WO2019126950A1

WO2019126950A1 - Positioning method, cloud server, terminal, system, electronic device and computer program product

Info

Publication number: WO2019126950A1
Application number: PCT/CN2017/118326
Authority: WO
Inventors: 王超鹏; 廉士国; 林义闽
Original assignee: 深圳前海达闼云端智能科技有限公司
Priority date: 2017-12-25
Filing date: 2017-12-25
Publication date: 2019-07-04
Also published as: CN108235736B; CN108235736A

Abstract

A positioning method, a cloud server, a terminal, a system, an electronic device and a computer program product, relating to the field of positioning navigation. The method comprises: acquiring positional information concerning a preset point in a first acquisition manner; acquiring in real time positional information concerning a moving target in a second acquisition manner; determining whether the moving target enters a key area centered on the preset point, acquiring in real time positional information concerning the moving target in a third acquisition manner when the moving target enters the key area. The invention configures a key area by means of a preset point, locates a moving target in a lower-accuracy positioning manner when the moving target is outside the key area, and switches to a higher-accuracy positioning manner when the moving target enters the key area, thereby reducing the amount of data transmission and the amount of computation whilst achieving high-accuracy positioning, and also saving costs to a great extent.

Description

Positioning method, cloud server, terminal, system, electronic device and computer program product

Technical field

The present invention relates to the field of positioning and navigation, and in particular, to a positioning method, a cloud server, a terminal, a system, an electronic device, and a computer program product.

Background technique

In the process of pedestrian navigation or unmanned driving, it is especially important to detect complex road sections or traffic hub sections (such as intersections, building entrances, etc.), and directly control the safety of navigation. At present, there are many positioning technologies, including: GPS (Global Positioning System) positioning, high-precision GPS positioning, visual positioning, and lidar positioning.

Using ordinary GPS for positioning, the cost is low, but the accuracy is poor, and the accurate position information at the key point cannot be obtained. High-precision GPS positioning, high precision, RTK (Real-time kinematic) data can be obtained by setting up a base station or using a third-party service; if the base station is set up, the cost is high and long-term maintenance is required; if a third-party RTK is used Data, such as Chihiro location, is expensive. Using visual or lidar positioning, the positioning accuracy is high, but it is necessary to obtain environmental information in advance, establish a corresponding feature database, and collect map data with large workload and high cost. At the same time, use visual for real-time positioning. If local processing of data is required, The client has strong processing power. If the data is uploaded to the cloud for processing, the data transmission and computation amount are large.

Summary of the invention

The embodiment of the invention provides a positioning method, a cloud server, a terminal, a system, an electronic device and a computer program product, the purpose of which is to improve positioning accuracy, save cost, and provide reliable positioning information for pedestrian navigation or driverless driving.

A first aspect of the embodiments of the present invention provides a positioning method, where the method includes:

Receiving, by the terminal, the moving target first position signal collected in real time by the second collecting manner, and obtaining the moving target first position information according to the moving target first position signal;

Determining, according to the moving target first position information, whether the moving target enters a key area set around a preset preset point, and triggering the terminal to acquire the third area when the moving target enters the key area The method collects the second position signal of the moving target in real time, wherein the acquisition precision of the third collection mode is higher than the acquisition precision of the second collection mode;

Receiving, by the terminal, acquiring a moving target second position signal in real time in a third collecting manner, and obtaining the moving target second position information according to the moving target second position signal.

A second aspect of the embodiments of the present invention provides a positioning method, where the method includes:

Collecting a moving target first position signal in real time in a second collecting manner, and transmitting the moving target first position signal to the cloud server;

Receiving and executing a trigger command sent by the cloud server to collect the second target signal of the mobile target in real time in a third collection manner, and sending the second target signal of the mobile target to the cloud server.

A third aspect of the embodiments of the present invention provides a cloud server, where the cloud server includes a processor, and the processor is configured with processor-executable operation instructions to perform the following operations:

A fourth aspect of the embodiments of the present invention provides a terminal, where the terminal includes a second collection device and a third collection device;

The second collecting device is configured to collect a moving target first position signal in real time, and send the moving target first position signal to a cloud server;

The third collecting device is configured to receive and execute a trigger instruction for collecting a second location signal of the mobile target in real time sent by the cloud server, and send the second target signal of the mobile target to the cloud server.

A fifth aspect of an embodiment of the present invention provides an electronic device, including: a display, a memory, one or more processors; and one or more modules, the one or more modules being stored in the In memory, and configured to be executed by the one or more processors, the one or more modules comprising instructions for performing the various steps of the positioning method of the first aspect described above.

A sixth aspect of the embodiments of the present invention provides a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions, when the program instructions When executed by a computer, the computer is caused to perform the various steps in the positioning method as described in the first aspect.

The invention sets a key area by a preset point, uses a lower precision positioning mode to locate the moving target outside the key area, and switches to a higher precision positioning mode when entering the key area, thereby realizing high precision positioning. On the basis of this, the amount of data transmission and the amount of calculation are saved, and the cost is also greatly saved.

DRAWINGS

The drawings described herein are intended to provide a further understanding of the invention, and are intended to be a part of the invention. In the drawing:

FIG. 1 is a flowchart of a positioning method according to an embodiment of the present invention;

2 is a schematic diagram of a positioning method applied to an intersection according to an embodiment of the present invention;

3 is a flowchart of obtaining preset position information by using a visual positioning method or a lidar positioning method according to an embodiment of the present invention;

4 is a schematic diagram of a key area according to an embodiment of the present invention;

FIG. 5 is a flowchart of obtaining a moving target position information by using a visual positioning method or a lidar positioning method according to an embodiment of the present invention;

FIG. 6 is a flowchart of another positioning method according to an embodiment of the present invention;

FIG. 7 is a schematic diagram of a positioning system according to an embodiment of the present invention.

Detailed ways

The embodiments of the present invention will be further described in detail with reference to the accompanying drawings, in which FIG. Not all embodiments are exhaustive. It should be noted that the embodiments in the present invention and the features in the embodiments may be combined with each other without conflict.

The positioning method of the present invention can be applied to related scenes involving unmanned driving or intelligent navigation.

Example 1

As shown in FIG. 1 , this embodiment provides a positioning method, and the method specifically includes:

S101. Receive a preset point position signal collected by the terminal in the first collection manner, and obtain preset position information according to the preset point position signal.

Specifically, the preset point in this embodiment is a key point preset in a complex road section or a traffic junction road section (for example, an intersection, a building doorway, etc.), and the intersection shown in FIG. 2 is taken as an example, and may be selected. The four apex angles of the intersection are used as preset points, and the number of preset points may be determined according to local traffic conditions or road conditions.

Since the position information of the preset point determines the next series of positioning related processing, the position information of the preset point needs to be sufficiently accurate. In this embodiment, the position information of the preset point can be collected by using a high-precision positioning method such as high-precision GPS positioning, visual positioning or lidar positioning. The specific acquisition process is described below.

Still taking the intersection shown in Figure 2 as an example, if high-precision GPS positioning is used to collect the position information of the four apex angles of the intersection, it is necessary to preset the four apex angles to achieve high-precision GPS positioning acquisition. High-precision GPS module to obtain the RTK signal transmitted by the high-precision GPS module at the four vertex angles, and the latitude and longitude information corresponding to the four vertex angles can be obtained by parsing the RTK signal

And record the save.

If the visual positioning method or the lidar positioning method is adopted, the area map information near the preset point needs to be scanned, and the actual latitude and longitude information is mapped to obtain the latitude and longitude information corresponding to each point in the scanned map, as shown in FIG. 3, specifically:

S1011: Receive peripheral environment information of a preset point collected by the terminal;

S1012. The first partial map is generated according to the surrounding environment information of the preset point, where the first partial map includes pixel coordinates of the preset point on the first partial map.

S1013. Convert pixel coordinates of the preset point on the first partial map into actual latitude and longitude information.

Corresponding to the intersection shown in FIG. 2, for the four vertex positions in the first partial map, respectively corresponding to the intersection inflection point positions (O ₁ -C ₁ , O ₂ -C ₂ , O ₃ -C ₃ , O ₄ -C ₄ ). The map mapping may be performed according to the first partial map scale and the known point latitude and longitude coordinate information, and the latitude and longitude information corresponding to the pixel coordinates in the first partial map may be acquired. The basic principle is as follows:

Two points of latitude and longitude information are known to obtain the distance and azimuth between them:

Where d represents the actual distance between two points; R represents the radius of the earth, and the size is 6378137m;

Represents two points of latitude and longitude coordinates; α _g stands for

Relative to

Direction angle.

Since the local map has a deviation from the actual map, it can be obtained according to the position information of the adjacent two corner points p _i , p _i+1 .

α _d =(2*π-α _g )-α _o

among them,

Represents the corresponding pixel coordinate information of the i, i+1 inflection point on the local map; α _g represents the relative direction angle of the two inflection points on the actual map; α _o represents the relative direction angle of the two inflection points on the local map; α _d represents the relative direction angle of the two inflection points on the local map; The deviation of the actual map from the direction angle of the local map.

For a partial map, if the coordinates of a point pixel are known

Corresponding latitude and longitude information

Map scale to get another pixel

Corresponding latitude and longitude information.

Where s represents the local map scale, that is, the actual distance represented by each pixel; d represents the actual distance between two pixel points in the local map; α _cor is the corrected angle;

Representative pixel

Corresponding latitude and longitude information.

Through the above calculation process, the latitude and longitude information corresponding to the first partial map can be preset to realize mapping between the maps.

It should be noted that the process involved in the step S101 does not need to perform the related operations of the positioning and acquisition before each positioning, and only needs to determine the position of the preset point before the relevant device and method are deployed.

S102. Receive a mobile target first position signal that is collected by the terminal in real time in a second collection manner, and obtain the moving target first position information according to the moving target first position signal.

Specifically, the positioning method described in this embodiment is intended to achieve both accurate positioning and cost savings on this basis. In step S101, the position information of the preset point has been determined in a precise positioning manner, and when the moving target is far away from the preset point, the position of the moving target can be collected by using a low-precision ordinary GPS module. That is, in the embodiment, the mobile target location information is obtained by real-time acquisition in the second collection mode.

S103, determining, according to the moving target first position information, whether the moving target enters a key area set around a preset preset point, and triggering the terminal when the moving target enters the critical area The third acquisition mode collects and receives the moving target second position signal in real time, and obtains the moving target second position information according to the moving target second position signal.

Specifically, in step S102, since the moving target is far away from the preset point, the accuracy requirement is not very high, so the moving target position information may be collected by using a lower precision collecting mode. When the moving target moves to the vicinity of the preset point, in order to accurately determine the positional relationship between the moving target and the preset point, it is necessary to accurately collect the position information of the moving target. At the same time, due to the poor accuracy of the ordinary GPS module, there is a certain error. Therefore, as shown in FIG. 4, in this embodiment, in order to ensure timely switching between the low-precision and high-precision acquisition modes, a key area is set centering on the preset point, and once the moving target enters the key area, Switch to the high-precision acquisition mode to collect the position information of the moving target. In this way, it can meet the cost-saving requirements without affecting the positioning accuracy.

The above is to set the key area at the angle of the preset point. In addition, the key area can be set directly at the angle of the high-precision acquisition device, and the detection radius of the high-precision acquisition device can be set. If the moving target enters the detection area, the high-precision is directly started. The acquisition method collects the moving target.

Based on the above, it can be seen that the third collection mode described in this embodiment also needs to collect the moving target by using a high-precision acquisition mode. Therefore, the third collection mode can be implemented by referring to the first collection mode. The position information of the moving target can be collected by using high-precision positioning methods such as high-precision GPS positioning, visual positioning or lidar positioning. The specific positioning acquisition process will be described below with reference to FIG. 2 and FIG. 4.

If the high-precision GPS positioning method is used to collect the moving target position information, only a high-precision GPS module needs to be preset on the moving target, and then the latitude and longitude information of the moving target can be obtained by analyzing the RTK signal transmitted by the high-precision GPS module.

If visual positioning or lidar positioning is adopted, it is necessary to use visual or lidar to establish a partial map of the road segment where the preset point is located, and complete the mapping between the local map coordinate point and the actual latitude and longitude. As shown in Figure 5, specific:

S1031: Receive image information of a road segment where the preset point is sent by the terminal;

S1032. Generate a second partial map according to the image information, where the second partial map includes pixel coordinates of the moving target on the second partial map.

S1033. Convert pixel coordinates of the moving target on the second partial map into actual latitude and longitude information.

The process of determining the location information of the mobile target may refer to the process of determining the location information of the preset point in step S101, and details are not described herein.

It can be seen from the above that both the first acquisition mode and the third acquisition mode described in this embodiment have two types of positioning methods: high-precision GPS positioning and visual/lidar positioning. Therefore, the method described in this embodiment can be generated in actual use. 4 sets of completely different positioning methods, as shown in Table 1:

Table 1

第一采集方式First acquisition method	第二采集方式Second collection method	第三采集方式Third collection method
高精度GPS定位方式High precision GPS positioning	低精度GPS定位方式Low precision GPS positioning	高精度GPS定位方式High precision GPS positioning
高精度GPS定位方式High precision GPS positioning	低精度GPS定位方式Low precision GPS positioning	视觉/激光雷达定位方式Vision / lidar positioning
视觉/激光雷达定位方式Vision / lidar positioning	低精度GPS定位方式Low precision GPS positioning	高精度GPS定位方式High precision GPS positioning
视觉/激光雷达定位方式Vision / lidar positioning	低精度GPS定位方式Low precision GPS positioning	视觉/激光雷达定位方式Vision / lidar positioning

Therefore, the method in the embodiment can save the cost and improve the flexibility of the grouping by adopting a flexible positioning combination without losing the positioning accuracy.

S104. Navigate the moving target according to the moving target second position information and the preset point position information.

Specifically, after the moving target and the preset point position information are respectively determined through a series of positioning manners, the moving target can be accurately navigated by the relative positional relationship between the moving target and the preset point.

Example 2

As shown in FIG. 6, this embodiment provides a positioning method, where the method includes:

S201: Collect a preset preset position signal preset by the cloud server in a first collection manner, and send the preset point location signal to the cloud server;

And record the save.

If the visual positioning method or the lidar positioning method is adopted, it is necessary to scan the regional map information near the preset point, that is, the surrounding environment information of the preset point, and then send it to the cloud server to map with the actual latitude and longitude information, and obtain each scanned map. The latitude and longitude information corresponding to the point.

Corresponding to the intersection shown in FIG. 2, for the four vertex positions in the first partial map, respectively corresponding to the intersection inflection point positions (O ₁ -C ₁ , O ₂ -C ₂ , O ₃ -C ₃ , O ₄ -C ₄ ). The map mapping may be performed according to the first partial map scale and the known point latitude and longitude coordinate information, and the latitude and longitude information corresponding to the pixel coordinates in the first partial map may be acquired.

It should be noted that the process involved in the step S201 does not need to perform the related operations of the positioning and acquisition before each positioning, and only needs to determine the position of the preset point before the relevant device and method are deployed.

S202. Collect a mobile target first location signal in real time in a second collection manner, and send the mobile target first location signal to the cloud server.

Specifically, the positioning method described in this embodiment is intended to achieve both accurate positioning and cost savings on this basis. In step S201, the position information of the preset point has been determined in a precise positioning manner, and when the moving target is far away from the preset point, the position of the moving target can be collected by using a low-precision ordinary GPS module. That is, in the embodiment, the mobile target location information is obtained by real-time acquisition in the second collection mode.

S203. Receive and execute a trigger instruction sent by the cloud server to collect the second target signal of the mobile target in real time in a third collection manner, and send the second target signal of the mobile target to the cloud server.

Specifically, in step S202, since the moving target is far away from the preset point, the accuracy requirement is not very high, so the moving target position information may be collected by using a lower precision collecting mode. When the moving target moves to the vicinity of the preset point, in order to accurately determine the positional relationship between the moving target and the preset point, it is necessary to accurately collect the position information of the moving target. At the same time, due to the poor accuracy of the ordinary GPS module, there is a certain error. Therefore, as shown in FIG. 4, in this embodiment, in order to ensure timely switching between the low-precision and high-precision acquisition modes, a key area is set centering on the preset point, and once the moving target enters the key area, Switch to the high-precision acquisition mode to collect the position information of the moving target. In this way, it can meet the cost-saving requirements without affecting the positioning accuracy.

If the visual positioning method or the lidar positioning method is adopted, the image information of the road segment where the preset point is located needs to be collected by visual or lidar so that the cloud server can establish a partial map of the road segment where the preset point is located according to the image information, and complete the local map coordinate point. Mapping to actual latitude and longitude.

Example 3

This embodiment proposes a cloud server, which includes a processor, which is configured with processor-executable operation instructions to perform the following operations:

Receiving a preset point position signal collected by the terminal in the first collection manner, and obtaining preset position information according to the preset point position signal;

And record the save.

If the visual positioning method or the lidar positioning method is adopted, the area map information in the vicinity of the preset point needs to be scanned, and the actual latitude and longitude information is mapped to obtain the latitude and longitude information corresponding to each point in the scanned map. The specific process includes:

Receiving peripheral environment information of the preset point collected by the terminal;

Generating a first partial map according to the preset environment information of the preset point, where the first partial map includes pixel coordinates of the preset point on the first partial map;

Converting the pixel coordinates of the preset point on the first partial map into actual latitude and longitude information.

Represents two points of latitude and longitude coordinates; α _g stands for

Relative to

Direction angle.

α _d =(2*π-α _g )-α _o

among them,

For a partial map, if the coordinates of a point pixel are known

Corresponding latitude and longitude information

Map scale to get another pixel

Corresponding latitude and longitude information.

Representative pixel

Corresponding latitude and longitude information.

It should be noted that the process of positioning the preset position location does not need to perform the related operations of the positioning and acquisition before each positioning, and only needs to determine the position of the preset point before the relevant device and method are deployed. can.

The positioning method described in this embodiment is intended to achieve both accurate positioning and cost savings on this basis. In the first collection mode, the position information of the preset point has been determined in a precise positioning manner. When the moving target is far away from the preset point, the position of the moving target can be collected by using a low-precision ordinary GPS module. That is, in the embodiment, the mobile target location information is obtained by real-time acquisition in the second collection mode.

Since the moving target is far away from the preset point, the accuracy requirement is not very high, so the moving target position information can be collected by using the less accurate acquisition method. When the moving target moves to the vicinity of the preset point, in order to accurately determine the positional relationship between the moving target and the preset point, it is necessary to accurately collect the position information of the moving target. At the same time, due to the poor accuracy of the ordinary GPS module, there is a certain error. Therefore, as shown in FIG. 4, in this embodiment, in order to ensure timely switching between the low-precision and high-precision acquisition modes, a key area is set centering on the preset point, and once the moving target enters the key area, Switch to the high-precision acquisition mode to collect the position information of the moving target. In this way, it can meet the cost-saving requirements without affecting the positioning accuracy.

If visual positioning or lidar positioning is adopted, it is necessary to use visual or lidar to establish a partial map of the road segment where the preset point is located, and complete the mapping between the local map coordinate point and the actual latitude and longitude. The specific process includes:

Receiving image information of a road segment where the preset point is sent by the terminal;

Generating, according to the image information, a second partial map, where the second partial map includes pixel coordinates of the moving target on the second partial map;

The pixel coordinates of the moving target on the second partial map are converted into actual latitude and longitude information.

The process of determining the location information of the mobile target may refer to the process of determining the location information of the preset point, and details are not described herein.

Example 4

This embodiment provides a terminal, where the terminal includes a first collection device, a second collection device, and a third collection device;

The first collecting device is configured to collect a preset point position signal preset by the cloud server, and send the preset point position signal to the cloud server;

And record the save.

Corresponding to the intersection shown in FIG. 2, for the four vertex positions in the first partial map, respectively corresponding to the intersection inflection point positions (O ₁ -C ₁ , O ₂ -C ₂ , O ₃ -C ₃ , O ₄ -C ₄ ). The map mapping may be performed according to the first partial map scale and the known point latitude and longitude coordinate information, and the latitude and longitude information corresponding to the pixel coordinates in the first partial map may be acquired. It should be noted that the above-mentioned process involving the positioning of the preset point does not need to perform the related operations of the positioning and acquisition before each positioning, and only needs to determine the position of the preset point before the relevant device and method are deployed.

The terminal described in this embodiment is intended to achieve both accurate positioning and cost savings on this basis. The first collecting device has determined the position information of the preset point in a precise positioning manner, and when the moving target is far away from the preset point, the ordinary GPS module with lower precision can be used to collect the position of the moving target, In this embodiment, the mobile target location information is obtained by real-time acquisition in the second collection mode.

When the moving target is far away from the preset point, the accuracy requirement is not very high, so the moving target position information can be collected by using the lower precision collecting mode. When the moving target moves to the vicinity of the preset point, in order to accurately determine the positional relationship between the moving target and the preset point, it is necessary to accurately collect the position information of the moving target. At the same time, due to the poor accuracy of the ordinary GPS module, there is a certain error. Therefore, as shown in FIG. 4, in this embodiment, in order to ensure timely switching between the low-precision and high-precision acquisition modes, a key area is set centering on the preset point, and once the moving target enters the key area, Switch to the high-precision acquisition mode to collect the position information of the moving target. In this way, it can meet the cost-saving requirements without affecting the positioning accuracy.

Based on the above, it can be seen that the third collection device in the embodiment also needs to collect the moving target by using a high-precision acquisition mode. Therefore, the third collection device can be implemented by referring to the first collection mode. The position information of the moving target can be collected by using high-precision positioning methods such as high-precision GPS positioning, visual positioning or lidar positioning. The specific positioning acquisition process will be described below with reference to FIG. 2 and FIG. 4.

It can be seen from the above that both the first acquisition device and the third collection device of the present embodiment have two types of acquisition devices: a high-precision GPS module and a visual/lidar module. Therefore, the terminal described in this embodiment can be used in actual use. Generate 4 sets of completely different positioning methods, as shown in Table 2:

Table 2

第一采集装置First acquisition device	第二采集装置Second acquisition device	第三采集装置Third acquisition device
高精度GPS模块High precision GPS module	低精度GPS模块Low precision GPS module	高精度GPS模块High precision GPS module
高精度GPS模块High precision GPS module	低精度GPS模块Low precision GPS module	视觉/激光雷达模块Vision/Lidar Module

视觉/激光雷达模块Vision/Lidar Module	低精度GPS模块Low precision GPS module	高精度GPS模块High precision GPS module
视觉/激光雷达模块Vision/Lidar Module	低精度GPS模块Low precision GPS module	视觉/激光雷达模块Vision/Lidar Module

Without the loss of positioning accuracy, the cost is saved through flexible positioning and combination, which improves the flexibility of grouping.

After the moving target and the preset point position information are respectively determined through a series of positioning manners, the moving target can be accurately navigated by the relative positional relationship between the moving target and the preset point.

Example 5

As shown in FIG. 7, the embodiment provides a positioning system, where the positioning system includes a cloud server and a terminal;

The terminal includes a first collection device, a second collection device, and a third collection device;

The cloud server includes a processor configured to be executable by a processor to perform the following operations:

Specifically, before the positioning of the moving target, the system in the embodiment first sets a preset point at a certain point of the road segment according to the road traffic condition, and then sets a key area centering on the preset point, where the key area can be The switching of the acquisition device provides a margin.

Since the position information of the preset point determines the next series of positioning related processing, the position information of the preset point needs to be sufficiently accurate. In this embodiment, the position information of the preset point can be collected by using a high-precision positioning method such as high-precision GPS positioning, visual positioning or lidar positioning.

Taking the intersection shown in Figure 2 as an example, if high-precision GPS positioning is used to collect the position information of the four corners of the intersection, it is necessary to preset the high-precision GPS positioning acquisition on the four corners. The precision GPS module is used to obtain the RTK signal transmitted by the high-precision GPS module at the four vertex angles, and the latitude and longitude information corresponding to the four vertex angles can be obtained by parsing the RTK signal.

And record the save.

When the moving target is far away from the preset point, the position of the moving target can be collected by using a low-precision ordinary GPS module, that is, the moving target position information is obtained by the second collecting device in real time as described in this embodiment.

Since the moving target is far away from the preset point, the accuracy requirement is not very high, so the moving target position information can be collected by using the less accurate acquisition method. When the moving target moves to the vicinity of the preset point, in order to accurately determine the positional relationship between the moving target and the preset point, it is necessary to accurately collect the position information of the moving target, that is, the third method described in this embodiment. The acquisition device uses precise acquisition. Specifically, the first acquisition device can be implemented, and the position information of the moving target can be collected by using a high-precision positioning method such as high-precision GPS positioning, visual positioning or laser radar positioning.

Example 6

The embodiment provides an electronic device, the electronic device comprising: a display, a memory, one or more processors; and one or more modules, the one or more modules being stored in the memory, and It is configured to be executed by the one or more processors, the one or more modules comprising instructions for performing the various steps in the positioning method of Embodiment 1 above.

Example 7

The present embodiment provides a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions, when the program instructions are executed by a computer The computer is caused to perform the various steps in the positioning method described in Embodiment 1.

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 may take the form of an entirely hardware embodiment, an entirely 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, CD-ROM, optical storage, etc.) including computer usable program code.

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.

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.

Claims

A positioning method, characterized in that the method comprises:

Receiving, by the terminal, the moving target first position signal collected in real time by the second collecting manner, and obtaining the moving target first position information according to the moving target first position signal;

Determining, according to the moving target first position information, whether the moving target enters a key area set around a preset preset point, and triggering the terminal to acquire the third area when the moving target enters the key area The method collects the second position signal of the moving target in real time, wherein the acquisition precision of the third collection mode is higher than the acquisition precision of the second collection mode;

Receiving, by the terminal, acquiring a moving target second position signal in real time in a third collecting manner, and obtaining the moving target second position information according to the moving target second position signal.
The method according to claim 1, wherein the receiving the terminal collects a moving target second position signal in real time in a third collecting manner, and obtains the moving target second according to the moving target second position signal. The process of location information specifically includes:

Receiving an RTK signal sent by a GPS module in a moving target;

The RTK signal is parsed to obtain latitude and longitude information of the moving target.
The method according to claim 1, wherein the receiving the terminal collects a moving target second position signal in real time in a third collecting manner, and obtains the moving target second according to the moving target second position signal. The process of location information specifically includes:

Receiving image information of a road segment where the preset point is sent by the terminal;

Generating, according to the image information, a second partial map, where the second partial map includes pixel coordinates of the moving target on the second partial map;

The pixel coordinates of the moving target on the second partial map are converted into actual latitude and longitude information.
The method according to claim 1, wherein the method further comprises: receiving, by the receiving terminal, the preset point position collected by the first acquisition mode before receiving the mobile target first position signal collected by the terminal in the second collection manner. And a step of obtaining preset position information according to the preset point position signal.
The method according to claim 4, wherein the process of obtaining the preset point position signal by the receiving terminal in the first collecting mode and obtaining the preset point position information according to the preset point position signal comprises:

Receiving an RTK signal sent by a GPS module preset at a preset point;

The RTK signal is parsed to obtain latitude and longitude information of the preset point.
The method according to claim 4, wherein the process of obtaining the preset point position signal by the receiving terminal in the first collecting mode and obtaining the preset point position information according to the preset point position signal comprises:

Receiving peripheral environment information of the preset point collected by the terminal;

Generating a first partial map according to the preset environment information of the preset point, where the first partial map includes pixel coordinates of the preset point on the first partial map;

Converting the pixel coordinates of the preset point on the first partial map into actual latitude and longitude information.
The method according to claim 4, wherein the method further comprises the step of navigating the moving object based on the moving target second position information and the preset point position information.
A positioning method, characterized in that the method comprises:

Collecting a moving target first position signal in real time in a second collecting manner, and transmitting the moving target first position signal to the cloud server;

Receiving and executing a trigger instruction sent by the cloud server to collect the second target signal of the mobile target in real time in a third collection manner, and sending the second target signal of the mobile target to the cloud server;

Receiving location information sent by the cloud server.
The method according to claim 8, wherein the process of collecting the first target signal of the mobile target in real time in the second collection mode, and transmitting the first location signal of the mobile target to the cloud server comprises:

Setting a GPS module in the moving target;

The first position signal of the moving target is collected by the GPS module in real time and sent to the cloud server as an RTK signal.
The method according to claim 8, wherein the receiving and executing a trigger command sent by the cloud server to collect the second target signal of the moving target in real time in a third collecting manner, and sending the second target signal of the moving target to The process of the cloud server specifically includes:

Receiving a trigger instruction sent by the cloud server to collect the second position signal of the moving target in real time in the third collection manner;

Collecting image information of a road segment where a preset preset point is set by the cloud server;

The image information is sent to the cloud server.
The method according to claim 8, wherein the method collects the moving target first position signal in real time in the second collecting manner, and sends the moving target first position signal to the cloud server before: An acquisition method collects a preset preset position signal of the cloud server, and sends the preset position signal to the cloud server.
The method according to claim 11, wherein the process of collecting the preset preset position signal preset by the cloud server in the first collecting manner, and transmitting the preset point position signal to the cloud server comprises: :

Set the GPS module at the preset point;

The preset point position signal is collected by the GPS module and sent to the cloud server as an RTK signal.
The method according to claim 11, wherein the process of collecting the preset preset position signal preset by the cloud server in the first collecting manner, and transmitting the preset point position signal to the cloud server comprises: :

Collecting surrounding environment information of the preset point;

Send the surrounding environment information to the cloud server.
A cloud server, characterized in that the cloud server comprises a processor, the processor being configured with processor-executable operational instructions to perform the following operations:

Receiving, by the terminal, the moving target first position signal collected in real time by the second collecting manner, and obtaining the moving target first position information according to the moving target first position signal;

Determining, according to the moving target first position information, whether the moving target enters a key area set around a preset preset point, and triggering the terminal to acquire the third area when the moving target enters the key area The method collects the second position signal of the moving target in real time, wherein the acquisition precision of the third collection mode is higher than the acquisition precision of the second collection mode;

Receiving, by the terminal, acquiring a moving target second position signal in real time in a third collecting manner, and obtaining the moving target second position information according to the moving target second position signal.
The cloud server according to claim 14, wherein the processor is configured with processor-executable operational instructions to perform the following operations:

Receiving an RTK signal sent by a GPS module in a moving target;

The RTK signal is parsed to obtain latitude and longitude information of the moving target.
The cloud server according to claim 14, wherein the processor is configured with processor-executable operational instructions to perform the following operations:

Receiving image information of a road segment where the preset point is sent by the terminal;

Generating, according to the image information, a second partial map, where the second partial map includes pixel coordinates of the moving target on the second partial map;

The pixel coordinates of the moving target on the second partial map are converted into actual latitude and longitude information.
The cloud server according to claim 14, wherein the processor is configured with processor-executable operation instructions to: receive a preset point position signal collected by the terminal in a first acquisition manner. And obtaining preset point position information according to the preset point position signal.
The cloud server according to claim 17, wherein said processor is configured with processor-executable operational instructions to perform the following operations:

Receiving an RTK signal sent by a GPS module preset at a preset point;

The RTK signal is parsed to obtain latitude and longitude information of the preset point.
The cloud server according to claim 17, wherein said processor is configured with processor-executable operational instructions to perform the following operations:

Receiving peripheral environment information of the preset point collected by the terminal;

Generating a first partial map according to the preset environment information of the preset point, where the first partial map includes pixel coordinates of the preset point on the first partial map;

Converting the pixel coordinates of the preset point on the first partial map into actual latitude and longitude information.
The cloud server according to claim 17, wherein the processor is configured with processor-executable operation instructions to perform operations of: second location information and a preset point location according to the moving target Information navigates to moving targets.
A terminal, wherein the terminal comprises a second collection device and a third collection device;

The second collecting device is configured to collect a moving target first position signal in real time, and send the moving target first position signal to a cloud server;

The third collecting device is configured to receive and execute a trigger instruction for collecting a second location signal of the mobile target in real time sent by the cloud server, and send the second target signal of the mobile target to the cloud server.
The terminal according to claim 21, wherein the third collecting device is implemented by a GPS module disposed in the moving target, and the third collecting device is further configured to collect a moving target in real time through a GPS module. A location signal is sent to the cloud server as an RTK signal.
The terminal according to claim 21, wherein the third collection terminal is further configured to:

Receiving a trigger instruction sent by the cloud server to collect the second position signal of the moving target in real time in the third collection manner;

Collecting image information of a road segment where a preset preset point is set by the cloud server;

The image information is sent to the cloud server.
The terminal according to claim 21, wherein the terminal further comprises a first collecting device, wherein the first collecting device is configured to collect a preset position signal preset by the cloud server, and set the preset The point location signal is sent to the cloud server.
The terminal according to claim 24, wherein the first collecting device is implemented by using a GPS module disposed at a preset point, and the first collecting device is further configured to collect a preset point position signal by using a GPS module, and The RTK signal is sent to the cloud server.
The terminal according to claim 24, wherein the first collecting device is further configured to:

Collecting surrounding environment information of the preset point;

Send the surrounding environment information to the cloud server.
A positioning system, characterized in that the system comprises the cloud server according to any one of claims 14 to 20 and the terminal according to any one of claims 21 to 26.
An electronic device, comprising: a display, a memory, one or more processors; and one or more modules, the one or more modules being stored in the memory and being Configured to be performed by the one or more processors, the one or more modules comprising instructions for performing the various steps of the method of any of claims 1-7.
A computer program product, comprising: a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions, when the program instructions are executed by a computer, The computer is caused to perform the various steps in the method of any one of claims 1 to 7.