WO2016183892A1 - Positioning method, electronic device and storage medium - Google Patents

Positioning method, electronic device and storage medium Download PDF

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Publication number
WO2016183892A1
WO2016183892A1 PCT/CN2015/081690 CN2015081690W WO2016183892A1 WO 2016183892 A1 WO2016183892 A1 WO 2016183892A1 CN 2015081690 W CN2015081690 W CN 2015081690W WO 2016183892 A1 WO2016183892 A1 WO 2016183892A1
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WO
WIPO (PCT)
Prior art keywords
information
electronic device
preset
dimensional coordinate
height
Prior art date
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PCT/CN2015/081690
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French (fr)
Chinese (zh)
Inventor
刘学政
Original Assignee
西安中兴新软件有限责任公司
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Publication of WO2016183892A1 publication Critical patent/WO2016183892A1/en

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    • 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
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • 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
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels
    • G01C5/06—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels by using barometric means
    • 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
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial

Definitions

  • the present invention relates to positioning technologies, and in particular, to a positioning method, an electronic device, and a storage medium.
  • the embodiments of the present invention provide a positioning method, an electronic device, and a storage medium, which can accurately acquire three-dimensional track information, thereby improving the user experience.
  • An embodiment of the present invention provides a positioning method, where the method applies a first electronic device; the method includes:
  • the first location information is used to represent location information corresponding to the current location of the first electronic device
  • the first three-dimensional coordinate information can represent height information corresponding to the first electronic device in a first direction;
  • the three-dimensional trajectory information can represent height trajectory information corresponding to the first direction.
  • the first electronic device is provided with a sensing unit; correspondingly, the obtained Take the first location information, including:
  • the first location information is obtained by the sensing unit in the first electronic device.
  • the method further includes:
  • Obtaining preset location information where the preset location information is used to represent location information corresponding to when the first electronic device is in a target location;
  • the method further includes:
  • the acquiring preset location information includes:
  • the preset position information is acquired.
  • the method further includes:
  • the determining the three-dimensional trajectory information based on the first three-dimensional coordinate information and the preset three-dimensional coordinate information includes:
  • the three-dimensional trajectory information based on the first three-dimensional coordinate information, the second three-dimensional coordinate information, and the height trajectory information, so that the three-dimensional trajectory information can represent the height trajectory information corresponding to the first direction.
  • the embodiment of the present invention further provides a first electronic device, where the first electronic device includes:
  • a first acquiring unit configured to acquire first location information, where the first location information is used to represent location information corresponding to a current location of the first electronic device
  • a first determining unit configured to determine, according to the first location information, first three-dimensional coordinate information; the first three-dimensional coordinate information can represent height information corresponding to the first electronic device in a first direction;
  • the second determining unit is configured to determine the three-dimensional trajectory information based on the first three-dimensional coordinate information and the preset three-dimensional coordinate information; the three-dimensional trajectory information can represent the height trajectory information corresponding to the first direction.
  • the first electronic device is provided with a sensing unit; correspondingly,
  • the first acquiring unit is further configured to acquire first location information by using the sensing unit.
  • the first electronic device further includes:
  • a second acquiring unit configured to acquire preset location information, where the preset location information is used to represent location information corresponding to when the first electronic device is in the target location;
  • the third determining unit is configured to determine preset three-dimensional coordinate information according to the preset location information.
  • the first electronic device further includes:
  • a third acquiring unit configured to acquire distance information between the first electronic device and the second electronic device
  • the determining unit is configured to determine whether the distance information meets a preset rule, and obtain a determination result
  • the second acquiring unit is further configured to: when the determining result indicates that the distance information meets the preset rule, acquire preset location information.
  • the first electronic device further includes:
  • a fourth determining unit configured to determine, according to the first three-dimensional coordinate information, first height coordinate information corresponding to the first direction
  • a fifth determining unit configured to determine, according to the preset three-dimensional coordinate information, second height coordinate information corresponding to the first direction
  • a sixth determining unit configured to determine height trajectory information in the first direction according to the first height coordinate information and the second height coordinate information
  • the second determining unit is further configured to determine three-dimensional trajectory information based on the first three-dimensional coordinate information, the second three-dimensional coordinate information, and the height trajectory information, so that the three-dimensional trajectory information can represent the Height trajectory information corresponding to the first direction.
  • the positioning method, the electronic device, and the storage medium according to the embodiment of the present invention acquire the first location information by using the first electronic device, determine the first three-dimensional coordinate information according to the first location information, and further enable the first electronic device.
  • the three-dimensional trajectory information can be determined according to the first three-dimensional coordinate information and the preset three-dimensional coordinate information, where the three-dimensional trajectory information can represent the height information in the first direction, and therefore, the embodiment of the present invention can determine the The height trajectory corresponding to the positional relationship between the first position information and the preset three-dimensional coordinate information, thereby facilitating the electronic device user to obtain the trajectory of the current location and the target position more accurately according to the height trajectory, thereby improving the user Experience.
  • FIG. 1 is a schematic flowchart 1 of an implementation process of a positioning method according to an embodiment of the present invention
  • FIG. 2 is a schematic structural diagram of a first electronic device according to an embodiment of the present invention.
  • FIG. 3 is a schematic flowchart 2 of an implementation process of a positioning method according to an embodiment of the present invention.
  • the basic idea of the embodiment of the present invention is that the first electronic device acquires the first location information; the first location information is used to represent the location information corresponding to the current location of the first electronic device; Determining, by the first location information, first three-dimensional coordinate information; the first three-dimensional coordinate information capable of characterizing a height letter corresponding to the first electronic device in a first direction The first electronic device determines the three-dimensional trajectory information based on the first three-dimensional coordinate information and the preset three-dimensional coordinate information; the three-dimensional trajectory information can represent the height trajectory information corresponding to the first direction.
  • the first electronic device may be specifically a smart phone, a tablet computer, or the like.
  • a sensing unit is disposed in the first electronic device, and the sensing unit may be implemented by using a device such as a gyroscope, a pressure sensor, or the like, so that location information is acquired by the sensing unit. To improve the accuracy of location information and enhance the user experience.
  • FIG. 1 is a schematic flowchart 1 of an implementation process of a positioning method according to an embodiment of the present invention; the method uses a first electronic device; as shown in FIG. 1 , the method includes:
  • Step 101 Acquire first location information, where the first location information is used to represent location information corresponding to a location where the first electronic device is currently located;
  • the first electronic device is provided with a sensing unit; correspondingly, the acquiring the first location information includes:
  • the first location information is obtained by the sensing unit in the first electronic device.
  • the first electronic device in the embodiment of the present invention is provided with a sensing unit, and the first location information is acquired by the sensing unit, and further, the first electronic device is in the first
  • the height information in the direction is determined based on the first position information, and therefore, the height information acquired by the embodiment of the present invention is compared with the height information acquired by the Global Positioning System (GPS). more acurrate.
  • GPS Global Positioning System
  • the method further includes:
  • Obtaining preset location information where the preset location information is used to represent location information corresponding to when the first electronic device is in a target location;
  • the embodiment of the present invention further needs to acquire the preset location information, and further acquire the preset three-dimensional coordinate information corresponding to the preset location information, and thus, by using the preset three-dimensional coordinate information and the location
  • the first three-dimensional coordinate information corresponding to the first location information is compared to determine three-dimensional trajectory information.
  • the preset three-dimensional coordinate information may be specifically an origin (0, 0, 0) in a preset coordinate system, and the first three-dimensional coordinate information may be specifically in the preset coordinate system. Any of the coordinates (a, b, c).
  • the method further includes:
  • the acquiring preset location information includes:
  • the preset position information is acquired.
  • the second electronic device may be any electronic device disposed in a car, such as car navigation, etc., as long as the second electronic device can communicate with the first electronic device to facilitate The first electronic device may acquire distance information between itself and the second electronic device.
  • the first electronic device acquires distance information between itself and the second electronic device, and thus, determining, by the distance information, itself and the second electronic device, that is, itself The distance between the first electronic device and the second electronic device is less than the distance threshold, and the preset rule may be used to indicate that the distance information between the first electronic device and the second electronic device is less than a distance threshold. For example less than 2 meters.
  • the first electronic device is triggered to acquire the preset position information, and then determined according to the preset position information.
  • the three-dimensional coordinate information is preset, and the preset three-dimensional coordinate information is determined as an origin, thereby laying a foundation for finally determining the three-dimensional trajectory information.
  • Step 102 Determine first three-dimensional coordinate information according to the first location information, where the first three-dimensional coordinate information can represent height information corresponding to the first electronic device in a first direction;
  • Step 103 Determine three-dimensional trajectory information based on the first three-dimensional coordinate information and preset three-dimensional coordinate information; the three-dimensional trajectory information can represent height trajectory information corresponding to the first direction.
  • the method further includes:
  • the determining the three-dimensional trajectory information based on the first three-dimensional coordinate information and the preset three-dimensional coordinate information includes:
  • the three-dimensional trajectory information based on the first three-dimensional coordinate information, the second three-dimensional coordinate information, and the height trajectory information, so that the three-dimensional trajectory information can represent the height trajectory information corresponding to the first direction.
  • the first location information is obtained by the first electronic device, and the first three-dimensional coordinate information is determined according to the first location information, so that the first electronic device can be configured according to the first 3D coordinate information and preset 3D coordinate information to determine a 3D track letter
  • the three-dimensional trajectory information can be used to represent the height information in the first direction. Therefore, the height corresponding to the positional relationship between the first position information and the preset three-dimensional coordinate information can be determined by using the embodiment of the present invention.
  • the trajectory further facilitates the user of the electronic device to obtain the trajectory of the current location and the target location more accurately according to the height trajectory, thereby improving the user experience.
  • the positioning method according to the embodiment of the present invention can determine the three-dimensional trajectory information that represents the height information of the first direction
  • the embodiment of the present invention can be applied to the scene of the parking lot to find a car, and the embodiment of the present invention
  • the three-dimensional trajectory information can represent the height trajectory in the first direction. Therefore, the user of the electronic device can determine the floor information of the target vehicle, thereby expanding the application scenario of the electronic device and improving the user experience.
  • the embodiment of the invention further provides a computer readable storage medium, the storage medium comprising a set of instructions for performing the positioning method according to the first embodiment.
  • the embodiment of the present invention further provides a first electronic device.
  • the first electronic device includes:
  • the first obtaining unit 21 is configured to acquire first location information, where the first location information is used to represent location information corresponding to the current location of the first electronic device;
  • the first determining unit 22 is configured to determine, according to the first location information, first three-dimensional coordinate information, where the first three-dimensional coordinate information can represent height information corresponding to the first electronic device in the first direction;
  • the second determining unit 23 is configured to determine three-dimensional trajectory information based on the first three-dimensional coordinate information and the preset three-dimensional coordinate information; the three-dimensional trajectory information can represent the height trajectory information corresponding to the first direction.
  • the first electronic device is provided with a sensing unit; correspondingly,
  • the first acquiring unit 21 is further configured to acquire first location information by using the sensing unit.
  • the first electronic device further includes:
  • the second obtaining unit 24 is configured to acquire preset location information; the preset location information is used to Characterizing location information corresponding to the first electronic device when it is in the target location;
  • the third determining unit 25 is configured to determine preset three-dimensional coordinate information according to the preset position information.
  • the first electronic device further includes:
  • the third obtaining unit 26 is configured to acquire distance information between the first electronic device and the second electronic device;
  • the determining unit 27 is configured to determine whether the distance information meets a preset rule, and obtain a determination result
  • the second obtaining unit 24 is further configured to: when the determining result indicates that the distance information meets the preset rule, acquire preset location information.
  • the first electronic device further includes:
  • the fourth determining unit 28 is configured to determine, according to the first three-dimensional coordinate information, first height coordinate information corresponding to the first direction;
  • the fifth determining unit 29 is configured to determine, according to the preset three-dimensional coordinate information, second height coordinate information corresponding to the first direction;
  • the sixth determining unit 20 is configured to determine height trajectory information in the first direction according to the first height coordinate information and the second height coordinate information;
  • the second determining unit 23 is further configured to determine three-dimensional trajectory information based on the first three-dimensional coordinate information, the second three-dimensional coordinate information, and the height trajectory information, so that the three-dimensional trajectory information can be characterized
  • the height trajectory information corresponding to the first direction is described.
  • the first determining unit 22, the second determining unit 23, the third determining unit 25, the determining unit 27, the fourth determining unit 28, the fifth determining unit 29, and the sixth determining unit 20 may all be processed by the central processing.
  • Unit CPU, Central Processing Unit), or digital signal processing (DSP), or Field Programmable Gate Array (FPGA), etc.; the CPU, DSP, and FPGA can be built in
  • the first acquiring unit 21, the second obtaining unit 24, and the third obtaining unit 26 may be implemented by a sensing unit, such as a gyroscope, a pressure sensor, or the like, disposed in the first electronic device.
  • FIG. 3 is a schematic diagram of an implementation process of a positioning method according to an embodiment of the present invention; the method is applied to a first electronic device; in this embodiment, the first electronic device is a smart phone, and the smart phone is set or connected with a wireless security device.
  • Wi-Fi WIreless-Fidelity
  • AGPS Assisted Global Positioning System
  • the method of this embodiment is applied to the parking lot Looking for a car scene, as shown in Figure 3, the method includes:
  • Step 301 The first electronic device acquires preset location information.
  • Step 302 The first electronic device determines preset three-dimensional coordinate information according to the preset location information.
  • the application software of the first electronic device is manually opened, the preset location information is obtained by the application software, and preset three-dimensional coordinate information is acquired based on the preset location information, and the preset three-dimensional coordinate information is corresponding.
  • the coordinate is determined as the origin in the first three-dimensional coordinate system, that is, (0, 0, 0); that is, in this embodiment, the default position where the smart phone is located, that is, the stop position of the car is
  • the origin in the first three-dimensional coordinate system that is, the position where the user's car is stopped is determined as the origin in the first three-dimensional coordinate system.
  • the first electronic device can also automatically determine the first three-dimensional sitting The origin of the standard system; specifically, the user manually opens the application software of the first electronic device after the user stops, obtains the distance information between the user and the second electronic device in real time through the application software, and determines whether the distance information satisfies the preset rule.
  • the acquired distance information satisfies the preset rule.
  • the acquired distance information is smaller than the distance threshold.
  • the first electronic device acquires the location information, and the location information acquired at this time is the preset location information, and That is, when the distance between the first electronic device and the second electronic device is less than the distance threshold, the preset distance information acquired by the first electronic device is the preset position of the corresponding vehicle of the second electronic device.
  • the preset three-dimensional coordinate information corresponding to the preset position information is used as an origin in the first three-dimensional coordinate system, thereby laying a foundation for finally determining the three-dimensional trajectory information.
  • the second electronic device may be any electronic device disposed in a car, such as car navigation or the like.
  • the step of establishing the first three-dimensional coordinate system may specifically include:
  • the first three-dimensional coordinate system is recommended.
  • the pressure sensor of the smart phone is used to determine the altitude at which the smart phone is located.
  • the altitude relationship may be determined by a curve relationship between the air pressure measured by the pressure sensor and the altitude.
  • the smart phone can determine its own moving height on the Z axis in real time through its own pressure sensor, for example, preset three-dimensional coordinate information corresponding to the preset position information of the smart phone.
  • the smart phone determines the height on its Z axis in real time through its own pressure sensor, and determines the intelligence by the distance relationship between the height and the origin.
  • the moving height of the mobile phone on the Z axis Further, if the smart phone can find the GPS signal at this time, combined with the altitude of the GPS positioning, the moving height on the Z axis can be made more accurate.
  • the height of the user's car can be determined, that is, the height of the user's car parked in the parking lot, so that the user can find the car, saving user time and improving the user experience.
  • Step 303 The first electronic device acquires first location information corresponding to the current location.
  • Step 304 The first electronic device determines first three-dimensional coordinate information according to the first location information.
  • Step 305 Determine, according to the first three-dimensional coordinate information and preset three-dimensional coordinate information, three-dimensional trajectory information in a first three-dimensional coordinate system, so that the three-dimensional trajectory information can represent the first electronic device at the first Height trajectory information in the direction.
  • the first method is also the Z-axis direction.
  • the first location information corresponding to the current location of the smart phone is determined by the increment of the displacement in a unit time
  • the speed includes a linear velocity and an angular velocity
  • an acceleration sensor in a smartphone is used to measure the linear acceleration in the horizontal direction
  • a gyroscope in the smartphone is used to measure the angular velocity in the horizontal direction
  • the rotation is obtained by integrating the angular velocity.
  • Angle, by the angle information of the rotation, the linear acceleration in the horizontal direction measured by the acceleration sensor is respectively projected on the X and Y axes to obtain the linear accelerations on the X and Y axes respectively, and the X and Y axes are obtained by integrating the time.
  • the line speed on the upper side is integrated with the time to obtain the displacement in the X and Y axis directions, and then the displacement in the X and Y axis directions is determined by the increment of the displacement in the unit time; therefore, the simultaneous acquisition is performed at the same frequency.
  • the data of the acceleration sensor and the gyroscope can obtain the displacement in the horizontal direction on the X and Y axes, that is, the current horizontal position coordinate (x, y).
  • the AGPS module obtains the AGPS signal provided by the network, and can assist the acceleration sensor and the gyroscope to calibrate the motion information, including the direction and the stride, thereby improving the positioning of the positioning under long-term work.
  • the smart phone can connect to the Wi-Fi calling location of all Wi-Fi hotspots in the database through the Wi-Fi module, and each Wi-Fi The signal strength of the hotspot is used to calculate the current location information of the smart phone, thereby assisting the data of the acceleration sensor and the gyroscope to obtain more accurate position information. Therefore, if there are GPS, AGPS, and Wi-Fi signals at the same time, all of them are used to assist the data acquired by the acceleration sensor and the gyroscope, and the position information with higher accuracy can be obtained.
  • the data of the auxiliary acceleration sensor and the gyroscope are used, the accuracy of the obtained data is second; if there is no GPS, AGPS, WI-FI signal, only the acceleration sensor and the gyroscope are used, then The data obtained is the least accurate. However, the relative positional relationship between the smart phone and the preset position information, that is, the three-dimensional trajectory information can still be displayed.
  • the embodiment of the present invention can determine the three-dimensional coordinates (x, y, z) corresponding to the current first position information of the smart phone in the first three-dimensional coordinate system in real time, and thus, through the three-dimensional coordinates ( The positional relationship between x, y, z) and the origin determines the three-dimensional trajectory information, so that the user can find the car with purpose, reduce the time of searching for the car, and improve the user experience.
  • the horizontal direction is determined by the compass in the smart phone, and the X-axis and the Y-axis direction are determined according to the horizontal direction, and the vertical direction perpendicular to the horizontal direction is taken as the Z-axis to establish three-dimensional coordinates.
  • the present invention is implemented in the parking lot.
  • the target three-dimensional trajectory can be accurately determined, which lays a foundation for the user to accurately obtain the location of the vehicle.
  • embodiments of the present invention can be provided as a method, system, or computer program product. Accordingly, the present invention can take the form of a hardware embodiment, a software embodiment, or a combination of software and hardware. Moreover, the invention can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage and optical storage, etc.) including computer usable program code.
  • the computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture comprising the instruction device.
  • the apparatus implements the functions specified in one or more blocks of a flow or a flow and/or block diagram of the flowchart.
  • These computer program instructions can also be loaded onto a computer or other programmable data processing device such that a series of operational steps are performed on a computer or other programmable device to produce computer-implemented processing for execution on a computer or other programmable device.
  • the instructions provide steps for implementing the functions specified in one or more of the flow or in a block or blocks of a flow diagram.
  • the first electronic device obtains the first location information, and determines the first three-dimensional coordinate information according to the first location information, so that the first electronic device can be configured according to the first three-dimensional coordinate information and the preset
  • the three-dimensional coordinate information determines three-dimensional trajectory information, where the three-dimensional trajectory information can represent the height information in the first direction. Therefore, the first position information and the preset three-dimensional coordinate information can be determined by using the embodiment of the present invention.
  • the height trajectory corresponding to the positional relationship thereby facilitating the electronic device user to obtain the trajectory of the current location and the target location more accurately according to the height trajectory, thereby improving the user experience.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Automation & Control Theory (AREA)
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Abstract

Disclosed is a positioning method. The method is applied to a first electronic device and the method comprises: acquiring first position information, wherein the first position information is used for characterizing position information corresponding to a position where the first electronic device is currently located (101); determining first three-dimensional coordinate information according to the first position information, wherein the first three-dimensional coordinate information can characterize the corresponding height information about the first electronic device in a first direction (102); and determining three-dimensional track information based on the first three-dimensional coordinate information and pre-set three-dimensional coordinate information, wherein the three-dimensional track information can characterize the corresponding height track information in the first direction (103). Further disclosed are a first electronic device and a storage medium.

Description

一种定位方法及电子设备、存储介质Positioning method, electronic device and storage medium 技术领域Technical field
本发明涉及定位技术，尤其涉及一种定位方法及电子设备、存储介质。The present invention relates to positioning technologies, and in particular, to a positioning method, an electronic device, and a storage medium.
背景技术Background technique
随着人们的生活条件提高，越来越多的家庭都拥有了自己的汽车，家庭汽车成为了普遍的交通工具；随着家庭汽车逐渐增多，很多大型商场、车站、机场等都建有大型停车场，如此，满足开车人士的停车需求。但是，现有停车场通常较大、分区较多，常常出现车主忘记停车位置不能顺利找到自己汽车的问题；因此，亟需一种方法以解决上述问题。As people's living conditions improve, more and more families have their own cars, and family cars have become a common means of transportation. With the increasing number of family cars, many large shopping malls, stations, airports, etc. have built large parking. This is the case, to meet the parking needs of motorists. However, existing parking lots are usually large and have many partitions, and there is often a problem that the owner forgets that the parking position cannot find his own car smoothly; therefore, a method is needed to solve the above problem.
发明内容Summary of the invention
为解决现有存在的技术问题，本发明实施例提供了一种定位方法及电子设备、存储介质，能够准确获取到三维轨迹信息，进而提升了用户体验。In order to solve the existing technical problems, the embodiments of the present invention provide a positioning method, an electronic device, and a storage medium, which can accurately acquire three-dimensional track information, thereby improving the user experience.
本发明实施例的技术方案是这样实现的：The technical solution of the embodiment of the present invention is implemented as follows:
本发明实施例提供了一种定位方法，所述方法应用第一电子设备；所述方法包括：An embodiment of the present invention provides a positioning method, where the method applies a first electronic device; the method includes:
获取第一位置信息；所述第一位置信息用于表征所述第一电子设备当前所在位置对应的位置信息；Acquiring the first location information; the first location information is used to represent location information corresponding to the current location of the first electronic device;
依据所述第一位置信息确定出第一三维坐标信息；所述第一三维坐标信息能够表征所述第一电子设备在第一方向上对应的高度信息；Determining, according to the first location information, first three-dimensional coordinate information; the first three-dimensional coordinate information can represent height information corresponding to the first electronic device in a first direction;
基于所述第一三维坐标信息和预设三维坐标信息确定出三维轨迹信息；所述三维轨迹信息能够表征所述第一方向所对应的高度轨迹信息。Determining three-dimensional trajectory information based on the first three-dimensional coordinate information and preset three-dimensional coordinate information; the three-dimensional trajectory information can represent height trajectory information corresponding to the first direction.
上述方案中，所述第一电子设备中设置有传感单元；对应地，所述获 取第一位置信息，包括：In the above solution, the first electronic device is provided with a sensing unit; correspondingly, the obtained Take the first location information, including:
通过所述第一电子设备中的所述传感单元获取第一位置信息。The first location information is obtained by the sensing unit in the first electronic device.
上述方案中，所述方法还包括：In the above solution, the method further includes:
获取预设位置信息；所述预设位置信息用于表征所述第一电子设备处于目标位置时所对应的位置信息；Obtaining preset location information, where the preset location information is used to represent location information corresponding to when the first electronic device is in a target location;
依据所述预设位置信息确定出预设三维坐标信息。Determining preset three-dimensional coordinate information according to the preset position information.
上述方案中，所述方法还包括：In the above solution, the method further includes:
获取所述第一电子设备与第二电子设备之间的距离信息；Obtaining distance information between the first electronic device and the second electronic device;
判断所述距离信息是否满足预设规则，获取判断结果；Determining whether the distance information meets a preset rule, and obtaining a judgment result;
对应地，所述获取预设位置信息，包括：Correspondingly, the acquiring preset location information includes:
当所述判断结果表征所述距离信息满足所述预设规则时，获取预设位置信息。When the judgment result indicates that the distance information satisfies the preset rule, the preset position information is acquired.
上述方案中，所述方法还包括：In the above solution, the method further includes:
依据所述第一三维坐标信息确定出所述第一方向对应的第一高度坐标信息；Determining, according to the first three-dimensional coordinate information, first height coordinate information corresponding to the first direction;
依据所述预设三维坐标信息确定出所述第一方向对应的第二高度坐标信息；Determining, according to the preset three-dimensional coordinate information, second height coordinate information corresponding to the first direction;
依据所述第一高度坐标信息和所述第二高度坐标信息确定出所述第一方向上的高度轨迹信息；Determining height trajectory information in the first direction according to the first height coordinate information and the second height coordinate information;
对应地，所述基于所述第一三维坐标信息和预设三维坐标信息确定出三维轨迹信息，包括：Correspondingly, the determining the three-dimensional trajectory information based on the first three-dimensional coordinate information and the preset three-dimensional coordinate information includes:
基于所述第一三维坐标信息、第二三维坐标信息以及所述高度轨迹信息确定出三维轨迹信息，以使所述三维轨迹信息能够表征所述第一方向所对应的高度轨迹信息。And determining the three-dimensional trajectory information based on the first three-dimensional coordinate information, the second three-dimensional coordinate information, and the height trajectory information, so that the three-dimensional trajectory information can represent the height trajectory information corresponding to the first direction.
本发明实施例还提供了一种第一电子设备，所述第一电子设备包括： The embodiment of the present invention further provides a first electronic device, where the first electronic device includes:
第一获取单元，配置为获取第一位置信息；所述第一位置信息用于表征所述第一电子设备当前所在位置对应的位置信息；a first acquiring unit, configured to acquire first location information, where the first location information is used to represent location information corresponding to a current location of the first electronic device;
第一确定单元，配置为依据所述第一位置信息确定出第一三维坐标信息；所述第一三维坐标信息能够表征所述第一电子设备在第一方向上对应的高度信息；a first determining unit, configured to determine, according to the first location information, first three-dimensional coordinate information; the first three-dimensional coordinate information can represent height information corresponding to the first electronic device in a first direction;
第二确定单元，配置为基于所述第一三维坐标信息和预设三维坐标信息确定出三维轨迹信息；所述三维轨迹信息能够表征所述第一方向所对应的高度轨迹信息。The second determining unit is configured to determine the three-dimensional trajectory information based on the first three-dimensional coordinate information and the preset three-dimensional coordinate information; the three-dimensional trajectory information can represent the height trajectory information corresponding to the first direction.
上述方案中，所述第一电子设备中设置有传感单元；对应地，In the above solution, the first electronic device is provided with a sensing unit; correspondingly,
所述第一获取单元，还配置为通过所述传感单元获取第一位置信息。The first acquiring unit is further configured to acquire first location information by using the sensing unit.
上述方案中，所述第一电子设备还包括：In the above solution, the first electronic device further includes:
第二获取单元，配置为获取预设位置信息；所述预设位置信息用于表征所述第一电子设备处于目标位置时所对应的位置信息；a second acquiring unit, configured to acquire preset location information, where the preset location information is used to represent location information corresponding to when the first electronic device is in the target location;
第三确定单元，配置为依据所述预设位置信息确定出预设三维坐标信息。The third determining unit is configured to determine preset three-dimensional coordinate information according to the preset location information.
上述方案中，所述第一电子设备还包括：In the above solution, the first electronic device further includes:
第三获取单元，配置为获取所述第一电子设备与第二电子设备之间的距离信息；a third acquiring unit, configured to acquire distance information between the first electronic device and the second electronic device;
判断单元，配置为判断所述距离信息是否满足预设规则，获取判断结果；The determining unit is configured to determine whether the distance information meets a preset rule, and obtain a determination result;
对应地，所述第二获取单元，还配置为当所述判断结果表征所述距离信息满足所述预设规则时，获取预设位置信息。Correspondingly, the second acquiring unit is further configured to: when the determining result indicates that the distance information meets the preset rule, acquire preset location information.
上述方案中，所述第一电子设备，还包括：In the above solution, the first electronic device further includes:
第四确定单元，配置为依据所述第一三维坐标信息确定出所述第一方向对应的第一高度坐标信息； a fourth determining unit, configured to determine, according to the first three-dimensional coordinate information, first height coordinate information corresponding to the first direction;
第五确定单元，配置为依据所述预设三维坐标信息确定出所述第一方向对应的第二高度坐标信息；a fifth determining unit, configured to determine, according to the preset three-dimensional coordinate information, second height coordinate information corresponding to the first direction;
第六确定单元，配置为依据所述第一高度坐标信息和所述第二高度坐标信息确定出所述第一方向上的高度轨迹信息；a sixth determining unit, configured to determine height trajectory information in the first direction according to the first height coordinate information and the second height coordinate information;
对应地，所述第二确定单元，还配置为基于所述第一三维坐标信息、第二三维坐标信息以及所述高度轨迹信息确定出三维轨迹信息，以使所述三维轨迹信息能够表征所述第一方向所对应的高度轨迹信息。Correspondingly, the second determining unit is further configured to determine three-dimensional trajectory information based on the first three-dimensional coordinate information, the second three-dimensional coordinate information, and the height trajectory information, so that the three-dimensional trajectory information can represent the Height trajectory information corresponding to the first direction.
本发明实施例所述的定位方法及电子设备、存储介质，通过第一电子设备获取第一位置信息，依据所述第一位置信息确定出第一三维坐标信息，进而使所述第一电子设备能够依据所述第一三维坐标信息和预设三维坐标信息确定出三维轨迹信息，这里，所述三维轨迹信息能够表征第一方向上的高度信息，因此，采用本发明实施例能够确定出所述第一位置信息与所述预设三维坐标信息的位置关系所对应的高度轨迹，进而便于电子设备使用者依据所述高度轨迹，更精准的获取到当前所在位置与目标位置的轨迹，提升了用户体验。The positioning method, the electronic device, and the storage medium according to the embodiment of the present invention acquire the first location information by using the first electronic device, determine the first three-dimensional coordinate information according to the first location information, and further enable the first electronic device. The three-dimensional trajectory information can be determined according to the first three-dimensional coordinate information and the preset three-dimensional coordinate information, where the three-dimensional trajectory information can represent the height information in the first direction, and therefore, the embodiment of the present invention can determine the The height trajectory corresponding to the positional relationship between the first position information and the preset three-dimensional coordinate information, thereby facilitating the electronic device user to obtain the trajectory of the current location and the target position more accurately according to the height trajectory, thereby improving the user Experience.
附图说明DRAWINGS
图1为本发明实施例定位方法的实现流程示意图一；1 is a schematic flowchart 1 of an implementation process of a positioning method according to an embodiment of the present invention;
图2为本发明实施例第一电子设备的结构示意图；2 is a schematic structural diagram of a first electronic device according to an embodiment of the present invention;
图3为本发明实施例定位方法的实现流程示意图二。FIG. 3 is a schematic flowchart 2 of an implementation process of a positioning method according to an embodiment of the present invention.
具体实施方式detailed description
本发明实施例的基本思想是：第一电子设备获取第一位置信息；所述第一位置信息用于表征所述第一电子设备当前所在位置对应的位置信息；所述第一电子设备依据所述第一位置信息确定出第一三维坐标信息；所述第一三维坐标信息能够表征所述第一电子设备在第一方向上对应的高度信 息；所述第一电子设备基于所述第一三维坐标信息和预设三维坐标信息确定出三维轨迹信息；所述三维轨迹信息能够表征所述第一方向所对应的高度轨迹信息。The basic idea of the embodiment of the present invention is that the first electronic device acquires the first location information; the first location information is used to represent the location information corresponding to the current location of the first electronic device; Determining, by the first location information, first three-dimensional coordinate information; the first three-dimensional coordinate information capable of characterizing a height letter corresponding to the first electronic device in a first direction The first electronic device determines the three-dimensional trajectory information based on the first three-dimensional coordinate information and the preset three-dimensional coordinate information; the three-dimensional trajectory information can represent the height trajectory information corresponding to the first direction.
本发明实施例中，所述第一电子设备可以具体为智能手机、平板电脑等。In the embodiment of the present invention, the first electronic device may be specifically a smart phone, a tablet computer, or the like.
本发明实施例中，所述第一电子设备中设置有传感单元，所述传感单元可以通过如下装置实现，例如陀螺仪、压力传感器等实现，如此，通过所述传感单元获取位置信息，以提高位置信息的准确度，提升用户体验。In the embodiment of the present invention, a sensing unit is disposed in the first electronic device, and the sensing unit may be implemented by using a device such as a gyroscope, a pressure sensor, or the like, so that location information is acquired by the sensing unit. To improve the accuracy of location information and enhance the user experience.
为了能够更加详尽地了解本发明实施例的特点与技术内容，下面结合附图对本发明实施例的实现进行详细阐述，所附附图仅供参考说明之用，并非用来限定本发明。The embodiments of the present invention are described in detail with reference to the accompanying drawings.
实施例一Embodiment 1
图1为本发明实施例定位方法的实现流程示意图一；所述方法应用第一电子设备；如图1所示，所述方法包括：1 is a schematic flowchart 1 of an implementation process of a positioning method according to an embodiment of the present invention; the method uses a first electronic device; as shown in FIG. 1 , the method includes:
步骤101：获取第一位置信息；所述第一位置信息用于表征所述第一电子设备当前所在位置对应的位置信息；Step 101: Acquire first location information, where the first location information is used to represent location information corresponding to a location where the first electronic device is currently located;
本发明实施例中，所述第一电子设备中设置有传感单元；对应地，所述获取第一位置信息，包括：In the embodiment of the present invention, the first electronic device is provided with a sensing unit; correspondingly, the acquiring the first location information includes:
通过所述第一电子设备中的所述传感单元获取第一位置信息。The first location information is obtained by the sensing unit in the first electronic device.
这里，由于本发明实施例中所述第一电子设备设置有传感单元，且所述第一位置信息是通过所述传感单元获取的，进一步，所述第一电子设备在所述第一方向上的高度信息是基于所述第一位置信息确定出的，因此，与现有通过全球定位系统(GPS，Global Positioning System)获取到的高度信息相比，本发明实施例获取到的高度信息更准确。Here, the first electronic device in the embodiment of the present invention is provided with a sensing unit, and the first location information is acquired by the sensing unit, and further, the first electronic device is in the first The height information in the direction is determined based on the first position information, and therefore, the height information acquired by the embodiment of the present invention is compared with the height information acquired by the Global Positioning System (GPS). more acurrate.
本发明实施例中，所述方法还包括： In the embodiment of the present invention, the method further includes:
获取预设位置信息；所述预设位置信息用于表征所述第一电子设备处于目标位置时所对应的位置信息；Obtaining preset location information, where the preset location information is used to represent location information corresponding to when the first electronic device is in a target location;
依据所述预设位置信息确定出预设三维坐标信息。Determining preset three-dimensional coordinate information according to the preset position information.
这里，在获取第一位置信息之前，本发明实施例还需要获取预设位置信息，进而获取所述预设位置信息对应的预设三维坐标信息，如此，通过所述预设三维坐标信息与所述第一位置信息对应的第一三维坐标信息比对，以确定出三维轨迹信息。在一具体实施例中，所述预设三维坐标信息可以具体为一预设坐标系下的原点(0，0，0)，所述第一三维坐标信息可以具体为所述预设坐标系下的任一坐标(a，b，c)。Here, before acquiring the first location information, the embodiment of the present invention further needs to acquire the preset location information, and further acquire the preset three-dimensional coordinate information corresponding to the preset location information, and thus, by using the preset three-dimensional coordinate information and the location The first three-dimensional coordinate information corresponding to the first location information is compared to determine three-dimensional trajectory information. In a specific embodiment, the preset three-dimensional coordinate information may be specifically an origin (0, 0, 0) in a preset coordinate system, and the first three-dimensional coordinate information may be specifically in the preset coordinate system. Any of the coordinates (a, b, c).
为确定何时需要获取第一位置信息，或者为使获取到的第一位置信息为目标位置信息，本发明实施例中，所述方法还包括：To determine when the first location information needs to be obtained, or to make the obtained first location information the target location information, in the embodiment of the present invention, the method further includes:
获取所述第一电子设备与第二电子设备之间的距离信息；Obtaining distance information between the first electronic device and the second electronic device;
判断所述距离信息是否满足预设规则，获取判断结果；Determining whether the distance information meets a preset rule, and obtaining a judgment result;
对应地，所述获取预设位置信息，包括：Correspondingly, the acquiring preset location information includes:
当所述判断结果表征所述距离信息满足所述预设规则时，获取预设位置信息。When the judgment result indicates that the distance information satisfies the preset rule, the preset position information is acquired.
本发明实施例中，所述第二电子设备可以具体为设置于汽车中的任意电子设备，例如车载导航等，只要所述第二电子设备能够与所述第一电子设备进行通信，以便于所述第一电子设备获取到自身与所述第二电子设备之间的距离信息即可。In the embodiment of the present invention, the second electronic device may be any electronic device disposed in a car, such as car navigation, etc., as long as the second electronic device can communicate with the first electronic device to facilitate The first electronic device may acquire distance information between itself and the second electronic device.
这里，在一具体实施例中，所述第一电子设备获取自身与所述第二电子设备之间的距离信息，如此，通过所述距离信息确定自身与所述第二电子设备，也即自身与汽车之间的距离，进而确定出是否需要获取预设位置信息；进一步地，所述预设规则可以表征所述第一电子设备与所述第二电子设备之间的距离信息小于距离阈值，例如小于2米。具体地，当获取到 的判断结果表征第一电子设备与所述第二电子设备之间的距离信息小于距离阈值，此时，触发所述第一电子设备获取预设位置信息，进而依据所述预设位置信息确定出预设三维坐标信息，并将所述预设三维坐标信息确定为原点，如此，为最终确定出三维轨迹信息奠定基础。Here, in a specific embodiment, the first electronic device acquires distance information between itself and the second electronic device, and thus, determining, by the distance information, itself and the second electronic device, that is, itself The distance between the first electronic device and the second electronic device is less than the distance threshold, and the preset rule may be used to indicate that the distance information between the first electronic device and the second electronic device is less than a distance threshold. For example less than 2 meters. Specifically, when acquired The result of the determination is that the distance information between the first electronic device and the second electronic device is less than the distance threshold. At this time, the first electronic device is triggered to acquire the preset position information, and then determined according to the preset position information. The three-dimensional coordinate information is preset, and the preset three-dimensional coordinate information is determined as an origin, thereby laying a foundation for finally determining the three-dimensional trajectory information.
步骤102：依据所述第一位置信息确定出第一三维坐标信息；所述第一三维坐标信息能够表征所述第一电子设备在第一方向上对应的高度信息；Step 102: Determine first three-dimensional coordinate information according to the first location information, where the first three-dimensional coordinate information can represent height information corresponding to the first electronic device in a first direction;
步骤103：基于所述第一三维坐标信息和预设三维坐标信息确定出三维轨迹信息；所述三维轨迹信息能够表征所述第一方向所对应的高度轨迹信息。Step 103: Determine three-dimensional trajectory information based on the first three-dimensional coordinate information and preset three-dimensional coordinate information; the three-dimensional trajectory information can represent height trajectory information corresponding to the first direction.
为使最终确定出的三维轨迹信息能够表征所述第一方向上的高度轨迹信息，本发明实施例中，所述方法还包括：In the embodiment of the present invention, the method further includes:
依据所述第一三维坐标信息确定出所述第一方向对应的第一高度坐标信息；Determining, according to the first three-dimensional coordinate information, first height coordinate information corresponding to the first direction;
依据所述预设三维坐标信息确定出所述第一方向对应的第二高度坐标信息；Determining, according to the preset three-dimensional coordinate information, second height coordinate information corresponding to the first direction;
依据所述第一高度坐标信息和所述第二高度坐标信息确定出所述第一方向上的高度轨迹信息；Determining height trajectory information in the first direction according to the first height coordinate information and the second height coordinate information;
对应地，所述基于所述第一三维坐标信息和预设三维坐标信息确定出三维轨迹信息，包括：Correspondingly, the determining the three-dimensional trajectory information based on the first three-dimensional coordinate information and the preset three-dimensional coordinate information includes:
基于所述第一三维坐标信息、第二三维坐标信息以及所述高度轨迹信息确定出三维轨迹信息，以使所述三维轨迹信息能够表征所述第一方向所对应的高度轨迹信息。And determining the three-dimensional trajectory information based on the first three-dimensional coordinate information, the second three-dimensional coordinate information, and the height trajectory information, so that the three-dimensional trajectory information can represent the height trajectory information corresponding to the first direction.
本发明实施例所述的定位方法，通过第一电子设备获取第一位置信息，依据所述第一位置信息确定出第一三维坐标信息，进而使所述第一电子设备能够依据所述第一三维坐标信息和预设三维坐标信息确定出三维轨迹信 息，这里，所述三维轨迹信息能够表征第一方向上的高度信息，因此，采用本发明实施例能够确定出所述第一位置信息与所述预设三维坐标信息的位置关系所对应的高度轨迹，进而便于电子设备使用者依据所述高度轨迹，更精准的获取到当前所在位置与目标位置的轨迹，提升了用户体验。According to the positioning method of the embodiment of the present invention, the first location information is obtained by the first electronic device, and the first three-dimensional coordinate information is determined according to the first location information, so that the first electronic device can be configured according to the first 3D coordinate information and preset 3D coordinate information to determine a 3D track letter The three-dimensional trajectory information can be used to represent the height information in the first direction. Therefore, the height corresponding to the positional relationship between the first position information and the preset three-dimensional coordinate information can be determined by using the embodiment of the present invention. The trajectory further facilitates the user of the electronic device to obtain the trajectory of the current location and the target location more accurately according to the height trajectory, thereby improving the user experience.
另外，由于本发明实施例所述的定位方法能够确定出表征第一方向的高度信息的三维轨迹信息，因此，本发明实施例能够应用于停车场找车的场景中，又由于本发明实施例所述的三维轨迹信息能够表征第一方向上的高度轨迹，因此，便于电子设备使用者确定出目标车辆所停放的楼层信息，进而拓展了电子设备的应用场景，提升了用户体验。In addition, since the positioning method according to the embodiment of the present invention can determine the three-dimensional trajectory information that represents the height information of the first direction, the embodiment of the present invention can be applied to the scene of the parking lot to find a car, and the embodiment of the present invention The three-dimensional trajectory information can represent the height trajectory in the first direction. Therefore, the user of the electronic device can determine the floor information of the target vehicle, thereby expanding the application scenario of the electronic device and improving the user experience.
本发明实施例还提出一种计算机可读存储介质，该存储介质包括一组指令，所述指令用于执行实施例一所述的定位方法。The embodiment of the invention further provides a computer readable storage medium, the storage medium comprising a set of instructions for performing the positioning method according to the first embodiment.
为实现上述方法，本发明实施例还提供了一种第一电子设备，如图2所示，所述第一电子设备包括：To implement the above method, the embodiment of the present invention further provides a first electronic device. As shown in FIG. 2, the first electronic device includes:
第一获取单元21，配置为获取第一位置信息；所述第一位置信息用于表征所述第一电子设备当前所在位置对应的位置信息；The first obtaining unit 21 is configured to acquire first location information, where the first location information is used to represent location information corresponding to the current location of the first electronic device;
第一确定单元22，配置为依据所述第一位置信息确定出第一三维坐标信息；所述第一三维坐标信息能够表征所述第一电子设备在第一方向上对应的高度信息；The first determining unit 22 is configured to determine, according to the first location information, first three-dimensional coordinate information, where the first three-dimensional coordinate information can represent height information corresponding to the first electronic device in the first direction;
第二确定单元23，配置为基于所述第一三维坐标信息和预设三维坐标信息确定出三维轨迹信息；所述三维轨迹信息能够表征所述第一方向所对应的高度轨迹信息。The second determining unit 23 is configured to determine three-dimensional trajectory information based on the first three-dimensional coordinate information and the preset three-dimensional coordinate information; the three-dimensional trajectory information can represent the height trajectory information corresponding to the first direction.
本发明实施例中，所述第一电子设备中设置有传感单元；对应地，In the embodiment of the present invention, the first electronic device is provided with a sensing unit; correspondingly,
所述第一获取单元21，还配置为通过所述传感单元获取第一位置信息。The first acquiring unit 21 is further configured to acquire first location information by using the sensing unit.
本发明实施例中，所述第一电子设备还包括：In the embodiment of the present invention, the first electronic device further includes:
第二获取单元24，配置为获取预设位置信息；所述预设位置信息用于 表征所述第一电子设备处于目标位置时所对应的位置信息；The second obtaining unit 24 is configured to acquire preset location information; the preset location information is used to Characterizing location information corresponding to the first electronic device when it is in the target location;
第三确定单元25，配置为依据所述预设位置信息确定出预设三维坐标信息。The third determining unit 25 is configured to determine preset three-dimensional coordinate information according to the preset position information.
本发明实施例中，所述第一电子设备还包括：In the embodiment of the present invention, the first electronic device further includes:
第三获取单元26，配置为获取所述第一电子设备与第二电子设备之间的距离信息；The third obtaining unit 26 is configured to acquire distance information between the first electronic device and the second electronic device;
判断单元27，配置为判断所述距离信息是否满足预设规则，获取判断结果；The determining unit 27 is configured to determine whether the distance information meets a preset rule, and obtain a determination result;
对应地，所述第二获取单元24，还配置为当所述判断结果表征所述距离信息满足所述预设规则时，获取预设位置信息。Correspondingly, the second obtaining unit 24 is further configured to: when the determining result indicates that the distance information meets the preset rule, acquire preset location information.
本发明实施例中，所述第一电子设备，还包括：In the embodiment of the present invention, the first electronic device further includes:
第四确定单元28，配置为依据所述第一三维坐标信息确定出所述第一方向对应的第一高度坐标信息；The fourth determining unit 28 is configured to determine, according to the first three-dimensional coordinate information, first height coordinate information corresponding to the first direction;
第五确定单元29，配置为依据所述预设三维坐标信息确定出所述第一方向对应的第二高度坐标信息；The fifth determining unit 29 is configured to determine, according to the preset three-dimensional coordinate information, second height coordinate information corresponding to the first direction;
第六确定单元20，配置为依据所述第一高度坐标信息和所述第二高度坐标信息确定出所述第一方向上的高度轨迹信息；The sixth determining unit 20 is configured to determine height trajectory information in the first direction according to the first height coordinate information and the second height coordinate information;
对应地，所述第二确定单元23，还配置为基于所述第一三维坐标信息、第二三维坐标信息以及所述高度轨迹信息确定出三维轨迹信息，以使所述三维轨迹信息能够表征所述第一方向所对应的高度轨迹信息。Correspondingly, the second determining unit 23 is further configured to determine three-dimensional trajectory information based on the first three-dimensional coordinate information, the second three-dimensional coordinate information, and the height trajectory information, so that the three-dimensional trajectory information can be characterized The height trajectory information corresponding to the first direction is described.
在实际应用中，所述第一确定单元22、第二确定单元23、第三确定单元25、判断单元27、第四确定单元28、第五确定单元29以及第六确定单元20均可由中央处理单元(CPU，Central Processing Unit)、或数字信号处理(DSP，Digital Signal Processor)、或现场可编程门阵列(FPGA，Field Programmable Gate Array)等来实现；所述CPU、DSP、FPGA均可内置于 第一电子设备中；所述第一获取单元21、第二获取单元24以及第三获取单元26可以通过设置于所述第一电子设备中的传感单元、例如陀螺仪、压力传感器等实现。In practical applications, the first determining unit 22, the second determining unit 23, the third determining unit 25, the determining unit 27, the fourth determining unit 28, the fifth determining unit 29, and the sixth determining unit 20 may all be processed by the central processing. Unit (CPU, Central Processing Unit), or digital signal processing (DSP), or Field Programmable Gate Array (FPGA), etc.; the CPU, DSP, and FPGA can be built in In the first electronic device, the first acquiring unit 21, the second obtaining unit 24, and the third obtaining unit 26 may be implemented by a sensing unit, such as a gyroscope, a pressure sensor, or the like, disposed in the first electronic device.
本领域技术人员应当理解，本发明实施例的第一电子设备中各处理单元的功能，可参照前述定位方法的相关描述而理解，本发明实施例的第一电子设备中各处理单元，可通过实现本发明实施例所述的功能的模拟电路而实现，也可以通过执行本发明实施例所述的功能的软件在智能终端上的运行而实现。A person skilled in the art should understand that the functions of the processing units in the first electronic device of the embodiment of the present invention can be understood by referring to the related description of the foregoing positioning method. The implementation of the analog circuit for implementing the functions of the embodiments of the present invention can also be implemented by running the software of the functions described in the embodiments of the present invention on the smart terminal.
实施例二Embodiment 2
图3为本发明实施例定位方法的实现流程示意图二；所述方法应用于第一电子设备；本实施例中，所述第一电子设备为智能手机，所述智能手机设置或连接有无线保真(Wi-Fi，WIreless-Fidelity)模块、GPS模块、辅助全球卫星定位系统(AGPS，Assisted Global Positioning System)模块、指南针、加速度传感器、陀螺仪、压力传感器等；本实施例方法应用于停车场找车场景，如图3所示，所述方法包括：FIG. 3 is a schematic diagram of an implementation process of a positioning method according to an embodiment of the present invention; the method is applied to a first electronic device; in this embodiment, the first electronic device is a smart phone, and the smart phone is set or connected with a wireless security device. Wi-Fi (WIreless-Fidelity) module, GPS module, Assisted Global Positioning System (AGPS) module, compass, acceleration sensor, gyroscope, pressure sensor, etc.; the method of this embodiment is applied to the parking lot Looking for a car scene, as shown in Figure 3, the method includes:
步骤301：所述第一电子设备获取预设位置信息；Step 301: The first electronic device acquires preset location information.
步骤302：所述第一电子设备依据所述预设位置信息确定出预设三维坐标信息；Step 302: The first electronic device determines preset three-dimensional coordinate information according to the preset location information.
具体地，用户停车后手动开启第一电子设备的应用软件，通过应用软件获取预设位置信息，并基于所述预设位置信息获取预设三维坐标信息，将所述预设三维坐标信息对应的坐标确定为第一三维坐标系下的原点，即(0，0，0)；也就是说，本实施例中，默认所述智能手机所在的预设位置，也即汽车所停位置为所述第一三维坐标系下的原点，即将用户汽车所停位置确定为所述第一三维坐标系下的原点。Specifically, after the user stops, the application software of the first electronic device is manually opened, the preset location information is obtained by the application software, and preset three-dimensional coordinate information is acquired based on the preset location information, and the preset three-dimensional coordinate information is corresponding. The coordinate is determined as the origin in the first three-dimensional coordinate system, that is, (0, 0, 0); that is, in this embodiment, the default position where the smart phone is located, that is, the stop position of the car is The origin in the first three-dimensional coordinate system, that is, the position where the user's car is stopped is determined as the origin in the first three-dimensional coordinate system.
在另一具体实施例中，所述第一电子设备也可以自动确定第一三维坐 标系下的原点；具体地，用户停车后手动开启第一电子设备的应用软件，通过应用软件实时获取自身与第二电子设备的距离信息，并判断所述距离信息是否满足预设规则，当获取到的距离信息满足预设规则，例如，获取到的距离信息小于距离阈值，此时，所述第一电子设备获取位置信息，且此时获取到的位置信息即为预设位置信息，也就是说，当第一电子设备与第二电子设备之间的距离小于距离阈值时，所述第一电子设备获取到的预设距离信息即为所述第二电子设备对应的汽车的预设位置信息；进一步地，将所述预设位置信息对应的预设三维坐标信息作为第一三维坐标系下的原点，进而为最终确定出三维轨迹信息奠定基础。In another specific embodiment, the first electronic device can also automatically determine the first three-dimensional sitting The origin of the standard system; specifically, the user manually opens the application software of the first electronic device after the user stops, obtains the distance information between the user and the second electronic device in real time through the application software, and determines whether the distance information satisfies the preset rule. The acquired distance information satisfies the preset rule. For example, the acquired distance information is smaller than the distance threshold. At this time, the first electronic device acquires the location information, and the location information acquired at this time is the preset location information, and That is, when the distance between the first electronic device and the second electronic device is less than the distance threshold, the preset distance information acquired by the first electronic device is the preset position of the corresponding vehicle of the second electronic device. Further, the preset three-dimensional coordinate information corresponding to the preset position information is used as an origin in the first three-dimensional coordinate system, thereby laying a foundation for finally determining the three-dimensional trajectory information.
这里，所述第二电子设备可以为设置于汽车中的任意电子设备，例如车载导航等。Here, the second electronic device may be any electronic device disposed in a car, such as car navigation or the like.
本实施例中，建立所述第一三维坐标系的步骤可以具体包括：In this embodiment, the step of establishing the first three-dimensional coordinate system may specifically include:
使用所述智能手机中的指南针确定出水平方向，并将确定出的水平方向中的南北方向作为Y轴，东西方向作为X轴，将垂直于所述水平方向的垂直方向作为Z轴，如此，建议第一三维坐标系。Using the compass in the smartphone to determine the horizontal direction, and determining the north-south direction in the determined horizontal direction as the Y-axis, the east-west direction as the X-axis, and the vertical direction perpendicular to the horizontal direction as the Z-axis, thus, The first three-dimensional coordinate system is recommended.
进一步地，使用所述智能手机的压力传感器确定出所述智能手机所在的海拔高度，具体地，可以通过压力传感器测量出的气压与海拔高度对应的曲线关系确定出海拔高度。Further, the pressure sensor of the smart phone is used to determine the altitude at which the smart phone is located. Specifically, the altitude relationship may be determined by a curve relationship between the air pressure measured by the pressure sensor and the altitude.
在实际应用中，所述智能手机能够通过自身的压力传感器实时确定出自身在所述Z轴上的移动高度，例如，当将所述智能手机所在的预设位置信息对应的预设三维坐标信息作为所述第一三维坐标系下的原点时，所述智能手机通过自身的压力传感器实时确定出自身所在Z轴上的高度，并通过所述高度与原点之间的距离关系，确定所述智能手机在所述Z轴上的移动高度。进一步地，如果，此时所述智能手机能够搜到GPS信号，结合GPS定位的海拔高度，可以使Z轴上的移动高度更精确。 In a practical application, the smart phone can determine its own moving height on the Z axis in real time through its own pressure sensor, for example, preset three-dimensional coordinate information corresponding to the preset position information of the smart phone. As the origin in the first three-dimensional coordinate system, the smart phone determines the height on its Z axis in real time through its own pressure sensor, and determines the intelligence by the distance relationship between the height and the origin. The moving height of the mobile phone on the Z axis. Further, if the smart phone can find the GPS signal at this time, combined with the altitude of the GPS positioning, the moving height on the Z axis can be made more accurate.
本实施例中，使用Z轴上的定位功能，可以确定出用户的汽车所在的高度，也即用户汽车停在停车场的层高，如此方便用户找车，节约了用户时间，提升了用户体验。In this embodiment, by using the positioning function on the Z-axis, the height of the user's car can be determined, that is, the height of the user's car parked in the parking lot, so that the user can find the car, saving user time and improving the user experience. .
步骤303：所述第一电子设备获取当前所在位置对应的第一位置信息；Step 303: The first electronic device acquires first location information corresponding to the current location.
步骤304：所述第一电子设备依据所述第一位置信息确定出第一三维坐标信息；Step 304: The first electronic device determines first three-dimensional coordinate information according to the first location information.
步骤305：基于所述第一三维坐标信息和预设三维坐标信息在第一三维坐标系下确定出三维轨迹信息，以使所述三维轨迹信息能够表征所述第一电子设备在所述第一方向上的高度轨迹信息。Step 305: Determine, according to the first three-dimensional coordinate information and preset three-dimensional coordinate information, three-dimensional trajectory information in a first three-dimensional coordinate system, so that the three-dimensional trajectory information can represent the first electronic device at the first Height trajectory information in the direction.
本实施例中，所述第一方法也即Z轴方向。In this embodiment, the first method is also the Z-axis direction.
在一具体实施例中，通过单位时间内位移的增量确定出所述智能手机当前所在位置对应的第一位置信息；In a specific embodiment, the first location information corresponding to the current location of the smart phone is determined by the increment of the displacement in a unit time;
具体地，速度包括线速度和角速度；使用智能手机中的加速度传感器来测量水平方向上的线加速度，使用智能手机中的陀螺仪来测量水平方向上的角速度，通过对角速度的积分可以得到转动的角度，通过转动的角度信息，把加速度传感器测量的水平方向上的线加速度分别投影在X、Y轴上，以分别得到X、Y轴上的线加速度，通过对时间的积分得到X、Y轴上的线速度，再对时间积分，得到X、Y轴方向上的位移，进而通过单位时间内位移的增量确定出所述X、Y轴方向上的位移；所以当以相同的频率同时采集加速度传感器和陀螺仪的数据，可以得到在水平方向上X、Y轴上的位移，即当前的水平位置坐标(x，y)。由于实际应用中是以一定的频率采样的，所以随着时间的增加，会产生误差，时间越长，误差越大；如果此时所述智能手机能够通过GPS模块搜到GPS信号，且能够通过AGPS模块获取到网络提供的AGPS信号，就可以辅助加速度传感器和陀螺仪对运动信息，包括方向、步幅等进行校准，进而提升长时间工作下定位的准 确性；Specifically, the speed includes a linear velocity and an angular velocity; an acceleration sensor in a smartphone is used to measure the linear acceleration in the horizontal direction, and a gyroscope in the smartphone is used to measure the angular velocity in the horizontal direction, and the rotation is obtained by integrating the angular velocity. Angle, by the angle information of the rotation, the linear acceleration in the horizontal direction measured by the acceleration sensor is respectively projected on the X and Y axes to obtain the linear accelerations on the X and Y axes respectively, and the X and Y axes are obtained by integrating the time. The line speed on the upper side is integrated with the time to obtain the displacement in the X and Y axis directions, and then the displacement in the X and Y axis directions is determined by the increment of the displacement in the unit time; therefore, the simultaneous acquisition is performed at the same frequency. The data of the acceleration sensor and the gyroscope can obtain the displacement in the horizontal direction on the X and Y axes, that is, the current horizontal position coordinate (x, y). Since the actual application is sampled at a certain frequency, an error will occur as time increases, and the longer the time, the larger the error; if the smartphone can find the GPS signal through the GPS module at this time, and can pass The AGPS module obtains the AGPS signal provided by the network, and can assist the acceleration sensor and the gyroscope to calibrate the motion information, including the direction and the stride, thereby improving the positioning of the positioning under long-term work. Authenticity
进一步地，如果停车场有可连接的Wi-Fi，所述智能手机能够通过自身的Wi-Fi模块连接上Wi-Fi调用数据库中附近所有Wi-Fi热点的地理位置信息，及各个Wi-Fi热点的信号强弱，来计算所述智能手机当前的位置信息，进而辅助加速度传感器和陀螺仪的数据，就能得到较为准确的位置信息。所以，如果同时有GPS、AGPS、Wi-Fi信号，则全部用来辅助加速度传感器和陀螺仪获取到的数据，则能够得到准确度较高的位置信息。如果只有GPS、AGPS或Wi-Fi信号，辅助加速度传感器和陀螺仪的数据，则得到的数据的准确性次之；如果没有GPS、AGPS、WI-FI信号，只用加速度传感器和陀螺仪，则得到的数据的准确性最差。但仍然可以显示出所述智能手机与预设位置信息之间的相对位置关系，即三维轨迹信息。Further, if the parking lot has connectable Wi-Fi, the smart phone can connect to the Wi-Fi calling location of all Wi-Fi hotspots in the database through the Wi-Fi module, and each Wi-Fi The signal strength of the hotspot is used to calculate the current location information of the smart phone, thereby assisting the data of the acceleration sensor and the gyroscope to obtain more accurate position information. Therefore, if there are GPS, AGPS, and Wi-Fi signals at the same time, all of them are used to assist the data acquired by the acceleration sensor and the gyroscope, and the position information with higher accuracy can be obtained. If only GPS, AGPS or Wi-Fi signals are used, the data of the auxiliary acceleration sensor and the gyroscope are used, the accuracy of the obtained data is second; if there is no GPS, AGPS, WI-FI signal, only the acceleration sensor and the gyroscope are used, then The data obtained is the least accurate. However, the relative positional relationship between the smart phone and the preset position information, that is, the three-dimensional trajectory information can still be displayed.
通过上述过程，本发明实施例能够实时确定出所述智能手机在第一三维坐标系下的当前的第一位置信息对应的三维坐标(x，y，z)，如此，通过所述三维坐标(x，y，z)与原点之间的位置关系，确定出三维轨迹信息，从而使用户能够有目的性的找车，减少寻车时间，提升用户体验。Through the above process, the embodiment of the present invention can determine the three-dimensional coordinates (x, y, z) corresponding to the current first position information of the smart phone in the first three-dimensional coordinate system in real time, and thus, through the three-dimensional coordinates ( The positional relationship between x, y, z) and the origin determines the three-dimensional trajectory information, so that the user can find the car with purpose, reduce the time of searching for the car, and improve the user experience.
本发明实施例中，通过智能手机中的指南针来确定出水平方向，并依据水平方向确定出X轴、Y轴方向，并将垂直于所述水平方向的垂直方向作为Z轴，以建立三维坐标系，进而在建立的三维坐标系下通过所述智能手机中的压力传感器检测海拔高度来确定所述智能手机在所述Z轴方向的位移，实现确定所述智能手机所在位置的海拔高度的目的，进而为最终确定出三维轨迹信息奠定基础。In the embodiment of the present invention, the horizontal direction is determined by the compass in the smart phone, and the X-axis and the Y-axis direction are determined according to the horizontal direction, and the vertical direction perpendicular to the horizontal direction is taken as the Z-axis to establish three-dimensional coordinates. And determining, by the pressure sensor in the smart phone, the altitude of the smartphone in the established three-dimensional coordinate system to determine the displacement of the smart phone in the Z-axis direction, and determining the altitude of the location of the smart phone. And then lay the foundation for the final determination of three-dimensional trajectory information.
本发明实施例中，不仅能够确定出所述智能手机所在水平方向的位置，还能确定出所述智能手机在与所述水平方向垂直的垂直方向上的位置，因此，本发明实施在停车场找车的应用场景中，能够精确确定出目标三维轨迹，为用户准确获取车辆所在位置奠定了基础。 In the embodiment of the present invention, not only the position of the smart phone in the horizontal direction but also the position of the smart phone in the vertical direction perpendicular to the horizontal direction can be determined, and therefore, the present invention is implemented in the parking lot. In the application scenario of finding a car, the target three-dimensional trajectory can be accurately determined, which lays a foundation for the user to accurately obtain the location of the vehicle.
本领域内的技术人员应明白，本发明的实施例可提供为方法、系统、或计算机程序产品。因此，本发明可采用硬件实施例、软件实施例、或结合软件和硬件方面的实施例的形式。而且，本发明可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器和光学存储器等)上实施的计算机程序产品的形式。Those skilled in the art will appreciate that embodiments of the present invention can be provided as a method, system, or computer program product. Accordingly, the present invention can take the form of a hardware embodiment, a software embodiment, or a combination of software and hardware. Moreover, the invention can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage and optical storage, etc.) including computer usable program code.
本发明是参照根据本发明实施例的方法、设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。The present invention has been described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (system), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or FIG. These computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing device to produce a machine for the execution of instructions for execution by a processor of a computer or other programmable data processing device. Means for implementing the functions specified in one or more of the flow or in a block or blocks of the flow chart.
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。The computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture comprising the instruction device. The apparatus implements the functions specified in one or more blocks of a flow or a flow and/or block diagram of the flowchart.
这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上，使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。These computer program instructions can also be loaded onto a computer or other programmable data processing device such that a series of operational steps are performed on a computer or other programmable device to produce computer-implemented processing for execution on a computer or other programmable device. The instructions provide steps for implementing the functions specified in one or more of the flow or in a block or blocks of a flow diagram.
以上所述仅是本发明实施例的实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明实施例原理的前提下，还可以作出若干改进和润饰，这些改进和润饰也应视为本发明实施例的保护范围。 The above is only an embodiment of the embodiments of the present invention, and it should be noted that those skilled in the art can make some improvements and refinements without departing from the principles of the embodiments of the present invention. Retouching should also be considered as the scope of protection of the embodiments of the present invention.
工业实用性Industrial applicability
本发明实施例通过第一电子设备获取第一位置信息，依据所述第一位置信息确定出第一三维坐标信息，进而使所述第一电子设备能够依据所述第一三维坐标信息和预设三维坐标信息确定出三维轨迹信息，这里，所述三维轨迹信息能够表征第一方向上的高度信息，因此，采用本发明实施例能够确定出所述第一位置信息与所述预设三维坐标信息的位置关系所对应的高度轨迹，进而便于电子设备使用者依据所述高度轨迹，更精准的获取到当前所在位置与目标位置的轨迹，提升了用户体验。 The first electronic device obtains the first location information, and determines the first three-dimensional coordinate information according to the first location information, so that the first electronic device can be configured according to the first three-dimensional coordinate information and the preset The three-dimensional coordinate information determines three-dimensional trajectory information, where the three-dimensional trajectory information can represent the height information in the first direction. Therefore, the first position information and the preset three-dimensional coordinate information can be determined by using the embodiment of the present invention. The height trajectory corresponding to the positional relationship, thereby facilitating the electronic device user to obtain the trajectory of the current location and the target location more accurately according to the height trajectory, thereby improving the user experience.

Claims (11)

  1. 一种定位方法，所述方法应用第一电子设备；所述方法包括：A positioning method, the method applying a first electronic device; the method comprising:
    获取第一位置信息；所述第一位置信息用于表征所述第一电子设备当前所在位置对应的位置信息；Acquiring the first location information; the first location information is used to represent location information corresponding to the current location of the first electronic device;
    依据所述第一位置信息确定出第一三维坐标信息；所述第一三维坐标信息能够表征所述第一电子设备在第一方向上对应的高度信息；Determining, according to the first location information, first three-dimensional coordinate information; the first three-dimensional coordinate information can represent height information corresponding to the first electronic device in a first direction;
    基于所述第一三维坐标信息和预设三维坐标信息确定出三维轨迹信息；所述三维轨迹信息能够表征所述第一方向所对应的高度轨迹信息。Determining three-dimensional trajectory information based on the first three-dimensional coordinate information and preset three-dimensional coordinate information; the three-dimensional trajectory information can represent height trajectory information corresponding to the first direction.
  2. 根据权利要求1所述的方法，其中，所述第一电子设备中设置有传感单元；对应地，所述获取第一位置信息，包括：The method of claim 1, wherein the first electronic device is provided with a sensing unit; correspondingly, the obtaining the first location information comprises:
    通过所述第一电子设备中的所述传感单元获取第一位置信息。The first location information is obtained by the sensing unit in the first electronic device.
  3. 根据权利要求1所述的方法，其中，所述方法还包括：The method of claim 1 wherein the method further comprises:
    获取预设位置信息；所述预设位置信息用于表征所述第一电子设备处于目标位置时所对应的位置信息；Obtaining preset location information, where the preset location information is used to represent location information corresponding to when the first electronic device is in a target location;
    依据所述预设位置信息确定出预设三维坐标信息。Determining preset three-dimensional coordinate information according to the preset position information.
  4. 根据权利要求3所述的方法，其中，所述方法还包括：The method of claim 3, wherein the method further comprises:
    获取所述第一电子设备与第二电子设备之间的距离信息；Obtaining distance information between the first electronic device and the second electronic device;
    判断所述距离信息是否满足预设规则，获取判断结果；Determining whether the distance information meets a preset rule, and obtaining a judgment result;
    对应地，所述获取预设位置信息，包括：Correspondingly, the acquiring preset location information includes:
    当所述判断结果表征所述距离信息满足所述预设规则时，获取预设位置信息。When the judgment result indicates that the distance information satisfies the preset rule, the preset position information is acquired.
  5. 根据权利要求3所述的方法，其中，所述方法还包括：The method of claim 3, wherein the method further comprises:
    依据所述第一三维坐标信息确定出所述第一方向对应的第一高度坐标信息； Determining, according to the first three-dimensional coordinate information, first height coordinate information corresponding to the first direction;
    依据所述预设三维坐标信息确定出所述第一方向对应的第二高度坐标信息；Determining, according to the preset three-dimensional coordinate information, second height coordinate information corresponding to the first direction;
    依据所述第一高度坐标信息和所述第二高度坐标信息确定出所述第一方向上的高度轨迹信息；Determining height trajectory information in the first direction according to the first height coordinate information and the second height coordinate information;
    对应地，所述基于所述第一三维坐标信息和预设三维坐标信息确定出三维轨迹信息，包括：Correspondingly, the determining the three-dimensional trajectory information based on the first three-dimensional coordinate information and the preset three-dimensional coordinate information includes:
    基于所述第一三维坐标信息、第二三维坐标信息以及所述高度轨迹信息确定出三维轨迹信息，以使所述三维轨迹信息能够表征所述第一方向所对应的高度轨迹信息。And determining the three-dimensional trajectory information based on the first three-dimensional coordinate information, the second three-dimensional coordinate information, and the height trajectory information, so that the three-dimensional trajectory information can represent the height trajectory information corresponding to the first direction.
  6. 一种第一电子设备，所述第一电子设备包括：A first electronic device, the first electronic device comprising:
    第一获取单元，配置为获取第一位置信息；所述第一位置信息用于表征所述第一电子设备当前所在位置对应的位置信息；a first acquiring unit, configured to acquire first location information, where the first location information is used to represent location information corresponding to a current location of the first electronic device;
    第一确定单元，配置为依据所述第一位置信息确定出第一三维坐标信息；所述第一三维坐标信息能够表征所述第一电子设备在第一方向上对应的高度信息；a first determining unit, configured to determine, according to the first location information, first three-dimensional coordinate information; the first three-dimensional coordinate information can represent height information corresponding to the first electronic device in a first direction;
    第二确定单元，配置为基于所述第一三维坐标信息和预设三维坐标信息确定出三维轨迹信息；所述三维轨迹信息能够表征所述第一方向所对应的高度轨迹信息。The second determining unit is configured to determine the three-dimensional trajectory information based on the first three-dimensional coordinate information and the preset three-dimensional coordinate information; the three-dimensional trajectory information can represent the height trajectory information corresponding to the first direction.
  7. 根据权利要求6所述的第一电子设备，其中，所述第一电子设备中设置有传感单元；对应地，The first electronic device according to claim 6, wherein the first electronic device is provided with a sensing unit; correspondingly,
    所述第一获取单元，还配置为通过所述传感单元获取第一位置信息。The first acquiring unit is further configured to acquire first location information by using the sensing unit.
  8. 根据权利要求6所述的第一电子设备，其中，所述第一电子设备还包括：The first electronic device of claim 6, wherein the first electronic device further comprises:
    第二获取单元，配置为获取预设位置信息；所述预设位置信息用于表征所述第一电子设备处于目标位置时所对应的位置信息； a second acquiring unit, configured to acquire preset location information, where the preset location information is used to represent location information corresponding to when the first electronic device is in the target location;
    第三确定单元，配置为依据所述预设位置信息确定出预设三维坐标信息。The third determining unit is configured to determine preset three-dimensional coordinate information according to the preset location information.
  9. 根据权利要求8所述的第一电子设备，其中，所述第一电子设备还包括：The first electronic device of claim 8, wherein the first electronic device further comprises:
    第三获取单元，配置为获取所述第一电子设备与第二电子设备之间的距离信息；a third acquiring unit, configured to acquire distance information between the first electronic device and the second electronic device;
    判断单元，配置为判断所述距离信息是否满足预设规则，获取判断结果；The determining unit is configured to determine whether the distance information meets a preset rule, and obtain a determination result;
    对应地，所述第二获取单元，还配置为当所述判断结果表征所述距离信息满足所述预设规则时，获取预设位置信息。Correspondingly, the second acquiring unit is further configured to: when the determining result indicates that the distance information meets the preset rule, acquire preset location information.
  10. 根据权利要求8所述的第一电子设备，其中，所述第一电子设备，还包括：The first electronic device of claim 8, wherein the first electronic device further comprises:
    第四确定单元，配置为依据所述第一三维坐标信息确定出所述第一方向对应的第一高度坐标信息；a fourth determining unit, configured to determine, according to the first three-dimensional coordinate information, first height coordinate information corresponding to the first direction;
    第五确定单元，配置为依据所述预设三维坐标信息确定出所述第一方向对应的第二高度坐标信息；a fifth determining unit, configured to determine, according to the preset three-dimensional coordinate information, second height coordinate information corresponding to the first direction;
    第六确定单元，配置为依据所述第一高度坐标信息和所述第二高度坐标信息确定出所述第一方向上的高度轨迹信息；a sixth determining unit, configured to determine height trajectory information in the first direction according to the first height coordinate information and the second height coordinate information;
    对应地，所述第二确定单元，还配置为基于所述第一三维坐标信息、第二三维坐标信息以及所述高度轨迹信息确定出三维轨迹信息，以使所述三维轨迹信息能够表征所述第一方向所对应的高度轨迹信息。Correspondingly, the second determining unit is further configured to determine three-dimensional trajectory information based on the first three-dimensional coordinate information, the second three-dimensional coordinate information, and the height trajectory information, so that the three-dimensional trajectory information can represent the Height trajectory information corresponding to the first direction.
  11. 一种计算机可读存储介质，该存储介质包括一组指令，所述指令用于执行权利要求1至5任一项所述的定位方法。 A computer readable storage medium comprising a set of instructions for performing the positioning method of any one of claims 1 to 5.
PCT/CN2015/081690 2015-05-19 2015-06-17 Positioning method, electronic device and storage medium WO2016183892A1 (en)

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