WO2020150960A1 - Procédé et appareil de fusion d'informations de positionnement, et terminal intelligent - Google Patents

Procédé et appareil de fusion d'informations de positionnement, et terminal intelligent Download PDF

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Publication number
WO2020150960A1
WO2020150960A1 PCT/CN2019/072967 CN2019072967W WO2020150960A1 WO 2020150960 A1 WO2020150960 A1 WO 2020150960A1 CN 2019072967 W CN2019072967 W CN 2019072967W WO 2020150960 A1 WO2020150960 A1 WO 2020150960A1
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WIPO (PCT)
Prior art keywords
positioning information
time
positioning
fusion
information
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PCT/CN2019/072967
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English (en)
Chinese (zh)
Inventor
王凯
闫光
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深圳市大疆创新科技有限公司
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Priority to CN201980005042.5A priority Critical patent/CN111247452A/zh
Priority to PCT/CN2019/072967 priority patent/WO2020150960A1/fr
Publication of WO2020150960A1 publication Critical patent/WO2020150960A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/421—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system
    • G01S19/425—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system by combining or switching between signals derived from different satellite radio beacon positioning systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/14—Receivers specially adapted for specific applications
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position

Definitions

  • the present invention relates to the field of electronic technology, and in particular to a positioning information fusion method, device and intelligent terminal.
  • the smart terminal can obtain multiple positioning information. How to effectively determine the positioning information from the multiple positioning information to perform corresponding tasks has become a hot issue in current research.
  • the embodiments of the present invention provide a positioning information fusion method, a device, and an intelligent terminal, which can determine the fusion positioning information according to multiple positioning information.
  • an embodiment of the present invention provides a positioning information fusion method, including:
  • N channels of positioning information from N channels of satellite positioning systems, where N is an integer greater than or equal to 2;
  • the fused positioning information is output to an upper-layer functional module, which is a functional module that performs tasks based on the fused positioning information.
  • an embodiment of the present invention provides a positioning information fusion device, including an acquisition unit and a processing unit:
  • the acquiring unit is configured to acquire N channels of positioning information from N channels of satellite positioning systems, where N is an integer greater than or equal to 2;
  • the processing unit is configured to determine fusion positioning information according to the N-way positioning information
  • the processing unit is further configured to output the fused positioning information to an upper-layer functional module, which is a functional module that performs tasks based on the fused positioning information.
  • an embodiment of the present invention provides an intelligent terminal, including: a memory, a processor, and upper-layer functional modules:
  • the memory is used to store program code
  • the processor is configured to call the program code, and when the program code is executed, it is configured to perform the following operations:
  • N channels of positioning information from N channels of satellite positioning systems, where N is an integer greater than or equal to 2;
  • an upper-layer functional module which is a functional module that performs tasks based on the fused positioning information
  • the upper layer function module is used to perform tasks according to the fusion positioning information.
  • an embodiment of the present invention provides a computer-readable storage medium, the computer-readable storage medium stores computer program instructions, and the computer program instructions are used to implement the positioning described in the first aspect when executed.
  • Information fusion method is used to implement the positioning described in the first aspect when executed.
  • the fusion positioning information is determined according to the N-way positioning information, and further, the fusion positioning information is output to the upper-layer functional module to facilitate the upper-layer functional module Performing tasks based on the fusion positioning information, the embodiment of the present invention facilitates fusion processing of the multi-channel positioning information obtained by the multi-channel satellite positioning system to obtain the fused positioning information, so that the upper-level functional module can directly use the fused positioning information to execute task.
  • FIG. 1 is an application scenario diagram of a drone waypoint flight provided by an embodiment of the present invention
  • FIG. 2 is a schematic flowchart of a positioning information fusion method provided by an embodiment of the present invention
  • FIG. 3 is an architecture diagram of positioning information fusion provided by an embodiment of the present invention.
  • FIG. 4 is a schematic flowchart of another method for fusing positioning information according to an embodiment of the present invention.
  • FIG. 5 is a schematic diagram of a waypoint flight of a drone provided by an embodiment of the present invention.
  • FIG. 6 is a schematic diagram of yet another method for fusion of positioning information provided by an embodiment of the present invention.
  • FIG. 7 is a schematic structural diagram of an intelligent terminal provided by an embodiment of the present invention.
  • the smart terminal in the embodiment of the present invention may include devices such as mobile phones, tablets, smart wearable devices, drones, and unmanned vehicles. At present, most of the tasks in the smart terminal are performed based on the positioning information of the smart terminal. For example, the drone can realize waypoint flight, automatic return to home, and autonomous obstacle avoidance tasks according to the positioning information of the drone; The location of the mobile phone implements tasks such as map navigation and peripheral service recommendation.
  • the upper-layer function module of the terminal needs to arbitrate the target positioning information from the multiple positioning information before performing tasks based on the positioning information, and then perform tasks based on the target positioning information.
  • the embodiment of the present invention provides a positioning information fusion method, which can perform fusion processing on the multi-channel positioning information obtained by the multi-channel satellite positioning system to obtain the fused positioning information, and output the fused positioning information to the upper functional module ,
  • the upper-layer functional module directly uses the fusion positioning information to perform tasks, eliminating the need for arbitrating target positioning information from multiple positioning information, and improving the efficiency of the upper-layer functional modules to perform tasks to a certain extent.
  • the positioning information fusion method provided by the embodiment of the present invention may include: after the smart terminal obtains the N-way positioning information from the N-way satellite positioning system, first determines the fusion positioning information according to the N-way positioning information, and then combines the fusion positioning information Output to the upper functional module.
  • the fusion positioning information is determined based on the N-way positioning information of the N-way positioning system, the fusion positioning information can more accurately indicate the position of the smart terminal, which improves the positioning accuracy of the smart terminal.
  • upper-level functional modules can directly use the fusion positioning information to perform tasks, which improves the efficiency and accuracy of task execution.
  • the upper-level functional module arbitrates the most reliable target positioning information from the multi-channel positioning information, and then performs tasks based on the target positioning information. In some cases, due to hardware connection problems or reliability problems of the environment and equipment, the current target positioning information is invalid, and the upper-layer functional module needs to switch to the new target positioning information. In the process of switching positioning information, since the coordinate systems on which each satellite positioning system obtains positioning information are not completely the same, the upper-level functional modules need to consider the impact of coordinate system changes.
  • the smart terminal directly outputs the fused positioning information to the upper functional module after determining the fused positioning information according to N-way positioning information, and the upper functional module does not need to consider the coordinate system format on which the fused positioning information is based, etc.
  • Factors you can directly use the fusion positioning information to perform tasks, to a certain extent, reduce the degree of coupling between various modules, and improve the efficiency of task execution.
  • the positioning information fusion method provided by the embodiments of the present invention can be applied to various application scenarios such as waypoint flight, automatic return to home, and hover positioning of the drone.
  • the following is an example of the waypoint flight scene of the drone to introduce the present invention in detail.
  • the positioning information fusion method provided by the embodiment provided by the embodiment.
  • FIG. 1 is an application scenario diagram of a UAV waypoint flight provided by an embodiment of the present invention.
  • FIG. 1 may include the UAV 101 and the flight route 102 required for the UAV to perform the waypoint flight.
  • the flight route includes a plurality of pre-set flight waypoints.
  • the UAV 101 may include three satellite positioning systems: Global Positioning System (GPS), base station real-time kinematic (RTK) positioning system, and network RTK positioning system, and assume three types of positioning
  • GPS Global Positioning System
  • RTK real-time kinematic
  • the system takes effect before the drone takes off.
  • the drone starts to take off, it obtains N-way positioning information from the N-way satellite positioning system, and then the drone determines the fusion positioning information according to the obtained N-way positioning information, and finally outputs the fusion positioning information to the upper functional module .
  • the upper-level functional module After the upper-level functional module receives the fusion positioning information, it obtains the current position of the drone indicated by the fusion positioning information, assuming that the current position of the drone indicated by the fusion positioning information is at point A in Figure 1; The location of the next waypoint you want to fly to is point B in Figure 1.
  • the upper functional module can determine the flight control parameters according to the positions of A and B, and control the drone to fly from the current position to the position B based on the flight control parameters , Thus realizing waypoint flight.
  • the flight control parameters may include the flight direction and the flight amplitude
  • the implementation of the drone to control the drone to fly from the current position to the position B based on the flight control parameters may be: along the flight direction, And control the drone to fly to position B based on the flight range.
  • the UAV after the UAV obtains N channels of positioning information, it does not directly output the N channels of positioning information to the upper functional module, but determines the fusion positioning information based on the N channels of positioning information, and then combines the positioning information Output to the upper function module.
  • the upper function module can directly execute the flight mission of waypoint flight based on the fusion positioning information.
  • the upper function module eliminates the step of arbitrating the positioning information from the N-way positioning information, which improves the task execution. effectiveness.
  • FIG. 2 is a schematic flowchart of a positioning information fusion method provided by an embodiment of the present invention.
  • the positioning information fusion method may be executed by a smart terminal, and specifically may be executed by a processor of a smart terminal.
  • the smart terminal may include a mobile phone, Terminal devices such as notebook computers and smart wearable devices may also include movable platforms such as drones, unmanned vehicles, and mobile robots.
  • the positioning information fusion method described in 2 may include the following steps:
  • Step S201 The smart terminal obtains N-way positioning information from the N-way satellite positioning system.
  • the satellite positioning system is a system that uses satellites to collect the latitude, longitude and altitude of the intelligent terminal at a certain position to realize functions such as positioning or navigation of the intelligent terminal.
  • the satellite positioning system can be used to guide the intelligent terminal to safely , Accurately follow the selected route to the destination, or perform the task in the selected way.
  • the N-way satellite positioning system may include two or more of GPS, Beidou system, base station RTK positioning system, and network RTK positioning system, where N is an integer greater than or equal to 2.
  • each path of positioning information in the N paths of positioning information includes a positioning information value and positioning accuracy obtained in real time at various times.
  • the positioning information value reflects the specific location of the smart terminal at each time
  • the positioning information value includes the longitude, latitude, and altitude information of the smart terminal at each time
  • the positioning information value can be expressed as (longitude, latitude, , Height), or the positioning information value may also be expressed in three-dimensional coordinates in a navigation coordinate system (North East Down, NED), and the embodiment of the present invention does not specifically limit the representation form of the positioning information value.
  • the positioning accuracy refers to the closeness between the spatial entity position information and its real position.
  • the positioning accuracy in the embodiment of the present invention refers to the proximity of the positioning information of the smart terminal acquired by each satellite positioning system to the actual position of the smart terminal degree.
  • the positioning accuracy of a satellite positioning system can reflect the positioning accuracy of the satellite positioning system. The higher the positioning accuracy, the closer the positioning information to the actual position of the smart terminal, which means the higher the positioning accuracy. Conversely, the higher the positioning accuracy. Low, the lower the positioning accuracy.
  • the positioning accuracy of different satellite positioning systems in the same application field may be the same or different, and the positioning accuracy of the same satellite positioning system may be different in different fields.
  • the positioning accuracy of GPS in the military, can reach 0.2 m-0.4 m, and in civilian use, the positioning accuracy of GPS can reach 10 meters or even lower.
  • the positioning accuracy in civilian use can be Reach 1 meter.
  • the smart terminal includes more than N channels of satellite positioning systems.
  • the smart terminal activates the positioning function, only the N channels of positioning system take effect.
  • the acquisition of N channels of positioning information from the N channels of satellite positioning system can be understood It is: It is detected from the multi-channel satellite positioning system of the intelligent terminal device that the N-channel positioning system has been effective, and the N-channel positioning information obtained by the effective N-channel satellite positioning system is obtained.
  • Step S202 The smart terminal determines the fusion positioning information according to the N-way positioning information.
  • the fusion positioning information is obtained after the intelligent terminal analyzes and processes N channels of positioning information.
  • the fusion positioning information includes the fusion positioning information value and the fusion positioning accuracy at each time, and the fusion at each time.
  • the positioning information value indicates the specific location of the smart terminal at each time, and the fusion positioning accuracy is used to indicate how close the fusion positioning information value at each time is to the actual location value of the smart terminal.
  • the fusion positioning information is determined by the smart terminal based on N-way positioning information, that is to say, the fusion positioning information value and the fusion positioning accuracy at each time are determined based on the N-way positioning information, because the higher the positioning accuracy The positioning information value is closer to the actual position value of the smart terminal. Therefore, in order to improve the positioning accuracy of the smart terminal, the smart terminal in the embodiment of the present invention can determine the fusion positioning information according to the positioning accuracy of the N channels of positioning information.
  • the determining the fusion positioning information according to the N channels of positioning information includes: according to the positioning accuracy of each channel of positioning information in the N channels of positioning information, selecting the channel with the highest positioning accuracy from the N channels of positioning information Or the i-th path of positioning information in the multi-path positioning information, where i is a positive integer less than or equal to N; the fused positioning information is determined according to the i-th path of positioning information.
  • the implementation manner of determining the fused positioning information according to the i-th path of positioning information may be: taking the i-th path of positioning information as the fused positioning information, and in the embodiment of the present invention, the specific basis The method for determining the fusion positioning information by the i-th location information is not limited.
  • the positioning accuracy of each path of positioning information in the N paths of positioning information is: Selecting the i-th path of positioning information in one or multiple paths of positioning information with the highest positioning accuracy from the N paths of positioning information includes: based on the positioning accuracy of each path of positioning information in the N paths of positioning information, The positioning information is sorted; the i-th way of positioning information with the highest positioning accuracy is selected from the sorted N ways of positioning information.
  • the intelligent terminal determines the i-th channel of positioning information as the positioning information used to determine the fused positioning information.
  • the implementation manner of sorting the N channels of positioning information based on the positioning accuracy of each channel of positioning information in the N channels of positioning information may be: the smart terminal pre-stores the N channels of satellite positioning system for each channel of satellite positioning The positioning accuracy of the system. After obtaining N channels of positioning information, the positioning accuracy of each channel of positioning information can be obtained according to the identification of each channel of positioning system. By comparing the positioning accuracy of each two channels of positioning information with each other, the N channels of positioning The information is sorted in the order of positioning accuracy from high to low or from low to high.
  • the smart terminal selects the at least two channels of positioning information with the highest positioning accuracy based on the positioning information selection rule.
  • the positioning information selection rule may refer to selecting any one piece of positioning information from at least two pieces of positioning information with the highest positioning accuracy as the positioning information used to determine the fused positioning information.
  • the at least two channels of positioning information with the highest positioning accuracy among N channels of positioning information include the i-th location information, the w-th location information, and the n-th location information.
  • the smart terminal can choose to use the i-th location information to determine the fusion location information , Or the smart terminal can also select the w-th way of positioning information or the n-th way of positioning information to determine the fusion positioning information.
  • the positioning information selection rule may refer to selecting the positioning information used to determine the fusion positioning information from at least two pieces of positioning information with the highest positioning accuracy according to the channel state of each path of positioning information.
  • the channel state refers to the signal transmission condition of the channel. A good channel state indicates a strong signal transmission capability, and a bad channel state indicates a poor signal transmission capability.
  • the indicators used to measure the channel state include the signal-to-noise ratio, The higher the signal-to-noise ratio, the better the channel state.
  • the implementation manner of selecting the positioning information for determining the fused positioning information from at least two pieces of positioning information with the highest positioning accuracy according to the channel state of each path of positioning information may be: obtaining the highest positioning accuracy separately The signal-to-noise ratio of each of the at least two channels of positioning information; the positioning information with a higher signal-to-noise ratio is selected as the positioning information used to determine the fusion positioning information.
  • the fusion positioning information includes the fusion positioning information value and the fusion positioning accuracy at each time.
  • the positioning information selection rule may refer to the positioning information value of at least two pieces of positioning information with the highest positioning accuracy at each time. Perform an averaging operation, and the average positioning information value obtained is used to determine the fusion positioning information value of the fusion positioning information at each moment; the positioning accuracy of any one of the at least two channels of positioning information with the highest positioning accuracy is determined as the fusion positioning information Fusion positioning accuracy.
  • the N channels of positioning information acquired by the smart terminal are the first channel of positioning information, the second channel of positioning information, the third channel of positioning information... and the Nth channel of positioning information
  • the first channel of positioning information The positioning accuracy of the positioning information is 0.03 meters
  • the positioning accuracy of the second positioning information is 0.05 meters
  • the positioning accuracy of the third positioning information is 0.2 meters
  • the positioning accuracy of the Nth positioning information is 3 meters. Sort from high to low precision. Then select the first path of positioning information with the highest positioning accuracy from the table, and determine the fusion positioning information based on the first path of positioning information.
  • Step S203 The smart terminal outputs the fusion positioning information to the upper functional module.
  • the upper-layer functional module is a functional module that performs tasks based on the fused positioning information, that is, the main function of the upper-layer functional module is to perform tasks based on the positioning information.
  • the traditional upper-layer function module performs tasks based on the positioning information: the multi-channel satellite positioning system directly outputs the acquired multi-channel positioning information to the upper-layer function module, and the upper-layer function module needs to locate according to each channel of the positioning information before using the positioning information
  • the accuracy arbitrates the location information with the highest credibility, and uses the location information with the highest credibility as the basis for task execution.
  • the way the upper-level functional module performs the task according to the acquired fusion positioning information may be: acquiring the positioning accuracy conditions required by the target task; judging whether the fusion positioning accuracy of the fused positioning information meets the target task requirements.
  • the required positioning accuracy condition if it is satisfied, the target task is executed according to the fusion positioning information value of the fusion positioning information; if it is not satisfied, the received fusion positioning information can be ignored.
  • the upper-layer function module may also output prompt information for prompting the smart terminal to adjust and determine the strategy for determining the fusion positioning information.
  • the positioning information fusion method provided by the embodiment of the present invention can be represented by the architecture diagram of positioning information fusion shown in FIG. 3.
  • the N channels of positioning information can be processed to obtain the fused positioning information, and the fused positioning information is output to the upper functional module, and the upper functional module performs corresponding actions based on the fused positioning information and other information.
  • the smart terminal may also obtain other pose information except positioning information, and output the other pose information to the upper functional module to assist the upper functional module to perform tasks.
  • the fusion positioning information is determined according to the N-way positioning information, and further, the fusion positioning information is output to the upper-layer functional module to facilitate the upper-layer functional module Perform tasks based on the fused positioning information.
  • the embodiment of the present invention facilitates the fusion processing of the multi-channel positioning information obtained by the multi-channel satellite positioning system to obtain the fused positioning information.
  • the upper functional module can directly use the fused positioning information to perform tasks, eliminating the need for N channels of positioning information
  • the step of arbitrating positioning information in the middle improves the efficiency of task execution.
  • FIG. 4 is a schematic flowchart of another positioning information fusion method provided by an embodiment of the present invention.
  • the positioning information fusion method described in FIG. 4 may include the following steps:
  • Step S401 The smart terminal obtains N-way positioning information from the N-way satellite positioning system.
  • the method of obtaining N-way positioning information from the N-way satellite positioning system may include: when the upper-level functional module determines that the positioning information of the smart terminal is required to perform the current task, issuing a positioning information acquisition instruction; After receiving the positioning information acquisition instruction, the N-way satellite positioning system is triggered to start positioning the smart terminal, and the N-way positioning information generated by the N-way satellite positioning system is acquired.
  • the above-mentioned method of acquiring N-way positioning from the N-way satellite positioning system triggers the N-way satellite positioning system to start collecting positioning information when positioning information is needed. In this way, the N-way satellite positioning system does not need to collect positioning information in real time. The above can save the power consumption of the smart terminal.
  • the smart terminal is a drone.
  • the upper-level functional module determines that it needs to obtain the positioning information of the smart terminal at this time to determine the flight strategy, and then control the UAV to fly to the second shooting waypoint based on the flight strategy. Therefore, the upper-level functional module issues a positioning information acquisition instruction, and the UAV triggers the acquisition of N-way positioning information from the N-way satellite positioning system according to the positioning information acquisition instruction.
  • the method of acquiring N channels of positioning information from the N channels of satellite positioning systems may further include: when each channel of the N channels of satellite positioning system detects that the positioning information has changed, the current time The latest acquired positioning information is output; the intelligent terminal acquires N-channel positioning information output by the N-channel satellite positioning system.
  • the above-mentioned method of obtaining N-way positioning information from the N-way satellite positioning system the N-way satellite positioning system obtains the positioning information of the smart terminal in real time, and outputs the latest obtained positioning information in time when it determines that the N-way positioning information has changed. In this way, it can be ensured that when the upper-level functional modules need positioning information to perform certain tasks, the positioning information can be obtained relatively quickly, and the efficiency of task execution can be improved.
  • the intelligent terminal is a drone.
  • the N-way positioning system in the drone obtains the positioning information of the drone in real time. It is flying all the time, so the N-way positioning system will output the latest positioning information to the upper functional module at every moment, and the upper functional module will quickly determine whether the drone can return safely based on the positioning information at each moment. , Or whether it is necessary to adjust the unmanned state of the UAV, etc.
  • Step S402 The smart terminal selects the i-th path of positioning information in one or more paths of positioning information with the highest positioning accuracy from the N paths of positioning information according to the positioning accuracy of each path of positioning information in the N paths of positioning information.
  • Step S403 The smart terminal determines the fusion positioning information according to the i-th path positioning information.
  • step S402 to step S403 reference may be made to the description of related parts in the positioning information fusion method shown in FIG. 2, and details are not repeated here.
  • Step S404 When the i-th path of positioning information fails, the smart terminal determines the fused positioning information according to the fused positioning information when the i-th path of positioning information fails and the j-th path of positioning information.
  • the determination of the fused positioning information based on the i-th path of positioning information may be the i-th path of positioning information as the fused positioning information.
  • the smart terminal when the i-th path of positioning information becomes invalid, the smart terminal The fusion positioning information when the i-th positioning information fails and the j-th positioning information determine the fusion positioning information. Where i is not equal to j.
  • the failure of the i-th location information may include: the failure of the i-th location information caused by a hardware connection problem or a device reliability problem.
  • the j-th path of positioning information may be the positioning information with the highest positioning accuracy among the N paths of positioning information that is lower than the positioning accuracy of the i-th path, that is, the j-th path of positioning information is N paths.
  • the positioning information with the highest positioning accuracy; or the j-th path of positioning information may also be the same as the positioning accuracy of the i-th path of positioning information among the N paths of positioning information Positioning information.
  • the smart terminal selects the jth location Positioning information is used to determine the positioning information of the fusion positioning information; for another example, if the positioning accuracy of the i-th positioning information in the N-way positioning information is the same as the positioning accuracy of the j-th positioning information, when the i-th positioning information is invalid, the intelligent The terminal selects the j-th path of positioning information with the same positioning accuracy as the i-th path to determine the fusion positioning information.
  • the intelligent terminal always selects the positioning information with the highest positioning accuracy from the acquired multi-channel positioning information to determine the fusion positioning information. In this way, it can ensure that the fusion positioning information has a higher fusion positioning accuracy and output to the upper layer.
  • the positioning information of the intelligent terminal of the functional module is also more accurate, which improves the accuracy of the upper-level functional module to perform tasks related to the positioning information of the intelligent terminal.
  • the invalidation of the location information of the i-th path may further include: the smart terminal detects that the positioning accuracy is higher than the location information of the i-th path.
  • the positioning accuracy of the j-th path of positioning information is higher than that of the i-th path of positioning information.
  • the smart terminal includes M-channel satellite positioning systems. When each channel of positioning information is started to work, some satellite positioning systems cannot work normally. Only the N-channel satellite positioning system works normally. At this time, the smart terminal obtains N channels of positioning information. , And select the i-th location information with the highest positioning accuracy from the N-way positioning information, and then determine the fusion location information based on the i-th location information.
  • the previously inoperative positioning system starts to work.
  • the smart terminal detects that the positioning accuracy of the j-th location information is higher than the current i-th location information, the smart terminal judges that the i-th location information is invalid and switches to
  • the fusion positioning information is determined according to the fusion positioning information when the i-th positioning information fails and the j-th positioning information.
  • determining the fused positioning information according to the fused positioning information when the i-th path of positioning information fails and the j-th path of positioning information may include: When the i-th location information fails, record the first fusion location information value and the first location information value; the first fusion location information value is the location of the fusion location information at time t1 when the i-th location information fails Information value; the first positioning information value is at the time t1 when the i-th positioning information fails, and the positioning information value of the j-th positioning information; for any time after the t1 time, according to the first The fusion positioning information value, the first positioning information value, and the j-th path positioning information at any time after the time t1 are combined to determine the fusion positioning information.
  • the time t1 at the time of failure may include one of the time at which the i-th path of positioning information fails and the time before the failure of the i-th path of positioning information.
  • the time t1 may be the time before the failure time of the i-th path of positioning information.
  • the intelligent terminal can also obtain the location information of the ith path at the time of failure. Positioning information, therefore, the time t1 may be the time when the i-th path positioning information fails.
  • determining the fusion positioning information including: for any time after the t1 time, according to the deviation value between the first fusion positioning information value and the first positioning information value, and any time after the t1 time
  • the location information of the j-th path at the time is determined and the fusion location information is determined.
  • the specific implementation for determining the fusion positioning information is related to the positioning accuracy of the i-th path positioning information and the positioning accuracy of the j-th path positioning information.
  • the determining the fusion positioning information includes determining the fusion positioning information value and the fusion positioning accuracy.
  • the positioning accuracy of the i-th path of positioning information is higher than the positioning accuracy of the j-th path of positioning information, then for any time after the t1 time, according to the first The deviation value between the fusion positioning information value and the first positioning information value, and the j-th path positioning information at any time after the time t1, to determine the fusion positioning information includes: converting the first fusion positioning information value The deviation value from the first positioning information value is superimposed on the positioning information value of the j-th path positioning information at any time after the t1 time to obtain the fusion positioning at any time after the t1 time Information value; determining the positioning accuracy of the j-th path positioning information as the fusion positioning accuracy.
  • the positioning accuracy of the i-th location information is higher than that of the j-th location information, indicating that the accuracy of the i-th location information is higher.
  • the value of the first fusion location information at time t1 is determined based on the i-th location information
  • the fusion positioning information value of the fusion positioning information therefore, the positioning accuracy of the first fusion positioning information value is higher than the first positioning information value at time t1, by calculating the deviation value between the two, and superimposing the deviation value at time t1
  • the location error of the j-th location information compared to the fusion location information at t1 can be corrected, and the last superimposed location information value is determined to be any after t1
  • the value of the fusion positioning information at all times ensures the accuracy of the positioning information.
  • FIG. 5 it is a schematic diagram of a UAV waypoint flight provided by an embodiment of the present invention.
  • the black dots represent the preset waypoints.
  • Positioning accuracy When the UAV starts to fly, the fusion positioning information is determined according to the location information of the i-th path.
  • the first fusion positioning information value at t1 is point A in the figure, and the first positioning information of the j-th fusion positioning information at time t1
  • the value is point B, it can be seen that point A is closer to the preset waypoint, and point B deviates more from the preset waypoint.
  • the deviation value at time t1 is used as the correction amount to be added to the j-th location information value at any time after t1 as the fusion positioning value at any time after t1.
  • the value of the first fusion positioning information at t1 is P F (t1)
  • the value of the first positioning information is P L (t1)
  • t2 is any time after t1. If the location of the i-th path of positioning information is The accuracy is higher than the positioning accuracy of the j-th fusion positioning information.
  • the fusion positioning information including: the maximum drift of the supported positioning information drift The rate, and the deviation value between the first fusion positioning information value and the first positioning information value, determine the time length T of the positioning information drift; for any time between the t1 time and the t1+T time, Determine the fusion positioning information at any time between t1 and t1+T according to the first fusion positioning information value and the j-th path positioning information at any time between time t1 and time t1+T; At any time after t1+T and t1+T, determine the t1+T time and t1+T according to the j-th path positioning information at any time after
  • the positioning accuracy of the i-th positioning information is lower than that of the j-th positioning information, when the i-th positioning information is invalid, it indicates that the positioning accuracy of the positioning information of the smart terminal is switched from low to high.
  • the sudden jump of the positioning information of the terminal requires a slow drift process during handover, so that the positioning information of the smart terminal gradually transitions from low positioning accuracy to high positioning accuracy.
  • the position information drift is determined Time length T, and then for any time within the drift duration and any time greater than the drift duration, different methods for determining the fusion positioning information are adopted.
  • the deviation value between the first fusion positioning information value and the first positioning information value may be: the maximum drift rate, and the first fusion positioning information value and the first The deviation between the positioning information values is substituted into the preset drift time calculation formula for calculation, and the calculated result is the drift time T.
  • the first fusion positioning information value is P F (t1)
  • the first positioning information value is P H (t1)
  • v the first positioning information value
  • P F (t1) and P H ( t1) Substitute into the formula , The result obtained is the drift duration T.
  • the smart terminal uses the value of the first fusion positioning information and the jth time at any time between the time t1 and the time t1+T.
  • Road positioning information which determines the fusion positioning information at any time between time t1 and time t1+T.
  • the specific implementation may be: according to the difference between the j-th path positioning information value and the first fusion positioning information value at any time between the time t1 and the time t1+T, and the first fusion positioning Information value, to determine the value of the fusion positioning information at any time between t1 and t1+T; the first fusion positioning accuracy of the fusion positioning information at time t1 when the i-th location information fails is determined as t1 and t1+ Fusion positioning accuracy at any time between T time.
  • an implementation manner for determining the fusion positioning information value at any time between t1 and t1+T may be: the difference between the j-th location information value at the any time and the first fusion positioning information value The value and the first fusion positioning information value are substituted into the preset fusion positioning information value calculation formula for calculation, and the obtained calculation result is used as the fusion positioning information value at any time between time t1 and time t1+T.
  • the drift duration T and the invalidation of the i-th path positioning information also need to be used Time t1, and any time between t1 and t1+T.
  • the location information value of the j-th path location information at time t3 is P H (t3)
  • the first fusion location information value is expressed as P F (t1)
  • the value of the fusion positioning information at time t3 is expressed as P F (t3)
  • the drift duration is T
  • the value of the fusion positioning information at time t3 can be expressed by the following formula Where t3 ⁇ (t1,t1+T).
  • the t1 is determined according to the j-th path positioning information at any time after t1+T and t1+T. Fusion positioning information at time +T and any time after time t1+T. Specifically, the positioning information value of the j-th path of positioning information at time t1+T and any time after t1+T is determined to be any time after t1+T and t1+T The value of the fusion positioning information; the positioning accuracy of the j-th path of positioning information is determined as the fusion positioning accuracy at the time t1+T and any time after the time t1+T.
  • the positioning information has been completely switched from low accuracy to high accuracy at any time greater than the drift duration.
  • the value of the fusion positioning information of the fusion positioning information can be determined by the high-accuracy j-th path positioning information.
  • the fusion positioning information is determined according to the first fusion positioning information and the j-th path positioning information. In this process, if it is detected that the i-th location information is re-validated, the location information related to the smart terminal is switched from low accuracy to high accuracy, and the same as the above positioning information is switched from low positioning accuracy to high positioning accuracy.
  • the method for determining the fusion positioning information when the i-th path positioning information takes effect and after taking effect is not repeated here.
  • the fusion location information of the smart terminal can be determined by the method shown in Figure 6.
  • Figure 6 it is assumed that there is The N-way positioning information is effective, the ith-way positioning information with the highest positioning accuracy is selected from the N-way positioning information, and the fusion positioning information is determined according to the ith-way positioning information.
  • the location information of the j-th path with the positioning accuracy higher than the location information of the i-th path is obtained, the positioning information of the smart terminal is smoothly transitioned from low positioning accuracy to high positioning accuracy.
  • the j-th location information value is directly used as the fusion location information value of the smart terminal, and the location accuracy of the j-th location information is taken as the fusion location accuracy of the fusion location information; if the j-th route is detected If the positioning information fails due to hardware connection and other problems, the fusion positioning information is determined according to the positioning information of the j-th path of positioning information and the positioning information of the new positioning information at the time before the failure.
  • the smart terminal location information is smoothly transitioned from low positioning accuracy to high positioning accuracy again.
  • the smart terminal after obtaining N channels of positioning information from the N channels of positioning information, according to the positioning accuracy of each channel of positioning information in the N channels of positioning information, one or more channels with the highest positioning accuracy are selected from the N channels of positioning information And determine the fusion positioning information according to the i-th path positioning information in the information. If the i-th location information fails during the fusion positioning information positioning process, the smart terminal determines the fusion location information according to the fusion positioning information at the time t1 when the i-th location information fails and the j-th location information.
  • the fusion positioning information of the fusion positioning information before the failure and the newly effective positioning information are used to determine the new fusion positioning information, which can make the positioning information of the smart terminal switch
  • the smooth transition in the process avoids the jump of positioning information and improves the accuracy of intelligent terminal positioning.
  • the upper-level functional modules can directly use the fusion positioning information to perform tasks, eliminating the need for arbitrating positioning information from N-way positioning information, and improving the efficiency of task execution.
  • FIG. 7 is a schematic structural diagram of a smart terminal provided by an embodiment of the present invention.
  • the smart terminal shown in FIG. 7 may include a processor 701, a storage 702, and an upper-layer function module 703.
  • the memory 702, the upper-layer The function 703 and the processor 701 are connected through a bus 704, and the memory 702 is used to store program instructions.
  • the memory 702 may include a volatile memory (volatile memory), such as a random-access memory (random-access memory, RAM); the memory 702 may also include a non-volatile memory (non-volatile memory), such as a flash memory (flash memory), solid-state drive (solid-state drive, SSD), etc.; the memory 702 may also include a combination of the foregoing types of memories.
  • volatile memory such as a random-access memory (random-access memory, RAM)
  • non-volatile memory such as a flash memory (flash memory), solid-state drive (solid-state drive, SSD), etc.
  • flash memory flash memory
  • solid-state drive solid-state drive
  • the processor 701 may be a central processing unit (Central Processing Unit, CPU).
  • the processor 701 may further include a hardware chip.
  • the aforementioned hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), etc.
  • the PLD may be a field-programmable gate array (FPGA), a general array logic (generic array logic, GAL), etc.
  • the processor 701 may also be a combination of the foregoing structures.
  • the memory 702 is used to store a computer program, and the computer program includes program instructions.
  • the processor 701 is used to execute the program instructions stored in the memory 702 to implement the implementation shown in FIGS. 2 and 4 above. The steps of the corresponding method in the example.
  • the processor 701 is configured to execute program instructions stored in the memory 702, and the processor 701 is configured to execute when the program instructions are called: obtaining N channels of positioning information from an N channel of satellite positioning system The N is an integer greater than or equal to 2; the fusion positioning information is determined according to the N channels of positioning information; the fusion positioning information is output to the upper-layer functional module, and the upper-layer functional module executes based on the fusion positioning information The functional module of the task.
  • the processor 701 when it determines the fusion positioning information according to the N channels of positioning information, it performs the following operations: according to the positioning accuracy of each channel of positioning information in the N channels of positioning information, from the N Select the i-th path of positioning information in the one or more paths of positioning information with the highest positioning accuracy from the path positioning information, where i is a positive integer less than or equal to N; determine the fused positioning information according to the i-th path of positioning information.
  • the processor 701 selects the first one or multiple channels of positioning information with the highest positioning accuracy from the N channels of positioning information according to the positioning accuracy of each channel of positioning information in the N channels of positioning information. For i-way positioning information, perform the following operations: sort the N-way positioning information based on the positioning accuracy of each way in the N-way positioning information; select the one with the highest positioning accuracy from the sorted N-way positioning information Location information of the i-th road.
  • the processor 701 is configured to call the program instructions and is also used to execute: when the i-th location information fails, according to the fusion positioning information and the first location information when the i-th location information fails
  • the j-way positioning information determines the fusion positioning information, and the i is not equal to the j.
  • the processor 701 executes when determining the fusion positioning information based on the fusion positioning information when the i-th positioning information fails and the j-th positioning information when the i-th positioning information fails.
  • the operation is as follows: when the i-th path of positioning information fails, record the first fused positioning information value and the first positioning information value; the first fused positioning information value is the time t1 when the i-th path of positioning information fails , The location information value of the fusion location information; the first location information value is the location information value of the j-th location information at the time t1 when the i-th location information fails; for any time after the t1 time , Determining the fusion positioning information according to the first fusion positioning information value, the first positioning information value, and the j-th path positioning information at any time after the time t1.
  • the processor 701 at any time after the t1 time, according to the first fusion positioning information value, the first positioning information value, and the information at any time after the t1 time
  • the processor 701 when determining the fusion positioning information, perform the following operations: at any time after the t1 time, according to the deviation value between the first fusion positioning information value and the first positioning information value, and The j-th path positioning information at any time after the time t1 determines the fusion positioning information.
  • the positioning accuracy of the i-th path of positioning information is higher than the positioning accuracy of the j-th path of positioning information; or, the positioning accuracy of the i-th path of positioning information is lower than the j-th path of positioning information The positioning accuracy.
  • the fusion positioning information includes a fusion positioning information value and a fusion positioning accuracy
  • the processor 701 at any time after the t1 time, according to the first fusion positioning information value and the first A deviation value between the positioning information values, and the j-th path positioning information at any time after the t1 time.
  • the processor 701 at any time after the t1 time, according to the first fusion positioning information value and the first A deviation value between the positioning information values, and the j-th path positioning information at any time after the t1 time.
  • the fusion positioning information includes a fusion positioning information value and a fusion positioning accuracy
  • the processor 701 at any time after the t1 time, according to the first fusion positioning information value and the first
  • the following operations are performed: according to the maximum drift rate of the supported positioning information drift, and, The deviation value between the first fusion positioning information value and the first positioning information value is used to determine the duration T of the drift of the positioning information; for any time between the t1 time and the t1+T time, according to the first fusion Positioning information value and the j-th path positioning information at any time between time t1 and time t1+T, determine the fusion positioning information at any time between time t1 and time t1+T; for the time t1+T And at any time after t1+T, according to the j-th path positioning information at any time after t1
  • the processor 701 at any time between the time t1 and the time t1+T, according to the first fusion positioning information value and the time between the time t1 and the time t1+T, according to the first fusion positioning information value and the time between the time t1 and the time t1+T
  • the processor 701 When determining the fusion positioning information at any time of the j-th path of positioning information, perform the following operations: According to the difference between the j-th path of positioning information at any time between time t1 and t1+T and the value of the first fused positioning information And the first fusion positioning information value to determine the fusion positioning information value at any time between t1 and t1+T; the value of the fusion positioning information at time t1 when the i-th path of positioning information fails The first fusion positioning accuracy is determined as the fusion positioning accuracy at any time between time t1 and time t1+T.
  • the processor 701 locates the j-th path at any time at time t1+T and at any time after the t1+T time according to the time t1+T and at any time after the time t1+T
  • the N-way satellite positioning system includes two or more of the global positioning system GPS, Beidou system, real-time dynamic RTK positioning system of base station, and network RTK positioning system.
  • the program can be stored in a computer readable storage medium. During execution, it may include the procedures of the above-mentioned method embodiments.
  • the storage medium may be a magnetic disk, an optical disc, a read-only memory (Read-Only Memory, ROM), or a random access memory (Random Access Memory, RAM), etc.

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

Abstract

L'invention concerne un procédé et un appareil de fusion d'informations de positionnement, et un terminal intelligent. Le procédé consiste à : obtenir N informations de positionnement à partir de N systèmes de positionnement par satellite, N étant un nombre entier supérieur ou égal à 2 ; déterminer des informations de positionnement de fusion selon les N informations de positionnement ; et fournir les informations de positionnement de fusion à un module de fonction de couche supérieure, le module de fonction de couche supérieure étant un module de fonction exécutant une tâche en fonction des informations de positionnement de fusion. L'utilisation de modes de réalisation de la présente invention est favorable à la réalisation d'un traitement de fusion sur de multiples informations de positionnement obtenues par de multiples systèmes de positionnement par satellite pour obtenir des informations de positionnement de fusion, le module de fonction de couche supérieure du terminal intelligent peut utiliser directement les informations de positionnement de fusion pour exécuter une tâche, l'étape consistant à arbitrer des informations de positionnement provenant des N informations de positionnement est omise, et l'efficacité d'exécution du terminal intelligent exécutant une tâche en fonction des informations de positionnement est améliorée.
PCT/CN2019/072967 2019-01-24 2019-01-24 Procédé et appareil de fusion d'informations de positionnement, et terminal intelligent WO2020150960A1 (fr)

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