WO2021203241A1 - 一种定位方法、装置及系统 - Google Patents

一种定位方法、装置及系统 Download PDF

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Publication number
WO2021203241A1
WO2021203241A1 PCT/CN2020/083542 CN2020083542W WO2021203241A1 WO 2021203241 A1 WO2021203241 A1 WO 2021203241A1 CN 2020083542 W CN2020083542 W CN 2020083542W WO 2021203241 A1 WO2021203241 A1 WO 2021203241A1
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WIPO (PCT)
Prior art keywords
reference object
terminal device
server
message
attribute
Prior art date
Application number
PCT/CN2020/083542
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English (en)
French (fr)
Inventor
陈军
刘建琴
林永兵
Original Assignee
华为技术有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 华为技术有限公司 filed Critical 华为技术有限公司
Priority to CN202210592519.8A priority Critical patent/CN114885282A/zh
Priority to MX2022012562A priority patent/MX2022012562A/es
Priority to PCT/CN2020/083542 priority patent/WO2021203241A1/zh
Priority to EP20930186.0A priority patent/EP4123341A4/en
Priority to CN202080004872.9A priority patent/CN112640490B/zh
Publication of WO2021203241A1 publication Critical patent/WO2021203241A1/zh
Priority to US17/959,651 priority patent/US20230040051A1/en

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/0009—Transmission of position information to remote stations
    • G01S5/0018—Transmission from mobile station to base station
    • G01S5/0036—Transmission from mobile station to base station of measured values, i.e. measurement on mobile and position calculation on base station
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0205—Details
    • G01S5/0236—Assistance data, e.g. base station almanac
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
    • 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
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • G01S19/485—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an optical system or imaging system
    • 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
    • G01S19/50—Determining position whereby the position solution is constrained to lie upon a particular curve or surface, e.g. for locomotives on railway tracks

Definitions

  • This application relates to the field of smart cars, in particular to a positioning method, device and system.
  • driverless car is a smart car that senses the road environment through the on-board sensor system, automatically plans the driving route and controls the vehicle to reach the predetermined goal.
  • vehicle positioning is one of the main technologies on which it can be realized. The accuracy of vehicle positioning will directly affect whether driverless cars can be used in actual traffic scenarios. Therefore, how to ensure the accuracy of vehicle positioning has become a major research hotspot at present.
  • positioning is usually based on satellite signals (such as positioning based on global positioning system, etc.), based on inertial measurement unit (IMU) track calculation and positioning, and based on the characteristics of laser radar (laser radar) or visual sensors.
  • IMU inertial measurement unit
  • Matching positioning is used in combination to achieve high-precision positioning function.
  • the feature matching positioning based on lidar or vision sensor means that the vehicle collects the attribute feature values of the surrounding reference objects through the lidar or vision sensor, and then compares the attribute feature values of these reference objects with these references provided by the high-precision map. The attribute feature reference value of the object is compared, and the current position information of the vehicle is estimated based on the position information of some reference objects obtained from the comparison.
  • the reference object may be stained, aging, incomplete, or blocked by nearby buildings, signs and other obstacles, it is easy for the vehicle to be unable to measure or collect the accurate attribute value of the reference object, resulting in The feature matching positioning method is invalid or the positioning accuracy is reduced. As a result, the vehicle positioning function of the car cannot provide accurate location information, and it is difficult to ensure safe and smooth unmanned driving.
  • This application provides a positioning method, device and system. By adopting the solution provided in this application, the positioning accuracy of the first terminal device can be improved.
  • the method proposed in the embodiments of the present application can be executed by a computing device, where the computing device refers to a device that can be abstracted as a computer system.
  • a computing device that supports wireless communication functions may be referred to as a wireless communication device.
  • the wireless communication device may be the entire computer of the computing device, or part of the device in the computing device, such as a chip related to wireless communication functions, such as a system chip or a communication chip.
  • the system chip is also called system-on-chip, or SoC chip.
  • the wireless communication device may be a terminal such as a smart car, a telematics box (T-box) on a smart car, a server, etc., or a SoC chip or a communication chip that can be set in the terminal .
  • the communication chip may include a radio frequency processing chip and a baseband processing chip.
  • the baseband processing chip is sometimes called a modem.
  • the communication chip can be integrated inside the SoC chip or not integrated with the SoC chip.
  • the baseband processing chip is integrated in the SoC chip, and the radio frequency processing chip is not integrated with the SoC chip.
  • the first terminal device may be a smart car or an in-vehicle system on a smart car, such as a T-box.
  • the server can be a local server or a cloud server with a high-precision map service function.
  • an embodiment of the present application provides a positioning method.
  • the positioning method includes: the server receives a first message from a first terminal device.
  • the first message includes the first location information determined by the first terminal device.
  • the server determines a first reference object according to the first location information.
  • the server sends a second message to the first terminal device.
  • the second message includes identification information of the first reference object, and the identification information of the first reference object is used by the first terminal device to update the first location information.
  • the server can screen out the applicable first reference object for the first terminal device and push it to the first terminal device, thereby solving the positioning of the first terminal device caused by the use of a damaged or occluded reference object.
  • the problem of low accuracy further improves the positioning accuracy of the first terminal device.
  • the server may determine the second reference object from the first map currently used by the server according to the first location information. Then, the server determines the first reference object from the second reference object according to the matching parameter of at least one attribute characteristic of the second reference object.
  • the matching parameter of at least one attribute characteristic of the second reference object may be stored in the server, or obtained by the server through the network, and the matching parameter of the attribute characteristic is used to indicate the measured value of the attribute characteristic and The degree of matching between the reference values of any of the attribute features.
  • the server can accurately filter the reference object through the matching parameters of the attribute feature of the reference object, so that a reasonable and reliable reference object can be obtained for the smart car to locate, and the positioning accuracy of the smart car can be improved.
  • the server may calculate the combined matching parameter of each second reference object according to the matching parameter of each attribute feature of at least one attribute feature of each second reference object in the N2 second reference objects stored by the server.
  • a second reference object corresponds to a combined matching parameter.
  • the server determines N1 first reference objects from the N2 second reference objects according to the combined matching parameters of the respective second reference objects.
  • N1 and N2 are positive integers, and N2 is greater than or equal to N1.
  • the server calculates a corresponding combination matching parameter for each reference object, and then determines N1 first reference objects according to the combination matching parameter corresponding to each second reference object.
  • the method is simple, easy to implement, and can reduce server data processing quantity.
  • the server may first determine the combined matching parameter of each second reference object according to the matching parameter of each attribute feature of at least one attribute feature of each second reference object in the N2 second reference objects. Then, the server selects N1 first references from the N2 second references according to the combined matching parameters of the second reference objects and the measured value of at least one target attribute feature of the second reference objects.
  • the target attribute feature can be determined by one or more attribute features of each reference object.
  • the server performs a secondary screening on the N2 reference objects by combining the matching parameters and the measured value of the preset target attribute characteristics, which can more accurately remove the damaged or occluded reference objects, thereby making it more suitable
  • the reference object of is determined as the first reference object of the first terminal device.
  • the first message further includes the information determined by the first terminal device according to the first location information and/or the environmental information of the first terminal device
  • the third reference The server determines the first reference object according to the second reference object and the third reference object.
  • the second reference object is determined by the server from a first map according to the first location information, and the first map is a map currently used by the server.
  • the server comprehensively considers the third reference object provided by the first terminal device itself and the second reference object selected from the map currently used by the first terminal device according to the location information reported by the first terminal device, and can guarantee the first reference object that is screened out It is not only the latest marked reference object in the current map, but also can be correctly detected by the first terminal device, so that the rationality and reliability of the first reference object determined by it can be ensured.
  • the first message further includes map version information of the first terminal device.
  • the server determines the first reference object according to the second reference object and the third reference object.
  • the second reference object is determined by the server from a first map according to the first location information
  • the first map is the map currently used by the server
  • the third reference object is the The server determines and obtains from a second map according to the first location information
  • the second map is a map corresponding to the map version information.
  • the first reference is a reference that exists simultaneously in the second reference and the third reference, or the first reference is the second reference and the third reference
  • the reference object that exists at the same time and the corresponding matching parameter is higher.
  • the map version information may specifically be the version number of the map, software serial number, manufacturer information, etc., which is not specifically limited in this application.
  • the second map may be determined by the server according to the above map version information from one or more versions of the map saved by the server.
  • the first terminal device only needs to send the above-mentioned first location information and map version information to the server, which can simplify the signaling structure of the first message and save the signaling overhead between the server and the first terminal device.
  • the first message further includes map version information of the first terminal device.
  • the server determines a first reference object from a second map according to the first location information, where the second map is a map corresponding to the map version information.
  • the server can filter the reference object for the first terminal device from the second map currently used by the first terminal device according to the above-mentioned first location information.
  • the method is simple and easy to implement, which can reduce the data processing volume of the first terminal device and improve the The data processing capability of a terminal device.
  • the first message further includes environmental information of the first terminal device.
  • the server determines the first reference object from the first map and the environmental information according to the first location information.
  • the first map is a map currently used by the server.
  • the server determines the above-mentioned first reference object from the first map based on the environment information of the first terminal device and its first location information, ensuring that the first reference object determined by it is the latest reference object marked in the current map. , It can be fully detected by the first terminal device, thereby ensuring the rationality and reliability of the determined first reference object.
  • the second message further includes a measurement value and/or a matching parameter of at least one attribute feature of the first reference object, wherein the first to the reference object The measured value and/or matching parameter of at least one attribute characteristic of is used for the first terminal device to update the first location information.
  • the second message further includes application range indication information, and the application range indication information is used to indicate a preset geographic range to which the second message applies.
  • the applicable scope indication information is determined by the server according to the load of the server.
  • the load of the server is a parameter used to indicate the busyness of the server, such as the number of processes being processed by the server, the number of terminal devices currently connected to the server, etc., which are not specifically limited in this application.
  • the larger the load of the server the larger the preset geographic range to which the reference object configuration message indicated by the target indication information determined by the server applies.
  • the server receives a feature report message from the second terminal device.
  • the characteristic report message includes the measured value and/or the matching parameter of at least one attribute characteristic of the fourth reference object.
  • the server updates the stored measurement value and/or matching parameter of the at least one attribute characteristic of the fourth reference object according to the measurement value and/or matching parameter of the at least one attribute characteristic of the fourth reference object.
  • the server updates the measured value and/or matching parameter of the attribute characteristic of the reference object stored in it based on the measured value and/or matching parameter of the attribute characteristic of the reference object reported by the second terminal device, which can ensure the reliability of the data stored by the server sex.
  • the server may also send a feature query message to the second terminal device.
  • the feature query message includes at least one attribute feature of the fourth reference object.
  • the feature query message further includes reporting mode indication information corresponding to each attribute feature in the at least one attribute feature, and the reporting mode indication information corresponding to any attribute feature is used to indicate the status of any attribute feature. Reporting method.
  • the reporting manner includes periodic reporting and aperiodic reporting.
  • the reporting mode corresponding to the attribute features with high stability parameters is aperiodic reporting.
  • the reporting method corresponding to attribute features with low stability parameters is periodic reporting.
  • the method of reporting the measurement value and/or matching parameter of the attribute characteristic is determined, which can avoid the second terminal device from frequently reporting some relatively stable measurement values and/or matching parameters of the attribute characteristic. , Can reduce the signaling interaction between the server and the second terminal device, and reduce the communication load between the server and the second terminal device.
  • an embodiment of the present application provides a positioning method.
  • the first terminal device sends a first message to the server, where the first message includes the first location information of the first terminal device.
  • the first terminal device receives the second message from the server.
  • the second message includes the identification information of the first reference object, and the first reference object is determined by the server according to the first location information.
  • the first terminal device updates the first location information according to the identification information of the first reference object.
  • the first terminal device can use the server to filter out the applicable first reference object for positioning, which can avoid the problem of low positioning accuracy caused by the use of damaged or blocked reference objects for positioning.
  • the positioning accuracy of the first terminal device can be improved.
  • the first message further includes map version information of the first terminal device, wherein the map version information is used by the server to determine the first Reference.
  • the first message further includes a third reference object, wherein the third reference object is used by the first terminal device according to the first location information or The environment information of the first terminal device is determined and obtained, and the third reference object is used by the server to determine the first reference object.
  • the first message further includes environmental information of the first terminal device, wherein the environmental information is used by the server to determine the first reference object .
  • the second message further includes a measurement value and/or a matching parameter of at least one attribute characteristic of the first reference object.
  • the first terminal device determines a fifth reference object according to the measured value and/or matching parameter of at least one attribute characteristic of the first reference object and the first reference object.
  • the first terminal device updates the first location information according to the fifth reference object.
  • an embodiment of the present application provides a positioning method.
  • the second terminal device generates a feature report message.
  • the feature report message includes the measured value and/or matching parameter of at least one attribute feature of the fourth reference object.
  • the matching parameter of any attribute characteristic is used to indicate the degree of matching between the measured value of any attribute characteristic and the reference value of any attribute characteristic.
  • the measurement value and/or the matching parameter of the at least one attribute characteristic of the fourth reference object is used to update the measurement value and/or the matching parameter of the at least one attribute characteristic of the fourth reference object stored in the server.
  • the second terminal device sends the feature report message to the server.
  • the second terminal device can send some measurement values and matching parameters of the attribute characteristics of the reference object to the server through the characteristic report message, so that the server can timely analyze the attribute characteristics of the reference object stored in the database.
  • the measured value and the reference value are updated, thereby ensuring the reliability and applicability of the measured value and the reference value of the attribute characteristic of the reference object stored in the server.
  • the second terminal device acquires the measured value of each attribute feature of the at least one attribute feature of the fourth reference object.
  • the second terminal device calculates the matching parameter of each attribute characteristic according to the measured value of each attribute characteristic and the reference value of each attribute characteristic.
  • the second terminal device receives a feature query message from a server, where the feature query message includes at least one attribute feature of the fourth reference object.
  • the feature query message further includes at least one attribute feature of the fourth reference object corresponding to each attribute feature reporting mode indication information, any attribute feature corresponding to The reporting mode indication information is used to indicate the reporting mode of any attribute feature.
  • the reporting manner includes periodic reporting and aperiodic reporting.
  • the reporting mode corresponding to the attribute features with high stability parameters is aperiodic reporting.
  • the reporting method corresponding to attribute features with low stability parameters is periodic reporting.
  • an embodiment of the present application provides a device.
  • the device may be the server itself, or a component or module such as a chip inside the server.
  • the device includes a unit for executing the positioning method provided by any one of the possible implementations of the first aspect, and therefore can also achieve the beneficial effects (or advantages) of the positioning method provided by the first aspect.
  • an embodiment of the present application provides a device.
  • the device may be the first terminal device itself, or may be an element or module such as a chip inside the first terminal device.
  • the device includes a unit for executing the positioning method provided by any one of the possible implementations of the second aspect, and therefore can also achieve the beneficial effects (or advantages) of the positioning method provided by the second aspect.
  • an embodiment of the present application provides a device.
  • the device may be the second terminal device itself, or a component or module such as a chip inside the second terminal device.
  • the device includes a unit for executing the positioning method provided by any one of the possible implementations of the third aspect, and therefore can also achieve the beneficial effects (or advantages) of the positioning method provided by the third aspect.
  • an embodiment of the present application provides a device, which may be a server.
  • the device includes at least one memory and a processor.
  • the processor is configured to call the code stored in the memory to execute the positioning method provided in any one of the possible implementation manners of the first aspect.
  • an embodiment of the present application provides a device, which may be a first terminal device.
  • the device includes at least one memory and a processor.
  • the processor is configured to call the code stored in the memory to execute the positioning method provided in any one of the possible implementation manners of the second aspect.
  • an embodiment of the present application provides a device, which may be a second terminal device.
  • the device includes at least one memory and a processor.
  • the processor is configured to call the code stored in the memory to execute the positioning method provided in any one of the possible implementation manners of the third aspect.
  • an embodiment of the present application provides a chip.
  • the chip includes: at least one processor and an interface circuit.
  • the interface circuit is used to receive code instructions and transmit them to the processor.
  • the processor is configured to run the foregoing code instructions to implement the positioning method provided by any one of the foregoing first aspect, second aspect, or third aspect or any possible implementation manner, and can also implement the foregoing first aspect ,
  • the beneficial effects (or advantages) provided by the positioning method provided by the second aspect or the third aspect or any possible implementation manner are examples of the positioning method provided by the second aspect or the third aspect or any possible implementation manner.
  • an embodiment of the present application provides a computer-readable storage medium that stores instructions in the computer-readable storage medium.
  • the instructions run on a computer, the first aspect, the second aspect, or the first aspect described above are implemented.
  • the positioning method provided by any one of the three aspects or any one of the possible implementations can also achieve the beneficial effects (or advantages) provided by the positioning method provided in the first, second, or third aspect described above.
  • the embodiments of the present application provide a computer program product containing instructions.
  • the computer program product runs on a computer, the computer executes any one of the above-mentioned first, second, or third aspects.
  • the positioning method provided by any one of its possible implementation manners can also achieve the beneficial effects of the positioning method provided in the first aspect, the second aspect, or the third aspect.
  • an embodiment of the present application provides a positioning system, which includes the server provided in the above-mentioned first aspect, the first terminal device provided in the second aspect or any one of its possible implementation manners, and/or , The second terminal device provided by the third aspect or any one of its possible implementation manners.
  • the server can screen out the applicable first reference object for the first terminal device according to the first location information of the first terminal device and push it to the first terminal device, so that the subsequent first terminal device An applicable first reference object can be used for positioning.
  • the problem of large positioning errors caused by the use of damaged or blocked reference objects for positioning the first terminal device can be solved as much as possible, so that the positioning accuracy of the first terminal device can be improved.
  • FIG. 1 is a schematic diagram of the architecture of a positioning system provided by an embodiment of the present application.
  • FIG. 2 is a schematic flowchart of a positioning method provided by an embodiment of the present application.
  • FIG. 3 is a schematic diagram of a positioning scenario provided by an embodiment of the present application.
  • FIG. 4 is a schematic structural diagram of a second message provided by an embodiment of the present application.
  • FIG. 5 is another schematic flowchart of a positioning method provided by an embodiment of the present application.
  • FIG. 6 is a schematic diagram of another flow chart of a positioning method provided by an embodiment of the present application.
  • FIG. 7 is another schematic flowchart of a positioning method provided by an embodiment of the present application.
  • FIG. 8 is a structural block diagram of a device provided by an embodiment of the present application.
  • FIG. 9 is another structural block diagram of a device provided by an embodiment of the present application.
  • FIG. 10 is another structural block diagram of a device provided by an embodiment of the present application.
  • FIG. 11 is a block diagram of a structure of a chip provided by an embodiment of the present application.
  • FIG. 12 is another structural block diagram of a device provided by an embodiment of the present application.
  • FIG. 13 is another structural block diagram of a chip provided by an embodiment of the present application.
  • FIG. 1 is a schematic structural diagram of a positioning system provided by an embodiment of the present application.
  • the positioning method provided in the embodiment of the present application is applicable to the above-mentioned positioning system.
  • the positioning system includes a server, a first terminal device and a second terminal device.
  • the server communicates with the first terminal device and the second terminal device through a network.
  • the above-mentioned network may be based on the long-term evolution (LTE) system, the universal mobile telecommunication system (UMTS), the worldwide interoperability for microwave access (WiMAX) communication system, the fifth generation ( 5th generation (5G) system or new radio (NR) system, etc., this application does not make specific restrictions.
  • LTE long-term evolution
  • UMTS universal mobile telecommunication system
  • WiMAX worldwide interoperability for microwave access
  • 5G fifth generation
  • NR new radio
  • the above-mentioned server may be a local server or a cloud server of the map software used by the first terminal device, and the server has a high-precision map service function.
  • the above-mentioned first terminal device may be a smart car or an in-vehicle system on a smart car.
  • smart cars include various types of vehicles.
  • the vehicle-mounted system of a smart car may include vehicle-mounted software (ie, computing platform) and hardware (such as cameras, radars, processing chips, etc.).
  • the first terminal device accesses the server through the network to obtain high-precision map data provided by the server.
  • the first terminal device can also collect the attribute feature values of the surrounding reference objects through cameras, radars, etc., and further realize feature matching and positioning based on the above-mentioned high-precision map data and the attribute feature values of the surrounding reference objects, thereby determining the first terminal device.
  • the above-mentioned second terminal device is mainly a device used to provide the server with the measured values and/or matching parameters of the attribute characteristics of various reference objects.
  • the above-mentioned second terminal device may be the above-mentioned first terminal device itself, or it may be a device capable of detecting and reporting the attribute characteristic value of the reference object, such as a roadside unit (RSU), street probe, etc.
  • RSU roadside unit
  • the first terminal device usually uses sensors, such as lidar or vision sensors, to collect the measurement values of the attribute characteristics of the reference objects around it, and then combine the measurement values of the attribute characteristics of these reference objects with a high-precision map
  • the provided reference values of the attribute characteristics of the reference objects are compared, and then the current position information of some reference objects that have been successfully compared is estimated based on the position information.
  • the first terminal device may also perform fusion processing on the estimated position information and the position information obtained through satellite signal positioning or inertial measurement instrument track estimation and positioning, so as to obtain more accurate positioning information.
  • the reference object may be stained, aging, incomplete, or blocked by nearby buildings, signs and other obstacles, it is easy to cause the first terminal device to be unable to measure or collect the accurate observation of the characteristics of the reference object. As a result, the feature matching positioning method is invalid or the positioning accuracy is reduced. As a result, the first terminal device cannot obtain accurate location information, and it is difficult to ensure safe and smooth unmanned driving.
  • the main technical problem solved by the embodiments of the present application is: how to eliminate the damaged or occluded reference object, so as to solve the problem of low positioning accuracy of the first terminal device caused by the inapplicability of the reference object, so as to improve the first terminal The positioning accuracy of the device.
  • FIG. 2 is a schematic flow chart of a positioning method according to an embodiment of the present application. This positioning method is suitable for the positioning system shown in FIG. 1. It can be seen from Figure 2 that the method includes the following steps:
  • S210 The first terminal device generates a first message.
  • the first terminal device when it determines that it needs to perform a positioning function, it may generate a first message.
  • the first message is mainly used to request the server to provide it with a suitable reference.
  • the so-called reference object is an object around the first terminal device that can provide a reference position for the first terminal device to assist the first terminal device in performing positioning functions, such as landmark buildings, traffic lights, and billboards around the first terminal device.
  • the above-mentioned first message includes at least one piece of location information (to facilitate the distinction, the first location information will be substituted for the description below).
  • the first location information may include one or more of the longitude, latitude, and administrative area identifier (such as the name of the cell where it is located, the street name, etc.) of the current location of the first terminal device, which is not specifically limited in this application.
  • the first position information may be the position information obtained by the first terminal device during the last execution of the positioning function, or it may be the position information obtained by the first terminal device by fusing multiple positioning results obtained by the first terminal device for the most recent execution of the positioning function. There are no specific restrictions on this application.
  • the foregoing first message may further include identification information of the third reference object.
  • N3 is a positive integer.
  • the aforementioned N3 reference objects may be determined by the first terminal device according to the aforementioned first location information and/or current environmental information acquired by it.
  • the foregoing environmental information may be information such as images and videos collected by the first terminal device from its surrounding environment through a sensor unit such as a camera and a lidar.
  • the geographic location indicated by the first location information can be the center of the circle, and the first preset distance is the radius, and the current map (which is the location The difference, the second map will be used below to replace the description) to delineate a first area.
  • the first terminal device may determine the reference object that has been calibrated in the first area as the third reference object, so as to obtain the N3 third reference objects.
  • the first terminal device may also directly extract the aforementioned N3 third reference objects from the aforementioned environmental information through algorithms such as object detection.
  • the first terminal device may also perform feature matching between one or more reference objects determined by the first location information and one or more reference objects detected from the environmental information, and use the successfully matched reference object as The third reference above.
  • the first terminal device may also use other methods to determine the aforementioned N3 third reference objects, which is not specifically limited in this application.
  • the foregoing first message may further include the foregoing environmental information.
  • the description of the environmental information can refer to the preceding text, and it will not be repeated here.
  • the above-mentioned first message may also include map version information of the map currently being used by the first terminal device (for the convenience of distinction, the description will be replaced by the second map below).
  • the map version information may be the version number of the map, software serial number, manufacturer information, etc., and this application does not make specific restrictions.
  • S220 The first terminal device sends a first message to the server.
  • the first terminal device may send the above-mentioned first message to the server via a network.
  • a network for example, Bluetooth, narrowband Internet of Things, broadband network, air interface messaging, etc.
  • S230 The server receives the first message from the first terminal device and generates a second message.
  • the server may receive the first message sent by the first terminal device through the network, and parse the first message to extract the first location information contained in the above-mentioned first message. Then, the server can determine the first reference object according to the first location information. It should be noted here that there may be one or more first reference objects. For ease of understanding, the following will take N1 first reference objects as an example for description. Among them, N1 is a positive integer. After that, the server can generate a second message based on the N1 reference objects. The following will classify several exemplary scenarios based on the content contained in the first message, and combine different scenarios to describe the process of determining the N1 first reference objects by the first terminal device to give different options. Method to realize.
  • the server After the server extracts the first location information, it can determine N1 first reference objects in a variety of ways. The following uses method 1 and method 2 as examples. The process of determining the N1 first reference objects by the server is described in detail.
  • the server can delineate a second area from the first map in combination with the geographic location indicated by the first location information and the preset range delimiting rule.
  • the first map here is the map currently being used by the server. Then, the server can directly determine all the reference objects that have been marked in the second area as the first reference objects, so as to obtain the above-mentioned N1 first reference objects.
  • the above-mentioned range delimitation rule may be a circular area with the geographic location indicated by the longitude and latitude in the first location information as the center and the second preset distance as the radius. Alternatively, it may also be a square area with the geographic location indicated by the first location information as the center of gravity and the second preset distance as the side length.
  • the embodiments of the present application do not specifically limit the above-mentioned scope delimitation rules.
  • the server determines all the reference objects in the above second area, it does not directly determine all the reference objects in the second area as the first reference object, but screens all the reference objects in the second area. , So as to obtain the above-mentioned N1 first reference objects.
  • the server may first extract the measured value and/or matching parameter of each attribute feature of at least one attribute feature of each second reference object in the above-mentioned N2 second reference objects from its corresponding database.
  • the database corresponding to the server stores a variety of map data, such as the version information of one or more maps used by the server, the reference objects contained in each map, and the attribute characteristics of each reference object ,
  • the measurement value of each attribute feature of each reference object, the matching parameter corresponding to each attribute feature, the stability parameter of each attribute feature, etc. are not specifically limited in this application.
  • the reference object A can have one or more attributes, such as height, width, color, geographic coordinates, and so on.
  • attribute feature B the measurement value stored in the database of the server is determined by the second terminal device (ie, reference object A itself or other reference objects around reference object A).
  • the matching parameter of the attribute feature B indicates the matching degree between the measured value of the attribute feature B and the preset reference value of the attribute feature B.
  • the reference value of the attribute feature is a fixed value of the attribute feature over a period of time. For example, for a building, suppose its design height is 30 meters. Generally, the value of this height will not change for a period of time. Then this 30 meters can be used as the reference value of the attribute characteristic of the height of the building. . The value of some attribute features may change (such as the color and height of tree leaves, etc.), and the reference value corresponding to these attribute features will also change.
  • the matching parameter of the attribute feature B stored in the database may be calculated by the second terminal device according to the measured value of the attribute feature B of the reference object A detected by it and the reference value corresponding to the attribute feature B and sent to the server of.
  • the matching parameters of the attribute feature B stored in the database may also be calculated by the server according to the measured value of the attribute feature B and the reference value of the attribute feature B acquired by the server.
  • the measured value of the attribute feature B may be obtained by the second terminal device's latest detection or measurement of the reference object A, or may be obtained by the second terminal device's fusion of the results of multiple recent detections or measurements.
  • the server may select the matching parameter of each second reference object according to the The matching parameter of the attribute feature calculates the combined matching parameter corresponding to each second reference object.
  • a reference object corresponds to a combination matching parameter.
  • the server can calculate the N2 combination matching parameters corresponding to the N2 second reference objects.
  • the multiple second reference objects may include roadside unit RSU1, vehicle C2 (in a low speed or stationary state), vehicle C3 (in a low speed or stationary state), vehicle C4 (in a high-speed motion state), trees T1, and trees T2 (in a state of high speed). Damaged), building B1, building B2.
  • Table 1-1 is the data table corresponding to the second reference object RSU1, including the shape (reference value of triangle), height (reference value of 10 meters), and color (reference value of blue) of the second reference object RSU1 , Geographic coordinates (reference value x1, y1) and surrounding weather conditions (reference value is sunny).
  • the matching parameters corresponding to the five attributes of the shape, height, color, coordinates, and surrounding weather conditions of the second reference object RSU1 are 1, 1, 1, 1, and 1, respectively.
  • the specific content of the other three tables will not be repeated here, and you can refer to the table contents for each.
  • Table 1-1 Data table 1 of the attribute characteristics and matching parameters of the reference object
  • the server may determine the sum of the matching parameters of each attribute feature of each second reference object as the matching parameter of each second reference object. For example, from the content of Table 1, it can be seen that the matching parameters of the five attribute characteristics of the reference object RSU1 are 1, 1, 1, 1, and 1, respectively, and the server can determine that the combined matching parameter of the reference object RSU1 is 5. Similarly, the server can determine that the combination matching parameter of the reference object B1 and the reference object B2 are both 5, the combination matching parameter of the reference object T1 is 5, and the combination matching parameter of the reference object T2 is 4. The combination matching parameter of the reference C2 and the reference C3 is 5, and the combination matching parameter of the reference C4 is 4.
  • the server may also perform a weighted summation of the matching parameters of each attribute feature according to the preset weight of each attribute feature to obtain the combined matching parameter of each second reference object.
  • the server can also use other calculation methods to process the matching parameters of each attribute feature of each reference object to obtain the combined matching feature of each reference object, which is not specifically limited in this application.
  • the server may determine the first reference from the second reference objects whose combination matching parameter is equal to or greater than the first preset parameter among the above-mentioned N2 second references
  • the N1 first reference objects are obtained. For example, in combination with the preceding example, the server determines that the combined matching parameter of the reference object RSU1 is 5.
  • the combination matching parameter of the reference B1 and the reference B2 are both 5, the combination matching parameter of the reference T1 is 5, and the combination matching parameter of the reference T2 is 4.
  • the combination matching parameter of the reference C2 and the reference C3 is 5, and the combination matching parameter of the reference C4 is 4.
  • the server can determine the reference object RSU1, the reference object B1, the reference object B2, the reference object T1, the reference object C2, and the reference object C3 as the first reference object.
  • the server may first sort the N2 second reference objects according to the N2 combination matching parameters, and select the N1 second reference objects that are ranked higher to determine the N1 first reference objects.
  • the server can accurately filter out some unreasonable values through the matching parameters of the attribute characteristics of the reference object. Therefore, the rationality and applicability of the above-mentioned first reference can be guaranteed.
  • the N1 first reference objects are determined here according to the combination matching parameters corresponding to each second reference object. The method is simple, easy to implement, and can reduce the amount of data processing of the server.
  • the server may first match according to the combination of each second reference object in the N2 second reference objects
  • the parameter selects N6 sixth reference objects from the above-mentioned N2 second reference objects.
  • the server can determine the measurement value of at least one target attribute feature corresponding to each sixth reference according to the measurement value of each attribute feature of each sixth reference.
  • the above-mentioned target attribute feature is directly constituted by or obtained after fusion processing of at least one attribute feature of the reference object that is relatively obvious or hard to change (that is, high stability).
  • the preset attribute features include shape, height, area, color, coordinates, and surrounding weather conditions, while the two attribute features of height and area are more obvious and not easy to change, then the height and area are here Two attribute characteristics can be used as target attribute characteristics.
  • the preset attribute features of the reference object include shape, height, distance from the first terminal device, and area, then the relative height determined by the height and the distance from the first terminal device and the relative height determined by the height and the distance from the first terminal device and the area and the first terminal device The relative area determined by the distance of the device is used as the target attribute feature.
  • the server can screen out N1 first reference objects from the above-mentioned N6 sixth reference objects according to the size of the measurement value corresponding to each target attribute feature of each sixth reference object. Specifically, the server may sort the N6 sixth reference objects one or more times according to the measured value of each target attribute feature of each sixth reference object (one target attribute feature corresponds to one sort), and rank the first One or more sixth reference objects of is determined as the first reference object.
  • the relative height of the reference object B1 and the reference object B2 in the N6 sixth reference objects calculated by the server is 0.3 meters, and the relative area is 0.06 square meters.
  • the relative height of the reference object C2 and the reference object C3 is 0.43 meters, the relative area is 0.61 square meters, the relative height of the reference object T1 is 0.43 meters, the relative area is 0.09 square meters, the relative height of the reference object RSU1 is 0.2 meters, the relative area It is 0.004 square meters.
  • the specific order is that the reference object T1, the reference objects C2 and C3 are ranked first, the reference object B1 and the reference object B2 are ranked second, and the reference object RSU1 is ranked third.
  • the server may exclude the second and third-ranked reference object B1, reference object B2, and reference object RSU1.
  • the server can sort the reference object T1, the reference objects C2, and C3 again with respect to the target attribute feature of area, and the result obtained is that the reference object C2 and the reference object C3 are ranked first, and the reference object T1 is ranked second.
  • the server can determine the reference object C2 and the reference object C3 as the first reference objects, respectively.
  • the server performs a secondary screening on the N2 reference objects by combining the matching parameters and the measured value of the preset target attribute characteristics, which can more accurately remove the damaged or occluded reference objects, which will be more suitable
  • the reference object is determined as the first reference object adapted by the first terminal device, so that the positioning accuracy of the first terminal device can be further improved.
  • the server may also first adopt a method similar to the foregoing method 1 or The method described in the second way determines N2 second reference objects from the first map. Then, the server can directly determine the simultaneously existing reference objects of the N2 second reference objects and the N3 third reference objects as the first reference object, thereby obtaining N1 first reference objects. For example, suppose the server detects the identification information of the reference object A from the identification information of the third reference objects, and determines that the reference object A is also included in the N2 second reference objects, then the reference object A is the first Reference.
  • the server may first determine N2 second reference objects from the first map using a process similar to that described in Method 1, and then combine the above N2 second reference objects and N3 third reference objects The reference objects that exist at the same time are selected (here assumed to be N7 seventh reference objects). Then, the server may screen out N1 first reference objects from the above-mentioned N7 seventh reference objects according to the measured value and/or matching parameter of at least one attribute characteristic of each seventh reference.
  • the specific screening process please refer to the process of screening the first reference object according to the measured value and/or matching parameter of each attribute feature of at least one attribute feature of each second reference object described in the second method, which will not be repeated here.
  • the server may also perform the measurement of each second reference object and each third reference object according to the measurement value of each attribute feature of each second reference object and the measurement value of each attribute feature of each third reference object.
  • Feature matching, and the reference object whose feature matching is successful is determined as the first reference object. For example, suppose that reference object A exists for each second reference object and each third reference object. If the difference between the measured values of the attribute parameters of the reference object A in the N2 second reference objects and the measured values of the attribute parameters of the reference object A in the N3 third reference objects are within the allowable error range , It is considered that the reference object A is successfully matched, and the reference object A can be used as the first reference object.
  • the server comprehensively considers the third reference object provided by the first terminal device itself and the second reference object selected from the map currently used by it according to the first location information, so as to ensure that the first reference object selected is the current one.
  • the newly marked reference object in the map can be correctly detected by the first terminal device, so that the rationality and reliability of the first reference object determined by it can be ensured.
  • the server may first process the environmental information through an algorithm such as object recognition to obtain N3 third reference objects included in the environmental information. Then, the server can determine N1 first reference objects according to the above-mentioned N3 third reference objects and N2 second reference objects determined based on the first position information. For the specific process, please refer to the process described in Scenario 2. No longer.
  • the server determines the above-mentioned first reference object from the first map based on the environment information of the first terminal device and its first location information, ensuring that the first reference object determined by it is the latest reference object marked in the current map. , It can be fully detected by the first terminal device, thereby ensuring the rationality and reliability of the determined first reference object.
  • the server may first determine N2 second maps from the first map by using the method described in the preceding method 1 or method 2. Reference. Then, the server can query the above-mentioned second map from one or more versions of maps stored in its database, and then also use the method described in the preceding method 1 or method 2 to determine the N3th map from the above-mentioned second map. 2. Reference object. Then, the server can determine N1 first reference objects according to the above N3 third reference objects and N2 second reference objects. For the specific process, please refer to the process described in scenario 2, which will not be repeated this time.
  • the server may first determine the above-mentioned second map according to the second map version information, and then it may determine N1 first reference objects from the above-mentioned second map by using the method described in the second method above.
  • the specific process may be Participate in the previous article, so I won’t repeat it here.
  • the server After the server determines the N1 first reference objects, it can generate a second message based on the N1 reference objects. For example, the server may generate the second message according to the identification information of the first reference objects in the N1 first reference objects. Alternatively, the server may generate the second message according to the identification information of each first reference object and the measured value and/or matching parameter of each attribute feature of at least one attribute feature of each first reference object.
  • the second message generated by the server may also include an applicable scope indication information.
  • the applicable range indication information is mainly used to indicate the preset geographic range to which the second message is applicable.
  • the above-mentioned applicable scope indication information may include first indication information, second indication information, third indication information, and fourth indication information, which are respectively used to indicate four levels corresponding to the second message, and different levels correspond to different presets. Geographical scope.
  • the applicable range indication information is the first indication information, it indicates that the above-mentioned second message is of the first level, which means that the preset geographic range to which the second message applies is a certain first terminal device.
  • the applicable range indication information is the second indication information, it indicates that the above-mentioned second message is of the second level, it means that the preset geographic range to which the second message applies is a certain lane on a certain road, as shown in Figure 3 Lane L3 shown in.
  • the applicable range indication information is the third indication information, it indicates that the above-mentioned second message is the third level, it means that the preset geographic range to which the second message applies is a certain road, as shown in Fig. 3 R2 or road R1.
  • the applicable range indication information is the fourth indication information, it indicates that the above-mentioned second message is of the fourth level, it means that the preset geographic range to which the second message applies is a certain block, such as the block shown in FIG. 3 S1.
  • the above-mentioned preset geographic scope can also be divided in other forms, and this application does not make specific restrictions.
  • the server may determine the applicable scope indication information contained in the second message sent by the server according to its current load.
  • the load of the server is a parameter used to indicate the busyness of the server, such as the number of processes being processed by the server, the number of terminal devices currently connected to the server, etc., which are not specifically limited in this application. The greater the load on the server, the busier the server.
  • the server determines that its current load is less than the first preset load, it can determine that the second message includes the first indication information.
  • the server determines that its current load is greater than or equal to the first preset load and less than the second preset load, it can determine that the second message includes the second indication information.
  • the server determines that its current load is greater than or equal to the second preset load and less than the third preset load, it may determine that the second message includes the third indication information.
  • the server determines that its current load is greater than or equal to the third preset load, it can determine that the second message includes the fourth indication information.
  • the first preset load amount is less than the second preset load amount
  • the second preset load amount is less than the third preset load amount.
  • the second message is set to a different scope of application, so that the server sends a second message with a large scope when the load is heavy, and sends a second message with a small scope when the load is small, thereby avoiding the server
  • the second message still needs to be sent to each first terminal device separately, which helps to ensure the load balance of the server.
  • the above-mentioned second message may specifically include one or more sets of high-level units.
  • a group of high-level units includes identification information (such as a serial number) of a first reference object and/or one or more groups of basic units.
  • Each group of basic units may include at least one of an attribute characteristic field, a measurement value field, and a matching parameter field.
  • a group of high-level units is used to indicate one or more attribute characteristics of a certain first reference object and the reference values and matching parameters of these attribute characteristics.
  • FIG. 4 is a schematic structural diagram of a second message provided by an embodiment of the present application. As shown in FIG. 4, the second message includes 2 sets of high-level units.
  • the first group of advanced units corresponds to the first reference object numbered 1 and its 2 basic units.
  • Each group of basic units contains 3 fields, which respectively represent a certain attribute of the first reference object and its reference value and matching parameter.
  • the second group of high-level units corresponds to the first reference object numbered 2 and a group of basic units.
  • S240 The server sends a second message to the terminal device.
  • the server may send the above-mentioned second message to the first terminal device through the network.
  • the server may send the above-mentioned second message in a non-sending manner.
  • the foregoing sending methods include unicast, multicast or broadcast.
  • the server may send the second message containing the above-mentioned first indication information or the second indication information to the first terminal device in a unicast manner.
  • the server may send the second message containing the foregoing third indication information to the first terminal device in a multicast manner.
  • the server may also send the second message containing the foregoing fourth indication information to the first terminal device in a broadcast manner.
  • the first terminal device receives the second message from the server and updates the above-mentioned first location information according to the first reference object.
  • the first terminal device may receive the second message from the server through the foregoing network, and then it may extract each of the first N1 first references from the foregoing second message.
  • the identification information of the reference object is determined, and it is determined that it can use the above-mentioned N1 first reference objects to perform the positioning function, thereby further updating the above-mentioned first position information.
  • the first terminal device may perform feature matching and positioning according to the above-mentioned N1 first reference objects to obtain the position information of the first terminal device after receiving the first message (for the convenience of distinction, the following is Two positions instead of description).
  • the first terminal device may first measure the real-time observation value of each attribute feature of at least one attribute feature of each of the above-mentioned first reference objects through a detection device such as a camera, radar, etc. installed on the first terminal device, and then based on the measured values of each attribute feature.
  • the real-time observation value of each attribute feature of the first reference object is feature-matched with the reference value of each attribute feature of each first reference object stored in the map data of the first map.
  • the one or more first reference objects include the reference object A, which corresponds to the attribute feature 1 and the attribute feature 2.
  • the first terminal device detects through the detection device that the real-time observation value of the attribute feature 1 is w1, and the real-time observation value corresponding to the attribute feature 2 is w2.
  • the reference value of the attribute feature 1 of the reference object A stored in the map data is p1, and the reference value corresponding to the attribute feature 2 is p2.
  • the first terminal device determines that the error value between the reference value p1 and the real-time observation value w1 and the error value between the reference value p2 and the real-time observation value w2 are within the allowable error range, it is determined that the feature matching of the reference object B is successful That is, it is determined that the reference object B to be used is indeed around the first terminal device and can be correctly detected by the first terminal device. Similarly, the first terminal device can match the N1 first reference objects one by one. If the first terminal device determines that the real-time observation value of each attribute feature of one or more of the first reference objects matches the reference value, it is determined that the one or more first reference objects exist around it. Things.
  • the first terminal device may extract the location information of the one or more first reference objects from its map data, and estimate its current second location information based on the location information of the one or more first reference objects. Then, the first terminal device may update the data in the first location information to the data in the second location information.
  • the first terminal device may also first estimate the current second location information of the first terminal device based on the location information of all the first reference objects that have been successfully compared, and then locate based on satellite signals and The third position information and the fourth position information are obtained by the inertial measuring instrument's track estimation and positioning, and then the specific data of the three position information is fused to obtain more accurate fifth position information. Then, the first terminal device may update the data in the first location information to the data in the fifth location information.
  • the first terminal device is receiving After the second message is reached, the N1 first reference objects can be screened according to the measured values and/or matching parameters of at least one attribute feature of the first reference object to obtain one or more of the screened first reference objects.
  • a first reference for the specific process, please refer to the second parameter described in the previous section. N1 is selected from the above N2 second parameters based on the measured values and/or matching parameters of at least one of the attribute characteristics of each second parameter in the N2 second parameters. The process of the first reference object will not be repeated here.
  • the first terminal device can update the above-mentioned first position information according to the filtered one or more first reference objects.
  • the specific process please refer to the process of updating the first position information according to the N1 first reference objects described above, which will not be repeated here.
  • the server determines one or more reference objects suitable for the first terminal device through the screening methods provided in the above scenario 1 to scenario 4 (here, for the sake of distinction, In the following, N5 fifth reference objects will be used instead of description), the server can determine one or more reference objects indicated in the second message it sent to the first terminal device last time (for distinguishing purposes, N6 is used here). Six references instead of description). Then, the server can remove the reference objects that overlap the N6 sixth reference objects in the N5 fifth reference objects, and obtain N1 first reference objects.
  • the server may also determine the aforementioned N6 sixth reference objects that do not overlap with the N5 fifth reference objects, and generate the identification set to be deleted according to the identification information of these sixth reference objects.
  • the server may include the set of identifiers to be deleted in the second message and send it to the first terminal device to notify the first terminal device that these sixth reference objects are no longer in use. For example, assuming that the above N6 sixth reference objects also include the reference object D, and the above N5 fifth reference objects do not include the reference object D, the server may include the identification information of the reference object D in the above identification set to be deleted And send it to the first terminal device through a second message to inform the first terminal device that the reference object D is no longer applicable.
  • the first terminal device may first save the identification information of the N1 first reference objects in its preset reference object identification set, and save the identification to be deleted.
  • the identification information contained in the set is removed from the above-mentioned reference object identification set, thereby obtaining an updated reference object identification set.
  • the aforementioned reference object identification set stores identification information of reference objects required by one or more first terminal devices to perform positioning functions. Then, the first terminal device may select part or all of the reference objects from the plurality of reference objects indicated by the set of reference object identifiers, and update the first position information according to the part or all of the reference objects.
  • the process for the first terminal device to update the above-mentioned first location information according to this part or all of the reference objects can be referred to the aforementioned process for the first terminal device to update the above-mentioned first location information according to the identification information of each first reference object. , I won’t repeat it here.
  • the server can screen out the applicable first reference object for the first terminal device and push it to the first terminal device, thereby solving the positioning of the first terminal device caused by the use of a damaged or occluded reference object.
  • the problem of low accuracy further improves the positioning accuracy of the first terminal device.
  • FIG. 5 is a schematic flowchart of another positioning method provided by an embodiment of the present application. It can be seen from Figure 5 that the method includes:
  • S501 The in-vehicle system generates a first message according to the first location information and the map version number.
  • the vehicle-mounted system after the vehicle-mounted system determines to perform the positioning function, it can first obtain a piece of first position information through the built-in global positioning system.
  • the first location information may specifically include the longitude and latitude of the vehicle equipped with the in-vehicle system (for the convenience of distinction, the first vehicle will be substituted for the description below).
  • the vehicle-mounted system may also extract the position information obtained by the last time the positioning function was executed from its position information history record and use it as the above-mentioned first position information. Thereafter, the vehicle-mounted system can also obtain the map version number corresponding to the second map currently in use.
  • the in-vehicle system may generate a first message based on the communication protocol between it and the first terminal device, and the first message contains the above-mentioned first location information and the map version number.
  • S502 The in-vehicle system sends a first message to the map server.
  • the vehicle-mounted system after the vehicle-mounted system generates the first message, it can send the first message to the map server via the network.
  • the map server receives the first message, and extracts the above-mentioned first location information and map version number.
  • the map server may parse the first message based on the communication protocol between it and the first terminal device to extract the first location information from the first message And the map version number.
  • the map server determines the first reference object according to the above-mentioned first location information and the map version number, and generates a second message according to the first reference object.
  • the map server can first query the first terminal device currently using the first terminal device from multiple versions of maps stored in its database according to the above-mentioned map version number. Second map. Then, the map server may use the geographic location indicated by the latitude and longitude in the first location information as the center of the circle and the radius of 1000 meters to delineate a circular area in the second map as the screening area. The map server can extract all the reference objects included in the above-mentioned screening area (here assumed to be N2 second reference objects).
  • the map server may determine one or more second reference objects from the N2 second reference objects according to the measurement values and/or matching parameters of one or more attributes of each second reference object in the above-mentioned N2 second reference objects.
  • a reference object here assumed to be N1, N1 is less than or equal to N2 positive integers.
  • the specific process for the map server to determine the N1 first reference objects from the N2 second reference objects according to the measurement values and/or matching parameters of one or more attribute characteristics of each second reference object can refer to the second method of the first embodiment. The described process of determining N1 first reference objects will not be repeated here.
  • the map server can extract the number of each first reference object in the above N1 first reference objects from its database, and then generate it based on the communication protocol between it and the first terminal device
  • the second message, the second message includes the serial number of each first reference object.
  • S505 The map server sends a second message to the vehicle-mounted system.
  • the map server after the map server generates the second message, it can send the second message to the first terminal device via the network.
  • S506 The in-vehicle system receives the second message and determines the above-mentioned first reference object.
  • the vehicle-mounted system can parse the second message based on the communication protocol between it and the first terminal device to extract each first reference from the second message. The number of the object to further determine the above-mentioned N1 first reference objects.
  • S507 The in-vehicle system performs fusion positioning according to the first reference object to obtain second position information, and uses the second position to update the first position information.
  • the vehicle-mounted system can first measure at least one attribute feature of each first reference object through the sensor device such as a camera, radar, etc. installed on it, so as to obtain each first reference object.
  • the measurement results of each attribute feature of the reference object in order to distinguish from the previous article, the following will replace the description with the real-time observation value).
  • the vehicle-mounted system can extract the reference value of each attribute feature of each first reference object from the map data corresponding to the second map it uses, and based on the real-time observation value and reference value of each attribute feature of each first reference object Perform feature matching.
  • the specific matching process please refer to the matching process described in step S150 of the first embodiment, which will not be repeated here.
  • the vehicle-mounted system can obtain one or more first reference objects that are successfully matched in the aforementioned N1 reference objects. Then, the vehicle-mounted system can extract the location data of the one or more first reference objects from the map data of the first map, and estimate its current second location based on the location data of the one or more first reference objects information. After that, the vehicle-mounted system can also perform positioning based on the inertial measurement instrument to obtain third position information. Then, the in-vehicle system may calculate the average value of the longitude and latitude included in the above-mentioned first location information, second location information, and third location information, and use the calculated average value of longitude and latitude as the first value of the vehicle system. Four latitude and longitude included in the location information. Finally, the in-vehicle system may update the latitude and longitude in the first location information to the latitude and longitude in the fourth location information.
  • the updated first location information is the positioning result obtained by the vehicle-mounted system this time performing the positioning function.
  • the map server can screen out the applicable first reference object for the in-vehicle system according to the first position information of the in-vehicle system and the map version number and push it to the in-vehicle system, so that subsequent in-vehicle systems can use the applicable first reference object. Position the reference object. In this way, the problem of low positioning accuracy caused by the use of damaged or occluded reference objects for positioning by the in-vehicle system can be avoided, so that the positioning accuracy of the avoidance of the in-vehicle system can be improved.
  • FIG. 6 is a schematic flowchart of another positioning method provided by an embodiment of the present application. This positioning method is also applicable to the positioning system shown in FIG. 1. It can be seen from Fig. 6 that the positioning method may include:
  • S610 The server generates a feature query message.
  • the server may first determine one or more reference objects from the reference objects marked in the first map used by the server according to a preset reference object query rule.
  • the above-mentioned reference object query rule is used to select reference objects whose value of an attribute feature is prone to change (that is, the stability of the attribute feature is low).
  • N4 fourth reference objects will be substituted for the description below.
  • the server may generate a feature query message according to the identification information of the N4 fourth reference objects.
  • the above-mentioned second terminal device specifically refers to the ability to measure the attribute characteristics of itself or other surrounding reference objects and report the measurement results of the attribute characteristics and/or the matching parameters of the calculated attribute characteristics to the server device of.
  • the above-mentioned second terminal device may be the above-mentioned first terminal device, or a device such as an RSU, or some reference object that can only detect its own attribute characteristics.
  • the server may first extract the location information of the second terminal device from its database (for the convenience of distinction, the fifth location information will be substituted for the description below). Then, the server can determine one or more reference objects from the first map according to the fifth location information (for the convenience of distinction, N8 eighth reference objects will be substituted for the description below). For the specific process, please refer to the server basis described above The process of determining N2 second reference objects from the first map by the first location information will not be repeated here. Then, the server can calculate the combined matching parameter of each eighth reference object according to the matching parameters of each attribute feature of each eighth reference object in the N8 eighth reference objects, and make the combined matching parameter smaller than the third preset parameter.
  • Eight reference objects are determined as the above-mentioned fourth reference objects, so that N4 fourth reference objects are obtained.
  • the server may also extract the stability parameter corresponding to at least one attribute feature of each eighth reference object from its database. If the server determines that a certain eighth reference object has at least preset stability parameters of several attribute characteristics that are lower than the first preset stability parameters, the eighth reference object may be determined as the aforementioned fourth reference object. Repeat this operation to get N4 fourth reference objects. It can be understood that the server may also determine the fourth reference object from the N8 eighth reference objects in other ways, which is not specifically limited in this application.
  • the server may extract the identification information of each fourth reference object and one or more attributes of each fourth reference object whose stability parameter is less than the first preset stability parameter Feature, and then generate the feature query message based on the identification information and the one or more attribute features.
  • the server may generate a feature query message for the reference object A and the reference object B respectively.
  • the feature query message corresponding to the reference object A may include attribute feature 1 and attribute feature 2.
  • the feature query message corresponding to the reference object B may include the reference attribute feature 1.
  • the format of the feature query message of the reference object A may be ⁇ number 1, attribute feature 1, attribute feature 2 ⁇ .
  • the server can generate the first feature query information, and the feature query information can include the reference object A
  • the specific format of the feature query message may be ⁇ [number 1, attribute feature 1, attribute feature 2], [number 2, attribute feature 1] ⁇ .
  • the above-mentioned feature query message may also include reporting mode indication information corresponding to at least one attribute feature of the fourth reference object.
  • the reporting mode indication information of any attribute feature is used to indicate the subsequent reporting mode adopted by the second terminal device to report the measured value and/or matching parameter of the attribute feature.
  • the above reporting methods may mainly include periodic reporting and aperiodic reporting.
  • the reporting mode indication information may include first indication information and second indication information, where the first indication information is used to indicate a periodic reporting mode, and the second indication information is used to indicate a non-periodical reporting mode.
  • the server determines that the stability parameter of an attribute feature of the fourth reference object that needs to be reported is less than the second preset stability parameter, it can determine that the attribute feature can be reported periodically to determine the The attribute feature corresponds to the first indication information.
  • the server determines that the stability parameter of the attribute feature is equal to or greater than the second preset stability parameter, it can determine that the attribute feature can be reported non-periodically, thereby determining that the attribute feature corresponds to the first indication information.
  • the reporting period may be pre-negotiated by the server and the second terminal device, or may be specified by the server through the feature query message. If a certain attribute feature needs to be reported non-periodically, the node that reports the information may be pre-negotiated between the server and the second terminal device, or may be specified by the server through the above-mentioned feature query message.
  • the feature query message sent for reference A may specifically be ⁇ attribute feature 1, attribute feature 2 ⁇ , indicating that reference object A reports attribute feature 1 and attribute feature 2 related information.
  • the feature query message of reference object A may also be ⁇ attribute feature 1, first indication information, attribute feature 2, second indication information ⁇ , indicating that reference object A uses periodic reporting to report related information about attribute feature 1 , To report the relevant information of the attribute feature 2 in a non-periodical way.
  • the feature query message sent to the second terminal device may specifically be ⁇ number 1, attribute feature 1, number 2, attribute feature 2 ⁇ , indicating the second
  • the terminal device reports related information about the attribute feature 1 of the reference object whose identification information is number 1 and the attribute feature 2 of the reference object whose identification information is number 2.
  • it can be ⁇ number 1, attribute feature 1, first indication information, number 2, attribute feature 2, second indication information ⁇ , indicating that the second terminal device can periodically report the reference object whose identification information is number 1.
  • the related information of attribute feature 1 is reported in a non-periodical reporting manner, and the related information of attribute feature 2 of the reference object whose identification information is number 2 is reported.
  • the content of the feature query message can also be formed by using other different combinations of attributes, identification information of reference objects, and reporting methods of attribute features, which will not be repeated in the embodiments of this application.
  • S620 The server sends the feature query message to the second terminal device.
  • the server after the server generates the feature query message, it can send the feature query message to the second terminal device via the network.
  • S630 The second terminal receives the above-mentioned feature query message and generates a feature report message.
  • the second terminal device after receiving the above-mentioned feature query message via the network, the second terminal device can determine the attribute features of each fourth reference object according to the content of the feature query message (the measured values and matching parameters of these attribute features are Need to be reported). It is understandable that these attribute characteristics may be the attribute characteristics of the second terminal device itself, or the attribute characteristics of some reference objects around the second terminal device, and this application does not specifically limit it. Then, the second terminal device can obtain the measured value of each attribute characteristic of each fourth reference object through the sensor measurement on it.
  • the second terminal device can extract the reference value of each attribute feature of each fourth reference object from the database of the map currently used, and determine it based on the measured value and reference value of each attribute feature of each fourth reference object The matching parameters of each attribute feature of each fourth reference object are obtained. After that, the second terminal device may generate the above-mentioned feature report message according to the measured value and matching parameter of each attribute feature of each fourth reference object.
  • the second terminal device may first obtain the measurement value of the attribute feature 1 (here assumed to be L1) through its own sensor measurement. Then, the second terminal device can obtain the reference value of the aforementioned attribute feature 1 (here assumed to be L2). After that, the second terminal device can determine whether the measured value of the attribute feature 1 is the same as the reference value. If it is determined that they are the same, it can be determined that the matching parameter corresponding to the attribute feature 1 is 1.
  • the second terminal device may first obtain the measurement value of the attribute feature 1 (here assumed to be L1) through its own sensor measurement. Then, the second terminal device can obtain the reference value of the aforementioned attribute feature 1 (here assumed to be L2). After that, the second terminal device can determine whether the measured value of the attribute feature 1 is the same as the reference value. If it is determined that they are the same, it can be determined that the matching parameter corresponding to the attribute feature 1 is 1.
  • the second terminal device may calculate the difference L2-L3 between the measured value of the attribute feature 1 and the reference value. If the second terminal device determines that L2-L3 is within the preset error range, it can determine that the matching parameter corresponding to the attribute feature 1 is 1. If the second terminal device determines that L2-L3 is not within the preset error range, it can determine that the matching parameter corresponding to the attribute feature 1 is 0. Or, the second terminal device may be set with multiple allowable error ranges, and different allowable error ranges correspond to different matching parameters. For example, the matching parameter corresponding to the first allowable error range is 1, and the matching parameter corresponding to the second allowable error range is 2.
  • the first allowable error range includes the second allowable error range. If the second terminal device determines that L2-L3 is not within the first allowable error range, it can determine that the matching parameter of the attribute feature 1 is zero. If the second terminal device determines that L2-L3 is within the first allowable error range but not within the second allowable range, it can determine that the matching parameter of the attribute feature 1 is 1. If the second terminal device determines that L2-L3 is within the second allowable error range, it can determine that the matching parameter of the attribute feature 1 is 2. Of course, it should be noted that the second terminal device may also be set with other different rules to indicate the relationship between the measured value of the attribute feature and the reference value and the matching parameter, which is not specifically limited in this application.
  • its corresponding attribute feature usually includes the location information of the first terminal device and its matching parameters.
  • the server can determine whether the first terminal device is always in a moving state based on the location information of the first terminal device and its matching parameters, so that it can better select a suitable reference object for the first terminal device.
  • a feature report message may be generated according to the measured value and matching parameter of each attribute feature of each fourth reference object. It should be noted that if the reporting methods of the attribute characteristics of these fourth reference objects are both periodic reporting and non-periodical reporting, the second terminal device can generate different characteristic reports according to the different reporting methods of each attribute characteristic. information.
  • the second terminal device may also actively generate the feature report message without generating the feature report message after receiving the feature query message sent by the server.
  • the second terminal device detects that the preset feature reporting condition (such as the preset reporting period or the arrival of the reporting time node) is met, it can select the currently used first terminal device according to the preset reference object query rule. 2.
  • the above-mentioned N4 fourth reference objects are determined in the map or in the environmental information collected by it. The specific process can be combined with the foregoing process of determining the N4 fourth reference objects by the server according to the preset reference object query rules, which will not be repeated here.
  • the second terminal device can also extract from the map data of the second map each fourth reference object identification information and one or more attribute characteristics of each fourth reference object whose stability parameter is less than the first preset stability parameter , And determine the measured values and/or matching parameters of these attributes to be reported.
  • the server determines one or more attributes to be reported as described above, which will not be repeated here.
  • the second terminal device can generate the above-mentioned feature report message based on the identification information and the one or more attribute features.
  • S640 The second terminal device sends a feature report message to the server.
  • the second terminal device may send the feature report message to the server via the network.
  • S650 The server receives the characteristic report message, and updates the database according to the characteristic report message.
  • the server after receiving the above-mentioned feature report message, can extract the measured value and/or matching parameter of each attribute feature of each fourth reference object included in the feature report message. Then, the server can update the measured value and/matching parameter of each attribute characteristic of each fourth reference object stored in its database to the measured value and/or matching parameter of each attribute characteristic of each fourth reference object included in the characteristic report message. Matching parameters. For example, suppose that the feature report message includes the measured value L1 of the reference object A and the matching parameter C1. The server can update the measured value of the reference object A stored in its database from the original previous L4 to L1, and the matching parameter from the previous C2 to the current C1.
  • the server can update the reference value of the attribute feature of the reference object stored in its database. For example, if the server determines that the measured value of a certain attribute characteristic received by it within the preset time period is all L5, it may update the reference value of the attribute characteristic to L5. In yet another optional implementation, the server may also update the reference value of a certain attribute characteristic in its database by using the reference value of a certain attribute characteristic reported by the second device.
  • the server can update the measured value and/or matching parameter of the attribute characteristic of the reference object stored in its database based on the measured value of the attribute characteristic of the reference object and the matching parameter reported by the second terminal device. Ensure the authenticity and reliability of the data associated with the reference object in the database.
  • FIG. 7 is a schematic flowchart of another positioning method provided by an embodiment of the present application. It can be seen from Figure 7 that the positioning method includes:
  • the map server generates a feature query message containing the attribute feature of the reference object.
  • the map server may first obtain the location information of the vehicle-mounted system (for the convenience of distinction, the fifth location information will be substituted for the description below). Then, the map server can delineate a circular area on the first map currently used by the map server with the geographic location indicated by the fifth location information as the center and the radius of 50 meters. Then, the map server can obtain all the reference objects calibrated in this circular area (here, it is assumed that there are N8 eighth reference objects, and N8 is a positive integer). Thereafter, the map server can obtain the matching parameter of at least one attribute characteristic corresponding to each eighth reference object in the above N8 eighth reference objects from the database used by it, and calculate the matching parameter according to the at least one attribute characteristic of each eighth reference object.
  • the matching parameter calculates the combined matching parameter corresponding to each eighth reference object.
  • the map server may determine the eighth reference object whose combined matching parameter is less than the third preset parameter among the above N8 eighth references as the reference object that should be included in the feature query message (here, for the convenience of distinction, the fourth Reference instead of description).
  • the map server separately judges each eighth reference object according to the above-mentioned third preset parameter, and can determine at least one fourth reference object (here, it is assumed to be N4 fourth reference objects).
  • the map server may extract the stability parameter of each attribute feature in at least one attribute feature of each fourth reference object from the database, and then determine from the at least one attribute feature of each fourth reference object that the stability parameter is less than the first One or more attribute characteristics of the preset stability parameter (for the convenience of distinction, the attribute characteristics to be reported will be substituted for the description below). Thereafter, the map server may generate a feature query message containing the identification information of each fourth reference object and at least one attribute feature to be reported of each fourth reference object based on the predetermined communication protocol between the map server and the vehicle-mounted system.
  • S720 The map server sends a feature query message to the vehicle-mounted system.
  • the map server after the map server generates the feature query message, it can send the feature query message to the vehicle-mounted system via the network.
  • the vehicle-mounted system receives the feature query message, and determines the measured value and matching parameter of the attribute feature of the reference object.
  • the on-vehicle system can parse the feature query message based on the above communication protocol to extract the identification information of each fourth reference and each fourth reference contained in the feature query message. At least one attribute feature to be reported corresponding to the object.
  • the vehicle-mounted system can detect or/measure each attribute feature to be reported of each fourth reference through a sensor device such as a camera and radar installed in the vehicle, so as to obtain the measurement value of each attribute feature to be reported of each fourth reference.
  • the on-board system can extract the reference value of each attribute feature to be reported of each fourth reference object from the database corresponding to the second map used by it, and according to the measured value and the measured value of each attribute feature reported by each fourth reference object.
  • the reference value calculates the matching parameter of each attribute feature to be reported for each fourth reference.
  • the specific calculation process please refer to the process of calculating the matching parameter described in step S610 of the third embodiment above, which will not be repeated here.
  • S740 The on-board system generates a feature report message according to the attribute feature and matching parameter of the reference object.
  • the on-board system can generate the measurement value containing each attribute feature to be reported of each fourth reference object according to the above communication protocol. And the characteristic report message of the matching parameter.
  • S750 The vehicle-mounted system sends the above-mentioned feature report message to the map server.
  • the vehicle-mounted system after the vehicle-mounted system generates the above-mentioned feature report message, it can send the feature report message to the map server via the network.
  • the map server receives the feature report message, and updates the database according to the feature report message.
  • the map server after the map server receives the feature report message through the network, it can parse the feature report message through the communication protocol to obtain the measured value and matching parameter of each attribute feature to be reported for each fourth reference object. . Afterwards, the map server may update the measurement values and matching parameters of the attributes to be reported of the fourth reference objects stored in its database to the corresponding values of the attributes to be reported of the fourth reference objects contained in the feature report message. The measured values and matching parameters are used to complete the update of the database.
  • the map server updates the measured values and/or matching parameters of the attribute characteristics of the reference object stored in its database based on the measured values and matching parameters of the attribute characteristics of the reference object reported by the on-board system, which can ensure that the database The authenticity and reliability of the data associated with the reference object.
  • FIG. 8 is a structural block diagram of an apparatus provided by an embodiment of the present application.
  • the device may be the server described in the first embodiment. As shown in Figure 8, the device includes:
  • the transceiver unit 802 is configured to receive the first message from the first terminal device.
  • the first message includes the first location information determined by the first terminal device.
  • the processing unit 801 is configured to determine a first reference object according to the first position information.
  • the transceiver unit 802 is further configured to send a second message to the first terminal device.
  • the second message includes identification information of the first reference object, and the identification information of the first reference object is used by the first terminal device to update the first location information.
  • the processing unit 801 is specifically configured to determine the second reference object from the first map currently used by the processing unit 801 according to the first location information.
  • the first reference object is determined from the second reference object according to a matching parameter of at least one attribute characteristic of the second reference object.
  • the matching parameter of at least one attribute characteristic of the second reference object is stored in the server, and the matching parameter of any attribute characteristic is used to indicate that the measured value of any attribute characteristic is different from the measurement value of any attribute characteristic. The degree of matching between the reference values.
  • the processing unit 801 is configured to calculate the combined matching parameter of each second reference object according to the matching parameter of each attribute feature of at least one attribute feature of each second reference object in the N2 second reference objects stored in the server .
  • a second reference object corresponds to a combined matching parameter.
  • the server determines N1 first reference objects from the N2 second reference objects according to the combined matching parameters of the respective second reference objects.
  • the processing unit 801 may be configured to determine the combined matching parameter of each second reference object according to the matching parameter of each attribute feature of at least one attribute feature of each second reference object in the N2 second reference objects. Then, the server selects N1 first references from the N2 second references according to the combined matching parameters of the second reference objects and the measured value of at least one target attribute feature of the second reference objects.
  • the target attribute feature can be determined by one or more attribute features of each reference object.
  • the first message further includes a third reference object determined by the first terminal device according to the first location information and/or environmental information of the first terminal device.
  • the processing unit 801 is configured to determine a first reference object according to the second reference object and the third reference object.
  • the second reference object is determined by the processing unit 801 from a first map according to the first location information, and the first map is a map currently used by the server.
  • the first message further includes map version information of the first terminal device
  • the processing unit 801 is configured to determine the first reference object according to the second reference object and the third reference object
  • the second reference object is determined by the processing unit 801 from a first map according to the first location information
  • the first map is the map currently used by the processing unit 801
  • the third reference The object is determined by the processing unit 801 from a second map according to the first location information
  • the second map is a map corresponding to the map version information.
  • the first message further includes map version information of the first terminal device.
  • the processing unit 801 is configured to determine a first reference object from a second map according to the first location information.
  • the second map is a map corresponding to the map version information.
  • the first message further includes environmental information of the first terminal device, and the processing unit 801 is configured to obtain information from the first map and the environmental information according to the first location information.
  • the first reference object is determined, where the first map is the map currently used by the processing unit 801.
  • the second message further includes a measurement value and/or a matching parameter of at least one attribute characteristic of the first reference object, wherein the measurement value and/or matching parameter of at least one attribute characteristic of the first reference object The measured value and/or the matching parameter are used for the first terminal device to update the first location information.
  • the transceiving unit 802 is further configured to receive a feature report message from the second terminal device.
  • the characteristic report message includes the measured value and/or the matching parameter of at least one attribute characteristic of the fourth reference object.
  • the processing unit 801 is further configured to pair the stored measurement value and/or matching parameter of the at least one attribute characteristic of the fourth reference object according to the measured value and/or matching parameter of the at least one attribute characteristic of the fourth reference object Update.
  • the transceiver unit 802 is further configured to send a feature query message to the second terminal device, wherein the feature query message includes at least one attribute feature of the fourth reference object.
  • the feature query message further includes reporting mode indication information corresponding to each attribute feature in the at least one attribute feature, and the reporting mode indication information corresponding to any attribute feature is used to indicate any one of the attribute features.
  • the reporting method of attribute characteristics is used to indicate any one of the attribute features.
  • the reporting manner includes periodic reporting and aperiodic reporting.
  • the reporting mode corresponding to the attribute features with high stability parameters is aperiodic reporting.
  • the reporting method corresponding to attribute features with low stability parameters is periodic reporting.
  • the second message further includes application range indication information, and the application range indication information is used to indicate a preset geographic range to which the second message applies .
  • the applicable scope indication information is determined by the server according to the load of the server.
  • the larger the load of the server the larger the preset geographic range to which the reference object configuration message indicated by the target indication information determined by the server applies.
  • the transceiver unit 802 may first receive the first message of the first terminal device. Then the trigger processing unit 801 generates a second message containing the first reference object according to the first message. Then, the transceiving unit 802 may send the second message to the first terminal device.
  • the trigger processing unit 801 may generate a second message containing the first reference object according to the first message. Then, the transceiving unit 802 may send the second message to the first terminal device.
  • the transceiving unit 802 may send the second message to the first terminal device.
  • the specific process please refer to the multiple steps executed by the server described in the embodiment, which will not be repeated here.
  • the server may screen out the applicable first reference object for the first terminal device according to the first location information of the first terminal device and push it to the first terminal device.
  • the first terminal device can use the applicable first reference object for positioning, which can avoid the problem of low positioning accuracy caused by the use of damaged or blocked reference objects for positioning, thereby improving the positioning of the first terminal device Accuracy.
  • the embodiment of the present application also provides a computer-readable medium on which a computer program is stored, and when the computer program is executed by a computer, the method or step executed by the server in the first embodiment is implemented.
  • the embodiment of the present application also provides a computer program product, which, when executed by a computer, implements the method or step executed by the server in the first embodiment above.
  • the device may also be the first terminal device in the first embodiment. in:
  • the transceiver unit 802 is configured to send a first message to the server.
  • the first message includes first location information of the first terminal device.
  • the transceiver unit 802 is also configured to receive a second message from the server.
  • the second message includes identification information of a first reference object, and the first reference object is determined by the server according to the first location information.
  • the processing unit 801 is configured to update the first position information according to the identification information of the first reference object.
  • the first message further includes map version information of the first terminal device, where the map version information is used by the server to determine the first reference object.
  • the first message further includes a third reference object, where the third reference object is determined by the first terminal device according to the first location information or the first terminal device The environment information of is determined and obtained, and the third reference object is used by the server to determine the first reference object.
  • the first message further includes environmental information of the first terminal device.
  • the environmental information is used by the server to determine the first reference object.
  • the second message further includes a measurement value and/or a matching parameter of at least one attribute characteristic of the first reference object.
  • the processing unit 801 is configured to: determine a fifth reference object according to the measured value and/or matching parameter of at least one attribute feature of the first reference object and the first reference object, and update according to the fifth reference object The first location information.
  • the transceiver unit 802 may first generate and send a first message containing the first location information to the server, and then, the transceiver unit 802 may receive a second message containing the first reference object determined by the server according to the first location information. Then, the processing unit 801 may update the above-mentioned first information according to the first reference object.
  • the specific process please refer to the multiple steps performed by the first terminal device in the first embodiment, which will not be repeated here.
  • the first terminal device can use the server to filter out the applicable first reference object for positioning, which can avoid the problem of low positioning accuracy caused by the use of damaged or blocked reference objects for positioning.
  • the positioning accuracy of the first terminal device can be improved.
  • the embodiment of the present application also provides a computer-readable medium on which a computer program is stored.
  • the computer program is executed by a computer, the method or step executed by the first terminal device in the first embodiment is implemented.
  • the embodiment of the present application also provides a computer program product, which, when executed by a computer, implements the method or step executed by the first terminal device in the first embodiment.
  • the device may also be the second terminal device described in the first embodiment. in:
  • the processing unit 801 is configured to generate a feature report message, where the feature report message includes a measurement value and/or a matching parameter of at least one attribute feature of the fourth reference object, and the matching parameter of any attribute feature is used to indicate the any The degree of matching between the measured value of an attribute feature and the reference value of any one of the attribute features, and the measured value and/or matching parameter of at least one attribute feature of the fourth reference object is used to compare the first stored value to the server. The measured value and/or matching parameter of at least one attribute feature of the reference object are updated;
  • the transceiver unit 802 is configured to send the feature report message to the server.
  • the processing unit 801 is configured to:
  • the matching parameter of each attribute feature is calculated according to the measured value of each attribute feature and the reference value of each attribute feature.
  • the transceiving unit 802 is further configured to:
  • the feature query message further includes reporting mode indication information corresponding to each attribute feature in at least one attribute feature of the fourth reference object, and the reporting mode indication information corresponding to any attribute feature is used for Indicates the reporting method of any of the attribute characteristics.
  • the applicable scope indication information is determined by the server according to the load of the server.
  • the larger the load of the server the larger the preset geographic range to which the reference object configuration message indicated by the target indication information determined by the server applies.
  • the processing unit 801 may first generate a feature report message, where the feature report message includes a measurement value and/or a matching parameter of at least one attribute feature of the fourth reference object. Then, the transceiver unit 802 may send the feature report message to the server.
  • the specific process refer to the multiple steps performed by the second terminal device described in the first embodiment, which will not be repeated here.
  • the second terminal device can send some measurement values and matching parameters of the attribute characteristics of the reference object to the server through the characteristic report message, so that the server can timely analyze the attribute characteristics of the reference object stored in the database.
  • the measured value and the reference value are updated, thereby ensuring the reliability and applicability of the measured value and the reference value of the attribute characteristic of the reference object stored in the server.
  • An embodiment of the present application also provides a computer-readable medium on which a computer program is stored, and when the computer program is executed by a computer, the method or step executed by the second terminal device in the first embodiment is implemented.
  • the embodiment of the present application also provides a computer program product, which, when executed by a computer, implements the method or step executed by the second terminal device in the first embodiment above.
  • FIG. 9 is a schematic diagram of another structure of an apparatus provided by an embodiment of the present application.
  • the device may be a vehicle, and the first terminal device may be implemented in the form of the device. It can be seen from FIG. 9 that the device includes various systems, such as a traveling system 902, a sensor system 903, a control system 904, one or more peripheral devices 905, and a computer system 901. Alternatively, the device may include more or fewer systems, and each system may include multiple elements. In addition, each system of the device can be interconnected by wire or wireless.
  • the travel system 902 may include components that provide power movement for the device.
  • the travel system 902 may include an engine, a transmission, wheels/tires, and the like.
  • the sensor system 903 may include several sensors that sense information about the environment around the device.
  • the sensor system 903 may include a global positioning system (the global positioning system may be a GPS system, a Beidou system or other positioning systems), an inertial measurement unit, a laser rangefinder, a camera, and the like.
  • the sensor system 903 may also include sensors of the internal system of the device (e.g., air quality monitor, fuel gauge, oil temperature gauge, etc.). Sensor data from one or more of these sensors can be used to detect objects and their corresponding characteristics (position, shape, direction, speed, etc.).
  • the control system 904 can control the operation of the device and its components.
  • the control system 904 may include various elements, such as a steering system, a throttle, a brake unit, and so on.
  • the device can also interact with external sensors, other devices, other computer systems, or users through the peripheral device 905.
  • the peripheral device 905 may include a wireless communication system microphone and/or speaker, etc.
  • the computer control system includes a processor 9012 and a memory 9011.
  • the processor 9012 may be any conventional processor, such as a commercially available CPU.
  • the processor may also be a dedicated device such as an ASIC or other hardware-based processor.
  • FIG. 9 functionally illustrates the processor, memory, and other elements of the computer system in the same block, those of ordinary skill in the art should understand that the processor, computer, or memory may actually include or may not store Multiple processors, computers, or memories in the same physical enclosure.
  • the memory 9011 may contain instructions (for example, program logic), which may be executed by the processor 9012 to perform various functions of the device, including those described above.
  • the memory 9011 may also contain additional instructions, including instructions to send data to, receive data from, interact with, and/or control one or more of the propulsion system, sensor system, control system, and peripheral equipment.
  • FIG. 9 should not be construed as a limitation to the embodiment of the present invention.
  • processing unit 601 described in FIG. 6 may be the computer system 901 in the device, and the transceiving unit 602 may be the sensing system 903 and the wireless communication system in the device.
  • the above-mentioned memory 9011 may store the corresponding positioning method executed by the first terminal device in the above-mentioned embodiment 1 and embodiment 2 Code.
  • the aforementioned processor 9012 can execute the code to implement each step in the positioning method executed by the first terminal device.
  • the processor 9012 may receive the first location information sent by the global positioning system in the sensing system, and generate the first message according to the first location information.
  • the processor 9012 may send the first message to the map server through the wireless communication system in the peripheral device 905.
  • the processor 9012 may receive the second message sent by the map server through the above-mentioned wireless communication system.
  • the processor 9012 may again obtain the first reference object included in the second message, and update the above-mentioned first position information according to the first reference object.
  • FIG. 10 is a schematic diagram of another structure of an apparatus provided by an embodiment of the present application.
  • the device may be an in-vehicle system, and the first terminal device may also be implemented in the form of the device.
  • the device includes at least one processor 1001, at least one memory 1002, at least one wireless communication module 1003, and a sensing module 1004.
  • the sensor module 1004 may include a variety of sensor components, such as global positioning system, radar, laser rangefinder, camera, etc., which are not specifically limited here.
  • the processor 1001, the memory 1002, the wireless communication module 1003, and the sensor module 1004 are connected through a communication bus or a communication interface, and communicate with each other.
  • processing unit 601 in FIG. 6 can be implemented by the processor 1001 and the memory 1002, and the functions of the transceiver unit 602 can be implemented by the wireless communication module 1003 and the sensor module 1004.
  • the memory 1002 is used to store application program code for executing the positioning method implemented by the first terminal device in the first embodiment or the second embodiment
  • the processor 1001 is used to control the execution of the code to combine with the memory 1002
  • the wireless communication module 1003 and the sensing module 1004 implement various functions to be implemented by the above-mentioned first terminal device.
  • the specific process please refer to the content of the steps performed by the first terminal device in the first embodiment or the second embodiment above, which will not be repeated here.
  • FIG. 11 is a schematic diagram of a chip-structure according to an embodiment of the present application.
  • the first terminal device may also exist in the form of the chip.
  • the chip may mainly include a processor 1101 and one or more interface circuits 1102 coupled to the processor 1101.
  • the processor 1101 may be used to read and execute computer-readable instructions.
  • the processor 1101 may mainly include a controller, an arithmetic unit, and a register.
  • the controller is mainly responsible for instruction decoding, and sends control signals for operations corresponding to the instructions.
  • the arithmetic unit is mainly responsible for performing fixed-point or floating-point arithmetic operations, shift operations and logical operations, etc., and can also perform address operations and conversions.
  • the register is mainly responsible for storing the register operands and intermediate operation results temporarily stored during the execution of the instruction.
  • the hardware architecture of the processor 1101 can be an application specific integrated circuit (ASIC) architecture, a microprocessor without interlocked pipeline stage architecture (microprocessor without interlocked stages architecture, MIPS) architecture, and advanced streamlining. Instruction set machine (advanced RISC machines, ARM) architecture or NP architecture, etc.
  • the processor 1101 may be single-core or multi-core.
  • the interface circuit 1102 can be used to input data to be processed to the processor 1101, and can output the processing result of the processor 1101 to the outside.
  • the interface circuit 1102 may be a general purpose input output (GPIO) interface, and may be connected to multiple peripheral devices (such as wireless communication modules, sensor modules, etc.).
  • the interface circuit 1102 is connected to the processor 1101 through the bus 1703.
  • the processor 1101 can be used to call the code of the positioning method implemented by the first terminal device in the first embodiment or the second embodiment from the memory, so that the chip can implement the first terminal in the first embodiment or the second embodiment.
  • the memory may be integrated with the processor 1101, or may be coupled to the chip through the interface circuit 1102, that is to say, the memory may be a part of the chip, or may be independent of the chip.
  • the interface circuit 1102 can be used to output the execution result of the processor 1101. Exemplarily, in this application, the interface circuit 1102 may be specifically configured to output the second message determined by the processor 1101.
  • processor 1101 and the interface circuit 1102 may be implemented through hardware design, may also be implemented through software design, or may be implemented through a combination of software and hardware, which is not limited here.
  • the second terminal device can also be implemented in the form of the device, and the specific content of the device will not be repeated this time.
  • the above-mentioned memory 9011 may store the corresponding positioning methods executed by the second terminal device in the above-mentioned third and fourth embodiments. Code.
  • the aforementioned processor 9012 can execute the code to implement each step in the positioning method executed by the second terminal device.
  • the processor 9012 may first receive the feature query message sent by the server through the wireless communication system. Then the processor 9012 can obtain the measured value of the attribute characteristic of the fourth reference object through the sensing system 903, and then calculate the attribute parameter of the attribute characteristic of the fourth reference object, and generate the attribute characteristic of the fourth reference object. Characteristic report messages for measured values and matching parameters. Then, the processor 9012 may send the feature report message to the server through the wireless communication system in the peripheral device 905.
  • the process in which the processor 9012 executes the code to implement the positioning method executed by the second terminal device can refer to the description in the third embodiment or the fourth embodiment, and will not be repeated here.
  • the second terminal device can also be implemented in the form of the device, and the specific content of the device will not be repeated this time.
  • the memory 1002 is used to store application program code for executing the positioning method implemented by the first terminal device in the third or fourth embodiment above, and the processor 1001 is used to control the execution of the code to combine with the memory 1002, the wireless communication module 1003 and the sensing module 1004 implement various functions to be implemented by the above-mentioned second terminal device.
  • the wireless communication module 1004 may receive a feature query message sent by the server and transmit it to the processor 1001.
  • the processor 1001 may obtain the measured value of the attribute characteristic of the fourth reference object through the sensing module, calculate the matching parameter of the attribute characteristic of the fourth reference object, and generate a characteristic report message.
  • the wireless communication module 1003 may then send the feature report message to the server.
  • the specific process please refer to the content of each step executed by the second terminal device in the third embodiment or the fourth embodiment above, which will not be repeated here.
  • the second terminal device can also be implemented in the form of the chip, and the specific content of the chip will not be repeated this time.
  • the processor 1101 can be used to call the code of the positioning method implemented by the second terminal device in the third or fourth embodiment from the memory, so that the chip can implement the second terminal in the third or fourth embodiment. Each step of the positioning method implemented by the device.
  • the wireless communication module may receive the feature query message sent by the server and transmit the feature query message to the processor 1101 through the interface circuit 1102.
  • the processor 1101 may obtain the measured value of the attribute characteristic of the fourth reference object detected by the sensor module from the sensor module through the interface circuit 1102, calculate the matching parameter of the attribute characteristic of the fourth reference object, and generate a characteristic report message. Then, the processor 1101 may send the feature report message to the wireless communication module through the interface circuit 1102. Finally, the wireless communication module can send the feature report message to the server.
  • the specific process please refer to the content of each step executed by the second terminal device in the third embodiment or the fourth embodiment above, which will not be repeated here.
  • FIG. 12 is a schematic diagram of another structure of a device provided by an embodiment of the present application, and the server can be implemented in the form of the device.
  • the device mainly includes at least one processor 1201, at least one memory 1202, and at least one wireless communication module 1203.
  • the processor 1201, the memory 1202, and the wireless communication module 1203 are connected through a communication bus or a communication interface to complete mutual communication.
  • the memory 1202 is used to store the program code for executing the positioning method implemented by the server in the first embodiment, the second embodiment, the third embodiment, or the fourth embodiment
  • the processor 1201 is used to execute the program code in the memory 1202
  • the stored program code implements a positioning method executed by the server in the first embodiment, the second embodiment, the third embodiment, or the fourth embodiment.
  • the wireless communication module 1203 is used to send or receive messages from other devices to other devices (such as the first terminal device or the second terminal device) other than the device.
  • the wireless communication module 1203 may receive the first message sent by the first terminal device.
  • the processor 1201 may determine the first reference object according to the first location information in the first message and generate a second message.
  • the wireless communication module 1203 sends the second message to the first terminal device.
  • FIG. 13 is another schematic structural diagram of a chip provided by an embodiment of the present application.
  • the server can also be implemented in the form of this chip.
  • the chip may mainly include a processor 1301 and one or more interface circuits 1302 coupled to the processor 1301.
  • the processor 1301 can be used to call the code of the positioning method implemented by the server in the above-mentioned embodiment 1, embodiment 2, embodiment 3, or embodiment 4 from the memory, so that the chip can implement embodiment 1, embodiment 2.
  • the wireless communication module may receive the first message sent by the first terminal device and transmit the first message to the processor 1301 through the interface circuit 1302.
  • the processor 1301 may determine a first reference object according to the first location information in the first message and generate a second message.
  • the processor 1301 may transmit the second message to the wireless communication module through the interface circuit 1302.
  • the wireless communication module can send the second message to the second terminal device.
  • processor 1301 and the interface circuit 1302 can be implemented either through hardware design, through software design, or through a combination of software and hardware, which is not limited here.
  • the processor may be a general-purpose central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more programs used to control the execution of the above program integrated circuit.
  • CPU central processing unit
  • ASIC application-specific integrated circuit
  • the memory can be read-only memory (ROM) or other types of static storage devices that can store static information and instructions, random access memory (RAM), or other types that can store information and instructions
  • Dynamic storage devices can also be Electrically Erasable Programmable Read-Only Memory (EEPROM), CD-ROM (Compact Disc Read-Only Memory, CD-ROM) or other optical disc storage, optical disc storage ( Including compact discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or can be used to carry or store desired program codes in the form of instructions or data structures and can be stored by a computer Any other media taken, but not limited to this.
  • the memory can exist independently and is connected to the processor through a bus.
  • the memory can also be integrated with the processor.
  • the transceiver may be a device or module capable of communicating with other devices or a communication network, such as a wireless communication module, a radio frequency module, and so on.
  • the above method embodiments it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof.
  • software it can be implemented in the form of a computer program product in whole or in part.
  • the above-mentioned computer program product includes one or more computer instructions.
  • the foregoing computer instructions are loaded and executed on a computer, the foregoing processes or functions according to the embodiments of the present application are generated in whole or in part.
  • the above-mentioned computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices.
  • the above-mentioned computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium.
  • the medium can be any usable medium that can be accessed by a computer or a data storage device such as a server or data center integrated with one or more usable media.
  • the above usable medium can be a magnetic medium (for example, a floppy disk, a hard disk, a magnetic tape), and an optical medium.
  • a high-density digital video disc (DVD) or a semiconductor medium (for example, a solid state disk (SSD), etc.).
  • system and “network” in the embodiments of the present application can often be used interchangeably.
  • the term “and/or” in this embodiment is only an association relationship that describes associated objects, indicating that there can be three types of relationships, for example, A and/or B, which can mean: A alone exists, and A and B exist at the same time. There are three cases of B alone.
  • the character "/" in this text generally indicates that the associated objects before and after are in an "or” relationship.
  • the disclosed system, device, and method may be implemented in other ways.
  • the device described above is only illustrative, for example, the division of units is only a logical function division, and there may be other divisions in actual implementation, for example, multiple units or components can be combined or integrated into another. A system or some features can be ignored or not implemented.
  • the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, and may also be electrical, mechanical or other forms of connection.
  • the functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit.
  • the above-mentioned integrated unit can be implemented in the form of hardware or software functional unit.

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Abstract

一种定位方法、装置及系统。适用于车联网，网联车，自动驾驶等场景，可解决第一终端设备因参照物不适用所导致的定位精度低的问题。方法包括：服务器接收来自于第一终端设备的第一消息。这里，第一消息中包括第一终端设备确定的第一位置信息。服务器根据第一位置信息确定第一参照物。服务器向第一终端设备发送第二消息。这里，第二消息中包括第一参照物的标识信息，第一参照物的标识信息用于第一终端设备更新上述第一位置信息。采用提供的方法，可提升第一终端设备的定位精度。

Description

一种定位方法、装置及系统 技术领域
本申请涉及智能汽车领域，尤其涉及一种定位方法、装置及系统。
背景技术
随着互联网技术和制造技术的不断发展，诸如无人驾驶汽车等新兴应用不断的涌现。所谓的无人驾驶汽车，就是通过车载传感系统感知道路环境，自动规划行车路线并控制车辆到达预定目标的智能汽车。对于无人驾驶汽车来说，车辆定位又是其能够实现所依赖的主要技术之一。车辆定位的精准与否会直接影响到无人驾驶汽车能否应用于实际交通场景，因此，如何保证车辆定位的精度已经成为了当前一大研究热点。
现有技术中，通常将基于卫星信号定位(如基于全球定位系统进行定位等)、基于惯性测量仪(inertial measurement unit，IMU)航迹推算定位以及基于激光雷达(laser radar)或视觉传感器的特征匹配定位组合起来使用以实现高精度的定位功能。这里，基于激光雷达或视觉传感器的特征匹配定位就是车辆通过激光雷达或者视觉传感器采集到其周围的参照物的属性特征值，然后将这些参照物的属性特征值与高精度地图所提供的这些参照物的属性特征参考值进行比对，再基于比对得到的某些参照物的位置信息估算出车辆当前的位置信息。但是，由于参照物有可能出现污损、老化、残缺，或者被附近的建筑物、标牌等障碍物遮挡等情况，这很容易导致车辆无法测量或采集到准确的参照物的属性特征值，导致特征匹配定位方法无效或定位精度降低。从而使得汽车的车辆定位功能无法提供精确的位置信息，难以保障安全顺畅的无人驾驶。
发明内容
本申请提供一种定位方法、装置和系统。采用本申请所提供的方案，可提升第一终端设备的定位精度。
需要说明的是，本申请实施例中所提出的方法可以由计算设备执行，其中，计算设备是指能够被抽象为计算机系统的设备。支持无线通信功能的计算设备，可称为无线通信设备。无线通信装置可以是该计算设备的整机，也可以是该计算设备中的部分器件，例如无线通信功能相关的芯片，如系统芯片或通信芯片。其中，系统芯片也称为片上系统，或称为SoC芯片。具体地，无线通信装置可以是诸如智能汽车、智能汽车上的远程信息处理盒(telematics box，T-box)、服务器等这样的终端，也可以是能够被设置在终端中的SoC芯片或通信芯片。通信芯片可以包括射频处理芯片和基带处理芯片。基带处理芯片有时也称为调制解调器(modem)。在物理实现中，通信芯片可集成在SoC芯片内部，也可以不与SoC芯片集成。例如，基带处理芯片集成在SoC芯片中，射频处理芯片不与SoC芯片集成。
在本申请实施例中，第一终端设备可以是智能汽车或者智能汽车上的车载系统，如T-box。服务器可以是具有高精度的地图服务功能的本地服务器或者云端服务器。
第一方面，本申请实施例提供一种定位方法。该定位方法包括：服务器接收来自于第一终端设备的第一消息。这里，所述第一消息中包括所述第一终端设备确定的第一位置信息。所述服务器根据所述第一位置信息确定第一参照物。所述服务器向所述第一终端设备发送第二消息。这里，所述第二消息中包括所述第一参照物的标识信息，所述第一参照物的标识信息用于所述第一终端设备更新所述第一位置信息。
在本申请实施例中，服务器可为第一终端设备筛选出适用的第一参照物并推送给第一终端设备，从而可解决第一终端设备因使用损坏或者被遮挡的参照物所造成的定位精度低的问题，进而提升第一终端设备的定位精度。
结合第一方面，在一种可能的实施方式中，所述服务器可根据所述第一位置信息从所述服务器当前使用的第一地图中确定第二参照物。然后，所述服务器根据所述第二参照物的至少一个属性特征的匹配参量从所述第二参照物中确定第一参照物。这里，所述第二参照物的至少一个属性特征的匹配参量可以存储于所述服务器中，也可以由服务器通过网络获取，所述属性特征的匹配参量用于指示所述属性特征的测量值与所述任一属性特征的参考值之间的匹配程度。在第一终端设备为智能汽车的场景下，当某些参照物被损坏或者被遮挡时候，其属性特征的测量值和参考值会存在较大得差异，这些参照物也不再适用于智能汽车进行特征匹配定位。因此，服务器可以通过参照物的属性特征的匹配参量来对参照物进行准确的筛选，从而能够得到合理且可靠的参照物以供智能汽车进行定位使用，从而可提升智能汽车的定位精度。
结合第一方面，在一种可能的实现方式中，假设上述第二参照物有N2个，上述第一参照物有N1个。所述服务器可根据所述服务器存储的所述N2个第二参照物中各第二参照物的至少一个属性特征中各属性特征的匹配参量计算出所述各第二参照物的组合匹配参量。这里，一个第二参照物对应一个组合匹配参量。所述服务器根据所述各第二参照物的组合匹配参量从所述N2个第二参照物中确定出N1个第一参照物。本申请实施例中，N1和N2为正整数，N2大于或者等于N1。服务器为每个参照物都计算出一个对应的组合匹配参量，然后根据每个第二参照物对应的组合匹配参量确定出N1个第一参照物，方法简单，易于实现，可减少服务器的数据处理量。
结合第一方面，在一种可能的实施方式中，假设上述第二参照物有N2个，上述第一参照物有N1个。所述服务器可先根据所述N2个第二参照物中各第二参照物的至少一个属性特征中各属性特征的匹配参量确定出各第二参照物的组合匹配参量。然后，所述服务器根据所述各第二参照物的组合匹配参量和所述各第二参照物的至少一个目标属性特征的测量值从所述N2个第二参照物中选择出N1个第一参照物。这里，该目标属性特征可由每个参照物的一个多个属性特征确定。这里，服务器通过组合匹配参量以及预设的目标属性特征的测量值的大小对N2个参照物进行二次筛选，能够更加准确的剔除掉已经损坏或者被遮挡的参照物，从而能够将更为适合的参照物确定为第一终端设备的第一参照物。
结合第一方面，在一种可能的实施方式中，所述第一消息还包括由所述第一终端设备根据所述第一位置信息和/或所述第一终端设备的环境信息确定出的第三参照物。所述服务器根据第二参照物和所述第三参照物确定出第一参照物。这里，所述第二参照物为所述服务器根据所述第一位置信息从第一地图中确定得到，所述第一地图为所述服务器当前使用 的地图。服务器综合考虑了第一终端设备自身提供的第三参照物以及其根据第一终端设备上报的位置信息从其当前使用的地图中选择出的第二参照物，可保证筛选出的第一参照物既是当前地图中最新标记出的参照物，又能被第一终端设备正确的检测到，从而可保证其确定出的第一参照物的合理性和可靠性。
结合第一方面，在一种可能的实施方式中，所述第一消息还包括所述第一终端设备的地图版本信息。所述服务器根据第二参照物和第三参照物确定出第一参照物。这里，所述第二参照物为所述服务器根据所述第一位置信息从第一地图中确定得到，所述第一地图为所述服务器当前使用的地图，所述第三参照物为所述服务器根据所述第一位置信息从第二地图中确定得到，所述第二地图为所述地图版本信息对应的地图。这里，所述第一参照物为所述第二参照物和所述第三参照物中同时存在的参照物，或者，所述第一参照物为所述第二参照物和所述第三参照物中同时存在且对应的匹配参量较高的参照物。所述地图版本信息具体可以是地图的版本号、软件序列号、厂商信息等，本申请不作具体限制。所述第二地图可以是由服务器根据上述地图版本信息从其保存的一版或者多版地图中确定得到。这里，第一终端设备仅需要将上述第一位置信息和地图版本信息发送给服务器，这样能够简化第一消息的信令结构，节省服务器与第一终端设备之间的信令开销。
结合第一方面，在一种可能的实施方式中，所述第一消息中还包括所述第一终端设备的地图版本信息。所述服务器根据所述第一位置信息从第二地图中确定出第一参照物，其中，所述第二地图为所述地图版本信息对应的地图。这里，服务器可根据上述第一位置信息从第一终端设备当前使用的第二地图中为第一终端设备筛选参照物，方法简单，易于实现，能降低第一终端设备的数据处理量，提升第一终端设备的数据处理能力。
结合第一方面，在一种可能的实施方式中，所述第一消息中还包括所述第一终端设备的环境信息。所述服务器根据所述第一位置信息从第一地图和所述环境信息中确定出第一参照物。其中，所述第一地图为所述服务器当前使用的地图。这里，服务器基于第一终端设备的环境信息以及其第一位置信息从第一地图中确定出上述第一参照物，保证了其确定出的第一参照物既是当前地图中最新标记出的参照物，又能被第一终端设备充分的检测到，从而可保证确定出的第一参照物的合理性和可靠性。
结合第一方面，在一种可能的实施方式中，所述第二消息还包括所述第一参照物的至少一个属性特征的测量值和/或匹配参量，其中，所述第一到参照物的至少一个属性特征的测量值和/或匹配参量用于所述第一终端设备更新所述第一位置信息。
结合第一方面，在一种可能的实施方式中，所述第二消息中还包括适用范围指示信息，所述适用范围指示信息用于指示所述第二消息所适用的预设地理范围。
结合第一方面，在一种可能的实施方式中，所述适用范围指示信息由所述服务器根据所述服务器的负载量确定。这里，服务器的负载量为用于指示服务器的繁忙程度的参量，如服务器正在处理的进程数、服务器当前连接的终端设备的个数等，本申请不作具体限制。服务器的负载量越大，则该服务器越繁忙。在本实现方式中，所述服务器的负载量越大，所述服务器确定出的目标指示信息所指示的所述参照物配置消息所适用的预设地理范围越大。通过对第二信息进行适用范围的区别，在服务器负载量大时，服务器就发送适用范围大的第二消息。服务器负载量小时，就发送适用范围小的第二消息。从而使得服务器在负 载量大的时候无需向不同的第一终端设备发送不同的第二消息，可降低服务器的负载，保证服务器的负载均衡。
结合第一方面，在一种可能的实施方式中，所述服务器接收来自于第二终端设备的特征上报消息。其中，所述特征上报消息中包括第四参照物的至少一个属性特征的测量值和/或匹配参量。所述服务器根据所述第四参照物的至少一个属性特征的测量值和/或匹配参量对存储的所述第四参照物的至少一个属性特征的测量值和/或匹配参量进行更新。服务器基于第二终端设备上报的参照物的属性特征的测量值和/或匹配参量对其存储的参照物的属性特征的测量值和/或匹配参量进行更新，能保证服务器存储的这些数据的可靠性。
结合第一方面，在一种可能的实施方式中，所述服务器还可向所述第二终端设备发送特征查询消息。这里，所述特征查询消息中包括所述第四参照物的至少一个属性特征。
结合第一方面，所述特征查询消息中还包括所述至少一个属性特征中各属性特征对应的上报方式指示信息，任一属性特征对应的上报方式指示信息用于指示所述任一属性特征的上报方式。
结合第一方面，在一种可能的实施方式中，所述上报方式包括周期性上报和非周期性上报。可选地，稳定度参量高的属性特征对应的上报方式为非周期性上报。稳定度参量低的属性特征对应的上报方式为周期性上报。这里，基于属性特征的稳定度参量的大小来判定该属性特征的测量值和/或匹配参量的上报方式，可避免第二终端设备频繁的上报一些相对稳定的属性特征的测量值和/匹配参量，可减少服务器与第二终端设备的之间的信令交互，降低服务器与第二终端设备的通信负载。
第二方面，本申请实施例提供了一种定位方法。第一终端设备向服务器发送第一消息，这里，所述第一消息中包括所述第一终端设备的第一位置信息。第一终端设备接收来自服务器的第二消息。这里，所述第二消息中包括第一参照物的标识信息，所述第一参照物由所述服务器根据所述第一位置信息确定。所述第一终端设备根据所述第一参照物的标识信息更新所述第一位置信息。
在本申请实施例中，第一终端设备可使用服务器筛选出适用的第一参照物进行定位，可避免因使用损坏或者被遮挡等不适用的参照物进行定位导致的定位精度低的问题，从而可提升第一终端设备的定位精度。
结合第二方面，在一种可能的实施方式中，所述第一消息中还包括所述第一终端设备的地图版本信息，其中，所述地图版本信息用于所述服务器确定所述第一参照物。
结合第二方面，在一种可能的实施方式中，所述第一消息中还包括第三参照物，其中，所述第三参照物由所述第一终端设备根据所述第一位置信息或者所述第一终端设备的环境信息确定得到，所述第三参照物用于所述服务器确定所述第一参照物。
结合第二方面，在一种可能的实施方式中，所述第一消息中还包括所述第一终端设备的环境信息，其中，所述环境信息用于所述服务器确定所述第一参照物。
结合第二方面，在一种可能的实施方式中，所述第二消息中还包括所述第一参照物的至少一个属性特征的测量值和/或匹配参量。所述第一终端设备根据所述第一参照物的至少一个属性特征的测量值和/或匹配参量和所述第一参照物确定出第五参照物。所述第一终端设备根据所述第五参照物更新所述第一位置信息。
第三方面，本申请实施例提供了一种定位方法。第二终端设备生成特征上报消息。这里，所述特征上报消息包括第四参照物的至少一个属性特征的测量值和/或匹配参量。任一属性特征的匹配参量用于指示所述任一属性特征的测量值与所述任一属性特征的参考值之间的匹配程度。所述第四参照物的至少一个属性特征的测量值和/或匹配参量用于对服务器存储的所述第四参照物的至少一个属性特征的测量值和/或匹配参量进行更新。所述第二终端设备向所述服务器发送所述特征上报消息。
在本申请实施例中，第二终端设备能够通过特征上报消息向服务器发送一些参照物的属性特征的测量值和匹配参量，以使得服务器能够及时的对其数据库中存储的参照物的属性特征的测量值和参考值进行更新，从而保证了服务器存储的参照物的属性特征的测量值和参考值的可靠性和适用性。
结合第三方面，在一种可能的实施方式中，所述第二终端设备获取所述第四参照物的至少一个属性特征中各属性特征的测量值。所述第二终端设备根据所述各属性特征的测量值与所述各属性特征的参考值计算出所述各属性特征的匹配参量。
结合第三方面，在一种可能的实施方式中，所述第二终端设备接收来自服务器的特征查询消息，其中，所述特征查询消息中包括所述第四参照物的至少一个属性特征。
结合第三方面，在一种可能的实施方式中，所述特征查询消息中还包括所述第四参照物的至少一个属性特征中各属性特征对应的上报方式指示信息，任一属性特征对应的上报方式指示信息用于指示所述任一属性特征的上报方式。
结合第三方面，在一种可能的实施方式中，所述上报方式包括周期性上报和非周期性上报。可选地，稳定度参量高的属性特征对应的上报方式为非周期性上报。稳定度参量低的属性特征对应的上报方式为周期性上报。
第四方面，本申请实施例提供了一种装置。该装置可为服务器本身，也可为服务器内部的如芯片等元件或者模块。该装置包括用于执行上述第一方面的任意一种可能的实现方式所提供的定位方法的单元，因此也能是实现第一方面提供的定位方法所具备的有益效果(或者优点)。
第五方面，本申请实施例提供了一种装置。该装置可为第一终端设备本身，也可为第一终端设备内部的如芯片等元件或者模块。该装置包括用于执行上述第二方面的任意一种可能的实现方式所提供的定位方法的单元，因此也能是实现第二方面提供的定位方法所具备的有益效果(或者优点)。
第六方面，本申请实施例提供了一种装置。该装置可为第二终端设备本身，也可为第二终端设备内部的如芯片等元件或者模块。该装置包括用于执行上述第三方面的任意一种可能的实现方式所提供的定位方法的单元，因此也能是实现第三方面提供的定位方法所具备的有益效果(或者优点)。
第七方面，本申请实施例提供了一种装置，该装置可为服务器。该装置包括至少一个存储器以及处理器。其中，该处理器用于调用存储器存储的代码执行上述第一方面中任意一种可能的实施方式所提供的定位方法。
第八方面，本申请实施例提供了一种装置，该装置可为第一终端设备。该装置包括至少一个存储器以及处理器。其中，该处理器用于调用存储器存储的代码执行上述第二方面 中任意一种可能的实施方式所提供的定位方法。
第九方面，本申请实施例提供了一种装置，该装置可为第二终端设备。该装置包括至少一个存储器以及处理器。其中，该处理器用于调用存储器存储的代码执行上述第三方面中任意一种可能的实施方式所提供的定位方法。
第十方面，本申请实施例提供了一种芯片。该芯片包括：至少一个处理器和接口电路。该接口电路用于接收代码指令并传输至该处理器。该处理器用于运行上述代码指令以实现上述第一方面、第二方面或者第三方面或任一可能的实施方式中任意一种可能的实施方式所提供的定位方法，也能实现上述第一方面、第二方面或者第三方面或任一可能的实施方式提供的定位方法所具备的有益效果(或者优点)。
第十一方面，本申请实施例提供了一种计算机可读存储介质，该计算机可读存储介质中存储有指令，当该指令在计算机上运行时，实现上述第一方面、第二方面或者第三方面中任一方案或任意一种可能的实施方式所提供的定位方法，也能实现上述第一方面、第二方面或者第三方面提供的定位方法所具备的有益效果(或者优点)。
第十二方面，本申请实施例提供了一种包含指令的计算机程序产品，当该计算机程序产品在计算机上运行时，使得计算机执行上述第一方面、第二方面或者第三方面中任一方案或或其任意一种可能的实施方式提供的定位方法，也能实现第一方面、第二方面或者第三方面提供的定位方法所具备的有益效果。
第十三方面，本申请实施例提供了一种定位系统，该定位系统包括上述第一方面提供的服务器、第二方面或其任意一种可能的实施方式提供的第一终端设备，和/或，第三方面或其任意一种可能的实施方式提供的第二终端设备。
在本申请实施例提供的方法中，服务器可根据第一终端设备的第一位置信息为第一终端设备筛选出适用的第一参照物并推送给第一终端设备，以使得后续第一终端设备可使用适用的第一参照物进行定位。这样，可以尽量解决第一终端设备因使用损坏或者被遮挡等不适用的参照物进行定位导致的定位误差大的问题，从而可以提升第一终端设备的定位精度。
附图说明
图1是本申请实施例提供的一种定位系统的架构示意图；
图2是本申请实施例提供的一种定位方法一流程示意图；
图3是本申请实施例提供的一种定位场景示意图；
图4是本申请实施例提供的一种第二消息的结构示意图；
图5是本申请实施例提供的一种定位方法又一流程示意图；
图6是本申请实施例提供的一种定位方法又一流程示意图；
图7是本申请实施例提供的一种定位方法又一流程示意图；
图8是本申请实施例提供的一种装置一结构框图；
图9是本申请实施例提供的一种装置又一结构框图；
图10是本申请实施例提供的一种装置又一结构框图；
图11是本申请实施例提供的一种芯片一结构框图；
图12是本申请实施例提供的一种装置又一结构框图；
图13是本申请实施例提供的一种芯片又一结构框图。
具体实施方式
下面将结合附图，对本申请中的技术方案进行描述。
请参见图1，图1是本申请实施例提供的一种定位系统的架构示意图。本申请实施例所提供的定位方法适用于上述定位系统。由图1可知，该定位系统包括服务器、第一终端设备和第二终端设备。服务器与第一终端设备及第二终端设备之间通过网络进行通信。上述网络可以是基于长期演进(long term evolution，LTE)系统、通用移动通信系统(universal mobile telecommunication system，UMTS)、全球互联微波接入(worldwide interoperability for microwave access，WiMAX)通信系统、第五代(5th generation，5G)系统或新无线(new radio，NR)系统等构建的，本申请不作具体限制。其中，上述服务器可以是第一终端设备所使用的地图软件的本地服务器或者云端服务器，该服务器具有高精度的地图服务功能。实际应用中，上述第一终端设备可以是智能汽车或者智能汽车上的车载系统。这里，智能汽车包括各种类型的车辆。智能汽车的车载系统可包括车载软件(即计算平台)和硬件(如摄像头、雷达、处理芯片等)。第一终端设备通过网络访问服务器，以获取服务器提供的高精度地图数据。同时，第一终端设备还可通过摄像头、雷达等采集其周围的参照物的属性特征值，并进一步根据上述高精度地图数据和周围的参照物的属性特征值实现特征匹配定位，从而确定出第一终端设备的位置信息。上述第二终端设备主要是用于为服务器提供各种不同的参照物的属性特征的测量值和/或匹配参量的设备。具体实现中，上述第二终端设备可以就是上述第一终端设备本身，也可以是诸如路边单元(road side unit，RSU)、街道探头等能够检测并上报参照物的属性特征值的设备，本申请不作具体限制。
在实际应用中，第一终端设备通常会通过传感器，例如激光雷达或者视觉传感器，采集到其周围的参照物的属性特征的测量值，然后将这些参照物的属性特征的测量值与高精度地图所提供的这些参照物的属性特征的参考值进行比对，再基于比对成功的某些参照物的位置信息估算出其当前的位置信息。进一步，第一终端设备也可将其估算出的位置信息以及其通过卫星信号定位或者基于惯性测量仪航迹推算定位得到的位置信息进行融合处理，从而得到更为精确的定位信息。但是，由于参照物有可能出现污损、老化、残缺，或者被附近的建筑物、标牌等障碍物遮挡等情况，这很容易导致第一终端设备无法测量或采集到准确的参照物的特征观测量，导致特征匹配定位方法无效或定位精度降低。从而使得第一终端设备的无法获得精确的位置信息，难以保障安全顺畅的无人驾驶。
因此，本申请实施例主要解决的技术问题是：如何排除已经损坏或者被遮挡的参照物，以解决因参照物不适用所导致的第一终端设备的定位精度低的问题，以提升第一终端设备的定位精度。
实施例一
请参见图2，图2是本申请实施例提供的一种定位方法一流程示意图。该定位方法适用于图1所示的定位系统。由图2可知，该方法包括以下步骤：
S210，第一终端设备生成第一消息。
在一些可能的实施方式中，当第一终端设备确定需要执行定位功能时，其可生成一个 第一消息。该第一消息主要用于请求服务器为其提供适用的参照物。这里，所谓的参照物就是第一终端设备周围能够为第一终端设备提供参考位置以辅助第一终端设备执行定位功能的物体，如第一终端设备周围的标志性建筑、红绿灯、广告牌等。
具体实现中，上述第一消息至少包括一个位置信息(为方便区别，下文将以第一位置信息代替描述)。该第一位置信息可包括第一终端设备当前位置的经度、维度、行政区域标识(如所在小区名称、街道名称等)中的一个或多个，本申请不作具体限制。该第一位置信息可以是第一终端设备最近一次执行定位功能所得到位置信息，也可以是第一终端设备对其最近多次执行定位功能得到的多个定位结果进行融合所得到的位置信息，本申请不作具体限制。
在一种可选的实现中，上述第一消息还可包括第三参照物的标识信息。这里需要说明的是，本申请实施例中，第三参照物可以是一个或多个，为了方便理解，后文将假设有N3个第三参照物。这里，N3为正整数。具体实现中，上述N3个参照物可以是由第一终端设备根据上述第一位置信息和/或其获取到的当前的环境信息确定出的。这里，上述环境信息可以是第一终端设备通过摄像头、激光雷达等传感单元从其周围环境中采集到的图像、视频等信息。具体实现中，第一终端设备在得到上述第一位置信息后，可以上述第一位置信息所指示的地理位置为圆心，以第一预设距离为半径，在其当前使用的地图(为方别区别，下文将以第二地图代替描述)中划定出一个第一区域。然后，第一终端设备可将该第一区域中已经标定的参照物确定为上述第三参照物，从而得到上述N3个第三参照物。或者，第一终端设备也可直接通过物体检测等算法从上述环境信息中提取出上述N3个第三参照物。或者，第一终端设备也可将其通过第一位置信息确定出的一个或者多个参照物与其从环境信息中检测到的一个或者多个参照物进行特征匹配，并将匹配成功的参照物作为上述第三参照物。当然，第一终端设备也可采用其他方法确定出上述N3个第三参照物，本申请不作具体限制。
在另一种可选的实现中，上述第一消息还可包括上述环境信息。这里，对环境信息的描述可参见前文，此处不再赘述。
在又一种可选的实现中，上述第一消息还可包括第一终端设备当前正在使用的地图(为方便区别，下文将以第二地图代替描述)的地图版本信息。具体实现中，地图版本信息可以是地图的版本号、软件序列号、厂商信息等，本申请不作具体限制。
S220，第一终端设备向服务器发送第一消息。
在一些可能的实施方式中，第一终端设备可通过网络将上述第一消息发送给服务器。其中，例如通过蓝牙、窄带物联网、宽带网络、空口消息等。
S230，服务器接收来自于第一终端设备的第一消息并生成第二消息。
在一些可能的实施方式中，服务器可通过网络接收到第一终端设备发送的第一消息，并对该第一消息进行解析，以提取出上述第一消息中所包含的第一位置信息。然后，服务器可根据该第一位置信息确定出第一参照物。这里需要说明的是，第一参照物可以是一个或者多个，为了方便理解，下文将以N1个第一参照物为例进行描述。其中，N1为正整数。之后，服务器可根据这N1个参照物生成第二消息。下面将基于第一消息所包含的内容划分出几种示例性场景，并结合不同的场景对第一终端设备确定出N1个第一参照物的过程 进行具体的描述，以给出不同的可选实现方式。
场景一：
在第一消息中只包括上述第一位置信息的场景下，服务器提取到该第一位置信息后，可通过多种方式确定出N1个第一参照物，下面以方式一和方式二为例对服务器确定N1个第一参照物的过程进行具体描述。
方式一：
服务器可结合上述第一位置信息所指示的地理位置以及预设的范围划定规则从第一地图中划定出一个第二区域。这里的第一地图是服务器当前正在使用的地图。然后，服务器可直接将该第二区域中已经标记的所有参照物确定为第一参照物，从而得到上述N1个第一参照物。这里，上述范围划定规则可以是以第一位置信息中的经度和纬度所指示的地理位置为圆心，以第二预设距离为半径的圆形区域。或者，也可以是以第一位置信息所指示的地理位置为重心，以第二预设距离为边长的方形区域。本申请实施例对上述范围划定规则不作具体限制。
方式二：
服务器在确定出上述第二区域中的所有参照物之后，并不会直接把第二区域内的所有参照物都确定为第一参照物，而是对第二区域中的所有的参照物进行筛选，从而得到上述N1个第一参照物。
假设，上述第二区域中包含有N2个参照物(为了方便区别，下文将以第二参照物代替描述)。服务器可先从其对应的数据库中提取出上述N2个第二参照物中各第二参照物的至少一个属性特征中各属性特征的测量值和/或匹配参量。这里需要说明的是，服务器对应的数据库中存储有多种地图数据，如服务器所使用的一种或者多种地图的版本信息，每种地图中所包含的参照物，每个参照物的属性特征，每个参照物的每个属性特征的测量值，每个属性特征对应的匹配参量、每个属性特征的稳定度参量等，本申请不作具体限制。
下面，以上述N2个第二参照物中的参照物A为例，对属性特征的测量值和匹配参量进行简单的解释。参照物A可以有一个或者多个属性特征，如高度、宽度、颜色、地理坐标等。对于参照物A的某个属性特征来说(这里假设为属性特征B)，服务器的数据库中所保存的测量值是由第二终端设备(即参照物A本身或者参照物A周围的其他参照物)最近一次检测并上报给服务器的。属性特征B的匹配参量指示了属性特征B的测量值与属性特征B预设的参考值之间匹配程度。这里需要说明的是，属性特征的参考值是这个属性特征在一段时间内的一个固定值。例如，对于一栋大厦来说，假设它的设计高度为30米，一般在一段时间这个高度的值都不会发生变化，那么这个30米即可作为这栋大厦的高度这个属性特征的参考值。某些属性特征的值可能会发生变化(如树木叶子的颜色、高度等)，那这些属性特征对应的参考值也会发生变化。可选的，数据库中存储的属性特征B的匹配参量可以是由第二终端设备根据其检测到的参照物A的属性特征B的测量值和属性特征B对应的参考值计算得到并发送给服务器的。可选的，数据库中存储的属性特征B的匹配参量也可以是由服务器根据其获取到的属性特征B的测量值和属性特征B的参考值计算得到的。这里，属性特征B的测量值可以是第二终端设备最近一次对参照物A进行检测或者测量得到的，也可以是第二终端设备对最近多次检测或者测量的结果进行融合得到的，本申请不 作具体限制。
在一种具体实现中，在服务器提取出上述N2个第二参照物中各第二参照物的至少一个属性特征中各属性特征的匹配参量的情况下，服务器可根据各第二参照物的各属性特征的匹配参量计算出各第二参照物对应的组合匹配参量。这里，一个参照物对应一个组合匹配参量。也就是说，服务器可计算得到上述N2个第二参照物对应的N2个组合匹配参量。请一并参见图3，图3是本申请实施例提供的一种定位场景示意图。该图中包括第一终端设备(即车辆C1)以及其对应的多个第二参照物。这多个第二参照物可包括路边单元RSU1、车辆C2(处于低速或者静止状态)、车辆C3(处于低速或者静止状态)、车辆C4(处于高速运动状态)、树木T1、树木T2(已损坏)、建筑物B1、建筑物B2。下面将结合图3所示的场景对服务器计算各第二参照物的组合匹配参量的过程进行具体的描述。
这里，请一并参见表1-1到表1-4，这四个表格都是本申请实施例提供的一种参照物的属性特征与匹配参量的数据表格。每个表格中记录了一个或者多个同类型的第二参照物的形状、高度、颜色、坐标、周围天气状况这五个属性特征的参考值和匹配参量。例如，表1-1是第二参照物RSU1对应的数据表格，包含了第二参照物RSU1的形状(参考值为三角形)、高度(参考值为10米)、颜色(参考值为蓝色)、地理坐标(参考值为x1、y1)以及周围天气状况(参考值为晴)。第二参照物RSU1的形状、高度、颜色、坐标、周围天气状况这5个属性特征对应的匹配参量分别为1、1、1、1、1。其他三个表格的具体内容此处便不再赘述，可各自参见表格内容。
表1-1 参照物的属性特征与匹配参量的数据表格1
Figure PCTCN2020083542-appb-000001
表1-2 参照物的属性特征与匹配参量的数据表格2
Figure PCTCN2020083542-appb-000002
表1-3 参照物的属性特征与匹配参量的数据表格3
Figure PCTCN2020083542-appb-000003
表1-4 参照物的属性特征与匹配参量的数据表格4
Figure PCTCN2020083542-appb-000004
具体实现中，服务器可将各第二参照物的每个属性特征的匹配参量之和确定为各第二参照物的匹配参量。例如，由表1的内容可知，参照物RSU1的5个属性特征的匹配参量分别为1、1、1、1、1，则服务器可确定参照物RSU1的组合匹配参量为5。同理，服务器可确定参照物B1和参照物B2的组合匹配参量均为5，参照物T1的组合匹配参量为5，参照物T2的组合匹配参量为4。参照物C2和参照物C3的组合匹配参量为5，参照物C4的组合匹配参量为4。或者，服务器也可根据每个属性特征预设的权重对每个属性特征的匹配参量进行加权求和，以得到各第二参照物的组合匹配参量。当然，服务器也可采用其他计算方式对各参第四照物的每个属性特征的匹配参量进行处理，以得到各参照物的组合匹配特征，本申请不作具体限制。
进一步的，在服务器确定出各第二参照物对应的组合匹配参量后，服务器可将上述N2个第二参照物中组合匹配参量等于或者大于第一预设参量的第二参照物确定第一参照物，从而得到上述N1个第一参照物。例如，结合前文举例，服务器确定参照物RSU1的组合匹配参量为5。参照物B1和参照物B2的组合匹配参量均为5，参照物T1的组合匹配参量为5，参照物T2的组合匹配参量为4。参照物C2和参照物C3的组合匹配参量为5，参照物C4的组合匹配参量为4。假设上述第一预设参量为5，则服务器即可将参照物RSU1、参照物B1、参照物B2、参照物T1、参照物C2和参照物C3确定为第一参照物。或者，服务器也可先根据上述N2个组合匹配参量对上述N2个第二参照物进行排序，选取排序靠前的N1个第二参照物确定为上述N1第一参照物。
这里，由于对于某些参照物来说，损坏或者被遮挡容易造成其属性特征的测量值和参考值存在较大差异，所以服务器通过参照物的属性特征的匹配参量可以准确的筛选出一些不合理的参照物，从而可保证上述第一参照物的合理性和适用性。并且，这里根据每个第二参照物对应的组合匹配参量确定出N1个第一参照物，方法简单，易于实现，也能减少服务器的数据处理量。
在另一种具体实现中，在服务器提取出各第二参照物的各属性特征的测量值和匹配参量的情况下，服务器可先根据N2个第二参照物中各第二参照物的组合匹配参量从上述N2个第二参照物中选择出N6个第六参照物。具体过程可参见前文叙述的根据各第二参照物的组合匹配参量从N2个第二参照物中选择出N1个第一参照物的过程，此处便不再赘述。
然后，服务器可根据各第六参照的各属性特征的测量值确定出各第六参照物对应的至少一个目标属性特征的测量值。这里需要说明的是，上述目标属性特征是由参照物的至少一个属性特征的中相对来说比较明显或者不易发生变化(即稳定度高)的属性特征直接构成或者融合处理后得到的。例如，对于各参照物来说，预设的属性特征有形状、高度、面积、颜色、坐标、周围天气状况，而高度和面积这两个属性特征比较明显且不易发生变化，则高度和面积这里两个属性特征即可作为目标属性特征。又或者，参照物预设的属性特征有形状、高度、与第一终端设备的距离、面积，则可将由高度和与第一终端设备的距离确定出的相对高度以及由面积和与第一终端设备的距离确定出的相对面积作为目标属性特征。然后，服务器可根据各第六参照物的各目标属性特征对应的测量值的大小从上述N6个第六参照物中筛选出N1个第一参照物。具体的，服务器可根据各第六参照物的各目标属性特征的测量值的大小对上述N6个第六参照物进行一次或者多次排序(一个目标属性特征对应一次排序)，并将排序靠前的一个或者多个第六参照物确定为第一参照物。
例如，假设上述目标属性特征为相对高度和相对面积，服务器计算到的上述N6个第六参照物中的参照物B1和参照物B2的相对高度为0.3米，相对面积为0.06平方米。参照物C2和参照物C3的相对高度为0.43米，相对面积为0.61平方米，参照物T1的相对高度为0.43米，相对面积为0.09平方米，参照物RSU1的相对高度为0.2米，相对面积为0.004平方米。服务器在得到上述数据后，可先根据相对高度的大小对这几个参照物进行排序。具体的次序为参照物T1、参照物C2和C3排第一位，参照物B1和参照物B2排第二位，参照物RSU1排第三位。服务器可将排在第二位和第三位的参照物B1、参照物B2和参照物RSU1排除在外。然后，服务器可再相对面积这个目标属性特征再次对参照物T1、参照物C2和C3进行排序，得到的结果是参照物C2和参照物C3排在第一位，参照物T1排第二位。此时，服务器即可将参照物C2和参照物C3分别确定为第一参照物。
这里，服务器通过组合匹配参量以及预设的目标属性特征的测量值的大小对N2个参照物进行二次筛选，能够更加准确的剔除掉已经损坏或者被遮挡的参照物，从而将更为适合的参照物确定为第一终端设备适应的第一参照物，从而可进一步提升第一终端设备的定位精度。
场景二：
在第一消息中包括上述第一位置信息和上述N3个第三参照物中各第三参照物的标识信息的场景下，一种实现方式中，服务器也可先采用类似于前文的方式一或者方式二中所 描述的方法从第一地图中确定出N2个第二参照物。然后，服务器可直接将该N2个第二参照物和N3个第三参照物中同时存在的参照物确定为第一参照物，从而得到N1个第一参照物。例如，假设服务器从上述各第三参照物的标识信息中检测到了参照物A的标识信息，并确定了上述N2个第二参照物中也包含有参照物A，则参照物A即为第一参照物。在另一种实现中，服务器可先采用类似于方式一中所描述的过程从第一地图中确定出N2个第二参照物，然后将上述N2个第二参照物和N3个第三参照物中同时存在的参照物挑选出来(这里假设为N7个第七参照物)。然后，服务器可根据各第七参照的至少一个属性特征的测量值和/或匹配参量从上述N7个第七参照物中筛选出N1个第一参照物。具体筛选过程可参见前文方式二中描述的根据各第二参照物的至少一个属性特征中各属性特征的测量值和/或匹配参量筛选第一参照物的过程，此处便不再赘述。在又一种实现中，服务器也可根据各第二参照物的各属性特征的测量值与各第三参照物的各属性特征的测量值对上述各第二参照物和各第三参照物进行特征匹配，并将特征匹配成功的参照物确定为第一参照物。例如，假设各第二参照物和各第三参照物都存在参照物A。若N2个第二参照物中的参照物A的各属性参量的测量值与N3个第三参照物中的参照物A的各属性参量的测量值之间的差值都在允许的误差范围内，则认为参照物A匹配成功，参照物A即可作为第一参照物。
这里，服务器综合考虑了第一终端设备自身提供的第三参照物以及其根据第一位置信息从其当前使用的地图中选择出的第二参照物，可保证筛选出的第一参照物既是当前地图中最新标记出的参照物，又能被第一终端设备正确的检测到，从而可保证其确定出的第一参照物的合理性和可靠性。
场景三：
在第一消息中包括上述第一位置信息和上述环境信息的场景下，服务器可先通过物体识别等算法对上述环境信息进行处理，以得到上述环境信息中包含的N3个第三参照物。然后，服务器可根据上述N3个第三参照物和基于第一位置信息确定出的N2个第二参照物确定出N1个第一参照物，具体过程可参见场景二中描述的过程，此次便不再赘述。这里，服务器基于第一终端设备的环境信息以及其第一位置信息从第一地图中确定出上述第一参照物，保证了其确定出的第一参照物既是当前地图中最新标记出的参照物，又能被第一终端设备充分的检测到，从而可保证确定出的第一参照物的合理性和可靠性。
场景四：
在第一消息中包括上述第一位置信息和上述第二地图的地图版本信息的场景下，服务器可先采用前文方式一或者方式二中所描述的方法从第一地图中确定出N2个第二参照物。然后，服务器可从其数据库中存储的一种或者多种版本地图中查询到上述第二地图，再同样采用前文方式一或者方式二中所描述的方法从上述第二地图中确定出N3个第二参照物。然后，服务器可根据上述N3个第三参照物和N2个第二参照物确定出N1个第一参照物，具体过程可参见场景二中描述的过程，此次便不再赘述。或者，服务器可先根据第二地图版本信息确定出上述第二地图，然后，其即可采用上方式二中所描述的方法从上述第二地图中确定出N1个第一参照物，具体过程可参加前文，此处便不再赘述。
在服务器确定出上述N1个第一参照物之后，其可根据这N1个参照物生成第二消息。比如，服务器可根据上述N1个第一参照物中各第一参照物的标识信息生成上述第二消息。 或者，服务器可根据上述各第一参照物的标识信息以及各第一参照物的至少一个属性特征中各属性特征的测量值和/或匹配参量生成上述第二消息。
可选的，服务器生成的第二消息中还可包括一个适用范围指示信息。该适用范围指示信息主要用于指示该第二消息所适用的预设地理范围。例如，上述适用范围指示信息可包括第一指示信息、第二指示信息、第三指示信息和第四指示信息，分别用于指示第二消息对应的四个等级，不同的等级对应不同的预设地理范围。当适用范围指示信息为第一指示信息时，则指示上述第二消息为第一等级时，则说明该第二消息所适用的预设地理范围为某一个第一终端设备。当适用范围指示信息为第二指示信息时，则指示上述第二消息为第二等级时，则说明该第二消息所适用的预设地理范围为某一道路上的某一车道，如图3中所示的车道L3。当适用范围指示信息为第三指示信息时，则指示上述第二消息为第三等级时，则说明该第二消息所适用的预设地理范围为某一道路，如图3中所示的道路R2或者道路R1。当适用范围指示信息为第四指示信息时，则指示上述第二消息为第四等级时，则说明该第二消息所适用的预设地理范围为某一街区，如图3中所示的街区S1。当然，可以理解的是，上述预设地理范围还可以以其他形式进行划分，本申请不作具体限制。
可选的，服务器可根据其当前的负载量来确定其发送的第二消息所包含的适用范围指示信息。这里，服务器的负载量为用于指示服务器的繁忙程度的参量，如服务器正在处理的进程数、服务器当前连接的终端设备的个数等，本申请不作具体限制。服务器的负载量越大，则该服务器越繁忙。下面，结合前文的四个指示信息对应的四个等级，当服务器确定其当前的负载量小于第一预设负载量时，则可确定上述第二消息中包括上述第一指示信息。当服务器确定其当前的负载量大于或者等于第一预设负载量且小于第二预设负载量时，则可确定上述第二消息中包括上述第二指示信息。当服务器确定其当前的负载量大于或者等于第二预设负载量且小于第三预设负载量时，则可确定上述第二消息中包括上述第三指示信息。当服务器确定其当前的负载量大于或者等于第三预设负载量时，则可确定上述第二消息中包括上述第四指示信息。这里，第一预设负载量小于第二预设负载量，第二预设负载量小于第三预设负载量。这里，将第二消息设置不同的适用范围，使得服务器在负载量大的时候就发送适用范围大的第二消息，在负载量小的时候就发送适用范围小的第二消息，从而避免了服务器在负载量大的情况下仍然需要向每一个第一终端设备分别发送第二消息的情况的发生，有利于保证服务器的负载均衡。
可选的，实际应用中，上述第二消息具体可包含一组或多组高级单元。其中，一组高级单元中包括一个第一参照物的标识信息(如编号)和/或一组或多组基本单元。每组基本单元中可包括属性特征字段、测量值字段、匹配参量字段中的至少一个字段。换句话说，一组高级单元就用于指示某一个第一参照物的一种或者多种属性特征及这些属性特征的参考值和匹配参量。请参见图4，图4是本申请实施例提供的一种第二消息的结构示意图，如图4所示，该第二消息包含2组高级单元。其中，第1组高级单元对应了编号1的第一参照物及其2组基本单元。每组基本单元包含3个字段，分别表示该第一参照物的某一种属性及其参考值和匹配参量。类似地，第2组高级单元对应了编号2的第一参照物及其一组基本单元。
S240，服务器向终端设备发送第二消息。
具体实现中，服务器可通过网络向第一终端设备发送上述第二消息。这里，服务器可采用不用发送方式来发送上述第二消息。上述发送方式包括单播、组播或者广播。例如，服务器可采用单播的方式向第一终端设备发送包含上述第一指示信息或者第二指示信息的第二消息。或者，服务器可采用组播的方式向第一终端设备发送包含上述第三指示信息的第二消息。或者，服务器也可采用广播的方式向第一终端设备发送包含上述第四指示信息的第二消息。
S250，第一终端设备接收来自于服务器的第二消息并根据第一参照物更新上述第一位置信息。
在一些可能的实施方式中，第一终端设备可通过上述网络接收来自于服务器的第二消息，然后其可从上述第二消息中提取出上述N1个第一个第一参照物中各第一参照物的标识信息，并确定其可使用上述N1个第一参照物来执行定位功能，从而进一步更新上述第一位置信息。
在一种可能的实施方式中，第一终端设备可根据上述N1个第一参照物进行特征匹配定位，以得到第一终端设备接收到第一消息后的位置信息(为方便区别，下文以第二位置代替描述)。具体的，第一终端设备可先通过其安装的摄像头、雷达等检测装置测量到的上述各第一参照物的至少一个属性特征中每个属性特征的实时观测值，然后基于其测量到的各第一参照物的各个属性特征的实时观测值与第一地图的地图数据中存储的上述各第一参照物的各个属性特征的参考值进行特征匹配。例如，假设上述一个或者多个第一参照物中包含参照物A，其对应有属性特征1和属性特征2。第一终端设备通过检测装置检测到上述属性特征1的实时观测值为w1，属性特征2对应的实时观测值为w2。而其地图数据中保存的参照物A的属性特征1的参考值为p1，属性特征2对应的参考值为p2。若第一终端设备确定参考值p1与实时观测值w1之间的误差值以及参考值p2与实时观测值w2之间的误差值都在允许的误差范围内，则确定上述参照物B特征匹配成功，即确定待使用参照物B的确在第一终端设备周围并且能被第一终端设备正确的检测到。同理，第一终端设备可对N1个第一参照物逐个进行匹配。若第一终端设备确定上述各第一参照物中的一个或者多个第一参照物的各个属性特征的实时观测值和参考值相匹配，则确定其周围是存在这一个或者多个第一参照物。然后，第一终端设备可从其地图数据中提取这一个或者多个第一参照物的位置信息，并根据一个或者多个第一参照物的位置信息估算出其当前的第二位置信息。然后，第一终端设备可将上述第一位置信息中的数据更新为上述第二位置信息中的数据。
在另一种可能的实施方式中，第一终端设备也可以先根据所有比对成功的第一参照物的位置信息估算出第一终端设备当前的第二位置信息，再基于卫星信号定位和基于惯性测量仪的航迹推算定位得到第三位置信息和第四位置信息，再对这三个位置信息的具体数据进行融合处理，从而得到更为精确的第五位置信息。然后，第一终端设备可将上述第一位置信息中的数据更新为上述第五位置信息中的数据。
在又一种可能的实施方式中，在上述第二消息中还包括各第一参照物的至少一个属性特征中各属性特征的测量值和/或匹配参量的情况下，第一终端设备在接收到上述第二消息后，可先根据第一参照物的至少一个属性特征中各属性特征的测量值和/或匹配参量对上述 N1个第一参照物进行筛选，以得到筛选后的一个或者多个第一参照物。具体过程可参见前文方式二中所描述的根据N2个第二参数中各第二参数的至少一个属性特征中各属性特征的测量值和/或匹配参量从上述N2个第二参数中筛选出N1个第一参照物的过程，此处便不再赘述。然后，第一终端设备即可根据这筛选后的一个或者多个第一参照物来更新上述第一位置信息。具体过程可参见前文描述的根据N1个第一参照物更新第一位置信息的过程，此处便不再赘述。
需要补充的是，在又一种可能的实施方式中，在服务器通过上场景一到场景四中提供的筛选方法确定出适用于第一终端设备的一个或者多个参照物(这里，为了区别，下文将以N5个第五参照物代替描述)之后，服务器可确定出其上一次给第一终端设备发送的第二消息中所指示的一个或者多个参照物(为了区别，这里以N6个第六参照物代替描述)。然后，服务器可将上述N5个第五参照物中与上述N6个第六参照物相重复的参照物给剔除掉，从而得到N1个第一参照物。比如，假设服务器确定的N5个第五参照物包括参照物A、参照物B和参照物C，而上述N6个第六参照物中包括了参照物C，则说明服务器已经为第一终端设备推送了参照物C，则服务器即可将参照物A和参照物B分别作为第一参照物。这样可以避免服务器重复的为第一终端设备推送相同的参照物，可节省服务器与第一终端设备之间的信令开销。进一步的，服务器也可将上述N6个第六参照物中与N5个第五参照物不重复的第六参照物确定出来，并根据这些第六参照物的标识信息生成待删除标识集合。然后，服务器可将该待删除标识集合包含在第二消息中发送给第一终端设备，以通知第一终端设备这些第六参照物已经不再使用。例如，假设上述N6个第六参照物中还包括了参照物D，而上述N5个第五参照物不包括参照物D，则服务器可将该参照物D的标识信息包含在上述待删除标识集合中，并通过第二消息发送给第一终端设备，以告知第一终端设备参照物D已经不再适用。
在这种情况下，第一终端设备在接收到上述第二消息后，可先将上述N1个第一参照物的标识信息保存在其预设的参照物标识集合中，并将上述待删除标识集合中所包含的标识信息从上述参照物标识集合中剔除掉，从而得到更新后的参照物标识集合。这里，上述参照物标识集合中保存有由一个或者多个第一终端设备用于执行定位功能所需的参照物的标识信息。然后，第一终端设备可从上述参照物标识集合所指示的多个参照物中选择出部分或者全部参照物，并根据这部分或者全部参照物来更新上述第一位置信息。具体实现中，第一终端设备根据这部分或者全部参照物来更新上述第一位置信息的过程可参见前文叙述的第一终端设备根据各第一参照物的标识信息更新上述第一位置信息的过程，此处便不再赘述。
在本申请实施例中，服务器可为第一终端设备筛选出适用的第一参照物并推送给第一终端设备，从而可解决第一终端设备因使用损坏或者被遮挡的参照物所造成的定位精度低的问题，进而提升第一终端设备的定位精度。
实施例二
请参见图5，图5是本申请实施例提供的一种定位方法又一流程示意图。由图5可知，该方法包括：
S501，车载系统根据第一位置信息和地图版本号生成第一消息。
具体实现中，当车载系统确定要执行定位功能后，其可先通过内置的全球定位系统获取到一个第一位置信息。该第一位置信息中具体可包括搭载该车载系统的车辆(为方便区别，后文将以第一车辆代替描述)所在的经纬度。可选的，车载系统也可从其定位信息历史记录中提取出其上一次执行定位功能所得到的位置信息并作为上述第一位置信息。其后，车载系统还可获取到其当前使用的第二地图所对应的地图版本号。然后，车载系统可基于其与第一终端设备之间的通信协议生成一个第一消息，该第一消息中包含有上述第一位置信息和地图版本号。
S502，车载系统向地图服务器发送第一消息。
具体实现中，车载系统在生成上述第一消息之后，即可通过网络将上述第一消息发送给地图服务器。
S503，地图服务器接收第一消息，提取出上述第一位置信息和地图版本号。
具体实现中，地图服务器通过网络接收到上述第一消息之后，可基于其与第一终端设备之间的通信协议对上述第一消息进行解析，以从上述第一消息中提取出第一位置信息和地图版本号。
S504，地图服务器根据上述第一位置信息和地图版本号确定出第一参照物并根据第一参照物生成第二消息。
具体实现中，地图服务器在提取出上述第一位置信息和地图版本号之后，可先根据上述地图版本号从其数据库所保存的多种版本的地图中查询到第一终端设备当前正在使用的第二地图。然后，地图服务器可以以第一位置信息中的经纬度所指示的地理位置为圆心，以1000米为半径，在上述第二地图中划定出一个圆形区域作为筛选区域。地图服务器可提取出上述筛选区域中包括的所有参照物(这里假设为N2个第二参照物)。然后，地图服务器可根据上述N2个第二参照物中各第二参照物的一个或者多个属性特征的测量值和/或匹配参量从上述N2个第二参照物中确定出一个或者多个第一参照物(这里假设为N1个，N1为小于或者等于N2个正整数)。地图服务器根据各第二参照物的一个或者多个属性特征的测量值和/或匹配参量从N2个第二参照物中确定出N1个第一参照物的具体过程可参见实施例一的方式二所描述的确定N1个第一参照物的过程，此处便不再赘述。
地图服务器在确定出N1个第一参照物之后，可从其数据库中提取到上述N1个第一参照物中各个第一参照物的编号，然后基于其与第一终端设备之间的通信协议生成第二消息，该第二消息中包括各第一参照物的编号。
S505，地图服务器向车载系统发送第二消息。
具体实现中，地图服务器生成上述第二消息之后，即可通过网络将上述第二消息发送给第一终端设备。
S506，车载系统接收第二消息并确定出上述第一参照物。
具体实现中，车载系统通过网络接收到上述第二消息之后，可基于其与第一终端设备之间的通信协议对上述第二消息进行解析，以从上述第二消息中提取出各第一参照物的编号，从而进一步确定出上述N1个第一参照物。
S507，车载系统根据上述第一参照物进行融合定位得到第二位置信息，并用该第二位置更新上述第一位置信息。
具体实现中，车载系统在确定出上述N1各个第一参照物之后，可先通过其安装的摄像头、雷达等传感装置对各第一参照物的至少一个属性特征进行测量，以得到各个第一参照物的各个属性特征的测量结果(为了与前文区别，后续以实时观测值代替描述)。然后，车载系统可从其使用的第二地图对应的地图数据中提取出各第一参照物的各属性特征的参考值，并基于各第一参照物的各个属性特征的实时观测值和参考值进行特征匹配。具体匹配过程可参见实施例一的步骤S150中所描述的匹配过程，此处便不再赘述。继而车载系统可获取到上述N1参照物中匹配成功的一个或者多个第一参照物。然后，车载系统可从第一地图的地图数据中提取处这一个或者多个第一参照物的位置数据，并根据这一个或者多个第一参照物的位置数据估算出其当前的第二位置信息。之后，车载系统还可基于惯性测量仪进行定位，以得到第三位置信息。然后，车载系统可对上述第一位置信息、第二位置信息和第三位置信息中包括的经度和纬度进行均值计算，并将计算到的经度的平均值和纬度的平均值作为车载系统的第四位置信息中包括的经纬度。最后，车载系统可将上述第一位置信息中的经纬度更新为上述第四位置信息中的经纬度。这里，更新后的第一位置信息即为车载系统本次执行定位功能得到的定位结果。
在本申请实施例中，地图服务器可根据车载系统的第一位置信息和地图版本号为车载系统筛选出适用的第一参照物并推送给车载系统，以使得后续车载系统可使用适用的第一参照物进行定位。这样，可以避免车载系统因使用损坏或者被遮挡等不适用的参照物进行定位导致的定位精度低的问题，从而可以提升避免车载系统的定位精度。
实施例三
请参见图6，图6是本申请实施例提供的一种定位方法又一流程示意图。该定位方法也适用于图1所示的定位系统。由图6可知，该定位方法可包括：
S610，服务器生成特征查询消息。
在一些可能的实施方式中，服务器可先根据预设的参照物查询规则从其使用的第一地图中标记的参照物中确定出一个或者多个参照物。这里，上述参照物查询规则用于筛选一属性特征的值容易发生变化(即属性特征的稳定度低)的参照物。为了方便理解和区别，后文将以N4个第四参照物代替描述。然后，服务器可根据该N4个第四参照物的标识信息生成一个特征查询消息。这里需要说明的是，上述第二终端设备具体指代的是能够对自身或者周围其他参照物的属性特征进行测量并将属性特征的测量结果和/或计算得到的属性特征的匹配参量上报给服务器的设备。比如，上述第二终端设备可以就是上述第一终端设备，也可以是诸如RSU等装置，还可以是一些仅能检测自身属性特征的参照物。
具体实现中，服务器可先从其数据库中提取出上述第二终端设备的位置信息(为方便区别，下文将以第五位置信息代替描述)。然后，服务器可根据该第五位置信息从第一地图中确定出一个或者多个参照物(为方便区别，下文将以N8个第八参照物代替描述)，具体过程可参见前文叙述的服务器根据第一位置信息从第一地图中确定出N2个第二参照物的过程，此处便不再赘述。然后，服务器可根据这N8个第八参照物中各第八参照物的各属性特征的匹配参量计算出各第八参照物的组合匹配参量，并将组合匹配参量小于第三预设参量的第八参照物确定为上述第四参照物，从而得到N4个第四参照物。或者，服务器也可从其数据库提取出各第八参照物的至少一个属性特征对应的稳定度参量。若服务器确定 出某个第八参照物至少有预设个数个属性特征的稳定度参量都低于第一预设稳定度参量，则可将该第八参照物确定为上述第四参照物。重复该操作，即可得到N4个第四参照物。可以理解到的是，服务器还可通过其他方式从上述N8个第八参照物中确定出上述第四参照物，本申请不作具体限制。
进一步的，服务器在确定出上述N4个第四参照物之后，可提取出各第四参照物标识信息以及各第四参照物中稳定度参量小于第一预设稳定度参量的一个或者多个属性特征，然后基于这些标识信息以及这一个或者多个属性特征生成上述特征查询消息。
例如，假设上述第四参照物中包括参照物A和参照物B，参照物A的属性特征1和属性特征2的稳定度参量低于第一预设稳定度参量。参照物B的属性特征1的稳定度参量低于第一预设稳定度参量。若上述第二终端设备就是参照物A或者参照物B，则服务器可分别针对参照物A和参照物B生成特征查询消息。参照物A对应的特征查询消息中可包括属性特征1和属性特征2。参照物B对应的特征查询消息中可包括参照属性特征1。比如，参照物A的特征查询消息的格式可以为{编号1，属性特征1，属性特征2}。若上述第二终端设备是可以对参照物A和参照物B进行检测的设备(如第一终端设备或者RSU)，则服务器可生成第一特征查询信息，该特征查询信息中可包括参照物A的标识信息和与参照物A的标识信息关联的属性特征1和属性特征2，以及，参照物B的标识信息以及与参照物B的标识信息相关联的属性特征1。比如，该特征查询消息的具体格式可以为{[编号1，属性特征1，属性特征2]，[编号2，属性特征1]}。
可选的，上述特征查询消息中还可包括第四参照物的至少一个属性特征对应的上报方式指示信息。任一属性特征的上报方式指示信息都用于指示后续第二终端设备上报该属性特征的测量值和/或匹配参量所采用的上报方式。这里，上述上报方式主要可以包括周期性上报和非周期性上报。上报方式指示信息可包括第一指示信息和第二指示信息，该第一指示信息用于指示周期性上报方式，第二指示信息用于指示非周期性上报方式。具体实现中，若服务器确定第四参照物的某个需要被上报的属性特征的稳定度参量小于第二预设稳定度参量，则可确定该属性特征可使用周期性上报的方式，从而确定该属性特征对应第一指示信息。当服务器确定该属性特征的稳定度参量等于或者大于第二预设稳定度参量，则可确定该属性特征可使用非周期性上报的方式，从而确定该属性特征对应第一指示信息。
此外，需要补充的是，若某个属性特征需要周期性上报，则这个上报周期可以是服务器与第二终端设备预先协商好的，也可以是服务器通过上述特征查询消息指定的。若某个属性特征需要非周期性上报，则上报信息的节点可以是服务器与第二终端设备预先协商好的，也可以是服务器通过上述特征查询消息指定的。
下面，结合前文叙述的内容以及上述第二终端设备的类型对上述特征查询消息的具体格式进行举例描述。例如，假设第二终端设备为参照物本身，例如参照物A，则发送参照A的特征查询消息具体可为{属性特征1，属性特征2}，指示了参照物A上报属性特征1和属性特征2的相关信息。或者，参照物A的特征查询消息也可以是{属性特征1，第一指示信息，属性特征2，第二指示信息}，指示了参照物A采用周期性上报的方式上报属性特征1的相关信息，采用非周期性上报的方式上报属性特征2的相关信息。又例如，假设第二终端设备为第一终端设备或者RSU，则发送给第二终端设备的特征查询消息具体可以为 {编号1，属性特征1，编号2，属性特征2}，指示了第二终端设备上报标识信息为编号1的参照物的属性特征1和标识信息为编号2的参照物的属性特征2的相关信息。或者，也可以为{编号1，属性特征1，第一指示信息，编号2，属性特征2，第二指示信息}，指示了第二终端设备可周期性上报标识信息为编号1的参照物的属性特征1的相关信息，采用非周期性上报方式上报标识信息为编号2的参照物的属性特征2的相关信息。当然，可理解到的是，特征查询消息的内容也可由属性特征、参照物的标识信息、属性特征的上报方式这几项采用其他不同的组合方式构成，本申请实施例便不再赘述。
S620，服务器将该特征查询消息发送给第二终端设备。
在一些可能的实施方式中，服务器在生成上述特征查询消息之后，可通过网络将该特征查询消息发送给第二终端设备。
S630，第二终端接收上述特征查询消息并生成特征报告消息。
在一些可能的实施方式中，第二终端设备通过网络接收到上述特征查询消息后，可根据该特征查询消息的内容确定出各第四参照物属性特征(这些属性特征的测量值和匹配参量是需要上报的)。可以理解的是，这些属性特征可以是第二终端设备自身的属性特征，也可以是第二终端设备周围的某些参照物的属性特征，本申请不作具体限制。然后，第二终端设备可通过其上的传感器测量得到各第四参照物的各属性特征的测量值。然后，第二终端设备可从其当前使用的地图的数据库中提取出上述各第四参照物的各属性特征的参考值，并基于各第四参照物的各属性特征的测量值和参考值确定出各第四参照物的各属性特征的匹配参量。之后，第二终端设备可根据各第四参照物的各属性特征的测量值和匹配参量生成上述特征报告消息。
可选的，由于第二终端设备确定每个属性特征的匹配参量的过程相同，下面将以第二终端设备确定属性特征1的匹配参量的为例进行描述。具体实现中，第二终端设备可先通过其自身的传感器测量得到上述属性特征1的测量值(这里假设为L1)。然后，第二终端设备可获取到上述属性特征1的参考值(这里假设为L2)。之后，第二终端设备可判断属性特征1的测量值与参考值是否相同。若确定相同，则可确定属性特征1对应的匹配参量为1。若确定不相同，则可确定属性特征1对应的匹配参量为0。或者，第二终端设备可计算出属性特征1的测量值与参考值之间的差值L2-L3。若第二终端设备确定L2-L3在预设的误差范围内，则可确定属性特征1对应的匹配参量为1。若第二终端设备确定L2-L3不在预设的误差范围内，则可确定属性特征1对应的匹配参量为0。又或者，第二终端设备可设定有多个允许误差范围，不同的允许误差范围对应有不同的匹配参量。例如，第一允许误差范围对应的匹配参量为1，第二允许误差范围对应的匹配参量为2。第一允许误差范围包含第二允许误差范围。若第二终端设备确定L2-L3不在第一允许误差范围内，则可确定属性特征1的匹配参量为0。若第二终端设备确定L2-L3在第一允许误差范围内但不在第二允许范围内，则可确定属性特征1的匹配参量为1。若第二终端设备确定L2-L3在第二允许误差范围内，则可确定属性特征1的匹配参量为2。当然，需要说明的是，第二终端设备也可设定有其他不同的规则来指示属性特征的测量值和参考值与匹配参量之间的关系，本申请不作具体限制。
可选的，在上述第二终端设备为第一终端设备的情况下，其对应的属性特征中通常会 包括第一终端设备的位置信息及其匹配参量。这样可以使得服务器能够基于第一终端设备的位置信息及其匹配参量来确定第一终端设备是否一直处于移动状态，从而能够更好的为第一终端设备选择合适的参照物。
进一步的，在第二终端设备确定出各第四参照物的各属性特征的测量值与匹配参量后，可根据各第四参照物的各属性特征的测量值与匹配参量生成特征上报消息。需要说明的是，若这些第四参照物的属性特征的上报方式同时有周期性上报和非周期性上报，则第二终端设备可分别根据每个属性特征的上报方式的不同生成不同的特征上报消息。
需要补充说明的是，在本实施例中，第二终端设备也可主动生成特征上报消息而无需在接收到服务器发送的特征查询消息之后才生成特征上报消息。具体实现中，当第二终端设备检测到预设的特征上报条件(如预设的上报周期或者上报时间节点到达)被满足时，其可根据预设的参照物查询规则从其当前使用的第二地图中或者其采集的环境信息中确定出上述N4个第四参照物。具体过程可一并前文叙述的服务器根据预设的参照物查询规则确定出N4个第四参照物的过程，此处便不再赘述。然后，第二终端设备也可从第二地图的地图数据中提取出各第四参照物标识信息以及各第四参照物中稳定度参量小于第一预设稳定度参量的一个或者多个属性特征，并确定这些属性特征的测量值和/或匹配参量需要上报。具体过程可参见前文叙述的服务器确定一个或者多个需要上报的属性特征的过程，此处便不再赘述。然后，第二终端设备即可基于这些标识信息以及这一个或者多个属性特征生成上述特征上报消息。
S640，第二终端设备向服务器发送特征上报消息。
在一些可能的实施方式中，第二终端设备生成上述特征上报消息后，可通过网络将上述特征上报消息发送给服务器。
S650，服务器接收特征报告消息，并根据特征报告消息进行数据库的更新。
在一些可能的实施方式中，服务器接收到上述特征报告消息后，可提取出特征报告消息中包括的各第四参照物的各属性特征的测量值和/匹配参量。然后，服务器可将其数据库中存储的上述各第四参照物的各属性特征的测量值和/匹配参量更新为上述特征报告消息中包括的各第四参照物的各属性特征的测量值和/匹配参量。例如，假设特征报告消息中包括参照物A的测量值L1和匹配参量C1。服务器可将其数据库中存储的参照物A的测量值由原来的之前的L4更新L1，匹配参量由之前的C2更新为现在的C1。
需要补充的是，在一种可选的实现中，服务器可对其数据库中存储的参照物的属性特征的参考值进行更新。例如，若服务器确定在预设时段内其接收得到的某个属性特征的测量值都是L5，则可将该属性特征的参考值更新为L5。在又一种可选的实现中，服务器也可通过第二设备上报的某个属性特征的参考值对其数据库中该属性特征的参考值进行更新。
在本申请实施例中，服务器可基于第二终端设备上报的参照物的属性特征的测量值和匹配参量对其数据库中存储的参照物的属性特征的测量值和/或匹配参量进行更新，能保证数据库中与参照物关联的数据的真实性和可靠性。
实施例四
请参见图7，图7是本申请实施例提供的一种定位方法又一流程示意图。由图7可知，该定位方法包括：
S710，地图服务器生成包含有参照物的属性特征的特征查询消息。
具体实现中，地图服务器可先获取到车载系统的位置信息(为了方便区别，下文将以第五位置信息代替描述)。然后，地图服务器可以以上述第五位置信息所指示的地理位置为圆心，以50米为半径，在地图服务器当前使用的第一地图中划定出一个圆形区域。然后，地图服务器可获取到这个圆形区域中所标定的所有参照物(这里假设为N8个第八参照物，N8为正整数)。其后，地图服务器可从其使用的数据库中获取到上述N8个第八参照物中各第八参照物对应的至少一个属性特征的匹配参量，并根据各第八参照物的至少一个属性特征的匹配参量计算出各第八参照物对应的组合匹配参量。具体计算过程可参见实施例一的步骤S130中所描述的计算各第二参照物的组合匹配参量的过程，此处便不再赘述。之后，地图服务器可将上述N8个第八参照中组合匹配参量小于第三预设参量的第八参照物确定为特征查询消息中应该包含的参照物(这里，为了方便区别，下文将以第四参照物代替描述)。地图服务器通过上述第三预设参量分别对各第八参照物进行判定，即可确定出至少一个第四参照物(这里假设为N4个第四参照物)。
之后，地图服务器可从数据库中提取出各第四参照物的至少一个属性特征中各属性特征的稳定度参量，再从各第四参照物的至少一个属性特征中确定出稳定度参量小于第一预设稳定度参量的一个或者多个属性特征(为方便区别，下文将以待上报属性特征代替描述)。其后，地图服务器可基于其与车载系统之间预定的通信协议生成一个包含有各第四参照物的标识信息和各第四参照物的至少一个待上报属性特征的特征查询消息。
S720，地图服务器向车载系统发送特征查询消息。
具体实现中，地图服务器在生成上述特征查询消息之后，可通过网络将上述特征查询消息发送给车载系统。
S730，车载系统接收特征查询消息，并确定该参照物的属性特征的测量值和匹配参量。
具体实现中，车载系统通过网络接收到特征查询消息后，可基于上述通信协议对特征查询消息进行解析，以提取出上述特征查询消息中包含的各第四参照物的标识信息和各第四参照物对应的至少一个待上报属性特征。
然后，车载系统可通过车辆安装的摄像头、雷达等传感装置对上述各第四参照的各待上报属性特征进行检测或者/测量，以获取到各第四参照的各待上报属性特征测量值。之后，车载系统可从其使用的第二地图对应的数据库中提取出上述各第四参照物的各待上报属性特征的参考值，并根据各第四参照物的各上报属性特征的测量值和参考值计算出各第四参照的各待上报属性特征的匹配参量。具体计算过程可参见前文实施例三的步骤S610中所描述的计算匹配参量的过程，此处便不再赘述。
S740，车载系统根据参照物的属性特征和匹配参量生成特征报告消息。
具体实现中，车载系统在获取到各第四参照物的各待上报属性特征的测量值和匹配参量之后，可根据上述通信协议生成包含有各第四参照物的各待上报属性特征的测量值和匹配参量的特征报告消息。
S750，车载系统向地图服务器发送上述特征报告消息。
具体实现中，车载系统在生成上述特征报告消息之后，可通过网络将该特征报告消息发送给地图服务器。
S760，地图服务器接收特征报告消息，并根据特征报告消息进行数据库的更新。
具体实现中，地图服务器通过网络接收到上述特征报告消息后，可通过上述通信协议对该特征报告消息进行解析，以获取到上述各第四参照物的各待上报属性特征的测量值和匹配参量。之后，地图服务器可将其数据库存储的上述各第四参照物的各待上报属性特征的测量值和匹配参量更新为上述特征报告消息中包含的上述各第四参照物的各待上报属性特征的测量值和匹配参量，从而完成数据库的更新。
在本申请实施例中，地图服务器基于车载系统上报的参照物的属性特征的测量值和匹配参量对其数据库中存储的参照物的属性特征的测量值和/或匹配参量进行更新，能保证数据库中与参照物关联的数据的真实性和可靠性。
请参见图8，图8是本申请实施例提供的一种装置一结构框图。该装置可以是实施例一中描述的服务器。如图8所示，该装置包括：
收发单元802，用于接收来自于第一终端设备的第一消息。这里，所述第一消息中包括所述第一终端设备确定的第一位置信息。
处理单元801，用于根据所述第一位置信息确定第一参照物。
所述收发单元802，还用于向所述第一终端设备发送第二消息。这里，所述第二消息中包括所述第一参照物的标识信息，所述第一参照物的标识信息用于所述第一终端设备更新所述第一位置信息。
在一些可能的实施方式中，所述处理单元801具体用于根据所述第一位置信息从所述处理单元801当前使用的第一地图中确定第二参照物。根据所述第二参照物的至少一个属性特征的匹配参量从所述第二参照物中确定第一参照物。其中，所述第二参照物的至少一个属性特征的匹配参量存储于所述服务器中，任一属性特征的匹配参量用于指示所述任一属性特征的测量值与所述任一属性特征的参考值之间的匹配程度。
在一些可能的实现方式中，假设上述第二参照物有N2个，上述第一参照物有N1个。处理单元801用于根据所述服务器存储的所述N2个第二参照物中各第二参照物的至少一个属性特征中各属性特征的匹配参量计算出所述各第二参照物的组合匹配参量。这里，一个第二参照物对应一个组合匹配参量。所述服务器根据所述各第二参照物的组合匹配参量从所述N2个第二参照物中确定出N1个第一参照物。
在一些可能的实现方式中，假设上述第二参照物有N2个，上述第一参照物有N1个。所述处理单元801可用于根据所述N2个第二参照物中各第二参照物的至少一个属性特征中各属性特征的匹配参量确定出各第二参照物的组合匹配参量。然后，所述服务器根据所述各第二参照物的组合匹配参量和所述各第二参照物的至少一个目标属性特征的测量值从所述N2个第二参照物中选择出N1个第一参照物。这里，该目标属性特征可由每个参照物的一个多个属性特征确定。
在一些可能的实施方式中，所述第一消息还包括由所述第一终端设备根据所述第一位置信息和/或所述第一终端设备的环境信息确定出的第三参照物。所述处理单元801用于根据第二参照物和所述第三参照物确定出第一参照物。其中，所述第二参照物为所述处理单元801根据所述第一位置信息从第一地图中确定得到，所述第一地图为所述服务器当前使用的地图。
在一些可能的实施方式中，所述第一消息还包括所述第一终端设备的地图版本信息，所述处理单元801用于根据第二参照物和第三参照物确定出第一参照物，其中，所述第二参照物为所述处理单元801根据所述第一位置信息从第一地图中确定得到，所述第一地图为所述处理单元801当前使用的地图，所述第三参照物为所述处理单元801根据所述第一位置信息从第二地图中确定得到，所述第二地图为所述地图版本信息对应的地图。
在一些可能的实现方式中，所述第一消息中还包括所述第一终端设备的地图版本信息。所述处理单元801用于根据所述第一位置信息从第二地图中确定出第一参照物。其中，所述第二地图为所述地图版本信息对应的地图。
在一些可能的实现方式中，所述第一消息中还包括所述第一终端设备的环境信息，所述处理单元801用于根据所述第一位置信息从第一地图和所述环境信息中确定出第一参照物，其中，所述第一地图为所述处理单元801当前使用的地图。
在一些可能的实现方式中，所述第二消息还包括所述第一参照物的至少一个属性特征的测量值和/或匹配参量，其中，所述第一到参照物的至少一个属性特征的测量值和/或匹配参量用于所述第一终端设备更新所述第一位置信息。
在一些可能的实现方式中，所述收发单元802还用于接收来自于第二终端设备的特征上报消息。其中，所述特征上报消息中包括第四参照物的至少一个属性特征的测量值和/或匹配参量。
所述处理单元801还用于根据所述第四参照物的至少一个属性特征的测量值和/或匹配参量对存储的所述第四参照物的至少一个属性特征的测量值和/或匹配参量进行更新。
在一些可能的实现方式中，所述收发单元802还用于向所述第二终端设备发送特征查询消息，其中，所述特征查询消息中包括所述第四参照物的至少一个属性特征。
在一些可能的实现方式中，所述特征查询消息中还包括所述至少一个属性特征中各属性特征对应的上报方式指示信息，任一属性特征对应的上报方式指示信息用于指示所述任一属性特征的上报方式。
在一些可能的实施方式可能的实施方式可能的实施方式中，所述上报方式包括周期性上报和非周期性上报。可选地，稳定度参量高的属性特征对应的上报方式为非周期性上报。稳定度参量低的属性特征对应的上报方式为周期性上报。
在一些可能的实施方式可能的实施方式可能的实施方式中，所述第二消息中还包括适用范围指示信息，所述适用范围指示信息用于指示所述第二消息所适用的预设地理范围。
在一些可能的实施方式可能的实施方式可能的实施方式中，所述适用范围指示信息由所述服务器根据所述服务器的负载量确定。所述服务器的负载量越大，所述服务器确定出的目标指示信息所指示的所述参照物配置消息所适用的预设地理范围越大。
具体实现中，收发单元802可先接收第一终端设备的第一消息。然后触发处理单元801根据该第一消息生成包含第一参照物的第二消息。然后，收发单元802可将该第二消息发送给第一终端设备。具体过程可参见实施例一种描述的服务器所执行的多个步骤，此处便不再赘述。
在本申请实施例中，服务器可根据第一终端设备的第一位置信息为第一终端设备筛选出适用的第一参照物并推送给第一终端设备。这样第一终端设备即可使用适用的第一参照 物进行定位，可避免因使用损坏或者被遮挡等不适用的参照物进行定位导致的定位精度低的问题，从而可提升第一终端设备的定位精度。
本申请实施例还提供了一种计算机可读介质，其上存储有计算机程序，该计算机程序被计算机执行时实现上述实施例一中服务器执行的方法或者步骤。
本申请实施例还提供了一种计算机程序产品，该计算机程序产品被计算机执行时实现上述实施例一中服务器执行的方法或者步骤。
请一并参见图8，该装置还可以是实施例一中的第一终端设备。其中：
收发单元802，用于向服务器发送第一消息。其中，所述第一消息中包括所述第一终端设备的第一位置信息。
所述收发单元802，还用于接收来自服务器的第二消息。其中，所述第二消息中包括第一参照物的标识信息，所述第一参照物由所述服务器根据所述第一位置信息确定。
处理单元801，用于根据所述第一参照物的标识信息更新所述第一位置信息。
在一些可能的实现方式中，所述第一消息中还包括所述第一终端设备的地图版本信息，其中，所述地图版本信息用于所述服务器确定所述第一参照物。
在一些可能的实现方式中，所述第一消息中还包括第三参照物，其中，所述第三参照物由所述第一终端设备根据所述第一位置信息或者所述第一终端设备的环境信息确定得到，所述第三参照物用于所述服务器确定所述第一参照物。
在一些可能的实现方式中，所述第一消息中还包括所述第一终端设备的环境信息。其中，所述环境信息用于所述服务器确定所述第一参照物。
在一些可能的实现方式中，所述第二消息中还包括所述第一参照物的至少一个属性特征的测量值和/或匹配参量。所述处理单元801用于：根据所述第一参照物的至少一个属性特征的测量值和/或匹配参量和所述第一参照物确定出第五参照物，根据所述第五参照物更新所述第一位置信息。
具体实现中，收发单元802可先生成并向服务器发送包含第一位置信息的第一消息，然后，收发单元802可接收包含有服务器根据第一位置信息确定的第一参照物的第二消息。然后，处理单元801可根据该第一参照物更新上述第一信息。具体过程可参见实施例一中第一终端设备执行的多个步骤，此处便不再赘述。
在本申请实施例中，第一终端设备可使用服务器筛选出适用的第一参照物进行定位，可避免因使用损坏或者被遮挡等不适用的参照物进行定位导致的定位精度低的问题，从而可提升第一终端设备的定位精度。
本申请实施例还提供了一种计算机可读介质，其上存储有计算机程序，该计算机程序被计算机执行时实现上述实施例一中第一终端设备执行的方法或者步骤。
本申请实施例还提供了一种计算机程序产品，该计算机程序产品被计算机执行时实现上述实施例一中第一终端设备执行的方法或者步骤。
请一并参见图8，,该装置还可以是实施例一中描述的第二终端设备。其中：
处理单元801，用于生成特征上报消息，其中，所述特征上报消息包括第四参照物的至少一个属性特征的测量值和/或匹配参量，任一属性特征的匹配参量用于指示所述任一属性特征的测量值与所述任一属性特征的参考值之间的匹配程度，所述第四参照物的至少一 个属性特征的测量值和/或匹配参量用于对服务器存储的所述第四参照物的至少一个属性特征的测量值和/或匹配参量进行更新；
收发单元802，用于向所述服务器发送所述特征上报消息。
在一些可能的实现方式中，所述处理单元801用于：
获取所述第四参照物的至少一个属性特征中各属性特征的测量值；
根据所述各属性特征的测量值与所述各属性特征的参考值计算出所述各属性特征的匹配参量。
在一些可能的实现方式中，所述收发单元802还用于：
接收来自服务器的特征查询消息，其中，所述特征查询消息中包括所述第四参照物的至少一个属性特征。
在一些可能的实现方式中，所述特征查询消息中还包括所述第四参照物的至少一个属性特征中各属性特征对应的上报方式指示信息，任一属性特征对应的上报方式指示信息用于指示所述任一属性特征的上报方式。
在一些可能的实现方式中，所述适用范围指示信息由所述服务器根据所述服务器的负载量确定。所述服务器的负载量越大，所述服务器确定出的目标指示信息所指示的所述参照物配置消息所适用的预设地理范围越大。
具体实现中，处理单元801可先生成特征上报消息，其中，所述特征上报消息包括第四参照物的至少一个属性特征的测量值和/或匹配参量。然后，收发单元802可向所述服务器发送所述特征上报消息。具体过程可参见实施例一中描述的第二终端设备所执行的多个步骤，此处便不再赘述。
在本申请实施例中，第二终端设备能够通过特征上报消息向服务器发送一些参照物的属性特征的测量值和匹配参量，以使得服务器能够及时的对其数据库中存储的参照物的属性特征的测量值和参考值进行更新，从而保证了服务器存储的参照物的属性特征的测量值和参考值的可靠性和适用性。
本申请实施例还提供了一种计算机可读介质，其上存储有计算机程序，该计算机程序被计算机执行时实现上述实施例一中第二终端设备执行的方法或者步骤。
本申请实施例还提供了一种计算机程序产品，该计算机程序产品被计算机执行时实现上述实施例一中第二终端设备执行的方法或者步骤。
请参见图9，图9是本申请实施例提供的一种装置又一结构示意图。该装置可以为车辆，第一终端设备可以以该装置的形式得以实现。由图9可知，该装置包括各种系统，例如行进系统902、传感器系统903、控制系统904、一个或多个外围设备905以及计算机系统901等。可选地，该装置可包括更多或更少的系统，并且每个系统可包括多个元件。另外，该装置的每个系统之间可以通过有线或者无线互连。
行进系统902可包括为该装置提供动力运动的组件。在一个实施例中，行进系统902可包括引擎、传动装置和车轮/轮胎等。
传感器系统903可包括感测关于该装置周边的环境的信息的若干个传感器。例如，传感器系统903可包括全球定位系统(全球定位系统可以是GPS系统，也可以是北斗系统或者其他定位系统)、惯性测量单元、激光测距仪以及相机等。传感器系统903还可包括该装 置的内部系统的传感器(例如，空气质量监测器、燃油量表、机油温度表等)。来自这些传感器中的一个或多个的传感器数据可用于检测对象及其相应特性(位置、形状、方向、速度等)。
控制系统904可以控制该装置及其组件的操作。控制系统904可包括各种元件，例如可包括转向系统、油门、制动单元等。
该装置还可通过外围设备905与外部传感器、其他装置、其他计算机系统或用户之间进行交互。外围设备905可包括无线通信系统麦克风和/或扬声器等。
计算机控制系统中包括处理器9012和存储器9011。处理器9012可以是任何常规的处理器，诸如商业可获得的CPU。可选地，该处理器也可以是诸如ASIC或其它基于硬件的处理器的专用设备。尽管图9功能性地图示了处理器、存储器以及在相同块中的计算机系统的其它元件，但是本领域的普通技术人员应该理解该处理器、计算机、或存储器实际上可以包括可以或者可以不存储在相同的物理外壳内的多个处理器、计算机、或存储器。
在一些实施例中，存储器9011中可包含指令(例如，程序逻辑)，该指令可被处理器9012执行来执行该装置的各种功能，包括以上描述的那些功能。存储器9011中也可包含额外的指令，包括向推进系统、传感器系统、控制系统和外围设备中的一个或多个发送数据、从其接收数据、与其交互和/或对其进行控制的指令。
可选地，上述组件只是一个示例，实际应用中，上述各个系统中的组件有可能根据实际需要增添或者删除，图9不应理解为对本发明实施例的限制。
需要说明的是，图6所述的处理单元601可以就是该装置中的计算机系统901，收发单元602可以就是该装置中的传感系统903以及无线通信系统。
具体实现中，在上述各个系统之间相互协作并使得该装置处于正常工作状态下，上述存储器9011中可存储有上述实施例一和实施例二中的第一终端设备所执行的定位方法所对应的代码。上述处理器9012可执行该代码，以实现第一终端设备所执行的定位方法中的各个步骤。
例如，处理器9012可接收传感系统中的全球定位系统发送的第一位置信息，并根据改第一位置信息生成第一消息。处理器9012可通过外围设备905中的无线通信系统将该第一消息发送给地图服务器。然后，处理器9012又可通过上述无线通信系统接收地图服务器发送的第二消息。之后，处理器9012又可获取到该第二消息中包括的第一参照物，并根据第一参照物对上述第一位置信息进行更新。
这里，处理器9012执行代码以实现第一终端设备所执行的定位方法中的各个步骤的过程可参加前文实施例一和实施例二中的描述，此处便不再赘述。
请参见图10，图10是本申请实施例提供的一种装置又一结构示意图。该装置可以为车载系统，第一终端设备也可以以该装置的形式得以实现。该装置包括至少一个处理器1001、至少一个存储器1002、至少一个无线通信模块1003以及传感模块1004。该传感模块1004中可包括多种传感器件，如、全球定位系统、雷达、激光测距仪、相机等，此处不作具体限制。这里，所述处理器1001、所述存储器1002、所述无线通信模块1003和所述传感模块1004通过通信总线或者通信接口连接并完成相互间的通信。
需要说明的是，图6中的处理单元601的功能即可由处理器1001和存储器1002来实 现，收发单元602的功能即可由无线通信模块1003和传感模块1004来实现。
具体实现中，所述存储器1002用于存储执行上述实施例一或实施例二中第一终端设备所实现的定位方法的应用程序代码，处理器1001用来控制执行该代码，以结合所述存储器1002、所述无线通信模块1003和传感模块1004来实现上述第一终端设备所要实现的各种功能。具体过程可参见前文实施例一或者实施例二中第一终端设备所执行的各个步骤的内容，此处便不再赘述。
请参见图11，图11是本申请实施例提供的一种芯片一结构示意图。第一终端设备也可以以该芯片的形式存在。该芯片主要可包括处理器1101以及耦合于处理1101的一个或者多个接口电路1102。
示例性的，处理器1101可用于读取和执行计算机可读指令。具体实现中，处理器1101可主要包括控制器、运算器和寄存器。示例性的，控制器主要负责指令译码，并为指令对应的操作发出控制信号。运算器主要负责执行定点或浮点算数运算操作、移位操作以及逻辑操作等，也可以执行地址运算和转换。寄存器主要负责保存指令执行过程中临时存放的寄存器操作数和中间操作结果等。具体实现中，处理器1101的硬件架构可以是专用集成电路(application specific integrated circuits，ASIC)架构、无互锁管道阶段架构的微处理器(microprocessor without interlocked piped stages architecture，MIPS)架构、进阶精简指令集机器(advanced RISC machines，ARM)架构或者NP架构等等。处理器1101可以是单核的，也可以是多核的。
示例性的，接口电路1102可用于输入待处理的数据至处理器1101，并且可以向外输出处理器1101的处理结果。具体实现中，接口电路1102可以是通用输入输出(general purpose input output，GPIO)接口，可以和多个外围设备(如无线通信模块、传感模块等等)连接。接口电路1102通过总线1703与处理器1101相连。
具体实现中，处理器1101可用于从存储器中调用上述实施例一或者实施例二中第一终端设备所实现的定位方法的代码，使得该芯片可以实现实施例一或者实施例二中第一终端设备所实现的定位方法的各个步骤。存储器可以和处理器1101集成在一起，也可以通过接口电路1102与芯片相耦合，也就是说存储器可以是芯片的一部分，也可以独立于该芯片。接口电路1102可用于输出处理器1101的执行结果。示例性的，本申请中，接口电路1102可具体用于输出处理器1101确定的第二消息。关于本申请的4个实施例提供的定位方法可参考前述各个实施例，这里不再赘述。
需要说明的，处理器1101、接口电路1102各自对应的功能既可以通过硬件设计实现，也可以通过软件设计来实现，还可以通过软硬件结合的方式来实现，这里不作限制。
请一并参见图9，第二终端设备也可以以该装置的形式得以实现，该装置的具体内容此次便不再赘述。
具体实现中，在上述各个系统之间相互协作并使得该装置处于正常工作状态下，上述存储器9011中可存储有上述实施例三和实施例四中的第二终端设备所执行的定位方法所对应的代码。上述处理器9012可执行该代码，以实现第二终端设备所执行的定位方法中的各个步骤。
例如，处理器9012可先通过无线通信系统接收服务器发送的特征查询消息。然后处理 器9012可通过传感系统903来获取到第四参照物的属性特征的测量值，再计算出第四参照物的属性特征的属性参量，并生成包含有第四参照物的属性特征的测量值和匹配参量的特征报告消息。然后，处理器9012可通过外围设备905中的无线通信系统将该特征报告消息发送给服务器。
这里，处理器9012执行代码以实现第二终端设备所执行的定位方法的过程可参加前文实施例三或者实施例四中的描述，此处便不再赘述。
请一并参见图10，第二终端设备也可以以该装置的形式得以实现，该装置的具体内容此次便不再赘述。
具体实现中，所述存储器1002用于存储执行上述实施例三或者实施例四中第一终端设备所实现的定位方法的应用程序代码，处理器1001用来控制执行该代码，以结合所述存储器1002、所述无线通信模块1003和传感模块1004来实现上述第二终端设备所要实现的各种功能。例如，无线通信模块1004可接收服务器发送的特征查询消息并传输给处理器1001。处理器1001可通过传感模块获取待第四参照物的属性特征的测量值，计算出第四参照物的属性特征的匹配参量并生成特征报告消息。无线通信模块1003可再将该特征报告消息发送给服务器。具体过程可参见前文实施例三或者实施例四中第二终端设备所执行的各个步骤的内容，此处便不再赘述。
请一并参见图11，第二终端设备也可以以该芯片的形式得以实现，该芯片的具体内容此次便不再赘述。
具体实现中，处理器1101可用于从存储器中调用上述实施例三或者实施例四中第二终端设备所实现的定位方法的代码，使得该芯片可以实现实施例三或者实施例四中第二终端设备所实现的定位方法的各个步骤。
例如，无线通信模块可接收服务器发送的特征查询消息并通过接口电路1102将该特征查询消息传输给处理器1101。处理器1101可通过接口电路1102从传感模块处获取到传感模块检测到的第四参照物的属性特征的测量值，计算出第四参照物的属性特征的匹配参量并生成特征报告消息。然后，处理器1101可通过接口电路1102将该特征报告消息发送给无线通信模块。最后，无线通信模块可再将该特征报告消息发送给服务器。具体过程可参见前文实施例三或者实施例四中第二终端设备所执行的各个步骤的内容，此处便不再赘述。
请参见图12，图12是本申请实施例提供的一种装置又一结构示意图，服务器可以以该装置的形式得以实现。该装置主要包括至少一个处理器1201，至少一个存储器1202以及至少一个无线通信模块1203。所述处理器1201、所述存储器1202和所述无线通信模块1203通过通信总线或者通信接口连接并完成相互间的通信。
其中，所述存储器1202用于存储执行上述实施例一、实施例二、实施例三或者实施例四中服务器所实现的定位方法的程序代码，所述处理器1201用于执行所述存储器1202中存储的程序代码以实现实施例一、实施例二、实施例三或者实施例四中服务器所执行的一种定位方法。所述无线通信模块1203用于向除该装置以外的其他装置(如第一终端设备或者第二终端设备)发送或者接收来源于其他装置的消息。
例如，无线通信模块1203可接收第一终端设备发送的第一消息。处理器1201可根据该第一消息中的第一位置信息确定第一参照物并生成第二消息。无线通信模块1203将该第 二消息发送给第一终端设备。具体可参见前文实施例一、实施例二、实施例三或者实施例四中所描述的相应内容，此处便不再赘述。
请参见图13，图13是本申请实施例提供的一种芯片的又一结构示意图。服务器也可以以该芯片的形式得以实现。该芯片主要可包括处理器1301以及耦合于处理器1301的一个或者多个接口电路1302。
这里，对于处理器1301和接口电路1302的功能的概述可参见前文对于图11中的处理器1101和接口电路1102的描述，此处便不再赘述。
具体实现中，处理器1301可用于从存储器中调用上述实施例一、实施例二、实施例三或者实施例四中服务器所实现的定位方法的代码，使得该芯片可以实现实施例一、实施例二、实施例三或者实施例四中服务器所实现的定位方法的各个步骤。例如，无线通信模块可接收第一终端设备发送的第一消息并通过接口电路1302将该第一消息传输给处理器1301。处理器1301可根据该第一消息中的第一位置信息确定第一参照物并生成第二消息。处理器1301可通过接口电路1302将该第二消息传输给无线通信模块。然后，无线通信模块即可将该第二消息发送给第二终端设备。具体可参见前文实施例一、实施例二、实施例三或者实施例四中所描述的相应内容，此处便不再赘述。
需要说明的，处理器1301、接口电路1302各自对应的功能既可以通过硬件设计实现，也可以通过软件设计来实现，还可以通过软硬件结合的方式来实现，这里不作限制。
在本申请实施例中，处理器可以是通用中央处理器(CPU)，微处理器，特定应用集成电路(application-specific integrated circuit，ASIC)，或一个或多个用于控制以上方案程序执行的集成电路。
存储器可以是只读存储器(read-only memory，ROM)或可存储静态信息和指令的其他类型的静态存储设备，随机存取存储器(random access memory，RAM)或者可存储信息和指令的其他类型的动态存储设备，也可以是电可擦可编程只读存储器(Electrically Erasable Programmable Read-Only Memory，EEPROM)、只读光盘(Compact Disc Read-Only Memory，CD-ROM)或其他光盘存储、光碟存储(包括压缩光碟、激光碟、光碟、数字通用光碟、蓝光光碟等)、磁盘存储介质或者其他磁存储设备、或者能够用于携带或存储具有指令或数据结构形式的期望的程序代码并能够由计算机存取的任何其他介质，但不限于此。存储器可以是独立存在，通过总线与处理器相连接。存储器也可以和处理器集成在一起。
收发器可以是能够实现与其他设备或者通信网络通信的装置或者模块，如无线通信模块、射频模块等。
在上述方法实施例中，可以全部或部分地通过软件、硬件、固件或者其任意组合来实现。当使用软件实现时，可以全部或部分地以计算机程序产品的形式实现。上述计算机程序产品包括一个或多个计算机指令。在计算机上加载和执行上述计算机指令时，全部或部分地产生按照本申请实施例上述的流程或功能。上述计算机可以是通用计算机、专用计算机、计算机网络、或者其他可编程装置。上述计算机指令可以存储在计算机可读存储介质中，或者从一个计算机可读存储介质向另一个计算机可读存储介质传输，例如，上述计算机指令可以从一个网站站点、计算机、服务器或数据中心通过有线(例如同轴电缆、光纤、数字用户线(digital subscriber Line，DSL)或无线(例如红外、无线、微波等)方式向另 一个网站站点、计算机、服务器或数据中心进行传输。上述计算机可读存储介质可以是计算机能够存取的任何可用介质或者是包含一个或多个可用介质集成的服务器、数据中心等数据存储设备。上述可用介质可以是磁性介质(例如，软盘、硬盘、磁带)、光介质(例如，高密度数字视频光盘(digital video disc，DVD)、或者半导体介质(例如，固态硬盘(solid state disk，SSD)等。
应理解，本申请实施例中的术语“系统”和“网络”常可被互换使用。本实施例中术语“和/或”，仅仅是一种描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。另外，本文中字符“/”，一般表示前后关联对象是一种“或”的关系。
本领域普通技术人员可以意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、计算机软件或者二者的结合来实现，为了清楚地说明硬件和软件的可互换性，在上述说明中已经按照功能一般性地描述了各示例的组成及步骤。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本申请的范围。
在本申请所提供的实施例中，应该理解到，所揭露的系统、装置和方法，可以通过其它的方式实现。例如，以上所描述的装置仅仅是示意性的，例如，单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另外，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口、装置或单元的间接耦合或通信连接，也可以是电的，机械的或其它的形式连接。
另外，在本申请实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以是两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。
总之，以上上述仅为本申请技术方案的较佳实施例而已，并非用于限定本申请的保护范围。凡在本申请的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本申请的保护范围之内。

Claims (42)

  1. 一种定位方法，其特征在于，所述方法包括：
    服务器接收来自于第一终端设备的第一消息，其中，所述第一消息中包括所述第一终端设备确定的第一位置信息；
    所述服务器根据所述第一位置信息确定第一参照物；
    所述服务器向所述第一终端设备发送第二消息，其中，所述第二消息中包括所述第一参照物的标识信息，所述第一参照物的标识信息用于所述第一终端设备更新所述第一位置信息。
  2. 根据权利要求1所述的方法，其特征在于，所述服务器根据所述第一位置信息确定第一参照物包括：
    所述服务器根据所述第一位置信息从所述服务器当前使用的第一地图中确定第二参照物；
    所述服务器根据所述第二参照物的至少一个属性特征的匹配参量从所述第二参照物中确定第一参照物，其中，所述第二参照物的至少一个属性特征的匹配参量存储于所述服务器中，所述属性特征的匹配参量用于指示所述属性特征的测量值与所述属性特征的参考值之间的匹配程度。
  3. 根据权利要求1所述的方法，其特征在于，所述第一消息还包括由所述第一终端设备根据所述第一位置信息和/或所述第一终端设备的环境信息确定出的第三参照物；
    所述服务器根据第二参照物和所述第三参照物确定出第一参照物，其中，所述第二参照物为所述服务器根据所述第一位置信息从第一地图中确定得到，所述第一地图为所述服务器当前使用的地图。
  4. 根据权利要求1所述的方法，其特征在于，所述第一消息还包括所述第一终端设备的地图版本信息，所述服务器根据所述第一位置信息确定第一参照物包括：
    所述服务器根据第二参照物和第三参照物确定出第一参照物，其中，所述第二参照物为所述服务器根据所述第一位置信息从第一地图中确定得到，所述第一地图为所述服务器当前使用的地图，所述第三参照物为所述服务器根据所述第一位置信息从第二地图中确定得到，所述第二地图为所述地图版本信息对应的地图。
  5. 根据权利要求1所述的方法，其特征在于，所述第一消息中还包括所述第一终端设备的地图版本信息，所述服务器根据所述第一位置信息确定第一参照物包括：
    所述服务器根据所述第一位置信息从第二地图中确定出第一参照物，其中，所述第二地图为所述地图版本信息对应的地图。
  6. 根据权利要求1所述的方法，其特征在于，所述第一消息中还包括所述第一终端设 备的环境信息，所述服务器根据所述第一位置信息确定第一参照物包括：
    所述服务器根据所述第一位置信息从第一地图和所述环境信息中确定出第一参照物，其中，所述第一地图为所述服务器当前使用的地图。
  7. 根据权利要求1-6任一项所述的方法，其特征在于，所述第二消息还包括所述第一参照物的至少一个属性特征的测量值和/或匹配参量，其中，所述第一参照物的至少一个属性特征的测量值和/或匹配参量用于所述第一终端设备更新所述第一位置信息。
  8. 根据权利要求2-7任一项所述的方法，其特征在于，所述方法还包括：
    所述服务器接收来自于第二终端设备的特征上报消息，其中，所述特征上报消息中包括第四参照物的至少一个属性特征的测量值和/或匹配参量；
    所述服务器根据所述第四参照物的至少一个属性特征的测量值和/或匹配参量对存储的所述第四参照物的至少一个属性特征的测量值和/或匹配参量进行更新。
  9. 根据权利要求8所述的方法，其特征在于，在所述服务器接收来自于第二终端设备的特征上报消息之前，所述方法还包括：
    所述服务器向所述第二终端设备发送特征查询消息，其中，所述特征查询消息中包括所述第四参照物的至少一个属性特征。
  10. 根据权利要求9所述的方法，其特征在于，所述特征查询消息中还包括所述至少一个属性特征中各属性特征对应的上报方式指示信息，所述属性特征对应的上报方式指示信息用于指示所述属性特征的上报方式。
  11. 根据权利要求1-10任一项所述的方法，其特征在于，所述第二消息中还包括适用范围指示信息，所述适用范围指示信息用于指示所述第二消息所适用的预设地理范围。
  12. 一种定位方法，其特征在于，所述方法包括：
    第一终端设备向服务器发送第一消息，其中，所述第一消息中包括所述第一终端设备的第一位置信息；
    第一终端设备接收来自服务器的第二消息，其中，所述第二消息中包括第一参照物的标识信息，所述第一参照物由所述服务器根据所述第一位置信息确定；
    所述第一终端设备根据所述第一参照物的标识信息更新所述第一位置信息。
  13. 根据权利要求12所述的方法，其特征在于，所述第一消息中还包括所述第一终端设备的地图版本信息，其中，所述地图版本信息用于所述服务器确定所述第一参照物。
  14. 根据权利要求12所述的方法，其特征在于，所述第一消息中还包括第三参照物，其中，所述第三参照物由所述第一终端设备根据所述第一位置信息或者所述第一终端设备 的环境信息确定得到，所述第三参照物用于所述服务器确定所述第一参照物。
  15. 根据权利要求12所述的方法，其特征在于，所述第一消息中还包括所述第一终端设备的环境信息，其中，所述环境信息用于所述服务器确定所述第一参照物。
  16. 根据权利要求12-15任一项所述的方法，其特征在于，所述第二消息中还包括所述第一参照物的至少一个属性特征的测量值和/或匹配参量，所述第一终端设备根据所述第一参照物的标识信息更新所述第一位置信息包括：
    所述第一终端设备根据所述第一参照物的至少一个属性特征的测量值和/或匹配参量和所述第一参照物确定出第五参照物；
    所述第一终端设备根据所述第五参照物更新所述第一位置信息。
  17. 一种定位方法，其特征在于，所述方法包括：
    第二终端设备生成特征上报消息，其中，所述特征上报消息包括参照物的至少一个属性特征的测量值和/或匹配参量，所述属性特征的匹配参量用于指示所述属性特征的测量值与所述属性特征的参考值之间的匹配程度，所述参照物的至少一个属性特征的测量值和/或匹配参量用于对服务器存储的所述参照物的至少一个属性特征的测量值和/或匹配参量进行更新；
    所述第二终端设备向所述服务器发送所述特征上报消息。
  18. 根据权利要求17所述的方法，其特征在于，在所述第二终端设备生成特征上报消息之前，所述方法还包括：
    所述第二终端设备获取所述参照物的至少一个属性特征中各属性特征的测量值；
    所述第二终端设备根据所述各属性特征的测量值与所述各属性特征的参考值计算出所述各属性特征的匹配参量。
  19. 根据权利要求17或18所述的方法，其特征在于，在第二终端设备生成特征上报消息之前，所述方法还包括：
    所述第二终端设备接收来自服务器的特征查询消息，其中，所述特征查询消息中包括所述参照物的至少一个属性特征。
  20. 根据权利要求19所述的方法，其特征在于，所述特征查询消息中还包括所述参照物的至少一个属性特征中各属性特征对应的上报方式指示信息，所述属性特征对应的上报方式指示信息用于指示所述属性特征的上报方式。
  21. 一种装置，其特征在于，所述装置为服务器，所述装置包括：
    收发单元，用于接收来自于第一终端设备的第一消息，其中，所述第一消息中包括所述第一终端设备确定的第一位置信息；
    处理单元，用于根据所述第一位置信息确定第一参照物；
    所述收发单元，还用于向所述第一终端设备发送第二消息，其中，所述第二消息中包括所述第一参照物的标识信息，所述第一参照物的标识信息用于所述第一终端设备更新所述第一位置信息。
  22. 根据权利要求21所述的装置，其特征在于，所述处理单元用于：
    根据所述第一位置信息从所述处理单元当前使用的第一地图中确定第二参照物；
    根据所述第二参照物的至少一个属性特征的匹配参量从所述第二参照物中确定第一参照物，其中，所述第二参照物的至少一个属性特征的匹配参量存储于所述装置中，所述属性特征的匹配参量用于指示所述属性特征的测量值与所述属性特征的参考值之间的匹配程度。
  23. 根据权利要求21所述的装置，其特征在于，所述第一消息还包括由所述第一终端设备根据所述第一位置信息和/或所述第一终端设备的环境信息确定出的第三参照物，所述处理单元用于：
    根据第二参照物和所述第三参照物确定出第一参照物，其中，所述第二参照物为所述处理单元根据所述第一位置信息从第一地图中确定得到，所述第一地图为所述装置当前使用的地图。
  24. 根据权利要求21所述的装置，其特征在于，所述第一消息还包括所述第一终端设备的地图版本信息，所述处理单元用于：
    根据第二参照物和第三参照物确定出第一参照物，其中，所述第二参照物为所述处理单元根据所述第一位置信息从第一地图中确定得到，所述第一地图为所述处理单元当前使用的地图，所述第三参照物为所述处理单元根据所述第一位置信息从第二地图中确定得到，所述第二地图为所述地图版本信息对应的地图。
  25. 根据权利要求21所述的装置，其特征在于，所述第一消息中还包括所述第一终端设备的地图版本信息，所述处理单元用于：
    根据所述第一位置信息从第二地图中确定出第一参照物，其中，所述第二地图为所述地图版本信息对应的地图。
  26. 根据权利要求21所述的装置，其特征在于，所述第一消息中还包括所述第一终端设备的环境信息，所述处理单元用于：
    根据所述第一位置信息从第一地图和所述环境信息中确定出第一参照物，其中，所述第一地图为所述处理单元当前使用的地图。
  27. 根据权利要求21-26任一项所述的装置，其特征在于，所述第二消息还包括所述第一参照物的至少一个属性特征的测量值和/或匹配参量，其中，所述第一到参照物的至少 一个属性特征的测量值和/或匹配参量用于所述第一终端设备更新所述第一位置信息。
  28. 根据权利要求22-27任一项所述的装置，其特征在于，所述收发单元还用于：
    接收来自于第二终端设备的特征上报消息，其中，所述特征上报消息中包括第四参照物的至少一个属性特征的测量值和/或匹配参量；
    所述处理单元还用于：
    根据所述第四参照物的至少一个属性特征的测量值和/或匹配参量对存储的所述第四参照物的至少一个属性特征的测量值和/或匹配参量进行更新。
  29. 根据权利要求28所述的装置，其特征在于，所述收发单元还用于：
    向所述第二终端设备发送特征查询消息，其中，所述特征查询消息中包括所述第四参照物的至少一个属性特征。
  30. 根据权利要求29任一项所述的装置，其特征在于，所述特征查询消息中还包括所述至少一个属性特征中各属性特征对应的上报方式指示信息，所述属性特征对应的上报方式指示信息用于指示所述属性特征的上报方式。
  31. 根据权利要求21-30任一项所述的装置，其特征在于，所述第二消息中还包括适用范围指示信息，所述适用范围指示信息用于指示所述第二消息所适用的预设地理范围。
  32. 一种装置，其特征在于，所述装置为第一终端设备，所述装置包括：
    收发单元，用于向服务器发送第一消息，其中，所述第一消息中包括所述装置的第一位置信息；
    所述收发单元，还用于接收来自服务器的第二消息，其中，所述第二消息中包括第一参照物的标识信息，所述第一参照物由所述服务器根据所述第一位置信息确定；
    处理单元，用于根据所述第一参照物的标识信息更新所述第一位置信息。
  33. 根据权利要求32所述的装置，其特征在于，所述第一消息中还包括所述装置的地图版本信息，其中，所述地图版本信息用于所述服务器确定所述第一参照物。
  34. 根据权利要求32所述的装置，其特征在于，所述第一消息中还包括第三参照物，其中，所述第三参照物由所述装置根据所述第一位置信息或者所述装置的环境信息确定得到，所述第三参照物用于所述服务器确定所述第一参照物。
  35. 根据权利要求32所述的装置，其特征在于，所述第一消息中还包括所述装置的环境信息，其中，所述环境信息用于所述服务器确定所述第一参照物。
  36. 根据权利要求32-35任一项所述的装置，其特征在于，所述第二消息中还包括所 述第一参照物的至少一个属性特征的测量值和/或匹配参量，所述处理单元用于：
    根据所述第一参照物的至少一个属性特征的测量值和/或匹配参量和所述第一参照物确定出第五参照物；
    根据所述第五参照物更新所述第一位置信息。
  37. 一种装置，其特征在于，所述装置为第二终端设备，所述装置包括：
    处理单元，用于生成特征上报消息，其中，所述特征上报消息包括参照物的至少一个属性特征的测量值和/或匹配参量，所述属性特征的匹配参量用于指示所述属性特征的测量值与所述属性特征的参考值之间的匹配程度，所述参照物的至少一个属性特征的测量值和/或匹配参量用于对服务器存储的所述参照物的至少一个属性特征的测量值和/或匹配参量进行更新；
    收发单元，用于向所述服务器发送所述特征上报消息。
  38. 根据权利要求37所述的装置，其特征在于，所述处理单元用于：
    获取所述参照物的至少一个属性特征中各属性特征的测量值；
    根据所述各属性特征的测量值与所述各属性特征的参考值计算出所述各属性特征的匹配参量。
  39. 根据权利要求37或者38所述的装置，其特征在于，所述收发单元还用于：
    接收来自服务器的特征查询消息，其中，所述特征查询消息中包括所述参照物的至少一个属性特征。
  40. 根据权利要求39所述的方法，其特征在于，所述特征查询消息中还包括所述参照物的至少一个属性特征中各属性特征对应的上报方式指示信息，所述属性特征对应的上报方式指示信息用于指示所述属性特征的上报方式。
  41. 一种可读存储介质，用于存储指令，当所述指令被执行时，使如权利要求1-11或者权利要求12-16或者权利要求17-20中任一项所述的方法被实现。
  42. 一种装置，其特征在于，包括：处理器，存储器和收发器；
    所述存储器，用于存储计算机程序；
    所述处理器，用于执行所述存储器中存储的计算机程序，以使得所述通信装置执行如权利要求1-11或者权利要求12-16或者权利要求17-20中任一项所述的方法。
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