WO2021179642A1

WO2021179642A1 - Position track determination method, device and system, and terminal and storage medium

Info

Publication number: WO2021179642A1
Application number: PCT/CN2020/125936
Authority: WO
Inventors: 陶龙基; 孙波; 朱鹏飞; 谭泽汉; 杜洋; 黎小坚; 侯俊光; 黎清顾; 陈彦宇
Original assignee: 珠海格力电器股份有限公司; 珠海联云科技有限公司
Priority date: 2020-03-09
Filing date: 2020-11-02
Publication date: 2021-09-16
Also published as: CN111343572B; CN111343572A

Abstract

The present invention relates to the technical field of positioning, and provides a position track determination method, device and system, and a terminal and a storage medium. The position track determination method comprises: a terminal collects positioning data under different positioning systems at the same moment; the terminal performs data fusion on the positioning data to obtain fused positioning data; the terminal caches the fused positioning data at different moments into a fused positioning data set according to a time sequence, wherein a data difference between the fused positioning data at adjacent moments in the fused positioning data set is greater than a preset value; and the terminal uploads the fused positioning data set to a server, so that the server determines the position track of the terminal according to the fused positioning data set. The present invention can improve the description precision of the position track of the terminal and reduce the power consumption of the terminal.

Description

Method, device, system, terminal and storage medium for determining position track

This application claims the priority of the patent application filed to the State Intellectual Property Office of China on March 9, 2020 with the application number 202010155445.2 and the invention title "Method, device, system, terminal and storage medium for determining position trajectory".

Technical field

The present disclosure relates to the field of positioning technology, and in particular to a method, device, system, terminal and storage medium for determining a position track.

Background technique

In the process of logistics transportation, the terminal follows the logistics movement and uploads location data to the server so that the server can determine the location trajectory of the logistics according to the location data uploaded by the terminal.

The terminal can obtain location data through the built-in positioning system. Traditional positioning systems include GPS (Global Positioning System), Beidou navigation and positioning satellite systems, LBS (Location Based Services, location-based services) positioning systems and so on. When a single positioning system is used, inaccurate location information will occur in areas where the signal coverage of the positioning system is weak, resulting in low accuracy in portraying the terminal's position trajectory; and if multiple positioning systems are used at the same time, the terminal needs to transmit a large amount of data to the server. Location data leads to higher power consumption of the terminal.

Summary of the invention

A technical problem solved by the present disclosure is how to improve the depiction accuracy of the terminal position trajectory while reducing the power consumption of the terminal.

According to one aspect of the embodiments of the present disclosure, a method for determining a position track is provided, which includes: a terminal collects positioning data under different positioning systems at the same time; the terminal performs data fusion on the positioning data to obtain the fused positioning data; The fusion positioning data at different moments are sequentially cached as a fusion positioning data set. The data difference between the fusion positioning data at adjacent moments in the fusion positioning data set is greater than the preset value; the terminal uploads the fusion positioning data set to the server so that the server can follow The fusion positioning data set determines the position trajectory of the terminal.

In some embodiments, the positioning data includes position data and positioning accuracy data; fusing the positioning data to obtain the fused positioning data includes: using positioning accuracy data under different positioning systems to generate normalized position data under the corresponding positioning systems. Weight, the weight of the normalized position data is positively correlated with the positioning accuracy represented by the positioning accuracy data under the corresponding positioning system; the fusion positioning data is obtained according to the position data under different positioning systems and the weight of the normalized position data.

In some embodiments, obtaining the fused positioning data according to the position data under different positioning systems and the weights of the normalized position data includes: using the normalized position data weights to perform a weighted summation of the position data under the corresponding positioning system, Obtain fusion positioning data.

In some embodiments, obtaining the fused positioning data according to the position data under different positioning systems and the weights of the normalized position data includes: selecting the position data with the largest normalized position data weight as the fused positioning data.

In some embodiments, the method for determining the position track further includes: the server determines the position relationship between the terminal and the preset electronic fence according to the fusion positioning data set; in the case that the terminal enters the preset electronic fence, the server reports to the terminal Send a data upload slowdown instruction to instruct the terminal to upload the fusion positioning data set to the server at the first frequency; when the terminal moves out of the preset electronic fence, the server sends a data upload acceleration instruction to the terminal to instruct the terminal to use the second frequency Upload the fusion positioning data set to the server, and the second frequency is greater than the first frequency.

In some embodiments, the method for determining the location track further includes: the server determines the planned path of the terminal from the current location to the destination location according to the fusion positioning data set and the destination location data of the terminal; the server determines that the planned path starts from the current location Whether the planned path section of the preset length is a straight line; in the case that the planned path section is a straight line, the server sends a data collection slowdown instruction to the terminal to instruct the terminal to collect positioning data under different positioning systems at the third frequency; When the planned path section is not a straight line, the server sends a data collection acceleration instruction to the terminal to instruct the terminal to collect positioning data under different positioning systems at a fourth frequency, which is greater than the third frequency.

In some embodiments, the method for determining the position trajectory further includes: the server uses the least square method or the linear interpolation method to process the fusion positioning data set to obtain the position trajectory of the terminal.

According to another aspect of the embodiments of the present disclosure, a terminal is provided, including: a data collection module configured to collect positioning data under different positioning systems at the same time; a data fusion module configured to perform data fusion on the positioning data To obtain the fusion positioning data; the data selection module is configured to cache the fusion positioning data at different moments in chronological order as a fusion positioning data set, and the data difference between the fusion positioning data at adjacent moments in the fusion positioning data set is greater than the preset Value; The data upload module is configured to upload the fusion positioning data set to the server, so that the server can determine the position trajectory of the terminal according to the fusion positioning data set.

In some embodiments, the positioning data includes position data and positioning accuracy data; the data fusion module is configured to: use positioning accuracy data under different positioning systems to generate normalized position data weights under the corresponding positioning systems, and normalize The position data weight is positively correlated with the positioning accuracy represented by the positioning accuracy data under the corresponding positioning system; the fusion positioning data is obtained according to the position data and the normalized position data weights under different positioning systems.

In some embodiments, the data fusion module is configured to perform a weighted summation of the position data under the corresponding positioning system by using the normalized position data weight to obtain the fused positioning data.

In some embodiments, the data fusion module is configured to select the position data with the largest normalized position data weight as the fusion positioning data.

According to yet another aspect of the embodiments of the present disclosure, there is provided a system for determining a position track, including the aforementioned terminal and a server; the server includes: a data judgment module configured to judge whether the terminal and the preset electronic fence are based on the fusion positioning data set The positional relationship between; the upload instruction sending module is configured to send a data upload slowdown instruction to the terminal when the terminal enters the preset electronic fence to instruct the terminal to upload the fusion positioning data set to the server at the first frequency ; When the terminal moves out of the preset electronic fence, a data upload acceleration instruction is sent to the terminal to instruct the terminal to upload the fusion positioning data set to the server at a second frequency, which is greater than the first frequency.

In some embodiments, the server further includes: a path planning module configured to determine the planned path of the terminal from the current location to the destination location based on the fusion positioning data set and the terminal's destination location data; the path judgment module is configured to determine whether Whether the planned path section of the preset length starting from the current position on the planned path is a straight line; the collection instruction sending module is configured to send a data collection slowdown instruction to the terminal when the planned path section is a straight line. Instruct the terminal to collect positioning data under different positioning systems at the third frequency; when the planned path section is not a straight line, send a data collection acceleration command to the terminal to instruct the terminal to collect positioning data under different positioning systems at the fourth frequency , The fourth frequency is greater than the third frequency.

In some embodiments, the server further includes a trajectory determination module configured to process the fusion positioning data set by using a least square method or a linear interpolation method to obtain the position trajectory of the terminal.

According to another aspect of the embodiments of the present disclosure, another terminal is provided, including at least two of a global positioning system module, a Beidou navigation and positioning satellite system module, and a location-based service positioning system module, a memory, and A processor coupled to the memory, and the processor is configured to execute the aforementioned method for determining a position track based on instructions stored in the memory.

According to another aspect of the embodiments of the present disclosure, there is provided an apparatus for determining a position track, including: a memory; and a processor coupled to the memory, the processor being configured to perform the aforementioned determination based on instructions stored in the memory Method of position trajectory.

According to another aspect of the embodiments of the present disclosure, there is provided a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the instructions are executed by a processor to implement the aforementioned method for determining a position track.

The present disclosure can improve the depiction accuracy of the terminal position trajectory and reduce the power consumption of the terminal at the same time.

Through the following detailed description of exemplary embodiments of the present disclosure with reference to the accompanying drawings, other features and advantages of the present disclosure will become clear.

Description of the drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only These are some embodiments of the present disclosure. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative labor.

Fig. 1 shows a schematic flowchart of a method for determining a position track according to some embodiments of the present disclosure.

FIG. 2 shows a schematic flowchart of a method for determining a position track according to some other embodiments of the present disclosure.

Fig. 3 shows a schematic structural diagram of a terminal according to some embodiments of the present disclosure.

Fig. 4 shows a schematic structural diagram of a system for determining a position trajectory according to some embodiments of the present disclosure.

Fig. 5 shows a schematic structural diagram of a terminal according to other embodiments of the present disclosure.

Fig. 6 shows a schematic structural diagram of an apparatus for determining a position track according to some embodiments of the present disclosure.

Detailed ways

The technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative, and in no way serves as any limitation to the present disclosure and its application or use. Based on the embodiments in the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present disclosure.

First, some embodiments of the method for determining a position trajectory of the present disclosure will be described with reference to FIG. 1.

Fig. 1 shows a schematic flowchart of a method for determining a position track according to some embodiments of the present disclosure. As shown in Figure 1, this embodiment includes steps S101 to S104.

In step S101, the terminal collects positioning data under different positioning systems at the same time.

The different positioning systems may be GPS, Beidou navigation and positioning satellite system, and LBS positioning system, for example. When collecting positioning data under different positioning systems, different AT commands can be used. The positioning data collected under different positioning systems at the same time is shown in Table 1, where the positioning data may include position data and positioning accuracy data.

Table 1

In step S102, the terminal performs data fusion on the positioning data to obtain fused positioning data.

The specific process of data fusion of positioning data is introduced as follows.

(1) Using the positioning accuracy data under different positioning systems to respectively generate the normalized position data weights under the corresponding positioning system, the normalized position data weights and the positioning accuracy represented by the positioning accuracy data under the corresponding positioning system It is positively correlated.

For GPS positioning data, the positioning accuracy data is the GPS accuracy factor, and the value range is 0.5-99.9; for Beidou positioning data, the positioning accuracy data is the number of Beidou satellites, and the value range is 1-14; for LBS positioning For the system, the positioning accuracy data is the LBS positioning accuracy, and the value range is 500-1000. A specific implementation method is to convert the positioning accuracy data of the GPS and LBS positioning systems to levels 1-14.

For GPS, according to the calculation formula (99.9-0.5)/14=7.1, 7.1 can be used as a unit for data conversion. The original GPS positioning accuracy data and the converted positioning accuracy data are shown in Table 2.

Table 2

GPS原始定位精度数据GPS raw positioning accuracy data	GPS转化后的定位精度数据Positioning accuracy data after GPS conversion
0.5-7.60.5-7.6	1414

7.7-14.87.7-14.8	1313
14.9-2214.9-22	1212
……	……
92.8-99.992.8-99.9	11

For the LBS positioning system, according to the calculation formula (1000-500)/14=35.7, 35.7 can be used as a unit for data conversion. The original positioning accuracy data of the LBS positioning system and the converted positioning accuracy data are shown in Table 3.

table 3

LBS原始定位精度数据LBS raw positioning accuracy data	LBS转化后的定位精度数据Positioning accuracy data after LBS conversion
500-535.7500-535.7	1414
535.8-571.5535.8-571.5	1313
571.5-607.2571.5-607.2	1212
……	……
964.3-1000964.3-1000	11

Next, normalize the converted positioning accuracy data. Assuming that the positioning accuracy data after GPS conversion is 12, the positioning accuracy data of the Beidou system is 8, and the positioning accuracy data of the LBS positioning system is 6. Then, the normalized position data weight under GPS is 12/(12+8+6)=0.46; the normalized position data weight under the Beidou system is: 8/(12+8+6)=0.31; The weight of the normalized position data under the LBS positioning system is: 6/(12+8+6)=0.23.

(2) Obtain fusion positioning data according to the position data and normalized position data weights under different positioning systems.

A specific implementation method is to use the normalized position data weight to perform a weighted summation of the position data under the corresponding positioning system to obtain the fusion positioning data.

For example, the latitude value in the fusion positioning data can be obtained through the formula 22.2351*0.46+22.2349*0.31+22.2345*0.23.

Another specific implementation is that the position data with the largest normalized position data weight can be selected as the fusion positioning data.

For example, when 0.46 is the maximum normalized position data weight, the position data under GPS is selected as the fusion positioning data.

Those skilled in the art should understand that when obtaining the fusion positioning data, the location data can be split into the smallest data unit (such as latitude, longitude, etc.) before data fusion, and after the data fusion, data reorganization is performed to form a fusion Positioning data. Table 4 exemplarily shows the data format of the fusion positioning data.

Table 4

纬度latitude	南/北South/North	经度longitude	东/西thing	时间time
22.235122.2351	NN	113.4958113.4958	EE	2020/1/14 10:24:202020/1/14 10:24:20

In step S103, the terminal buffers the fusion positioning data at different moments into a fusion positioning data set in chronological order, and the data difference between the fusion positioning data at adjacent moments in the fusion positioning data set is greater than a preset value.

For example, if the terminal does not move during logistics and transportation, and the fusion positioning data has not changed at this time, the fusion positioning data that has not changed can be discarded. For another example, in the process of logistics transportation, the terminal moves slowly (for example, it moves 10 meters between adjacent moments). At this time, the value of the latitude and longitude changes in the fusion positioning data is very small, and the fusion positioning data with a small change value can also be discarded.

In step S104, the terminal uploads the fusion positioning data set to the server, so that the server can determine the position track of the terminal according to the fusion positioning data set.

When the terminal uploads the fusion positioning data and the fusion positioning data set, it can also encode the fusion positioning data set, and the specific coding method may be Huffman coding and so on. Assuming that the terminal collects positioning data every 5 minutes and uploads a fusion positioning data set every 15 minutes, then the fusion positioning data set can have up to 3 sets of fusion positioning data.

By extracting and reconstructing the positioning data under different positioning systems to generate fused positioning data, the position of the terminal can be determined more accurately; the redundant data in the fused positioning data can be compressed to reduce the amount of data transmission of the terminal. Therefore, this embodiment can not only improve the drawing accuracy of the terminal position trajectory, but also reduce the power consumption of the terminal.

In the following, other embodiments of the method for determining a position trajectory of the present disclosure will be described with reference to FIG. 2.

FIG. 2 shows a schematic flowchart of a method for determining a position track according to some other embodiments of the present disclosure. As shown in FIG. 2, on the basis of the embodiment corresponding to FIG. 1, this embodiment further includes step S205 to step S207.

In step S205, the server determines the position relationship between the terminal and the preset electronic fence based on the fusion positioning data set.

In the case that the terminal enters the preset electronic fence, step S206 is executed; in the case that the terminal moves out of the preset electronic fence, step S207 is executed.

In step S206, the server sends a data upload mitigation instruction to the terminal to instruct the terminal to upload the fusion positioning data set to the server at the first frequency.

In step S207, the server sends a data upload acceleration instruction to the terminal to instruct the terminal to upload the fusion positioning data set to the server at a second frequency, which is greater than the first frequency.

The electronic fence may be a preset area on the electronic map, such as a warehouse area. When the fusion positioning data uploaded by the terminal is within the electronic fence, the fusion positioning data set is uploaded every 30 minutes; when the fusion positioning data uploaded by the terminal is outside the electronic fence, the fusion positioning data set is uploaded every 15 minutes.

In actual application scenarios, when logistics enters warehouses and other areas, the server no longer needs to know the location information of the terminal in real time. Reduce the amount of data transmission and reduce the power consumption of the terminal.

In some embodiments, the method for determining a position track further includes step S208 to step S211.

In step S208, the server determines the planned path of the terminal from the current location to the destination location based on the fusion positioning data set and the target location data of the terminal.

In step S209, the server determines whether the planned path section of the preset length starting from the current position on the planned path is a straight line.

If the planned path section is a straight line, step S210 is executed; if the planned path section is not a straight line, step S211 is executed.

In step S210, the server sends a data collection mitigation instruction to the terminal to instruct the terminal to collect positioning data under different positioning systems at a third frequency.

In step S211, the server sends a data collection acceleration instruction to the terminal to instruct the terminal to collect positioning data under different positioning systems at a fourth frequency, where the fourth frequency is greater than the third frequency.

For example, the server can provide the best planned route through a third-party map. In the case that the planned path section of the next preset length is a straight line, the server issues an instruction to the terminal to change the frequency of the terminal to collect positioning data to 7.5 minutes each time (the upload frequency of the fusion positioning data set remains unchanged). In the case that the planned path section of the next preset length is not a straight line, the server sends an instruction to the terminal to change the frequency of the terminal to collect positioning data every 5 minutes (the upload frequency of the fusion positioning data set does not change), so that While improving the depiction accuracy of the terminal position trajectory, the power consumption of the terminal is further reduced.

In some embodiments, the method for determining the position track further includes step S212.

In step S212, the server uses the least square method or linear interpolation method to process the fusion positioning data set to obtain the position trajectory of the terminal.

The server can use least squares or linear interpolation to fit the trajectory, and update the position trajectory of the terminal every 1 hour. Those skilled in the art should understand that the moving least squares method is one of the methods for forming the approximation function of the meshless method, which can handle the trajectory fitting under small curvature and large radius of curvature through the trajectory tangent azimuth algorithm.

In the above-mentioned embodiment, the terminal can be controlled to sleep intermittently by controlling the frequency of the terminal uploading data and collecting data. Experimental results show that the position trajectory accuracy can be increased by 20%, and the terminal power consumption can be reduced by 30%.

The following describes some embodiments of the terminal of the present disclosure with reference to FIG. 3.

Fig. 3 shows a schematic structural diagram of a terminal according to some embodiments of the present disclosure. As shown in FIG. 3, the terminal 30 in this embodiment includes: a data collection module 301, configured to collect positioning data under different positioning systems at the same time; a data fusion module 302, configured to perform data fusion of positioning data, Obtain the fusion positioning data; the data selection module 303 is configured to cache the fusion positioning data at different moments in chronological order as a fusion positioning data set, and the data difference between the fusion positioning data at adjacent moments in the fusion positioning data set is greater than the preset Value; the data upload module 304 is configured to upload the fusion positioning data set to the server, so that the server determines the position track of the terminal according to the fusion positioning data set.

In some embodiments, the positioning data includes position data and positioning accuracy data; the data fusion module 302 is configured to: use the positioning accuracy data under different positioning systems to generate the normalized position data weights under the corresponding positioning systems, and normalize them. The weight of the position data is positively correlated with the positioning accuracy represented by the positioning accuracy data under the corresponding positioning system; the fusion positioning data is obtained according to the position data and the normalized position data weights under different positioning systems.

In some embodiments, the data fusion module 302 is configured to perform a weighted summation of the position data under the corresponding positioning system by using the normalized position data weight to obtain the fused positioning data.

In some embodiments, the data fusion module 302 is configured to select the position data with the largest normalized position data weight as the fused positioning data.

In the following, some embodiments of the system for determining a position trajectory of the present disclosure will be described with reference to FIG. 4.

Fig. 4 shows a schematic structural diagram of a system for determining a position trajectory according to some embodiments of the present disclosure. As shown in FIG. 4, the system 4 for determining a position track in this embodiment includes the aforementioned terminal 30 and a server 40. The server 40 includes: a data judgment module 401, configured to judge the position relationship between the terminal and the preset electronic fence based on the fusion positioning data set; the upload instruction sending module 402, configured to: enter the preset electronic fence at the terminal In the case of, send a data upload slowdown instruction to the terminal to instruct the terminal to upload the fusion positioning data set to the server at the first frequency; when the terminal moves out of the preset electronic fence, send a data upload acceleration instruction to the terminal to instruct The terminal uploads the fusion positioning data set to the server at a second frequency, and the second frequency is greater than the first frequency.

In some embodiments, the server 40 further includes: a path planning module 403, configured to determine the planned path of the terminal from the current location to the destination location based on the fusion positioning data set and the destination location data of the terminal; the path judgment module 404, configured To determine whether the planned path section of the preset length from the current position on the planned path is a straight line; the collection instruction sending module 405 is configured to send data collection to the terminal when the planned path section is a straight line Slow down instructions to instruct the terminal to collect positioning data under different positioning systems at the third frequency; when the planned path section is not a straight line, send data collection acceleration instructions to the terminal to instruct the terminal to collect different positioning systems at the fourth frequency Under the positioning data, the fourth frequency is greater than the third frequency.

In the above-mentioned embodiment, by controlling the frequency of the terminal uploading data and collecting data, the terminal can be controlled to sleep intermittently, thereby improving the accuracy of drawing the terminal position trajectory and further reducing the power consumption of the terminal.

In some embodiments, the server 40 further includes a trajectory determination module 406 configured to process the fusion positioning data set by using a least square method or a linear interpolation method to obtain the position trajectory of the terminal.

In the following, other embodiments of the terminal of the present disclosure will be described with reference to FIG. 5.

Fig. 5 shows a schematic structural diagram of a terminal according to other embodiments of the present disclosure. As shown in FIG. 5, the terminal 50 in this embodiment includes a GPS module 501, a Beidou navigation and positioning satellite system module 502, an LBS positioning system module 503, a memory 504, and a processor 505 coupled to the memory 504. The processor 505 is configured to execute the aforementioned method of determining a position trajectory based on the instructions stored in the memory 504.

In the following, some embodiments of the positioning track device of the present disclosure will be described with reference to FIG. 6.

Fig. 6 shows a schematic structural diagram of an apparatus for determining a position track according to some embodiments of the present disclosure. As shown in FIG. 6, the device 60 for determining a position track of this embodiment includes a memory 610 and a processor 620 coupled to the memory 610. The processor 620 is configured to execute any of the foregoing based on instructions stored in the memory 610. A method of determining a position trajectory in some embodiments.

Among them, the memory 610 may include, for example, a system memory, a fixed non-volatile storage medium, and the like. The system memory stores, for example, an operating system, an application program, a boot loader (Boot Loader), and other programs.

The device 60 for determining the position track may also include an input/output interface 630, a network interface 640, a storage interface 650, and the like. These

interfaces

630, 640, 650, and the memory 610 and the processor 620 may be connected via a bus 660, for example. Among them, the input and output interface 630 provides a connection interface for input and output devices such as a display, a mouse, a keyboard, and a touch screen. The network interface 640 provides a connection interface for various networked devices. The storage interface 650 provides a connection interface for external storage devices such as SD cards and U disks.

The present disclosure also includes a computer-readable storage medium having computer instructions stored thereon, and when the instructions are executed by a processor, the method for determining a position track in any of the foregoing embodiments is implemented.

The present disclosure is described with reference to flowcharts and/or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present disclosure. It should be understood that each process and/or block in the flowchart and/or block diagram, and the combination of processes and/or blocks in the flowchart and/or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing equipment to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing equipment can be used to generate It is a device that realizes the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.

These computer program instructions can also be stored in a computer-readable memory that can guide a computer or other programmable data processing equipment to work in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture including the instruction device. The device implements the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.

These computer program instructions can also be loaded on a computer or other programmable data processing equipment, so that a series of operation steps are executed on the computer or other programmable equipment to produce computer-implemented processing, so as to execute on the computer or other programmable equipment. The instructions provide steps for implementing the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.

The above descriptions are only preferred embodiments of the present disclosure and are not intended to limit the present disclosure. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present disclosure shall be included in the protection of the present disclosure. Within range.

Claims

A method for determining position trajectory, including:

The terminal collects positioning data under different positioning systems at the same time;

The terminal performs data fusion on the positioning data to obtain fused positioning data;

The terminal buffers the fusion positioning data at different moments into a fusion positioning data set in chronological order, and the data difference between the fusion positioning data at adjacent moments in the fusion positioning data set is greater than a preset value;

The terminal uploads the fusion positioning data set to the server, so that the server can determine the position trajectory of the terminal according to the fusion positioning data set.
The method for determining a position trajectory according to claim 1, wherein the positioning data includes position data and positioning accuracy data; and the data fusion of the positioning data to obtain the fused positioning data includes:

Using the positioning accuracy data under different positioning systems to respectively generate the normalized position data weights under the corresponding positioning systems, the normalized position data weights are positively correlated with the positioning accuracy represented by the positioning accuracy data under the corresponding positioning systems;

According to the position data under different positioning systems and the normalized position data weights, the fusion positioning data is obtained.
The method for determining a position trajectory according to claim 2, wherein the obtaining the fused positioning data according to the position data under different positioning systems and the weights of the normalized position data comprises:

Using the normalized position data weight value to perform a weighted summation on the position data under the corresponding positioning system to obtain the fused positioning data.
The method for determining a position trajectory according to claim 2, wherein the obtaining the fused positioning data according to the position data under different positioning systems and the weights of the normalized position data comprises:

The position data with the largest weight of the normalized position data is selected as the fusion positioning data.
The method for determining a position track according to any one of claims 1 to 4, further comprising:

The server judges the position relationship between the terminal and the preset electronic fence according to the fusion positioning data set;

When the terminal enters the preset electronic fence, the server sends a data upload mitigation instruction to the terminal to instruct the terminal to upload the fusion positioning data set to the server at the first frequency; remove the preset electronic fence at the terminal In the case of a fence, the server sends a data upload acceleration instruction to the terminal to instruct the terminal to upload the fusion positioning data set to the server at a second frequency, where the second frequency is greater than the first frequency.
The method for determining a position track according to any one of claims 1 to 4, further comprising:

The server determines the planned path of the terminal from the current location to the destination location according to the fusion positioning data set and the target location data of the terminal;

The server judges whether the planned path section of the preset length starting from the current position on the planned path is a straight line;

In the case that the planned path section is a straight line, the server sends a data collection slowdown instruction to the terminal to instruct the terminal to collect positioning data under different positioning systems at the third frequency; in the case that the planned path section is not a straight line Next, the server sends a data collection acceleration instruction to the terminal to instruct the terminal to collect positioning data under different positioning systems at a fourth frequency, where the fourth frequency is greater than the third frequency.
The method for determining a position track according to any one of claims 1 to 4, further comprising:

The server uses the least square method or linear interpolation method to process the fusion positioning data set to obtain the position trajectory of the terminal.
A terminal including:

The data collection module is configured to collect positioning data under different positioning systems at the same time;

A data fusion module configured to perform data fusion on the positioning data to obtain fused positioning data;

The data selection module is configured to cache the fusion positioning data at different moments in chronological order as a fusion positioning data set, where the data difference between the fusion positioning data at adjacent moments in the fusion positioning data set is greater than a preset value;

The data uploading module is configured to upload the fusion positioning data set to the server, so that the server can determine the position track of the terminal according to the fusion positioning data set.
The terminal according to claim 8, wherein the positioning data includes position data and positioning accuracy data; the data fusion module is configured to:

Using the positioning accuracy data under different positioning systems to respectively generate the normalized position data weights under the corresponding positioning systems, the normalized position data weights are positively correlated with the positioning accuracy represented by the positioning accuracy data under the corresponding positioning systems;

According to the position data under different positioning systems and the normalized position data weights, the fusion positioning data is obtained.
The terminal according to claim 9, wherein the data fusion module is configured to perform a weighted summation of the position data under the corresponding positioning system by using the normalized position data weight to obtain the fused positioning data.
The terminal according to claim 9, wherein the data fusion module is configured to select the position data with the largest normalized position data weight as the fused positioning data.
A system for determining a position track, comprising the terminal according to any one of claims 8 to 11, and a server; the server comprises:

The data judgment module is configured to judge the position relationship between the terminal and the preset electronic fence according to the fusion positioning data set;

The upload instruction sending module is configured to: when the terminal enters the preset electronic fence, send a data upload slowdown instruction to the terminal to instruct the terminal to upload the fusion positioning data set to the server at the first frequency; When the terminal moves out of the preset electronic fence, a data upload acceleration instruction is sent to the terminal to instruct the terminal to upload the fusion positioning data set to the server at a second frequency, where the second frequency is greater than the first frequency.
The system according to claim 12, wherein the server further comprises:

The path planning module is configured to determine the planned path of the terminal from the current location to the destination location according to the fusion positioning data set and the destination location data of the terminal;

A path judging module configured to judge whether a planned path section of a preset length starting from the current position on the planned path is a straight line;

The collection instruction sending module is configured to: when the planned path section is a straight line, send a data collection slowdown instruction to the terminal to instruct the terminal to collect positioning data under different positioning systems at a third frequency; When the path section is not a straight line, a data collection acceleration instruction is sent to the terminal to instruct the terminal to collect positioning data under different positioning systems at a fourth frequency, where the fourth frequency is greater than the third frequency.
The system according to claim 12, wherein the server further comprises a trajectory determining module configured to process the fusion positioning data set by using a least square method or a linear interpolation method to obtain the position trajectory of the terminal.
A terminal includes at least two of a global positioning system module, a Beidou navigation and positioning satellite system module, a location-based service positioning system module, a memory, and a processor coupled to the memory, the processing The device is configured to execute the method for determining a position trajectory according to any one of claims 1 to 4 based on instructions stored in the memory.
A device for determining a position track, including:

Memory; and

A processor coupled to the memory, and the processor is configured to execute the method for determining a position trajectory according to any one of claims 1 to 7 based on instructions stored in the memory.
A computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and when the instructions are executed by a processor, the method for determining a position track according to any one of claims 1 to 7 is realized.