WO2019134104A1

WO2019134104A1 - Positioning method and device, and smartwatch

Info

Publication number: WO2019134104A1
Application number: PCT/CN2018/071487
Authority: WO
Inventors: 杜来柱
Original assignee: 深圳市沃特沃德股份有限公司
Priority date: 2018-01-05
Filing date: 2018-01-05
Publication date: 2019-07-11

Abstract

Disclosed are a positioning method and device and a smartwatch. The method comprises the following steps: detecting whether a positioning signal of a satellite-based positioning system is normal; if the positioning signal is abnormal, acquiring position offset data via a PDR unit; and calculating current positioning data according to recent valid positioning data and the position offset data. In an environment where the positioning signal of the satellite-based positioning system is weak, satellite positioning is replaced by PDR positioning to allow the smartwatch to perform accurate positioning even in harsh environments, thereby solving the technical problem that smartwatches are unable to perform positioning or perform positioning inaccurately in environments where positioning signals are weak, effectively improving integrity and accuracy of a positioning path of a smartwatch. In addition, during PDR-based positioning, a working frequency of the satellite-based positioning system is reduced to avoid unneeded power consumption, greatly reducing the power consumption of the smartwatch and extending standby time.

Description

Positioning method, device and smart watch

Technical field

The present invention relates to the field of electronic technology, and in particular to a positioning method, device and smart watch.

Background technique

With the development of wireless communication technology, smart wearable devices are gradually favored by people, among which smart watches are the most mature. Smart watches not only can indicate time, but also have functions such as navigation, calibration, reminding, etc., and even support interconnection with other smart devices, such as connecting with smart phones, and supporting some functions of smart phones, such as WeChat message reminders, call reminders, and viewing SMS messages. Viewing emails, viewing schedules, etc., it can be seen that the application scenarios of smart watches are very broad.

The smart watch is positioned and navigated by the satellite positioning system. In some environments, such as under the bridge hole or in the woods, the positioning signal of the satellite positioning system is weak, and there may be cases where the positioning cannot be located or the positioning is inaccurate, so that the positioning path of the smart watch is not generated. Complete or offset phenomenon. At the same time, the frequent and ineffective positioning of the satellite positioning system also wastes the power of the device and shortens the standby time of the smart watch.

technical problem

The main object of the present invention is to provide a positioning method, a device and a smart watch, which aim to solve the technical problem that the smart watch cannot be positioned or inaccurate in an environment where the positioning signal is weak.

Technical solution

To achieve the above objective, an embodiment of the present invention provides a positioning method, where the method includes the following steps:

Detecting whether the positioning signal of the satellite positioning system is normal;

When the positioning signal is abnormal, the PDR unit is used to calculate the position offset data by the pedestrian dead reckoning;

The current positioning data is calculated based on the most recently valid positioning data and the positional offset data.

Optionally, the step of estimating the positional offset data by the PDR unit by the pedestrian dead space further includes: reducing an operating frequency of the satellite positioning system.

Optionally, the step of reducing the operating frequency of the satellite positioning system comprises: reducing the operating frequency of the satellite positioning system by more than 50%.

Optionally, the step of calculating the current positioning data according to the most recently valid positioning data and the position offset data further comprises: when the positioning signal returns to normal, recovering an operating frequency of the satellite positioning system.

Optionally, after the step of calculating the current positioning data according to the most recently valid positioning data and the position offset data, the method further includes: when the positioning signal returns to normal, shutting down the PDR unit or controlling the PDR The unit enters a low power state.

Optionally, the step of detecting whether the positioning signal of the satellite positioning system is normal comprises: determining that the positioning signal of the satellite positioning system is abnormal when the positioning system is unable to acquire the positioning data.

Optionally, the step of detecting whether the positioning signal of the satellite positioning system is normal comprises: determining that the positioning signal of the satellite positioning system is abnormal when the positioning data of the satellite positioning system is seriously offset.

Optionally, the step of detecting whether the positioning signal of the satellite positioning system is normal includes: determining that the positioning signal of the satellite positioning system is abnormal when the number of valid satellites searched by the satellite positioning system is lower than a first threshold .

Optionally, the step of detecting whether the positioning signal of the satellite positioning system is normal includes: determining a positioning signal of the satellite positioning system when a signal to noise ratio of the satellite signal searched by the satellite positioning system is lower than a second threshold unusual.

Optionally, the positioning method is applied to a smart watch.

The embodiment of the invention simultaneously provides a positioning device, the device comprising:

a signal detecting module, configured to detect whether a positioning signal of the satellite positioning system is normal;

An offset calculation module, configured to: when the positioning signal is abnormal, obtain a position offset data by using a pedestrian dead reckoning PDR unit;

And a positioning calculation module, configured to calculate current positioning data according to the most recently valid positioning data and the position offset data.

Optionally, the device further includes a frequency reduction module, the frequency reduction module is configured to: when the positioning signal is abnormal, reduce an operating frequency of the satellite positioning system.

Optionally, the frequency reduction module is configured to: reduce an operating frequency of the satellite positioning system by more than 50%.

Optionally, the device further includes a frequency recovery module, configured to: when the positioning signal returns to normal, restore an operating frequency of the satellite positioning system.

Optionally, the device further includes a PDR control module, the PDR control module is configured to: when the positioning signal returns to normal, shut down the PDR unit or control the PDR unit to enter a low power consumption state.

Optionally, the signal detecting module includes a first determining unit, where the first determining unit is configured to: when the satellite positioning system is unable to acquire positioning data, determine that the positioning signal of the satellite positioning system is abnormal.

Optionally, the signal detecting module includes a second determining unit, where the second determining unit is configured to determine that the positioning signal of the satellite positioning system is abnormal when the positioning data of the satellite positioning system is seriously offset. .

Optionally, the signal detecting module includes a third determining unit, where the third determining unit is configured to determine the satellite positioning system when the number of valid satellites searched by the satellite positioning system is lower than a first threshold. The positioning signal is not normal.

Optionally, the signal detecting module includes a fourth determining unit, where the fourth determining unit is configured to: when the signal to noise ratio of the satellite signal searched by the satellite positioning system is lower than a second threshold, determine the satellite The positioning signal of the positioning system is abnormal.

Embodiments of the present invention also provide a smart watch including a memory, a processor, and at least one application stored in the memory and configured to be executed by the processor, the application being configured to be used for Perform the aforementioned positioning method.

Beneficial effect

A positioning method provided by an embodiment of the present invention, by adding a PDR unit, when the positioning signal of the satellite positioning system is abnormal, acquiring position offset data through the PDR unit, and according to the most recent effective positioning data and position offset The data calculates the current positioning data, thereby realizing the switching from satellite positioning to PDR positioning (an auxiliary positioning technology) in the environment where the positioning signal of the satellite positioning system is weak, so that the smart watch can be accurately positioned in a harsh environment. The invention solves the technical problem that the smart watch cannot be positioned or inaccurate in the environment with weak positioning signal, and effectively improves the integrity and accuracy of the positioning path of the smart watch. Further reducing the operating frequency of the satellite positioning system during PDR positioning reduces the system's meaningless power consumption, thereby greatly reducing the power consumption of the smart watch and prolonging the standby time.

DRAWINGS

1 is a flow chart of a first embodiment of a positioning method of the present invention;

Figure 2 is a flow chart of a second embodiment of the positioning method of the present invention;

Figure 3 is a block diagram showing a first embodiment of the positioning device of the present invention;

4 is a block diagram of the signal detecting module of FIG. 3;

Figure 5 is a block diagram showing a second embodiment of the positioning device of the present invention;

Figure 6 is a block diagram showing a third embodiment of the positioning device of the present invention;

Figure 7 is a block diagram showing a fourth embodiment of the positioning device of the present invention.

The implementation, functional features, and advantages of the present invention will be further described in conjunction with the embodiments.

BEST MODE FOR CARRYING OUT THE INVENTION

It is understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

The embodiments of the present invention are described in detail below, and the examples of the embodiments are illustrated in the drawings, wherein the same or similar reference numerals are used to refer to the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the drawings are intended to be illustrative of the invention and are not to be construed as limiting.

The singular forms "a", "an", "the" It is to be understood that the phrase "comprise" or "an" Integers, steps, operations, components, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element. Further, "connected" or "coupled" as used herein may include either a wireless connection or a wireless coupling. The phrase "and/or" used herein includes all or any one and all combinations of one or more of the associated listed.

Those skilled in the art will appreciate that all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the invention belongs, unless otherwise defined. It should also be understood that terms such as those defined in a general dictionary should be understood to have meaning consistent with the meaning in the context of the prior art, and will not be idealized or excessive unless specifically defined as here. The formal meaning is explained.

Those skilled in the art can understand that the "terminal" and "terminal device" used herein include both a wireless signal receiver device, a device having only a wireless signal receiver without a transmitting capability, and a receiving and transmitting hardware. A device having a device capable of performing two-way communication receiving and transmitting hardware on a two-way communication link. Such devices may include cellular or other communication devices having a single line display or a multi-line display or a cellular or other communication device without a multi-line display; PCS (Personal Communications Service), which may combine voice, data Processing, fax, and/or data communication capabilities; PDA (Personal Digital Assistant), which can include radio frequency receivers, pagers, Internet/Intranet access, web browsers, notepads, calendars, and/or GPS (Global Positioning System (Global Positioning System) receiver; conventional laptop and/or palmtop computer or other device having a conventional laptop and/or palmtop computer or other device that includes and/or includes a radio frequency receiver. As used herein, "terminal", "terminal device" may be portable, transportable, installed in a vehicle (aviation, sea and/or land), or adapted and/or configured to operate locally, and/or Run in any other location on the Earth and/or space in a distributed form. The "terminal" and "terminal device" used herein may also be a communication terminal, an internet terminal, a music/video playing terminal, and may be, for example, a PDA, a MID (Mobile Internet Device), and/or have a music/video playback. Functional mobile phones can also be smart TVs, set-top boxes and other devices.

The positioning method of the embodiment of the present invention can be applied to a wearable device such as a smart watch, and can also be applied to a mobile terminal such as a mobile phone or a tablet. The following is a detailed description of the application to a smart watch.

Referring to Figure 1, a first embodiment of a positioning method of the present invention is presented. The method includes the following steps:

S11. Check whether the positioning signal of the satellite positioning system is normal. When the positioning signal is not normal, the process proceeds to step S12.

In the embodiment of the present invention, a PDR (Pedestrian Dead Reckoning) unit is added to the smart watch. After the smart watch starts the satellite positioning system, the PDR unit can be initialized immediately. Preferably, the PDR unit is initialized to enter a low power consumption. Status (such as sleep state, sleep state, etc.) to save power. Optionally, the PDR unit includes a nine-axis sensor and a corresponding processing unit, and the processing unit is preferably an MCU (Microcontroller Unit).

During the positioning process of the satellite positioning system, the smart watch detects whether the positioning signal of the satellite positioning system is normal in real time or timing. The satellite positioning system described herein may include at least one of GPS, BDS (BeiDou Navigation Satellite System), GLONASS (Glonas satellite navigation system).

Optionally, the smart watch determines whether the satellite positioning system can acquire positioning data (such as latitude and longitude coordinates). When the satellite positioning system cannot acquire the positioning data, it determines that the positioning signal of the satellite positioning system is abnormal and the signal is weak.

Optionally, the smart watch determines whether the positioning data of the satellite positioning system is offset. When an offset occurs, further determining whether the offset is greater than a preset value, and when the offset is greater than a preset value, determining the satellite The positioning data of the positioning system is seriously offset. At this time, it is determined that the positioning signal of the satellite positioning system is abnormal and the signal is weak.

Optionally, the smart watch acquires the number of effective satellites searched by the satellite positioning system, determines whether the number of effective satellites is lower than a first threshold, and determines the positioning signal of the satellite positioning system when the number of effective satellites is lower than the first threshold. Not normal, the signal is weak. The first threshold can be set according to actual needs, and can be set to 4-6. If the number of effective satellites is less than 5, the positioning signal is determined to be abnormal.

Optionally, the smart watch obtains a signal to noise ratio of the satellite signal searched by the satellite positioning system, determines whether the signal to noise ratio of the satellite signal is lower than a second threshold, and when lower than the second threshold, determines a positioning signal of the satellite positioning system. Not normal, the signal is weak. The signal to noise ratio of the satellite signal described herein is preferably the signal to noise ratio of the strongest satellite signal. The second threshold can be set according to actual needs, and can be set to 25-35 dB. For example, when the signal-to-noise ratio is lower than 30 dB, it is determined that the positioning signal is abnormal.

S12. Acquire position offset data through the PDR unit.

In the embodiment of the present invention, when it is detected that the positioning signal of the satellite positioning system is abnormal, the smart watch wakes up (when in the sleep state) or starts (when not initiated) the PDR unit, and acquires the position offset data through the PDR unit. The PDR unit accumulates the moving direction and the distance by means of the nine-axis sensor, and obtains the specific path of the relative spatial change, thereby calculating the positional offset data. The PDR technology is a relatively mature positioning technology in the prior art, and will not be described herein.

S13. Calculate current positioning data according to the most recently valid positioning data and position offset data.

The most recent effective positioning data is the positioning data finally acquired before the positioning signal of the satellite positioning system becomes abnormal. The smart watch performs an accumulation operation (vector sum operation) on the most recent effective positioning data and position offset data, and uses the operation result as the current positioning data.

Therefore, the technical problem that the smart watch cannot be positioned or the positioning is inaccurate in the environment with weak positioning signals is solved, and the phenomenon that the positioning path of the smart watch is incomplete or offset in a harsh environment is effectively avoided.

Referring to FIG. 2, a second embodiment of the positioning method of the present invention is proposed. The method includes the following steps:

S21. Detect whether the positioning signal of the satellite positioning system is normal. When the positioning signal is not normal, the process proceeds to step S22.

S22. Acquire position offset data through the PDR unit, and reduce the operating frequency of the satellite positioning system.

S23. Calculate current positioning data according to the most recently valid positioning data and position offset data.

S24. When the positioning signal of the satellite system returns to normal, the working frequency of the satellite positioning system is restored.

In this embodiment, when the positioning signal is abnormal, the positional offset data is acquired by the PDR unit, and the operating frequency of the satellite positioning system is also reduced, and the operating frequency of the satellite positioning system is preferably reduced by 50% or more to reduce the system. The power consumption of the meaning greatly reduces the power consumption of the smart watch and prolongs the standby time.

In step S24, after switching to the PDR positioning, the smart watch still detects whether the positioning signal of the satellite positioning system returns to normal in real time or timing. When the positioning signal returns to normal, the working frequency of the satellite positioning system is restored in time, thereby restoring to the satellite. Positioning mode, using satellite positioning system for positioning.

When detecting whether the positioning signal of the satellite positioning system returns to normal, it is similar to the method of detecting whether the positioning signal of the satellite positioning system is normal in steps S11 and S21, for example, when the number of effective satellites searched by the satellite positioning system is greater than or equal to the first When a threshold is reached, it is determined that the positioning signal of the satellite positioning system returns to normal; when the signal to noise ratio of the satellite signal searched by the satellite positioning system is greater than or equal to the second threshold, it is determined that the positioning signal of the satellite positioning system returns to normal; when the satellite is positioned When the positioning data of the system does not shift or the offset is less than or equal to the preset value, it is determined that the positioning signal of the satellite positioning system returns to normal.

In addition, the positioning data of the satellite positioning system can also be compared with the positioning data after positioning by PDR. When the error of the two is lower than the set value, it is determined that the positioning signal of the satellite positioning system returns to normal.

Further, when the positioning signal of the satellite system returns to normal, the PDR unit can be turned off or the PDR unit can be controlled to enter a low power state (such as a sleep state or a sleep state) to further reduce system meaningless power consumption and reduce the smart watch. Power consumption, extending the standby time of smart watches.

In the positioning method of the embodiment of the present invention, when a PDR unit is added, when the positioning signal of the satellite positioning system is abnormal, the position offset data is acquired by the PDR unit, and the current position data is calculated according to the most recent effective positioning data and the position offset data. The positioning data realizes the switching from satellite positioning to PDR positioning in the environment where the positioning signal of the satellite positioning system is weak, so that the smart watch can be accurately positioned in a harsh environment, and the smart watch has a weak positioning signal. The technical problem of inability to locate or locate inaccurate in the environment effectively improves the integrity and accuracy of the positioning path of the smart watch. Further reducing the operating frequency of the satellite positioning system during PDR positioning reduces the system's meaningless power consumption, thereby greatly reducing the power consumption of the smart watch and prolonging the standby time.

Referring to FIG. 3, a first embodiment of a positioning apparatus of the present invention is provided. The apparatus includes a signal detecting module 10, an offset calculating module 20, and a positioning calculating module 30. The signal detecting module 10 is configured to detect a positioning of a satellite positioning system. Whether the signal is normal; the offset calculation module 20 is configured to acquire the position offset data by the PDR unit when the positioning signal of the satellite positioning system is abnormal; the positioning calculation module 30 is configured to use the most recently valid positioning data and the position offset data. Calculate the current positioning data.

During the positioning process of the satellite positioning system, the signal detecting module 10 detects whether the positioning signal of the satellite positioning system is normal in real time or timing.

As shown in FIG. 4, the signal detecting module 10 includes a first determining unit 11 for determining whether the satellite positioning system can acquire positioning data (such as latitude and longitude coordinates), and when the satellite positioning system cannot obtain the positioning data, determining the satellite positioning system. The positioning signal is abnormal and the signal is weak.

Further, the signal detecting module 10 further includes a second determining unit 12, configured to determine whether the positioning data of the satellite positioning system is offset, and when an offset occurs, further determining whether the offset is greater than a preset value, when When the offset is greater than the preset value, it is determined that the positioning data of the satellite positioning system is seriously offset. At this time, it is determined that the positioning signal of the satellite positioning system is abnormal and the signal is weak.

Further, the signal detecting module 10 further includes a third determining unit 13 for acquiring the number of valid satellites searched by the satellite positioning system, determining whether the number of effective satellites is lower than the first threshold, and when the number of effective satellites is lower than the number When a threshold is reached, it is determined that the positioning signal of the satellite positioning system is abnormal and the signal is weak. The first threshold can be set according to actual needs, and can be set to 4-6. If the number of effective satellites is less than 5, the positioning signal is determined to be abnormal.

Further, the signal detecting module 10 further includes a fourth determining unit 14 configured to acquire a signal to noise ratio of the satellite signal searched by the satellite positioning system, and determine whether the signal to noise ratio of the satellite signal is lower than a second threshold. When the threshold is two, it is determined that the positioning signal of the satellite positioning system is abnormal and the signal is weak. The signal to noise ratio of the satellite signal described herein is preferably the signal to noise ratio of the strongest satellite signal. The second threshold can be set according to actual needs, and can be set to 25-35 dB. For example, when the signal-to-noise ratio is lower than 30 dB, it is determined that the positioning signal is abnormal.

In other embodiments, the signal detecting module 10 may also include only any one, any two, or any three of the first determining unit 11, the second determining unit 12, the third determining unit 13, and the fourth determining unit 14.

In the embodiment of the present invention, when it is detected that the positioning signal of the satellite positioning system is abnormal, the offset calculation module 20 wakes up (when in the sleep state) or starts (when not started) the PDR unit, and acquires the position offset data through the PDR unit. . The PDR technology is a relatively mature positioning technology in the prior art, and will not be described here.

The most recent effective positioning data is the positioning data finally acquired before the positioning signal of the satellite positioning system becomes abnormal. The positioning calculation module 30 performs an accumulation operation (vector sum operation) on the most recent effective positioning data and the positional offset data, and uses the operation result as the current positioning data.

Further, as shown in FIG. 5, in the second embodiment of the positioning device of the present invention, the device further includes a frequency reduction module 40 for reducing the work of the satellite positioning system when the positioning signal of the satellite positioning system is abnormal. The frequency preferably reduces the operating frequency of the satellite positioning system by more than 50% to reduce the meaningless power consumption of the system, thereby greatly reducing the power consumption of the smart watch and prolonging the standby time.

Further, as shown in FIG. 6, in the third embodiment of the positioning device of the present invention, the device further includes a frequency recovery module 50 for recovering the satellite positioning system in time when the positioning signal of the satellite system returns to normal. The operating frequency is restored to the satellite positioning mode and the positioning is performed using a satellite positioning system.

In this embodiment, after the smart watch is switched to the PDR positioning, the signal detecting module 10 still detects whether the positioning signal of the satellite positioning system returns to normal in real time or timing. When the positioning signal returns to normal, the frequency recovery module 50 restores the satellite positioning system. The operating frequency is used to locate using a satellite positioning system.

The signal detecting module 10 is similar to the method for detecting whether the positioning signal of the satellite positioning system is normal when detecting whether the positioning signal of the satellite positioning system returns to normal, for example, when the number of effective satellites searched by the satellite positioning system is greater than or equal to the first threshold. The signal detecting module 10 determines that the positioning signal of the satellite positioning system returns to normal; when the signal to noise ratio of the satellite signal searched by the satellite positioning system is greater than or equal to the second threshold, the signal detecting module 10 determines the positioning signal of the satellite positioning system. Returning to normal; when the positioning data of the satellite positioning system is not offset or the offset is less than or equal to a preset value, the signal detecting module 10 determines that the positioning signal of the satellite positioning system returns to normal.

In addition, the signal detecting module 10 can also compare the positioning data of the satellite positioning system with the positioning data after positioning by the PDR. When the error of the two is lower than the set value, it is determined that the positioning signal of the satellite positioning system returns to normal.

Further, as shown in FIG. 7, in the fourth embodiment of the positioning device of the present invention, the device further includes a PDR control module 60, configured to turn off the PDR unit or control when the positioning signal of the satellite positioning system returns to normal. The PDR unit enters a low-power state (such as a sleep state or a sleep state) to further reduce the system's meaningless power consumption, reduce the power consumption of the smart watch, and extend the standby time of the smart watch.

The positioning device of the embodiment of the present invention adds a PDR unit, and when the positioning signal of the satellite positioning system is abnormal, the position offset data is acquired by the PDR unit, and the current position data is calculated according to the most recent effective positioning data and the position offset data. The positioning data realizes the switching from satellite positioning to PDR positioning in the environment where the positioning signal of the satellite positioning system is weak, so that the smart watch can be accurately positioned in a harsh environment, and the smart watch has a weak positioning signal. The technical problem of inability to locate or locate inaccurate in the environment effectively improves the integrity and accuracy of the positioning path of the smart watch. Further reducing the operating frequency of the satellite positioning system during PDR positioning reduces the system's meaningless power consumption, thereby greatly reducing the power consumption of the smart watch and prolonging the standby time.

The present invention also contemplates a smart watch that includes a memory, a processor, and at least one application stored in the memory and configured to be executed by the processor, the application being configured to perform a positioning method. The positioning method includes the following steps: detecting whether the positioning signal of the satellite positioning system is normal; when the positioning signal is abnormal, estimating the positional offset data by the pedestrian dead reckoning PDR unit; according to the most recent effective positioning data and position offset data Calculate the current positioning data. The positioning method described in this embodiment is the positioning method involved in the foregoing embodiment of the present invention, and details are not described herein again.

The smart watch of the embodiment of the present invention adds a PDR unit, and when the positioning signal of the satellite positioning system is abnormal, the position offset data is acquired by the PDR unit, and the current position data is calculated according to the most recent effective positioning data and the position offset data. The positioning data realizes the switching from satellite positioning to PDR positioning in the environment where the positioning signal of the satellite positioning system is weak, so that the smart watch can be accurately positioned in a harsh environment, and the smart watch has a weak positioning signal. The technical problem of inability to locate or locate inaccurate in the environment effectively improves the integrity and accuracy of the positioning path of the smart watch. Further reducing the operating frequency of the satellite positioning system during PDR positioning reduces the system's meaningless power consumption, thereby greatly reducing the power consumption of the smart watch and prolonging the standby time.

Those skilled in the art will appreciate that the present invention includes apparatus that is directed to performing one or more of the operations described herein. These devices may be specially designed and manufactured for the required purposes, or may also include known devices in a general purpose computer. These devices have computer programs stored therein that are selectively activated or reconfigured. Such computer programs may be stored in a device (eg, computer) readable medium or in any type of medium suitable for storing electronic instructions and coupled to a bus, respectively, including but not limited to any Types of disks (including floppy disks, hard disks, optical disks, CD-ROMs, and magneto-optical disks), ROM (Read-Only Memory), RAM (Random Access Memory), EPROM (Erasable Programmable Read-Only Memory) , EEPROM (Electrically Erasable Programmable Read-Only Memory), flash memory, magnetic card or light card. That is, a readable medium includes any medium that is stored or transmitted by a device (eg, a computer) in a readable form.

Those skilled in the art will appreciate that each block of the block diagrams and/or block diagrams and/or flow diagrams and combinations of blocks in the block diagrams and/or block diagrams and/or flow diagrams can be implemented by computer program instructions. . Those skilled in the art will appreciate that these computer program instructions can be implemented by a general purpose computer, a professional computer, or a processor of other programmable data processing methods, such that the processor is executed by a computer or other programmable data processing method. The blocks of the disclosed structure and/or block diagrams and/or flow diagrams or blocks specified in the various blocks.

Those skilled in the art can understand that the steps, measures, and solutions in the various operations, methods, and processes that have been discussed in the present invention may be alternated, changed, combined, or deleted. Further, other steps, measures, and schemes of the various operations, methods, and processes that have been discussed in the present invention may be alternated, modified, rearranged, decomposed, combined, or deleted. Further, the steps, measures, and solutions in the prior art having various operations, methods, and processes disclosed in the present invention may also be alternated, changed, rearranged, decomposed, combined, or deleted.

The preferred embodiments of the present invention have been described above with reference to the drawings, and are not intended to limit the scope of the invention. A person skilled in the art can implement the invention in various variants without departing from the scope and spirit of the invention. For example, the features of one embodiment can be used in another embodiment to obtain a further embodiment. Any modifications, equivalent substitutions and improvements made within the technical concept of the invention are intended to be included within the scope of the invention.

Claims

A positioning method, comprising the steps of:

Detecting whether the positioning signal of the satellite positioning system is normal;

When the positioning signal is abnormal, the PDR unit is used to calculate the position offset data by the pedestrian dead reckoning;

The current positioning data is calculated based on the most recently valid positioning data and the positional offset data.
The locating method according to claim 1, wherein the step of estimating the positional offset data by the PDR unit by the pedestrian berth includes:

The operating frequency of the satellite positioning system is reduced.
The positioning method according to claim 2, wherein the step of reducing the operating frequency of the satellite positioning system comprises:

The operating frequency of the satellite positioning system is reduced by more than 50%.
The locating method according to claim 2, wherein the step of calculating the current positioning data according to the most recent valid positioning data and the positional offset data further comprises:

When the positioning signal returns to normal, the operating frequency of the satellite positioning system is restored.
The locating method according to claim 1, wherein the step of calculating the current positioning data according to the most recently valid positioning data and the position offset data further comprises:

When the positioning signal returns to normal, the PDR unit is turned off or the PDR unit is controlled to enter a low power consumption state.
The positioning method according to claim 1, wherein the step of detecting whether the positioning signal of the satellite positioning system is normal comprises:

When the satellite positioning system cannot acquire the positioning data, it is determined that the positioning signal of the satellite positioning system is abnormal.
The positioning method according to claim 1, wherein the step of detecting whether the positioning signal of the satellite positioning system is normal comprises:

When the positioning data of the satellite positioning system is seriously offset, it is determined that the positioning signal of the satellite positioning system is abnormal.
The positioning method according to claim 1, wherein the step of detecting whether the positioning signal of the satellite positioning system is normal comprises:

When the number of valid satellites searched by the satellite positioning system is lower than the first threshold, it is determined that the positioning signal of the satellite positioning system is abnormal.
The positioning method according to claim 1, wherein the step of detecting whether the positioning signal of the satellite positioning system is normal comprises:

When the signal to noise ratio of the satellite signal searched by the satellite positioning system is lower than the second threshold, it is determined that the positioning signal of the satellite positioning system is abnormal.
The positioning method according to claim 1, wherein the positioning method is applied to a smart watch.
A positioning device, comprising:

a signal detecting module, configured to detect whether a positioning signal of the satellite positioning system is normal;

An offset calculation module, configured to: when the positioning signal is abnormal, obtain a position offset data by using a pedestrian dead reckoning PDR unit;

And a positioning calculation module, configured to calculate current positioning data according to the most recently valid positioning data and the position offset data.
The positioning device according to claim 11, wherein the device further comprises a frequency reduction module, wherein the frequency reduction module is configured to:

When the positioning signal is abnormal, the operating frequency of the satellite positioning system is lowered.
The positioning device according to claim 12, wherein the frequency reduction module is configured to reduce an operating frequency of the satellite positioning system by more than 50%.
The locating device according to claim 12, wherein the device further comprises a frequency recovery module, wherein the frequency recovery module is configured to restore an operating frequency of the satellite positioning system when the positioning signal returns to normal.
The positioning device according to claim 11, wherein the device further comprises a PDR control module, and the PDR control module is configured to:

When the positioning signal returns to normal, the PDR unit is turned off or the PDR unit is controlled to enter a low power consumption state.
The positioning device according to claim 11, wherein the signal detecting module comprises a first determining unit, and the first determining unit is configured to:

When the satellite positioning system cannot acquire the positioning data, it is determined that the positioning signal of the satellite positioning system is abnormal.
The positioning device according to claim 11, wherein the signal detecting module comprises a second determining unit, wherein the second determining unit is configured to:

When the positioning data of the satellite positioning system is seriously offset, it is determined that the positioning signal of the satellite positioning system is abnormal.
The positioning device according to claim 11, wherein the signal detecting module comprises a third determining unit, wherein the third determining unit is configured to:

When the number of valid satellites searched by the satellite positioning system is lower than the first threshold, it is determined that the positioning signal of the satellite positioning system is abnormal.
The positioning device according to claim 11, wherein the signal detecting module comprises a fourth determining unit, wherein the fourth determining unit is configured to:

When the signal to noise ratio of the satellite signal searched by the satellite positioning system is lower than the second threshold, it is determined that the positioning signal of the satellite positioning system is abnormal.
A smart watch comprising a memory, a processor and at least one application stored in the memory and configured to be executed by the processor, wherein the application is configured to execute the claims The positioning method described in 1.