WO2018157504A1 - Procédé et appareil de détermination d'informations de positionnement - Google Patents

Procédé et appareil de détermination d'informations de positionnement Download PDF

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Publication number
WO2018157504A1
WO2018157504A1 PCT/CN2017/088446 CN2017088446W WO2018157504A1 WO 2018157504 A1 WO2018157504 A1 WO 2018157504A1 CN 2017088446 W CN2017088446 W CN 2017088446W WO 2018157504 A1 WO2018157504 A1 WO 2018157504A1
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Prior art keywords
positioning data
positioning
preset
determining
data
Prior art date
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PCT/CN2017/088446
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English (en)
Chinese (zh)
Inventor
黎高鹏
曹智强
Original Assignee
华为技术有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 华为技术有限公司 filed Critical 华为技术有限公司
Priority to CN202110267384.3A priority Critical patent/CN113219504B/zh
Priority to CN201780047856.6A priority patent/CN109564270B/zh
Publication of WO2018157504A1 publication Critical patent/WO2018157504A1/fr

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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
    • G01S19/421—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system
    • G01S19/423—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system by combining or switching between position solutions derived from different satellite radio beacon positioning systems
    • 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
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • 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

Definitions

  • the embodiments of the present application relate to a positioning technology, and in particular, to a positioning information determining method and apparatus.
  • the positioning accuracy of the positioning system is usually affected by many factors, such as the delay of the ionosphere and troposphere in the atmosphere, the delay or attenuation of the positioning information caused by the multipath effect, the number of navigation satellites, etc., in order to measure the positioning information.
  • the accuracy of the positioning result output by the positioning system includes the positional information of the latitude and longitude, and the prediction accuracy of the position information.
  • the building blockage in the city is relatively serious and brings multipath effect.
  • the multipath effect causes the positioning signal to refract and re-reflect between buildings, which weakens the positioning signal.
  • the estimation accuracy of using the positioning chip output in this environment often has a large deviation from the actual accuracy.
  • the prediction accuracy is compared with the accuracy range threshold specified by the positioning chip itself, and if the threshold is satisfied, the position information is output and Predicted accuracy; however, in the case of the above weak positioning signal, the position information calculated by the positioning chip and the prediction accuracy of the position information itself are inaccurate, and therefore, even if the prediction accuracy satisfies the chip's specified accuracy range threshold
  • the prediction accuracy is also inaccurate, which is larger than the actual precision deviation, that is, the error between the latitude and longitude values of the real position and the position latitude and longitude values of the chip output is large, so when the estimated accuracy satisfies the threshold of the chip precision range,
  • the positioning results output by the chip have the following two problems: 1.
  • the actual accuracy is much larger than the estimation accuracy, and the positioning accuracy is not satisfied; 2.
  • the positioning chip has a long positioning time in the weak signal environment, and the power consumption is large, and the positioning is difficult. Therefore, the prediction accuracy is difficult to meet the accuracy range threshold specified by the chip, which leads to long-term positioning.
  • the embodiment of the present invention provides a method and a device for determining positioning information, which are used to solve the technical problem that the positioning accuracy is inaccurate in the prior art, especially in the case of a weak signal, the positioning time is long, the power consumption is large, and the positioning accuracy is inaccurate.
  • the embodiment of the present application provides a method for determining location information, including:
  • the positioning information includes:
  • the acquiring N positioning data of the target location includes:
  • the calculating the distance value between the positioning data includes:
  • the method further includes:
  • the positioning data of the target location is stopped.
  • the preset similarity threshold is greater than or equal to 2.
  • the determining the location information of the target location according to the first positioning data includes:
  • the first positioning data that satisfies the distance value and is less than or equal to the preset convergence threshold is used as the positioning information of the target position.
  • the determining the location information of the target location according to the first positioning data includes:
  • the acquiring N positioning data of the target location includes:
  • N pieces of positioning data within a preset duration range or obtain N positioning data that meet a preset number of acquisition thresholds.
  • the determining the location information of the target location according to the first positioning data includes:
  • the method further includes:
  • the N positioning data of the target location is re-acquired after the interval is preset.
  • the method further includes:
  • Stop acquiring the positioning data of the target location.
  • the method further includes:
  • the preset convergence threshold is determined within the convergence interval.
  • the method further includes:
  • the adjusting the preset convergence threshold in the convergence interval according to the signal strength includes:
  • the preset convergence threshold is adjusted to a larger value; if the signal strength is stronger, the preset convergence threshold is adjusted to a smaller value.
  • the determining the preset convergence threshold in the convergence interval includes:
  • Determining an intermediate value of the convergence interval is the preset convergence threshold.
  • the positioning data includes: global positioning system GPS positioning data, Beidou satellite navigation system BDS positioning data, GLONASS satellite navigation system GLONASS positioning data.
  • the embodiment of the present application provides a positioning information determining apparatus, including:
  • An obtaining module configured to acquire N positioning data of a target location
  • a calculation module for calculating a distance value between the positioning data
  • a determining module configured to determine, in the N pieces of positioning data, the first positioning data that the distance value is less than or equal to a preset convergence threshold; and determine positioning information of the target position according to the first positioning data.
  • the positioning information includes:
  • the acquiring module is specifically configured to acquire positioning data of N consecutive target positions in time.
  • the calculation module is specifically configured to calculate a distance value between two adjacent positioning data in time.
  • the device further includes:
  • a determining module configured to determine whether the number of the first positioning data is greater than or equal to a preset number of similarity thresholds
  • the obtaining module is further configured to stop acquiring the positioning data of the target location when the determining module determines that the number of the first positioning data is greater than or equal to a preset number of similarity thresholds.
  • the preset similarity threshold is greater than or equal to 2.
  • the determining module is specifically configured to use the first positioning data that first satisfies the distance value less than or equal to the preset convergence threshold in time as the positioning information of the target location.
  • the determining module is specifically configured to calculate an average value of the first positioning data, and use the average value as positioning information of the target position.
  • the acquiring module is configured to acquire N positioning data in a preset duration range or to acquire N positioning data that meet a preset number of acquisition thresholds.
  • the determining module is specifically configured to calculate a mean value of the first positioning data that satisfies a distance value that is less than or equal to a preset convergence threshold, and uses the average value as the positioning information of the target location.
  • the acquiring module is further configured to: when there is no first positioning data that meets the preset value and the preset convergence threshold is not included in the N positioning data, after the preset waiting time is long, Retrieving N positioning data of the target location.
  • the acquiring module is further configured to stop acquiring the positioning data of the target location after the determining module determines the positioning information of the target location.
  • the determining module is further configured to determine a convergence interval of the positioning data in a time dimension; and within the convergence interval, determine the preset convergence threshold.
  • the acquiring module is further configured to acquire a signal strength of a positioning signal of the positioning data
  • the device further comprises:
  • an adjusting module configured to adjust the preset convergence threshold within the convergence interval according to the signal strength.
  • the adjusting module is specifically configured to: when the signal strength is weaker, adjust the preset convergence threshold to a larger value; when the signal strength is stronger, adjust the preset convergence.
  • the threshold is the smaller the value.
  • the determining module is specifically configured to determine that an intermediate value of the convergence interval is the preset convergence threshold.
  • the positioning data includes: global positioning system GPS positioning data, Beidou satellite navigation system BDS positioning data, GLONASS satellite navigation system GLONASS positioning data.
  • an embodiment of the present application provides a terminal, including:
  • the method of any of the above is performed when the processor runs the computer program.
  • an embodiment of the present application provides an electronic device readable storage medium, including a program, when executed on an electronic device, causing the electronic device to perform the method described in any one of the above.
  • the method and device for determining positioning information calculate the distance value between the positioning data by acquiring N positioning data of the target position; determining the distance value in the N positioning data is smaller than First positioning data equal to a preset convergence threshold; determining positioning information of the target position according to the first positioning data, thereby improving positioning accuracy of the positioning data, especially for a long positioning time and a large power consumption in the case of a weak signal Significant improvement, can greatly improve the positioning rate and improve the accuracy of positioning.
  • FIG. 1 is a schematic flowchart of a method for determining location information according to an embodiment of the present application
  • FIG. 2 is a schematic diagram showing similarity of positioning data of the embodiment shown in FIG. 1;
  • FIG. 3 is a schematic diagram of convergence trend of positioning data in the embodiment shown in FIG. 1;
  • FIG. 4 is a schematic flowchart of a method for determining location information according to another embodiment of the present application.
  • FIG. 5 is a schematic flowchart of a method for determining location information according to another embodiment of the present application.
  • FIG. 6 is a schematic structural diagram of a positioning information determining apparatus according to an embodiment of the present disclosure.
  • FIG. 7 is a schematic structural diagram of a positioning information determining apparatus according to another embodiment of the present disclosure.
  • FIG. 8 is a schematic structural diagram of a terminal according to an embodiment of the present disclosure.
  • FIG. 1 is a schematic flowchart of a method for determining location information according to an embodiment of the present disclosure.
  • the embodiment provides a method for determining location information, which can be applied to an apparatus configured to perform the method for determining location information.
  • the method for determining the positioning information specifically includes:
  • Step 101 Acquire N positioning data of the target location, and calculate a distance value between the positioning data.
  • the positioning data of the target location may be a bit calculated by the positioning chip according to the satellite data.
  • the data is set, for example, the positioning chip receives the three-dimensional satellite data of the three positioning satellites, and calculates the latitude and longitude information of the current target position based on the positioning algorithm (for example, each target position is calibrated in a three-dimensional state of X, Y, Z), and positioning
  • the chip calculates a latitude and longitude information, it can be regarded as acquiring a positioning data
  • the device for performing the positioning information determining method can be integrated on the positioning chip, or can be independent of the processor of the positioning chip, and the obtained After the positioning data determined by the positioning chips is determined, the distance values between the positioning data are calculated.
  • Step 102 Determine, in the N pieces of positioning data, first positioning data whose distance value is less than or equal to a preset convergence threshold.
  • the positioning chip calculates the positioning data by a certain chip cycle, for example, calculating one positioning data per second, and positioning the data calculated by the positioning chip to the same target position over time. It is more and more accurate, but it is not excluded from the influence of signal interference. The accuracy of the positioning data does not increase with time. Then, if there are several positioning data calculated by the positioning chip, if there is any The first positioning data whose distance value is less than or equal to the preset convergence threshold, that is, the first positioning data are positioning data that are relatively similar to each other, indicating that the positioning chip gives similar data to the same target position, and the similar data is similar. It is the probability that the actual position of the target position is marked.
  • Step 103 Determine positioning information of the target location according to the first positioning data.
  • the positioning data is determined, and the positioning data is output as the positioning information of the target position.
  • the positioning information may include positioning data, and may also include information for identifying the accuracy of the positioning data, that is, positioning accuracy information.
  • the preset convergence threshold in this embodiment is information for measuring the accuracy of the positioning data.
  • the preset convergence threshold is used as a criterion for measuring the distance between the positioning data, that is, whether it is a measure of similar positioning data, and the setting of the value directly affects the accuracy of the output positioning data. The following convergence threshold is used. Determination of the description:
  • FIG. 2 is a schematic diagram of the similarity of the positioning data. As shown in FIG. 2, most of the positioning data converges within the range of the position framed by the circle with time, and the positioning data in the circle is positioned with each other. The accuracy is close and the similarity is good. Among them, the positioning accuracy of the positioning data usually shows a gradual convergence trend with the passage of time.
  • FIG. 3 is a schematic diagram of the convergence trend of the positioning data. As shown in FIG.
  • the abscissa represents the positioning time
  • the ordinate represents the positioning accuracy.
  • the positioning accuracy finally converges within a certain range, for example, between 40 m and 50 m as shown in the figure. At this time, if the positioning time is extended, the positioning accuracy will not increase.
  • the positioning accuracy can be determined by the performance requirements of the product.
  • the positioning of the mobile phone and the positioning of the watch can set the positioning accuracy within an error range of about 50 m, and the positioning accuracy for military use is less than 50 m;
  • the positioning precision performance test may be performed on the positioning chip according to the data processing capability or the hardware performance of the positioning chip to determine the convergence interval of the positioning data; the setting standard of the positioning accuracy is not specifically limited in the present application.
  • the device for performing the positioning information determining method first acquires N positioning data of the target position, and the target position is a position point of the latitude and longitude information to be output, and the N positioning data is collected for the position point, and N positioning positions are calculated.
  • the distance value may be a distance value between any two positioning data, or may be a distance value between positioning data adjacent to each other according to the order of positioning data acquisition.
  • the manner of calculating the distance value in the embodiment is not specifically limited.
  • a distance value less than or equal to a preset convergence threshold is determined in each of the calculated distance values, and the preset convergence threshold is a convergence threshold set according to a convergence interval of the positioning accuracy described in FIG. 3 above.
  • the size of the preset convergence threshold is determined according to the performance requirement of the product, or is determined according to the processing capability of the positioning chip. This embodiment does not specifically limit this. And determining, according to the selection condition that the distance value is less than or equal to the preset convergence threshold, the first positioning data that meets the condition is determined in the collected N positioning data, and the first positioning data may be considered as a circle in the circle shown in FIG. The positioning data is used to determine the positioning information of the target position according to the first positioning data in the circle.
  • the positioning information determining method calculates the distance value between the positioning data by acquiring N positioning data of the target position, and determines the first positioning data that the distance value is less than or equal to the preset convergence threshold in the N positioning data. According to the first positioning data, the positioning information of the target position is determined, thereby improving the positioning accuracy of the positioning data, especially for the long positioning time in the case of weak signals, and the problem of large power consumption is significantly improved, which can be greatly improved. Positioning rate to improve positioning accuracy
  • FIG. 4 is a schematic flowchart of a method for determining location information according to another embodiment of the present invention. As shown in FIG. 4, on the basis of the foregoing embodiment, the embodiment provides a method for determining location information, including:
  • Step 401 Obtain positioning data of N consecutive target positions in time.
  • the positioning chip receives the positioning information of the satellite according to a certain frequency, and calculates the positioning data. For example, the positioning data of one target position is calculated every second, and the N positioning data is obtained by acquiring The continuous N data calculated by the positioning chip.
  • Step 402 Calculate a distance value between two adjacent positioning data in time.
  • the distance value between the positioning data adjacent to each other on the time axis is calculated, that is, if the obtained N positioning data are (a 0 , a 1 , a 2 . . a N ), the distance between a 0 and a 1 , a 1 and a 2 , a 2 and a 3 , ... a N-1 and a N is calculated.
  • the manner of determining the distance value can save a lot of calculation amount.
  • Step 403 Determine, in the N pieces of positioning data, first positioning data whose distance value is less than or equal to a preset convergence threshold.
  • Step 404 The first positioning data that first satisfies the distance value less than or equal to the preset convergence threshold is used as the positioning information of the target location.
  • the distance values of the two data before and after are sequentially calculated according to the positioning data acquired in time series, and the first positioning data that meets the distance value less than or equal to the preset convergence threshold is encountered, and the positioning information is output.
  • This solution greatly speeds up the output efficiency of positioning information.
  • the positioning signal is strongly affected by the random interference signal. If the positioning chip acquires the accurate positioning data at a certain moment, the condition that the distance value satisfies the preset convergence threshold is immediately determined to be accurate. Position the data to capture accurate instantaneous positioning data in a timely manner.
  • Step 405 Compare the number of the first positioning data with the preset similarity threshold; if the number of the first positioning data is greater than or equal to the preset similarity threshold, stop acquiring the positioning data of the target location, and then According to the method of step 406 or step 407, the final positioning information of the target location is determined in the first positioning data; if the number of the first positioning data is less than the preset similarity threshold, the process returns to step 401 to continue the acquiring time. Positioning data for consecutive target positions.
  • the preset similarity threshold is greater than or equal to 2.
  • the case where the preset similarity number threshold is 2 is similar to the previous step 404, that is, once two positioning data similar to each other are acquired, the positioning information can be output to the target position, and the solution can be greatly accelerated.
  • the output efficiency of the positioning information, especially for weak signals, the positioning signal is strongly affected by the random interference signal. If the positioning chip acquires accurate positioning data at a certain moment, it is judged according to the condition that the similarity threshold is 2 It is accurate positioning data, so as to capture accurate instantaneous positioning data in time.
  • the similarity threshold is 2
  • the distance value that satisfies the preset convergence threshold is calculated in the calculation of the adjacent positioning data, it means that there are two positioning data similar to each other, and the two similar positioning can be performed.
  • either one of a 2 and a 3 may be used. As an output or as an average of (a 2 + a 3 )/2 as an output.
  • This approach speeds up the rate at which the output accurately locates the data.
  • the positioning data will become more and more accurate over time. Therefore, in the absence of special circumstances, the distance between two adjacent positioning data should be gradually converging.
  • the positioning data is interfered by many interference factors. It is not excluded that at some moments, due to the influence of the interference signal, the positioning data output later in time is more inaccurate than the positioning data outputted earlier.
  • the solution is especially suitable for the environment of three-sided occlusion and two-sided occlusion, because the occlusion makes the strength of the positioning signal weak, and the interference signal strength is strong, so that the positioning signal does not reach the demodulation threshold, and the positioning is performed for a long time, if in the environment Waiting for the positioning data to be accumulated to a certain amount and then determining the final positioning data takes a long time, and the final positioning data is likely to be the positioning data collected at a certain time. Therefore, the positioning data is collected in time series. And determining the positioning data according to the distance value that first satisfies the preset convergence threshold can greatly speed up the determination of the target position location information.
  • the preset similarity threshold is greater than 2
  • the accuracy of the output position information can be guaranteed.
  • Step 406 Randomly determine one positioning data as the positioning information of the target location in the first positioning data that meets the threshold of the preset similarity number.
  • Step 407 Calculate an average value of the first positioning data that meets the preset similarity number threshold, and use the average value as the positioning information of the target position.
  • the determination method of the average value can further improve the positioning accuracy of the positioning information.
  • the positioning information output by the positioning chip may include: positioning data of the target location, and a preset convergence threshold.
  • the positioning data may include 2-dimensional or 3-dimensional position coordinate information; the preset convergence threshold may be used to evaluate the accuracy of the output position coordinates. For example, if the preset convergence threshold is 50 m, the actual position coordinates of the target position may be In the range of the area with the position coordinate of the output as the center and the radius of the preset convergence threshold of 50 m.
  • FIG. 5 is a schematic flowchart of a method for determining location information according to another embodiment of the present application, as shown in FIG. 5, Based on the foregoing embodiment, the embodiment provides a method for determining location information, including:
  • Step 501 Obtain N positioning data in a preset duration range, or obtain N positioning data that meet a preset number of acquisition thresholds.
  • N positioning data may be obtained according to the preset acquisition time of the positioning data or according to the preset number of positioning data.
  • Step 502 Calculate a distance value between the positioning data.
  • the distance value between any two positioning data may be calculated, or the distance value between the positioning data adjacent to each other may be calculated according to the order of time.
  • Step 503 Determine whether the first positioning data that meets the preset value of the convergence threshold is less than or equal to the preset convergence threshold, and if yes, execute step 504; if not, the interval is preset to wait for the duration, and then step 501 is performed again.
  • the positioning signal is weak, it may happen that the N positioning data obtained by the acquisition is inaccurate, and if there is no available for output, it is necessary to collect new positioning data again to continue to determine whether there is positioning data that satisfies the positioning accuracy.
  • Step 504 Calculate an average value of the first positioning data that satisfies a distance value that is less than or equal to a preset convergence threshold, and use the average value as the positioning information of the target location.
  • the first positioning data that satisfies the distance value less than or equal to the preset convergence threshold is the positioning data in the circle shown in FIG. 4, and calculates the average value of the positioning data in the circle, that is, the positioning data with higher similarity. Further screening, so that the average value of the positioning data in the circle is used as the final positioning data, the accuracy of the positioning data can be further improved.
  • Step 505 After determining the location information of the target location, stop acquiring the location data of the target location.
  • the positioning function is turned off, and the positioning data is stopped to be continuously saved, thereby saving power consumption.
  • the preset convergence threshold is an important indicator for screening the positioning data.
  • the value of the preset convergence threshold greatly affects the output rate of the final positioning information. Therefore, the positioning signal strength in different environments is moderate.
  • the preset convergence threshold is adjusted to achieve a match between the accuracy of the positioning chip output positioning information and the time efficiency.
  • the convergence interval of the positioning data is determined in a time dimension; and the preset convergence threshold is determined within a convergence interval. As shown in FIG. 3, the positioning data has a convergence interval over time. Then, the intermediate value of the convergence interval or any other value may be determined as the preset convergence threshold.
  • the convergence interval may be tested by the positioning chip to determine its convergence interval; or, the value range of the convergence interval may be determined by a person skilled in the art according to the performance requirements of the positioning product.
  • the preset convergence threshold may be a threshold that is adjustable according to the signal quality, so that when the signal quality is good, the positioning information is output with a higher positioning accuracy; when the signal quality is not good, the relative value is relatively
  • the low positioning accuracy outputs positioning information to reduce the positioning time and positioning power loss caused by the positioning of the positioning chip.
  • the signal quality of the positioning signal of the positioning data is obtained, and the signal quality is evaluated, and according to the signal strength, the preset convergence threshold is adjusted within the convergence interval; wherein the weaker the signal strength, the preset convergence is adjusted
  • the threshold is increased to a larger value; the stronger the signal strength, the smaller the preset convergence threshold is.
  • the preset convergence threshold is tightened, so that the output positioning data is more accurate, and in the case of a signal, the preset convergence threshold is moderately relaxed, thereby speeding up the output efficiency of the positioning data, but The preset convergence threshold is still within the range of the convergence interval. Therefore, even if the output efficiency of the positioning data under the weak signal is accelerated, the accuracy of the positioning data is guaranteed.
  • the positioning data includes: Global Positioning System (GPS) positioning data, Beidou satellite navigation system BDS (BeiDou Navigation Satellite System, referred to as "BDS") positioning data, GLONASS satellite navigation System GLONASS (GLOBAL NAVIGATION SATELLITE SYSTEM, referred to as "GLONASS”) positioning data.
  • GPS Global Positioning System
  • BDS Beidou Satellite Navigation System
  • GLONASS GLONASS Satellite Navigation System
  • GLONASS GLOBAL NAVIGATION SATELLITE SYSTEM
  • FIG. 6 is a schematic structural diagram of a positioning information determining apparatus according to an embodiment of the present disclosure. As shown in FIG. 4, the positioning information determining apparatus includes:
  • the obtaining module 61 is configured to acquire N positioning data of the target location
  • a calculation module 62 configured to calculate a distance value between the positioning data
  • the determining module 63 is configured to determine, in the N pieces of positioning data, the first positioning data that the distance value is less than or equal to a preset convergence threshold; and determine positioning information of the target position according to the first positioning data.
  • the positioning information determining apparatus of this embodiment can be used to perform the method embodiment shown in FIG. 1 , and the implementation principle is similar, and details are not described herein again.
  • the positioning information determining apparatus calculates the distance value between the positioning data by acquiring N positioning data of the target position, and determines the first positioning data whose distance value is less than or equal to the preset convergence threshold in the N positioning data. According to the first positioning data, the positioning information of the target position is determined, thereby improving the positioning accuracy of the positioning data, especially for the long positioning time in the case of weak signals, and the problem of large power consumption is significantly improved, which can be greatly improved.
  • the positioning rate improves the accuracy of positioning.
  • FIG. 7 is a schematic structural diagram of a positioning information determining apparatus according to another embodiment of the present invention.
  • the positioning information includes: positioning data of a target location, and a preset convergence threshold.
  • the obtaining module 61 is configured to acquire positioning data of N consecutive target locations in time.
  • the calculating module 62 is specifically configured to calculate a distance value between two adjacent positioning data in time.
  • the device further includes: a determining module 65, configured to determine whether the number of the first positioning data is greater than or equal to a preset similarity threshold.
  • the obtaining module 61 is further configured to stop acquiring the positioning data of the target location when the determining module 65 determines that the number of the first positioning data is greater than or equal to the preset similarity threshold.
  • the preset similarity threshold is greater than or equal to 2.
  • the determining module 63 is specifically configured to use, as the positioning information of the target location, the first positioning data that first satisfies the distance value less than or equal to the preset convergence threshold.
  • the determining module 63 is configured to calculate an average value of the first positioning data, and use the average value as the positioning information of the target location.
  • the obtaining module 61 is configured to acquire N pieces of positioning data in a preset duration range or to acquire N pieces of positioning data that meet a preset number of acquisition thresholds.
  • the determining module 63 is specifically configured to calculate a mean value of the first positioning data that satisfies the distance value less than or equal to the preset convergence threshold, and uses the average value as the positioning information of the target position.
  • the obtaining module 61 is further configured to: when the first positioning data that the distance value is less than or equal to the preset convergence threshold is not present in the N positioning data, after the interval is preset, the N positioning data of the target location is re-acquired. .
  • the obtaining module 61 is further configured to stop acquiring the positioning data of the target location after the determining module determines the positioning information of the target location.
  • the determining module 63 is further configured to determine a convergence interval of the positioning data in a time dimension; and determine a preset convergence threshold in a convergence interval.
  • the obtaining module 61 is further configured to obtain a signal strength of the positioning signal of the positioning data.
  • the positioning information determining apparatus further includes:
  • the adjusting module 64 is configured to adjust the preset convergence threshold within a convergence interval according to the signal strength.
  • the adjusting module 64 is configured to: when the signal strength is weaker, adjust the preset convergence threshold to a larger value; when the signal strength is stronger, adjust the preset convergence threshold to a smaller value.
  • the determining module 63 is specifically configured to determine that an intermediate value of the convergence interval is a preset convergence threshold.
  • the positioning data includes: global positioning system GPS positioning data, Beidou satellite navigation system BDS positioning data, GLONAS satellite navigation system GLONASS positioning data.
  • the positioning information determining apparatus of this embodiment may be used to perform the method embodiment shown in FIG. 4 and/or FIG. 5, and the implementation principle is similar, and details are not described herein again.
  • FIG. 8 is a schematic structural diagram of a terminal according to an embodiment of the present disclosure.
  • the present application provides a terminal, including: a memory 81, a processor 82, and is stored in the memory 81 and operable on the processor 82.
  • the computer program when the processor 82 runs the computer program, performs the method described in any of the above embodiments.
  • the present application also provides an electronic device readable storage medium comprising a program, when executed on an electronic device, causing the electronic device to perform the method described in any of the above embodiments.
  • a computer program product includes one or more computer instructions.
  • the computer can be a general purpose computer, a special purpose computer, a computer network, or other programmable device.
  • the computer instructions can be stored in a computer readable storage medium or transferred from one computer readable storage medium to another computer readable storage medium, for example, computer instructions can be wired from a website site, computer, server or data center (eg Coax, fiber, Digital Subscriber Line (DSL) or wireless (eg, infrared, wireless, microwave, etc.) to another website, computer, server, or data center.
  • the computer readable storage medium can be any available media that can be accessed by a computer or a data storage device such as a server, data center, or the like that includes one or more available media.
  • Useful media can be magnetic media (eg, floppy disk, hard disk, magnetic tape), optical media (eg, DVD), or semiconductor media (eg, Solid State Disk (SSD)), and the like.
  • the functions described in the embodiments of the present application may be implemented in hardware, software, firmware, or any combination thereof.
  • the functions may be stored in a computer readable medium or transmitted as one or more instructions or code on a computer readable medium.
  • Computer readable media includes both computer storage media and communication media including any medium that facilitates transfer of a computer program from one location to another.
  • a storage medium may be any available media that can be accessed by a general purpose or special purpose computer.

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

La présente invention concerne un procédé et un appareil de détermination d'informations de positionnement, comprenant les étapes consistant à: acquérir N éléments de données de positionnement pour une position cible et calculer une valeur de distance entre les données de positionnement (101); déterminer, à partir des N éléments de données de positionnement, des premières données de positionnement dont la valeur de distance est inférieure ou égale à un seuil de convergence prédéfini (102); et déterminer des informations de positionnement de la position cible en fonction des premières données de positionnement (103), ce qui permet d'améliorer la précision de positionnement des données de positionnement, en particulier en améliorant nettement les problèmes liés à une longue durée de positionnement et à une grande consommation d'énergie qui existent quand les signaux sont faibles, pour ainsi augmenter fortement la vitesse de positionnement et améliorer la précision du positionnement.
PCT/CN2017/088446 2017-02-28 2017-06-15 Procédé et appareil de détermination d'informations de positionnement WO2018157504A1 (fr)

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CN115002835A (zh) * 2022-06-30 2022-09-02 商飞软件有限公司 基于北斗系统的飞机位置信息压缩传输方法

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CN115002835A (zh) * 2022-06-30 2022-09-02 商飞软件有限公司 基于北斗系统的飞机位置信息压缩传输方法

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