positioning point in the figure to the subway line.
  • the pre-fetching method combines the road network information such as rail transit, and directly extracts all the points on the road according to the judgment.
  • the positioning accuracy of the base station is not high, the positioning result can be well corrected, and the positioning can be performed.
  • the position is corrected to the subway to avoid the situation where the user is originally on the subway but is positioned to the area around the subway, which improves the positioning accuracy.
  • the present invention further provides a location pre-fetching based positioning system, as shown in FIG. 4, comprising:
  • the receiving request module 10 is configured to receive positioning request information of the terminal, and determine the terminal location and the moving track.
  • the positioning system receives the positioning request information of the terminal by the receiving request module 10, and can determine the terminal location information, and obtain the distance and time of the two positioning positions by at least two positionings, that is, the current moving direction of the terminal can be calculated. And speed to track the movement trajectory of the terminal. After multiple positioning, the determined movement trajectory is more accurate.
  • the positioning request information may be received by using any one of a GPS, a base station, or a WIFI hotspot.
  • the positioning system may switch the signal according to an actual situation.
  • the receiving request module 10 determines the movement trajectory of the terminal according to the IMEI number recorded in the received positioning request information.
  • the trajectory prediction module 20 is configured to calculate a predicted trajectory according to the moving trajectory and the road network information.
  • the road network information may use the road network data information provided by the traffic information center, or may also collect or collect the positioning information of the sections along the rail transit line and the expressway along the road, calculate the coordinate information along the line and the running speed of each section, and the like. Pre-stored in the road network database.
  • Road network information consists of various types of transportation networks, generally including primary and secondary trunk roads, branch roads, rail transit (such as subways, light rails, etc.), expressways and highways, etc., according to traffic roads. Geometry, length, and road identification, POI (Point Of Interest, points of interest, etc. are indicated on the map.
  • the direction along the road and the road along the road can better constrain the movement direction and movement speed of the end user. Therefore, in the process of positioning, position prediction is performed in combination with the traffic line in the road network information.
  • the traffic lines include rail transit, highways, and sections.
  • the trajectory prediction module 20 acquires the traffic line of the terminal location as the predicted trajectory according to the movement trajectory in the road network information after the movement trajectory is interrupted, that is, when the positioning request signal is temporarily unavailable.
  • the trajectory prediction module 20 uses the traffic route as a predicted trajectory when the movement trajectory is associated with the traffic route in the road network information.
  • the case where the movement trajectory is associated with the traffic line in the road network information includes: the movement trajectory coincides with the traffic line; or the movement trajectory moves to the traffic line.
  • the trajectory prediction module 20 specifically includes:
  • the update module 201 is configured to acquire or update a traffic line of the terminal location according to the movement trajectory.
  • the road network information module 201 obtains the road network information of the current location of the terminal in the road network information according to the determined terminal location, and includes data related to various traffic roads such as rail transit and highways within a certain range centering on the current location. .
  • the association module 202 is configured to determine whether the current location of the terminal determined by the receiving request module 10 is associated with a point of interest of the POI road network information of the traffic line acquired by the road network information module 201.
  • the POI is a change point that can change or convert a traffic line in the road network information, and generally includes a transit point of a rail transit station, a highway station, and a road section, for example, a subway station name, an intersection, and a forked intersection.
  • a transit point of a rail transit station for example, a subway station name, an intersection, and a forked intersection.
  • the name of the subway station such as “Zhongguancun” subway station, “Xizhimen” subway station, and the intersection of “Qianmen Bridge” intersection.
  • the association module 202 determines whether the coordinate information of the terminal location and the coordinate information of the POI are consistent, and if they are consistent, it is considered to be associated. In practical applications, it can be set to a reasonable error range. If the distance between two coordinate points is smaller than the error range, it is determined to be consistent.
  • the trajectory module 203 is configured to retrieve the road network information as a predicted trajectory according to the association result of the associated module, and if relevant, retrieve the running trajectory of the traffic line on the POI as a predicted trajectory; if not, retrieve the trajectory The traffic line of the moving track is used as the predicted trajectory.
  • the direction of motion of the terminal may change.
  • the most likely direction of motion is along the direction of the traffic line, and thus the trajectory of the traffic line on the POI is retrieved as the predicted trajectory.
  • the terminal location is associated with the POI of the subway station
  • the subway running track of the subway station is retrieved as a predicted trajectory.
  • the current location is associated with the POI of the highway toll station
  • the highway where the toll booth is located is retrieved as the predicted trajectory.
  • the point of interest includes a plurality of traffic lines, all lines associated with the POI are retrieved as predicted trajectories.
  • the trajectory module 203 determines that the terminal location is not associated with the POI, it indicates that the movement trajectory of the terminal is moving on the traffic route, and the motion direction of the terminal usually does not change, along the original motion. The direction continues to move. Therefore, the traffic line where the moving track is located can be retrieved as the predicted track.
  • the previously tracked trajectory is the “North Third Ring Road West” in the road network information, and the “North Third Ring Road West” line is used as the predicted trajectory.
  • the trajectory confirmation module 30 is configured to determine, after the correction target node receives the positioning request information received by the receiving request module 10, the motion direction and the moving speed of the terminal according to the position of the correcting point and the predicted trajectory.
  • the positioning system can determine the direction of motion of the terminal as long as it receives the positioning request information again.
  • the correction point is a point on the predicted trajectory that can be located by a GPS signal or a base station signal or a WIFI hotspot signal.
  • a number of correction points are marked on each predicted trajectory to facilitate confirmation of the predicted position and to derive the direction of motion and the speed of movement of the terminal.
  • the correcting point is a point on the predicted trajectory.
  • a correcting point can be marked at a certain distance (such as several meters or tens of meters), and the correcting point can be marked on all possible moving directions on the predicted trajectory.
  • the track confirmation module 30 specifically includes:
  • the confirmation direction module 301 is configured to determine, according to the positioning request information received by the receiving request module 10 at the correction point, the direction of motion of the terminal along the predicted trajectory to the direction of the correction point.
  • the speed calculation module 302 is configured to calculate the motion speed of the terminal according to the positioning request information received by the receiving request module 10 at the correction point.
  • the confirmation direction module 301 and the speed calculation module 302 perform calculations by the recorded time of arrival of the correction point for the first time and the position of the correction point.
  • the confirmation direction module 301 determines, according to the recorded position, the direction of motion of the terminal to be along the predicted trajectory to the direction in which the correction point is located.
  • the speed calculation module 302 calculates the motion speed of the terminal based on the time at which the correction point is reached and the position of the correction point.
  • the correcting point is a point marked in each direction on the trajectory.
  • the moving direction can be determined, and the moving speed is obtained according to the time interval and the distance of the position.
  • the received positioning request information may first determine whether the obtained positioning position is on the selected predicted trajectory, and if so, determine the moving direction of the terminal, and The motion speed is calculated by the positioning position and the time interval. If not on any predicted trajectory, determining, according to the positioning position, the direction closest to the predicted trajectory as the moving direction of the terminal, the moving speed may temporarily take the average speed on the pre-stored trajectory, or according to the determined trajectory The moving speed is calculated by the projection distance and time interval in the direction.
  • the positioning module 40 is configured to pre-fetch the predicted trajectory of the terminal in the moving direction according to the moving direction and the moving speed of the terminal. Specifically include:
  • the pre-fetching track module 401 is configured to prefetch the predicted trajectory of the terminal in the moving direction according to the moving direction determined by the trajectory confirming module.
  • the prefetching track module 401 selects the predicted track in the direction as the track of the terminal for prefetching, and can discard the track data in other directions.
  • the position pre-fetching module 402 is configured to calculate, according to the motion speed calculated by the trajectory confirmation module, the position that arrives at the next time as the pre-fetch position on the pre-fetched predicted trajectory.
  • the location confirmation module 403 is configured to receive the location request information at the next moment, determine the location of the terminal at this time, and determine whether the location is on the predicted trajectory, and if so, update the location location to the location, Otherwise, the prefetch location is used as the updated location.
  • the location confirmation module 403 when receiving the location request information at the next moment, does not receive the location request information if the reception time exceeds a fixed period of the terminal transmitting the location signal, and considers that there is no location signal, and the pre-fetch location is used as Position the location.
  • the positioning process of the positioning system is a process of continuously performing position pre-fetching, and the position information and the motion track of the current time are combined with the traffic line trajectory in the road network information to predict the terminal.
  • the motion trajectory confirms the direction and speed of the motion trajectory by acquiring the positioning request again, and simultaneously updates and corrects the predicted position at the next moment.
  • the positioning method and system provided by the present invention predicts the motion trajectory of the user according to the current position of the user, pre-calculates each position of the trajectory for positioning, and pre-fetches the positioning information on the motion trajectory on the trajectory, and simultaneously marks A plurality of positions are used as correction points to provide positioning services for users who cannot be located on the motion route, thereby improving the positioning success rate; correcting the positioning deviation points and improving the positioning accuracy; and positioning the pre-fetched positioning information when there is no positioning information, reducing The time to wait for the acquisition of the positioning signal during the display of the position information, and the positioning speed is improved. It has obvious significance in the absence of positioning signals (GPS signals, base station signals, WIFI signals) or weak positioning signals, especially for rail transit and highways.

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Abstract

本发明提供了一种基于位置预取的定位方法及系统，该方法包括：S1、接收终端的定位请求信息，确定所述终端位置及移动轨迹；S2、根据所述移动轨迹和路网信息，计算预测轨迹；S3、在纠偏点接收终端的定位请求信息，依据所述纠偏点的位置和所述预测轨迹，确定所述终端的运动方向和运动速度；S4、根据所述终端的运动方向和运动速度，预取所述终端在运动方向上的预测轨迹进行定位。本发明提供的定位方法及系统在无法取得定位信号时，通过预取的定位信息提供定位服务，提高定位成功率，并对预取的定位信息进行纠正，提高定位精度和定位速度c。

Description

基于位置预取的定位方法及系统
【技术领域】
本发明涉及一种移动定位技术，尤其涉及一种基于位置预取的定位方法及系统。
【背景技术】
移动定位是指通过特定的定位技术来获取移动手机或终端用户的位置信息（经纬度坐标），在电子地图上标出被定位对象的位置的技术或服务。现有定位技术主要有三种，依靠GPS（Global Positioning System，全球定位系统）、基站、WIFI（Wireless Fidelity，无线网络）热点信号来推算用户当前位置。一般采用定位成功率、定位精度和定位速度来描述三种定位技术的特点。所述定位成功率是指在定位请求信号发送后是否成功接收到定位信息的概率。定位精度是指接收到的定位信息与实际定位请求信号发出位置的偏差。定位速度是指从发出定位请求信号到接收到定位信息的时间间隔。
以用户利用手机定位为例，基于GPS的定位方式是利用手机上的GPS定位模块将自己的位置信号发送到定位后台来实现移动手机定位的，GPS定位的精度高，但速度慢。基站定位则是利用基站对手机的距离的测算距离来确定手机位置的。基站定位不需要手机具有GPS定位能力，但是精度很大程度依赖于基站的分布及覆盖范围的大小，有时误差会超过一公里。WIFI定位则是利用WIFI在小范围内定位的方式，WIFI定位的精度仅次于GPS定位，但速度高于GPS定位。
当用户开启GPS时，则根据GPS确定用户所在位置；若用户的手机没有GPS或GPS没有开启时，则通过用户目前所在基站与WIFI热点来确定位置。倘若用户没有在基站与WIFI的覆盖范围内，如用户在高速移动的列车、汽车上或者地铁里，由于基站切换或轨道沿线基站覆盖不全，造成信号不好或信号缺失的情况下，无法收集定位信息，可能出现定位失败的结果，导致定位成功率差。即使定位成功，其定位精度和定位速度都无法满足用户的定位需求。
【发明内容】
为了解决上述问题，本发明提供了一种基于位置预取的定位方法及系统，根据当前位置信息预取运动轨迹上的定位信息，在无法取得定位信号时，通过预取的定位信息提供定位服务，提高定位成功率，并对预取的定位信息进行纠正，提高定位精度和定位速度。
具体技术方案如下：
本发明实施例提供的一种基于位置预取的定位方法，包括：
S1、接收终端的定位请求信息，确定所述终端位置及移动轨迹；
S2、根据所述移动轨迹和路网信息，计算预测轨迹；
S3、在纠偏点接收终端的定位请求信息，依据所述纠偏点的位置和所述预测轨迹，确定所述终端的运动方向和运动速度；
S4、根据所述终端的运动方向和运动速度，预取所述终端在运动方向上的预测轨迹进行定位。
根据本发明之一优选实施例，所述步骤S2中，在所述移动轨迹中断后，在路网信息中获取所述终端位置的交通线路作为预测轨迹。
根据本发明之一优选实施例，所述步骤S2中，在所述移动轨迹与路网信息中交通线路相关联时，将交通线路作为预测轨迹，具体包括：
S201、根据所述移动轨迹获取或更新所述终端位置的交通线路；
S202、判断所述终端位置是否与路网信息的POI相关联；若关联，则执行步骤S203，若否，则执行步骤S204；所述POI是在路网信息中能够改变或转换交通线路的线路变换点；
S203、获取该POI上交通线路的运行轨迹作为预测轨迹；
S204、以所述移动轨迹所在的交通线路作为预测轨迹。
根据本发明之一优选实施例，所述移动轨迹与路网信息中的交通线路相关联包括：
所述移动轨迹与交通线路重合；
或者，所述移动轨迹移动到交通线路上。
根据本发明之一优选实施例，所述POI包括轨道交通站点、高速公路站点以及路段的交汇点。
根据本发明之一优选实施例，所述纠偏点是在所述预测轨迹上能够通过GPS信号或基站信号或WIFI热点信号进行定位的点。
根据本发明之一优选实施例，所述步骤S3具体包括：
S301、在纠偏点接收所述终端的定位请求信息，记录第一次到达纠偏点的时间和该纠偏点的位置；
S302、根据所述纠偏点的位置，确定出所述终端的运动方向为沿着预测轨迹上往该纠偏点所在的方向；
S303、根据所述到达纠偏点的时间和纠偏点的位置，计算出所述终端的运动速度。
根据本发明之一优选实施例，所述步骤S4具体包括：
S401、根据判断出的所述终端的运动方向，预取所述终端在该运动方向上的预测轨迹；
S402、根据所述终端的运动速度，在预取的预测轨迹上计算出下一时刻到达的位置作为预取位置；
S403、接收下一时刻的定位请求信息，确定此时所述终端的所在位置，并判断该位置是否在所述预测轨迹上，如果在，则将定位位置更新为该位置，否则，将预取位置作为更新的定位位置。
根据本发明之一优选实施例，在所述步骤S403中，在接收下一时刻的定位请求信息时，若接收时间超过所述终端发送定位信号的一个固定周期仍没有收到定位请求信息，则将所述预取位置作为更新的定位位置。
根据本发明之一优选实施例，所述终端的移动轨迹根据接收到的定位请求信息中记录的IMEI号进行确定。
相应地，本发明实施例提供一种基于位置预取的定位系统，包括：
接收请求模块，用于接收终端的定位请求信息，确定所述终端位置及移动轨迹；
轨迹预测模块，用于根据所述移动轨迹和路网信息，计算预测轨迹；
轨迹确认模块，用于在纠偏点接收终端的定位请求信息后，依据所述纠偏点的位置和所述预测轨迹，确定所述终端的运动方向和运动速度；
定位模块，用于根据所述终端的运动方向和运动速度，预取所述终端在运动方向上的预测轨迹进行定位。
根据本发明之一优选实施例，所述轨迹预测模块在所述移动轨迹中断后，在路网信息中获取所述终端位置的交通线路作为预测轨迹。
根据本发明之一优选实施例，所述轨迹预测模块在移动轨迹与路网信息中交通线路相关联时，将交通线路作为预测轨迹，具体包括：
更新模块，用于根据所述移动轨迹获取或更新所述终端位置的交通线路；
关联模块，用于判断所述终端位置是否与交通线路的POI相关联；
调取轨迹模块，用于根据关联模块的关联结果调取路网信息作为预测轨迹，如果相关联，调取该POI上交通线路的运行轨迹作为预测轨迹；如果不相关联，则调取所述移动轨迹的交通线路作为预测轨迹。
根据本发明之一优选实施例，所述移动轨迹与路网信息中的交通线路相关联包括：
所述移动轨迹与交通线路重合；
或者，所述移动轨迹移动到交通线路上。
根据本发明之一优选实施例，所述POI包括轨道交通站点、高速公路站点以及路段的交汇点。
根据本发明之一优选实施例，所述纠偏点是在所述预测轨迹上能够通过GPS信号或基站信号或WIFI热点信号进行定位的点。
根据本发明之一优选实施例，所述轨迹确认模块具体包括：
确认方向模块，用于根据所述接收请求模块在纠偏点接收到的定位请求信息，确定出所述终端的运动方向为沿着预测轨迹上往该纠偏点所在的方向；
速度计算模块，用于根据所述接收请求模块在纠偏点接收到的定位请求信息，计算出所述终端的运动速度。
根据本发明之一优选实施例，所述定位模块具体包括：
预取轨迹模块，用于根据轨迹确认模块判断出的运动方向，预取所述终端在该运动方向上的预测轨迹；
位置预取模块，用于根据轨迹确认模块计算得到的运动速度，在预取的预测轨迹上计算出下一时刻到达的位置作为预取位置；
位置确认模块，用于接收下一时刻的定位请求信息，确定此时所述终端的所在位置，并判断该位置是否在所述预测轨迹上，如果在，则将定位位置更新为该位置，否则，将预取位置作为更新的定位位置。
根据本发明之一优选实施例，所述位置确认模块在接收下一时刻的定位请求信息时，若接收时间超过所述终端发送定位信号的一个固定周期仍没有收到定位请求信息，则将所述预取位置作为定位位置。
根据本发明之一优选实施例，所述接收请求模块根据接收到的定位请求信息中记录的IMEI号进行确定所述终端的移动轨迹。
由以上技术方案可以看出，本发明提供的一种基于位置预取的定位方法及系统，根据当前位置信息预测用户的运动轨迹，预取运动轨迹上的定位信息，为运动路线上无法定位的用户提供定位服务，也能提供位置信息显示结果，提高定位成功率。在信号获取不顺畅时，采用位置预取提供定位服务，当再次获取到信号后，能够及时地纠正错误的位置信息，提高定位精度与定位速度。
【附图说明】
图1是本发明实施例提供的基于位置预取的定位方法流程图；
图2是本发明实施例提供的基于位置预取的定位方法具体流程图；
图3是本发明实施例1的线路示意图；
图4是本发明实施例提供的基于位置预取的定位系统框图。
【具体实施方式】
为了使本发明的目的、技术方案和优点更加清楚，下面结合附图和具体实施例对本发明进行详细描述。
本发明提供一种基于位置预取的定位方法，如图1和图2所示，包括以下步骤：
S1、接收终端的定位请求信息，确定所述终端位置及移动轨迹。
接收到终端的定位请求信息，可以确定所述终端位置信息，通过至少两次的定位得到两次定位位置的距离和时间，即可以计算得到所述终端当前的运动方向和速度，从而对所述终端的移动轨迹进行跟踪。经过多次定位后，其确定的移动轨迹较为准确。
所述定位请求信息可以通过GPS、基站或WIFI热点中任一种方式进行接收，在信号状态发生改变时，可以根据实际情况进行切换。
S2、根据所述移动轨迹和路网信息，计算预测轨迹。
路网信息可以采用交通信息中心提供的路网数据信息，或者，也可以通过预先采集或收集轨道交通沿线、高速公路沿线等路段的定位信息，计算沿线坐标信息和每个路段运行速度等数据，预先存储于路网数据库中。路网信息由各类各级的交通网路所组成，一般包括主次干路、支路、轨道交通（如地铁、轻轨等）、快速路以及高速路等各种交通道路，根据交通道路的几何形状、长度以及道路的标识、POI（Point Of Interest，兴趣点）等数据标示于地图上。
在终端用户的运动过程中，最有可能是沿着路的方向进行移动，轨道交通沿线和公路沿线可以较好地约束终端用户运动方向和运动速度。因而，在进行定位的过程中，结合路网信息中的交通线路进行位置预测。所述交通线路包括轨道交通、高速公路以及路段。
在本步骤中，所述移动轨迹和路网信息的结合，可以在所述移动轨迹中断后，即暂时无法接收到定位请求信号时，才在路网信息中根据所述移动轨迹获取所述终端位置的交通线路作为预测轨迹。
或者，也可以在任何时候都与路网信息结合，且在所述移动轨迹与路网信息中交通线路相关联时，将交通线路作为预测轨迹。所述移动轨迹与路网信息中的交通线路相关联包括：所述移动轨迹与交通线路重合；或者，所述移动轨迹移动到交通线路上。
在所述移动轨迹与路网信息中交通线路相关联时，将交通线路作为预测轨迹，具体包括以下步骤：
S201、根据所述移动轨迹获取或更新所述终端位置的交通线路。
根据确定的终端位置，在路网信息中获取所述终端当前位置的路网信息，包括以当前位置为中心一定范围内的轨道交通、公路沿线等各种交通道路相关的数据，比如轨道交通沿线的坐标以及运行速度。
S202、判断所述终端位置能否与路网信息的POI相关联；若关联，则执行步骤S203，若否，则执行步骤S204。
所述POI是在路网信息中能够改变或转换交通线路的变换点，一般包括轨道交通站点、高速公路站点以及路段的交汇点，例如，地铁站名称、十字路口和分叉路口等。比如，“中关村”地铁站、“西直门”地铁站等地铁站名，“蓟门桥”十字路口等路口名称。
判断所述终端位置的坐标信息与POI的坐标信息是否相一致，如果一致则认为相关联。在实际应用时，可以设定在一个合理的误差范围，如果两个坐标点之间的距离小于此误差范围，就判定为相一致。
S203、调取该POI上交通线路的运行轨迹作为预测轨迹。
当所述终端位置与POI相关联时，所述终端的运动方向可能要发生变化。最有可能的运动方向是沿着交通线路的方向，因而，调取该POI上交通线路的运行轨迹作为预测轨迹。
比如，如果终端位置与地铁站的POI相关联时，则调取该地铁站的地铁运行轨迹作为预测轨迹。如果当前位置与高速公路收费站的POI相关联时，则调取该高速公路收费站所在的高速公路作为预测轨迹。如果所述兴趣点包括多种交通线路，则调取该POI上相关的所有线路作为预测轨迹。
S204、以所述移动轨迹所在的交通线路作为预测轨迹。
当所述终端位置与POI不相关联时，说明终端的移动轨迹是在交通路线上移动的，此时终端的运动方向通常不会发生改变，沿着原有的运动方向继续移动。因而，调取所述移动轨迹所在的交通线路作为预测轨迹即可。比如，之前跟踪到的移动轨迹是在路网信息中的“北三环西路”路上，则调取“北三环西路”线路作为预测轨迹即可。
S3、在纠偏点接收终端的定位请求信息，依据所述纠偏点的位置和所述预测轨迹，确定所述终端的运动方向和运动速度。
由于所述预测轨迹可能有很多个方向，此时并不能确定终端的运动方向，需要通过再次接收到的定位请求信号来判断。这个过程中，只要再接收到一次定位请求信息即可判断出所述终端的运动方向。
一种方式是，在纠偏点上接收定位请求信息。所述纠偏点是在所述预测轨迹上能够通过GPS信号或基站信号或WIFI热点信号进行定位的点。在每个预测轨迹上标记若干个纠偏点，以便于对预测位置进行确认，推算出终端的运动方向和运动速度。纠偏点是预测轨迹上的点，可以间隔一定距离（比如几米或几十米）标记一个纠偏点，可以在预测轨迹上所有可能的运动方向上均标记有纠偏点。
优选地，步骤S3具体包括以下步骤：
S301、在纠偏点接收所述终端的定位请求信息，记录第一次到达纠偏点的时间和该纠偏点的位置。
S302、根据所述纠偏点的位置，确定出所述终端的运动方向为沿着预测轨迹上往该纠偏点所在的方向。
S303、根据所述到达纠偏点的时间和纠偏点的位置，计算出所述终端的运动速度。
纠偏点是轨迹上在各个方向上标记的点，当到达到轨迹上的纠偏点时，可以确定运动方向，同时根据时间间隔和位置的距离得到运动速度。
如果根据接收的定位请求信息没有被定位到纠偏点上时，可以先判断所得到的该定位位置是否在选取的预测轨迹上，如果在，则将该定位位置确定所述终端的运动方向，并通过该定位位置和时间间隔计算得到运动速度。如果不在任何预测轨迹上，则根据该定位位置确定预测轨迹上与其最靠近的那个方向为所述终端的运动方向，运动速度可以暂时取预存的轨迹上的平均速度，或者，根据在确定的轨迹方向上的投影距离和时间间隔计算运动速度。
S4、根据所述终端的运动方向和运动速度，预取所述终端在运动方向上的预测轨迹进行定位。
具体包括以下步骤：
S401、根据判断出的所述终端的运动方向，预取所述终端在该运动方向上的预测轨迹。
确定了所述终端的运动方向后，则选取该方向上的预测轨迹作为所述终端的轨迹进行预取定位，可以将其他方向的轨迹数据丢弃。
S402、根据所述终端的运动速度，在预取的预测轨迹上计算出下一时刻到达的位置作为预测位置。
S403、接收下一时刻的定位请求信息，确定此时所述终端的所在位置，并判断该位置是否在所述预测轨迹上，如果在，则将定位位置更新为该位置，否则，将预取位置作为更新的定位位置。
在这个过程中，如果接收下一时刻的定位请求信息时，若接收时间超过所述终端发送定位信号的一个固定周期仍没有收到定位请求信息，则认为没有定位信号，将所述预取位置作为定位位置。
值得一提的是，本发明是循环不断地进行位置预取的过程，通过当前时刻的位置信息及运动轨迹，结合路网信息中的交通线路轨迹，预测得到终端的运动轨迹，通过再次获取定位请求进行确认该运动轨迹的方向和速度，同时更新和纠正下一时刻的预测位置。
实施例1、如图3所示，以手机用户搭乘地铁为例，图中所示为该用户前往地铁站1的线路示意图。
首先，接收用户的定位请求信息，确定该用户当前的位置，记录终端当前的运动方向和速度，跟踪用户的移动轨迹。
所述用户的移动轨迹根据接收到的定位请求信息中记录的IMEI号进行确定。IMEI号是国际移动设备身份码（International Mobile Equipment Identity）的缩写，是由15位数字组成的"电子串号"，唯一地与每台手机一一对应。在用户发送的定位请求信息中记录有其IMEI号。
用户的定位请求信息是间隔一段时间连续发送的，一般来说是每间隔0.5s或1s发送一次定位请求信息。根据用户发送的定位请求信息，确定用户当前的位置、方向和速度等参数，从而可以判断到用户的移动轨迹是向地铁站的方向靠近，在用户进入地铁站时，根据该移动轨迹可以判断出用户是进地铁站，而不是从地铁站出来。
在未进入地铁站之前，手机还可以搜索到GPS定位卫星，可以优选采用GPS信号进行定位，当进入地铁站后，则不能搜索到GPS定位卫星，可以采用基站信号或WIFI热点信号进行定位。
当进入地铁站时，可以判断到此时用户的定位坐标与路网信息中的POI（该地铁站的坐标信息）相关联，关联到的POI为地铁站1，是个地铁站站名，则调取路网信息中该地铁站1的地铁沿线的地理位置作为用户的预测轨迹，并在该轨迹上标记若干个纠偏点，图中所示的纠偏点11、12、13、21、22和23，所述纠偏点为有定位信号覆盖的位置，定位信号可以是GPS信号、基站信号、WIFI信号中任意一种。
在路网信息中预先采集或收集轨道交通沿线、高速公路沿线的定位信息，并计算沿线坐标。因而，在路网信息中预存有地铁沿线的位置坐标信息以及地铁沿线上各个路段的平均运行速度。
获取到地铁沿线的坐标信息后，在未确定用户的运动方向之前，在各个可能的运动方向上都要标记纠偏点。根据地铁可能的运行方向来确定需要标记的方向。如果地铁有两个运行方向，则在两个运行方向上均标记上纠偏点，纠偏点是地铁沿线上的点，可以间隔一定距离（比如几米或几十米）标记一个，图中为2个方向，包括纠偏点11、12、13、21、22、23等。如果地铁有四个运行方向，则在四个运行方向上均标记上纠偏点。同理，根据路网信息中交通线路的方向个数N（N为正整数），可以在N个方向上标记纠偏点。
在纠偏点接收用户的定位请求信息，根据此时的定位请求信息所在的纠偏点的位置判断用户的运动方向。当接收到的用户请求信息第一次到达纠偏点时，记录第一次到达纠偏点的时间和该纠偏点的位置，如图3中到达纠偏点11，则根据纠偏点11的位置信息和时间，判断出用户的运动方向为沿着地铁上从地铁站1往该纠偏点11的方向，即从地铁站1往地铁站2的方向。同时，根据地铁上该纠偏点11的位置和到达的时间，计算出所述用户的运动速度。
在判断出用户的运动方向是从地铁站1往地铁站2的方向，则预取该方向上的地铁沿线的坐标信息，同时将其他方向的地铁沿线坐标信息丢弃，只保留一个运动方向上的坐标信息。
根据计算出的运动速度，在预取的地铁沿线上计算出下一时刻到达的位置作为预取位置。在接收到下一时刻的定位请求信息，确定此时用户的所在位置，并判断该位置是否在所述预测轨迹上，如果在，则将定位位置更新为该位置，否则，将预取位置作为更新的定位位置。
在接收下一时刻的定位请求信息时，若接收时间超过所述终端发送定位信号的一个固定周期仍没有收到定位请求信息，则认为没有定位信号，将所述预取位置作为更新的定位位置。
另外，在地铁运行的过程中，高速行驶的列车的信号不好，可能会暂时失去通讯。由于用户是沿着地铁沿线移动的，则可以通过用户的运动方向和运动速度对用户的位置信息进行预测，在暂时失去通讯时显示预测的位置信息，并根据定位信息可用时的第二次定位来纠正预测的位置信息，同时实时计算用户的运动速度，以便进行下一时刻的位置预取和纠偏。即使在无法实时计算用户运动速度和运动方向时，还可以根据地铁沿线上各个路段的平均运行速度，预测出下个时刻到达的位置，当方向还不能确定时，可以任选一个方向作为预测位置。由于暂时失去通讯的时间间隔不会太长，可以根据当前的运动状态进行预测，提高了定位成功率和定位速度，当再次能够获取定位信号时，定位的位置信息则可以得到纠正。
实施例2、
用户在搭乘的地铁列车上，此时由于搜索不到GPS卫星没有办法采用GPS定位，是通过基站进行定位。但在没有采用位置预取的方法时，由于基站的定位精度不高，可能出现用户原本在地铁上，却被定位到地铁周边的区域上去，如图3中的基站定位点。
本发明则通过位置预取的方式，则可以预测到用户的运动方向是沿着地铁的轨迹移动，能够将定位位置从图中的基站定位点纠正到地铁沿线上。通过得到的基站定位点，可以判断到用户的运动方向是从地铁站1开往地铁站2的方向，但此时不能确定运动到地铁上的哪一点，则根据预存的地铁运行速度和这个过程中耗费的时间，可以推算出用户此时在地铁上的位置信息，如图3中的预测点。
由此可见，本发明采用预取的方式，结合轨道交通等路网信息，根据判断直接取出道路上的所有点，对于基站定位精度不高的情况，可以很好的修正定位结果，可以把定位位置纠正到地铁上，避免出现用户原本在地铁上，却被定位到地铁周边的区域上去的情况，提高了定位精度。
相应地，本发明还提供一种基于位置预取的定位系统，如图4所示，包括：
接收请求模块10，用于接收终端的定位请求信息，确定所述终端位置及移动轨迹。
定位系统通过接收请求模块10接收到终端的定位请求信息，可以确定所述终端位置信息，通过至少两次的定位得到两次定位位置的距离和时间，即可以计算得到所述终端当前的运动方向和速度，从而对所述终端的移动轨迹进行跟踪。经过多次定位后，其确定的移动轨迹较为准确。
其中，所述定位请求信息可以通过GPS、基站或WIFI热点中任一种方式进行接收，在信号状态发生改变时，定位系统可以根据实际情况切换信号。
所述接收请求模块10根据接收到的定位请求信息中记录的IMEI号进行确定所述终端的移动轨迹。
轨迹预测模块20，用于根据所述移动轨迹和路网信息，计算预测轨迹。
路网信息可以采用交通信息中心提供的路网数据信息，或者，也可以通过预先采集或收集轨道交通沿线、高速公路沿线等路段的定位信息，计算沿线坐标信息和每个路段运行速度等数据，预先存储于路网数据库中。路网信息由各类各级的交通网路所组成，一般包括主次干路、支路、轨道交通（如地铁、轻轨等）、快速路以及高速路等各种交通道路，根据交通道路的几何形状、长度以及道路的标识、POI（Point Of Interest，兴趣点）等数据标示于地图上。
在终端用户的运动过程中，最有可能是沿着路的方向进行移动，轨道交通沿线和公路沿线可以较好地约束终端用户运动方向和运动速度。因而，在进行定位的过程中，结合路网信息中的交通线路进行位置预测。所述交通线路包括轨道交通、高速公路以及路段。
轨迹预测模块20在所述移动轨迹中断后，即暂时无法接收到定位请求信号时，才在路网信息中根据所述移动轨迹获取所述终端位置的交通线路作为预测轨迹。
或者，轨迹预测模块20在移动轨迹与路网信息中交通线路相关联时，将交通线路作为预测轨迹。此时，移动轨迹与路网信息中的交通线路相关联的情况包括：移动轨迹与交通线路重合；或者，移动轨迹移动到交通线路上。此时，轨迹预测模块20具体包括：
更新模块201，用于根据移动轨迹获取或更新所述终端位置的交通线路。
路网信息模块201根据确定的终端位置，在路网信息中获取所述终端当前位置的路网信息，包括以当前位置为中心一定范围内的轨道交通、公路沿线等各种交通道路相关的数据。
关联模块202，用于判断所述接收请求模块10确定的终端当前位置能否是否与所述路网信息模块201获取的交通线路的POI路网信息的兴趣点相关联。
所述POI是在路网信息中能够改变或转换交通线路的变换点，一般包括轨道交通站点、高速公路站点以及路段的交汇点，例如，地铁站名称、十字路口和分叉路口等。比如，“中关村”地铁站、“西直门”地铁站等地铁站名，“蓟门桥”十字路口等路口名称。
关联模块202判断所述终端位置的坐标信息与POI的坐标信息是否相一致，如果一致则认为相关联。在实际应用时，可以设定在一个合理的误差范围，如果两个坐标点之间的距离小于此误差范围，就判定为相一致。
调取轨迹模块203，用于根据关联模块的关联结果调取路网信息作为预测轨迹，如果相关联，调取该POI上交通线路的运行轨迹作为预测轨迹；如果不相关联，则调取所述移动轨迹的交通线路作为预测轨迹。
当调取轨迹模块203判断到所述终端当前位置与POI相关联时，所述终端的运动方向可能要发生变化。最有可能的运动方向是沿着交通线路的方向，因而，调取该POI上的交通线路的运行轨迹作为预测轨迹。
比如，如果终端位置与地铁站的POI相关联时，则调取该地铁站的地铁运行轨迹作为预测轨迹。如果当前位置与高速公路收费站的POI相关联时，则调取该高速公路收费站所在的高速公路作为预测轨迹。如果所述兴趣点包括多种交通线路，则调取该POI上相关的所有线路作为预测轨迹。
当调取轨迹模块203判断到所述终端位置与POI不相关联时，说明终端的移动轨迹是在交通路线上移动的，此时终端的运动方向通常不会发生改变，沿着原有的运动方向继续移动。因而，调取所述移动轨迹所在的交通线路作为预测轨迹即可。比如，之前跟踪到的移动轨迹是在路网信息中的“北三环西路”，则调取“北三环西路”线路作为预测轨迹即可。
轨迹确认模块30，用于在纠偏点接收所述接收请求模块10接收的定位请求信息后，依据所述纠偏点的位置和所述预测轨迹，确定所述终端的运动方向和运动速度。
由于所述预测轨迹可能有很多个方向，此时并不能确定终端的运动方向，需要通过轨迹确认模块30再次接收到的定位请求信号来判断。这个过程中，定位系统只要再接收到一次定位请求信息即可判断出所述终端的运动方向。
一种方式是，在纠偏点上接收定位请求信息。所述纠偏点是在所述预测轨迹上能够通过GPS信号或基站信号或WIFI热点信号进行定位的点。在每个预测轨迹上标记若干个纠偏点，以便于对预测位置进行确认，推算出终端的运动方向和运动速度。纠偏点是预测轨迹上的点，可以间隔一定距离（比如几米或几十米）标记一个纠偏点，可以在预测轨迹上所有可能的运动方向上均标记有纠偏点。
所述轨迹确认模块30具体包括：
确认方向模块301，用于根据所述接收请求模块10在纠偏点接收到的定位请求信息，确定出终端的运动方向为沿着预测轨迹上往该纠偏点所在的方向。
速度计算模块302，用于根据所述接收请求模块10在纠偏点接收到的定位请求信息，计算出所述终端的运动速度。
优选地，确认方向模块301和速度计算模块302通过记录到的第一次到达纠偏点的时间和该纠偏点的位置进行计算。确认方向模块301根据记录的位置，判断出所述终端的运动方向为沿着预测轨迹往该纠偏点所在的方向。速度计算模块302根据到达纠偏点的时间和纠偏点的位置，计算出所述终端的运动速度。
纠偏点是轨迹上在各个方向上标记的点，当到达到轨迹上的纠偏点时，可以确定运动方向，同时根据时间间隔和位置的距离得到运动速度。
如果根据接收的定位请求信息没有被定位到纠偏点上时，可以先判断所得到的该定位位置是否在选取的预测轨迹上，如果在，则将该定位位置确定所述终端的运动方向，并通过该定位位置和时间间隔计算得到运动速度。如果不在任何预测轨迹上，则根据该定位位置确定预测轨迹上与其最靠近的那个方向为所述终端的运动方向，运动速度可以暂时取预存的轨迹上的平均速度，或者，根据在确定的轨迹方向上的投影距离和时间间隔计算运动速度。
定位模块40，用于根据终端的运动方向和运动速度，预取所述终端在运动方向上的预测轨迹进行定位。具体包括：
预取轨迹模块401，用于根据轨迹确认模块判断出的运动方向，预取所述终端在该运动方向上的预测轨迹。
经过轨迹确认模块30确定了所述终端的运动方向后，预取轨迹模块401选取该方向上的预测轨迹作为所述终端的轨迹进行预取定位，可以将其他方向的轨迹数据丢弃。
位置预取模块402，用于根据轨迹确认模块计算得到的运动速度，在预取的预测轨迹上计算出下一时刻到达的位置作为预取位置。
位置确认模块403，用于接收下一时刻的定位请求信息，确定此时所述终端的所在位置，并判断该位置是否在所述预测轨迹上，如果在，则将定位位置更新为该位置，否则，将预取位置作为更新的定位位置。
位置确认模块403在接收下一时刻的定位请求信息时，若接收时间超过所述终端发送定位信号的一个固定周期仍没有收到定位请求信息，则认为没有定位信号，将所述预取位置作为定位位置。
值得一提的是，本发明提供的定位系统的定位过程是循环不断地进行位置预取的过程，通过当前时刻的位置信息及运动轨迹，结合路网信息中的交通线路轨迹，预测得到终端的运动轨迹，通过再次获取定位请求进行确认该运动轨迹的方向和速度，同时更新和纠正下一时刻的预测位置。
本发明提供的定位方法及系统是根据用户当前的位置预测用户的运动轨迹，预先把该轨迹的各个位置预先计算出来用于定位，并在该轨迹上预取运动轨迹上的定位信息，同时标记若干位置作为纠偏点，为运动路线上无法定位的用户提供定位服务，提高定位成功率；对定位偏差点进行纠正，提高了定位精度；在没有定位信息时通过预取出的定位信息进行定位，减少了显示位置信息过程中等候获取定位信号的时间，提高定位速度。在无定位信号（GPS信号、基站信号、WIFI信号）或定位信号较弱的环境下有较为明显的意义，尤其对于轨道交通和高速公路。
以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内，所做的任何修改、等同替换、改进等，均应包含在本发明保护的范围之内。

Claims (20)

  1. 一种基于位置预取的定位方法，其特征在于，包括：
    S1、接收终端的定位请求信息，确定所述终端位置及移动轨迹；
    S2、根据所述移动轨迹和路网信息，计算预测轨迹；
    S3、在纠偏点接收终端的定位请求信息，依据所述纠偏点的位置和所述预测轨迹，确定所述终端的运动方向和运动速度；
    S4、根据所述终端的运动方向和运动速度，预取所述终端在运动方向上的预测轨迹进行定位。
  2. 根据权利要求1所述的方法，其特征在于，所述步骤S2中，在所述移动轨迹中断后，在路网信息中获取所述终端位置的交通线路作为预测轨迹。
  3. 根据权利要求1所述的方法，其特征在于，所述步骤S2中，在所述移动轨迹与路网信息中交通线路相关联时，将交通线路作为预测轨迹，具体包括：
    S201、根据所述移动轨迹获取或更新所述终端位置的交通线路；
    S202、判断所述终端位置是否与路网信息的POI相关联；若关联，则执行步骤S203，若否，则执行步骤S204；所述POI是在路网信息中能够改变或转换交通线路的线路变换点；
    S203、获取该POI上交通线路的运行轨迹作为预测轨迹；
    S204、以所述移动轨迹所在的交通线路作为预测轨迹。
  4. 根据权利要求3所述的方法，其特征在于，所述移动轨迹与路网信息中的交通线路相关联包括：
    所述移动轨迹与交通线路重合；
    或者，所述移动轨迹移动到交通线路上。
  5. 根据权利要求3所述的方法，其特征在于，所述POI包括轨道交通站点、高速公路站点以及路段的交汇点。
  6. 根据权利要求1至5任一权项所述的方法，其特征在于，所述纠偏点是在所述预测轨迹上能够通过GPS信号或基站信号或WIFI热点信号进行定位的点。
  7. 根据权利要求1所述的方法，其特征在于，所述步骤S3具体包括：
    S301、在纠偏点接收所述终端的定位请求信息，记录第一次到达纠偏点的时间和该纠偏点的位置；
    S302、根据所述纠偏点的位置，确定出所述终端的运动方向为沿着预测轨迹上往该纠偏点所在的方向；
    S303、根据所述到达纠偏点的时间和纠偏点的位置，计算出所述终端的运动速度。
  8. 根据权利要求1所述的方法，其特征在于，所述步骤S4具体包括：
    S401、根据判断出的所述终端的运动方向，预取所述终端在该运动方向上的预测轨迹；
    S402、根据所述终端的运动速度，在预取的预测轨迹上计算出下一时刻到达的位置作为预取位置；
    S403、接收下一时刻的定位请求信息，确定此时所述终端的所在位置，并判断该位置是否在所述预测轨迹上，如果在，则将定位位置更新为该位置，否则，将预取位置作为更新的定位位置。
  9. 根据权利要求8所述的方法，其特征在于，在所述步骤S403中，在接收下一时刻的定位请求信息时，若接收时间超过所述终端发送定位信号的一个固定周期仍没有收到定位请求信息，则将所述预取位置作为更新的定位位置。
  10. 根据权利要求1所述的方法，其特征在于，所述终端的移动轨迹根据接收到的定位请求信息中记录的IMEI号进行确定。
  11. 一种基于位置预取的定位系统，其特征在于，包括：
    接收请求模块，用于接收终端的定位请求信息，确定所述终端位置及移动轨迹；
    轨迹预测模块，用于根据所述移动轨迹和路网信息，计算预测轨迹；
    轨迹确认模块，用于在纠偏点接收终端的定位请求信息后，依据所述纠偏点的位置和所述预测轨迹，确定所述终端的运动方向和运动速度；
    定位模块，用于根据所述终端的运动方向和运动速度，预取所述终端在运动方向上的预测轨迹进行定位。
  12. 根据权利要求11所述的系统，其特征在于，所述轨迹预测模块在所述移动轨迹中断后，在路网信息中获取所述终端位置的交通线路作为预测轨迹。
  13. 根据权利要求11所述的系统，其特征在于，所述轨迹预测模块在移动轨迹与路网信息中交通线路相关联时，将交通线路作为预测轨迹，具体包括：
    更新模块，用于根据所述移动轨迹获取或更新所述终端位置的交通线路；
    关联模块，用于判断所述终端位置是否与交通线路的POI相关联；
    调取轨迹模块，用于根据关联模块的关联结果调取路网信息作为预测轨迹，如果相关联，调取该POI上交通线路的运行轨迹作为预测轨迹；如果不相关联，则调取所述移动轨迹的交通线路作为预测轨迹。
  14. 根据权利要求13所述的系统，其特征在于，所述移动轨迹与路网信息中的交通线路相关联包括：
    所述移动轨迹与交通线路重合；
    或者，所述移动轨迹移动到交通线路上。
  15. 根据权利要求13所述的系统，其特征在于，所述POI包括轨道交通站点、高速公路站点以及路段的交汇点。
  16. 根据权利要求11至15任一权项所述的系统，其特征在于，所述纠偏点是在所述预测轨迹上能够通过GPS信号或基站信号或WIFI热点信号进行定位的点。
  17. 根据权利要求11所述的系统，其特征在于，所述轨迹确认模块具体包括：
    确认方向模块，用于根据所述接收请求模块在纠偏点接收到的定位请求信息，确定出所述终端的运动方向为沿着预测轨迹上往该纠偏点所在的方向；
    速度计算模块，用于根据所述接收请求模块在纠偏点接收到的定位请求信息，计算出所述终端的运动速度。
  18. 根据权利要求11所述的系统，其特征在于，所述定位模块具体包括：
    预取轨迹模块，用于根据轨迹确认模块判断出的运动方向，预取所述终端在该运动方向上的预测轨迹；
    位置预取模块，用于根据轨迹确认模块计算得到的运动速度，在预取的预测轨迹上计算出下一时刻到达的位置作为预取位置；
    位置确认模块，用于接收下一时刻的定位请求信息，确定此时所述终端的所在位置，并判断该位置是否在所述预测轨迹上，如果在，则将定位位置更新为该位置，否则，将预取位置作为更新的定位位置。
  19. 根据权利要求11所述的系统，其特征在于，所述位置确认模块在接收下一时刻的定位请求信息时，若接收时间超过所述终端发送定位信号的一个固定周期仍没有收到定位请求信息，则将所述预取位置作为定位位置。
  20. 根据权利要求11所述的系统，其特征在于，所述接收请求模块根据接收到的定位请求信息中记录的IMEI号进行确定所述终端的移动轨迹。
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