WO2021253965A1 - 定位方法、边缘计算平台、定位平台和计算机可读介质 - Google Patents

定位方法、边缘计算平台、定位平台和计算机可读介质 Download PDF

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Publication number
WO2021253965A1
WO2021253965A1 PCT/CN2021/088085 CN2021088085W WO2021253965A1 WO 2021253965 A1 WO2021253965 A1 WO 2021253965A1 CN 2021088085 W CN2021088085 W CN 2021088085W WO 2021253965 A1 WO2021253965 A1 WO 2021253965A1
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Prior art keywords
positioning
trigger
data
mobility
target
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PCT/CN2021/088085
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English (en)
French (fr)
Inventor
贺胜洪
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中兴通讯股份有限公司
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Application filed by 中兴通讯股份有限公司 filed Critical 中兴通讯股份有限公司
Priority to JP2022578709A priority Critical patent/JP2023530181A/ja
Priority to US18/009,016 priority patent/US20230254806A1/en
Priority to EP21826591.6A priority patent/EP4152777A4/en
Publication of WO2021253965A1 publication Critical patent/WO2021253965A1/zh

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    • 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
    • H04W4/02—Services making use of location information
    • H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
    • 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
    • H04W4/029—Location-based management or tracking services
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/20—Services signaling; Auxiliary data signalling, i.e. transmitting data via a non-traffic channel
    • 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
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W24/00—Supervisory, monitoring or testing arrangements
    • H04W24/10—Scheduling measurement reports ; Arrangements for measurement reports

Definitions

  • the present disclosure relates to, but is not limited to, the field of communication technology.
  • the corresponding positioning data transmission interface standards include two categories: location lookup interface and location subscription interface.
  • the location query interface is used for a single query response, that is, after receiving a single location data query, the edge computing platform only reports the location data to the positioning platform once based on the current query, and will not actively release location data to the positioning platform thereafter;
  • the location subscription interface is used for periodic and continuous reporting. After the positioning platform subscribes the positioning data to the edge computing platform, the edge computing platform reports the positioning data to the positioning platform according to the agreed time period.
  • the present disclosure proposes a positioning method, an edge computing platform, a positioning platform and a computer-readable medium.
  • an embodiment of the present disclosure provides a positioning method, including: receiving a mobility positioning data report request, where the mobility positioning data report request records data report trigger strategy information corresponding to the positioning target;
  • the data reporting trigger strategy information determines whether to trigger the mobility positioning data reporting behavior; if it is determined that the mobility positioning data reporting behavior is triggered, the positioning data of the positioning target is reported.
  • an embodiment of the present disclosure also provides a positioning method, including: configuring and generating a mobility positioning data report request, the mobility positioning data reporting request records data reporting trigger strategy information corresponding to the positioning target;
  • the edge computing platform sends the mobility positioning data reporting request for the edge computing platform to determine whether to trigger the mobility positioning data reporting behavior according to the data reporting trigger strategy information, and when it determines that the mobility positioning data reporting behavior is triggered Reporting the positioning data of the positioning target; receiving the positioning data.
  • the embodiments of the present disclosure provide an edge computing platform, including: one or more processors; a storage device for storing one or more programs; when the one or more programs are used by the one or more A plurality of processors execute, so that the one or more processors implement the positioning method as described in the first aspect.
  • embodiments of the present disclosure provide a computer-readable medium on which a computer program is stored, wherein the program is executed by a processor to implement the steps in the positioning method as described in the first aspect.
  • the embodiments of the present disclosure provide a positioning platform, including: one or more processors; a storage device for storing one or more programs; when the one or more programs are used by the one or more Executed by two processors, so that the one or more processors implement the positioning method according to the second aspect.
  • the embodiments of the present disclosure also provide a computer-readable medium on which a computer program is stored, wherein the program is executed by a processor to implement the steps in the positioning method described in the second aspect.
  • FIG. 1 is a flowchart of a positioning method provided by an embodiment of the disclosure
  • FIG. 2 is a flowchart of another positioning method provided by an embodiment of the disclosure.
  • FIG. 5 is a flowchart of an exemplary implementation method of step S201 in an embodiment of the disclosure.
  • FIG. 6 is a flowchart of still another positioning method provided by an embodiment of the disclosure.
  • FIG. 7 is a flowchart of an exemplary implementation method of step S2 in an embodiment of the disclosure.
  • FIG. 8 is a flowchart of still another positioning method provided by an embodiment of the disclosure.
  • first, second, etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another element. Therefore, without departing from the teachings of the present disclosure, the first element, the first component, or the first module discussed below may be referred to as the second element, the second component, or the second module.
  • the location query interface is used for a single query response, that is, after receiving a single query of positioning data, the edge computing platform only reports the positioning data to the positioning platform once based on the current query, and will not actively publish positioning to the positioning platform afterwards. Data, which will result in insufficient positioning data obtained by the positioning platform and poor timeliness; the location subscription interface is used for periodic and continuous reporting. After the positioning platform subscribes to the edge computing platform for positioning data, the edge computing platform will follow the agreed time Reporting positioning data to the positioning platform periodically will consume unnecessary bandwidth resources and cause a waste of processing resources. It can be seen that the positioning data transmission mode of the edge computing platform at this stage has the problem of not being able to take into account the timeliness of positioning data and platform resources.
  • the present disclosure provides a positioning method, an edge computing platform, a positioning platform, and a computer-readable medium, which substantially avoid one or more of the problems caused by the shortcomings or limitations of the prior art.
  • the positioning method, edge computing platform, positioning platform, and computer-readable medium provided in the present disclosure can be used to report positioning data based on the mobility of the positioning target and the corresponding trigger strategy.
  • the edge computing platform establishes a communication relationship with the positioning platform, and reports the positioning data of the positioning target to the positioning platform according to the corresponding positioning data transmission protocol.
  • the positioning platform is the positioning that provides external positioning services. application.
  • the edge computing platform adds a mobility reporting interface to the positioning data transmission interface standard with the positioning platform, and calls the interface through the positioning method to communicate with the positioning platform.
  • FIG. 1 is a flowchart of a positioning method provided by an embodiment of the disclosure. As shown in Fig. 1, applied to the edge computing platform side (for example, executed by the edge computing platform), the method includes steps S01 to S03.
  • step S01 a request for reporting mobility positioning data is received.
  • the mobility positioning data reporting request records data reporting trigger strategy information corresponding to the positioning target, and the data reporting trigger strategy information is used to instruct the edge computing platform to report positioning data based on the mobility of the positioning target.
  • the mobility positioning data reporting request is sent by the positioning platform, and the data reporting trigger strategy information may be referred to as mobility reporting interface definition information.
  • the mobility positioning data report request may also include the uniform resource locator (Uniform Resource Locator, URL for short) of the positioning platform to indicate the address where the positioning application receives the positioning data; the mobility positioning data report request may also include Positioning coordinate system information, which can be recorded in the data reporting trigger strategy information, and used to indicate the coordinate format of the positioning data, such as latitude and longitude coordinates or custom coordinates; the mobile positioning data report request can also include the identification of the positioning target information.
  • Uniform Resource Locator Uniform Resource Locator, URL for short
  • step S02 it is determined whether to trigger the mobility positioning data reporting behavior according to the data reporting trigger strategy information.
  • the mobility positioning data reporting behavior refers to the positioning data reporting behavior based on the mobility of the positioning target. Therefore, it is judged whether to trigger the mobility positioning data reporting behavior according to the data reporting trigger strategy information, that is, according to whether the current mobility of the positioning target meets the corresponding requirements. Trigger strategy to determine whether to trigger the reporting of mobility positioning data.
  • the mobility of the positioning target can be embodied by the position and speed of the positioning target, and the change in the mobility of the positioning target can be reflected in the position change and speed change, thus, the position change and speed change of the positioning target can be reflected. Determine whether to trigger the reporting of mobility positioning data.
  • step S02 if it is determined that the reporting behavior of the mobility positioning data is triggered, step S03 is executed.
  • the method before step S02, the method further includes: authenticating the mobility positioning data report request (the positioning platform that sends the request), and executing step S02 after the authentication is passed.
  • step S03 the positioning data of the positioning target is reported.
  • the reported positioning data is used to describe the positioning information of the positioning target.
  • the positioning data can also report the uniform resource locator of the positioning platform, the data reporting trigger strategy information and the identification information of the positioning target at the same time, which is used for security and data Correctness verification.
  • step S02 is continued, and the step of determining whether to trigger the mobility positioning data reporting behavior according to the data reporting trigger strategy information.
  • FIG. 2 is a flowchart of another positioning method provided by an embodiment of the disclosure. This method is an exemplary implementation based on the method shown in FIG. 1. As shown in Figure 2, the method includes steps S1 to S3.
  • step S1 a request for reporting mobility positioning data is received.
  • Step S2 judging whether to trigger the mobility positioning data reporting behavior according to the data reporting trigger strategy information.
  • step S3 the positioning data of the positioning target is reported.
  • the embodiments of the present disclosure provide a positioning method, which can be used to determine whether to trigger the mobility positioning data reporting behavior according to the data reporting trigger strategy information, thereby performing the positioning data of the positioning target when the mobility of the positioning target meets the corresponding trigger strategy.
  • Reporting while ensuring the adequacy and timeliness of the positioning data, reasonably uses bandwidth resources and processing resources to achieve the compatibility of data timeliness and platform resources.
  • FIG. 3 is a flowchart of another positioning method provided by an embodiment of the disclosure. This method is an exemplary implementation based on the method shown in FIG. 2. As shown in FIG. 3, for example, step S2, the step of judging whether to trigger the mobility positioning data reporting behavior according to the data reporting trigger strategy information, includes: step S2a: detecting whether the positioning target has a position change according to the data reporting trigger strategy information.
  • step S2a if it is detected that the location of the positioning target has changed, it is determined that the mobile positioning data reporting behavior is triggered, and then step S3 is executed; if it is detected that the location of the positioning target has not changed, the location change of the positioning target is continued Monitor until the location change of the positioning target is detected, and then it is determined that the reporting behavior of the mobility positioning data is triggered, and step S3 is subsequently executed.
  • FIG. 4 is a flowchart of another positioning method provided by an embodiment of the disclosure.
  • This method is an exemplary implementation based on the method shown in FIG. 3.
  • the data report trigger strategy information includes the reference position and the position change type
  • the reference position includes the absolute reference position of the positioning target
  • the position change type includes the absolute position change type
  • step S2a the trigger strategy is reported according to the data
  • the step of information detecting whether the position of the positioning target has changed includes: step S201, detecting whether the position of the positioning target has changed according to the absolute reference position.
  • the absolute reference position is designated or acquired by the positioning platform.
  • FIG. 5 is a flowchart of an exemplary implementation method of step S201 in an embodiment of the disclosure.
  • the data report trigger strategy information also includes a location change measurement method and a trigger report threshold.
  • the location change measurement method includes a ranging method.
  • the trigger report threshold includes a distance threshold; as shown in FIG. 4, step S201 is detected based on the absolute reference position.
  • the step of determining whether the position of the positioning target has changed includes step S2011 and step S2012.
  • step S2011 the distance between the positioning target and the absolute reference position is acquired based on the distance measurement method.
  • the distance can be calculated by real-time positioning and monitoring of the positioning target.
  • the positioning coordinate system is a latitude and longitude coordinate system
  • the distance can be calculated according to the longitude, latitude and height of the positioning target and the absolute reference position
  • the positioning coordinate system When it is a custom coordinate system, the distance can be calculated according to the coordinate value of the coordinate position between the positioning target and the absolute reference position.
  • step S2012 the obtained distance is compared with the distance threshold.
  • step S2012 if the acquired distance is greater than or equal to the distance threshold, it is detected that the location of the positioning target has changed; if the acquired distance is less than the distance threshold, it is detected that the location of the positioning target has not changed.
  • the embodiments of the present disclosure provide a positioning method, which can be used to determine whether a positioning target has a position change according to the distance between the positioning target and an absolute reference position, and to determine whether to report the positioning data according to the position change of the positioning target, While ensuring the adequacy and timeliness of the positioning data, the bandwidth resources and processing resources are reasonably used to achieve the compatibility of data timeliness and platform resources.
  • FIG. 6 is a flowchart of yet another positioning method provided by an embodiment of the disclosure.
  • This method is an exemplary implementation based on the method shown in FIG. 3.
  • the data reporting trigger strategy information includes a location change type, and the location change type includes a relative location change type; as shown in FIG. 6, step S2a, the step of detecting whether the location of the positioning target has a location change according to the data reporting trigger strategy information includes the steps S202 and S203.
  • step S202 the historical positioning data of the positioning target is acquired, and at least one relative reference position of the positioning target is determined according to the historical positioning data.
  • the relative reference position is determined by the edge computing platform based on the historical positioning data of the positioning target and selecting one or several positioning positions in the historical positioning data.
  • step S203 it is detected whether the position of the positioning target has changed according to at least one relative reference position.
  • the distance between the positioning target and the relative reference position and the distance threshold are compared; when there are multiple relative reference positions, the multiple obtained distances and distance thresholds are respectively obtained
  • the distance between the positioning target and multiple relative reference positions is less than the distance threshold, its position remains unchanged. It can be applied when the positioning target is an object moving within a certain range, for example, for mobile display or loading and unloading. Goods, products that can be tried or tried on, and positioning targets that limit the range of motion to irregular shapes.
  • the embodiments of the present disclosure provide a positioning method, which can be used to determine whether a positioning target has a position change according to the distance between the positioning target and a single or multiple relative reference positions, and to determine whether to perform its positioning according to the position change of the positioning target
  • the reporting of data improves the accuracy of location change judgments.
  • FIG. 7 is a flowchart of an exemplary implementation method of step S2 in an embodiment of the disclosure.
  • the data report trigger strategy information includes a trigger measurement method and a trigger report threshold
  • the trigger measurement method includes a speed measurement method
  • the trigger report threshold includes a rate change threshold; as shown in FIG. 7, step S2 is determined based on the data report trigger strategy information Whether to trigger the reporting of mobility positioning data includes steps S2b and S2c.
  • step S2b based on the speed measurement method, the speed of the positioning target is obtained every preset time period, and the amount of speed change is calculated.
  • the rate change amount can be calculated by subtracting the rate at the initial time from the rate at the end time within the preset time period, and taking the absolute value.
  • the acceleration of the positioning target may be calculated by vector to determine whether to trigger the reporting behavior of the mobility positioning data.
  • step S2c the magnitude of the rate change amount and the rate change amount threshold are compared.
  • step S2c if the velocity change is greater than or equal to the velocity change threshold, it is determined that the mobility positioning data reporting behavior is triggered, and step S3 is subsequently performed; if the velocity change is less than the velocity change threshold, the speed of the positioning target is continuously adjusted Changes are monitored.
  • the embodiments of the present disclosure provide a positioning method, which can be used to determine the mobility of the positioning target according to the speed change of the positioning target, and determine whether to report its positioning data, while ensuring the adequacy and timeliness of the positioning data , Reasonable use of bandwidth resources and processing resources, to achieve the compatibility of data timeliness and platform resources.
  • FIG. 8 is a flowchart of still another positioning method provided by an embodiment of the disclosure. As shown in FIG. 8, the positioning method is applied to the positioning platform side (for example, executed by the positioning platform), and the method includes steps S4 to S6.
  • step S4 a request for reporting mobility positioning data is configured to be generated.
  • the positioning platform obtains the normal state information of the positioning target, and the normal state information includes the static state or the motion state; the normal state information can be used to obtain the request configuration information template, and configure and generate the mobility positioning data report request, for example, for the normal state:
  • the positioning target in a static state is set to trigger the reporting of positioning data by monitoring the distance between it and an absolute reference position; for the positioning target in a normal state in the motion state, it is set to trigger the reporting of positioning data by monitoring its speed change.
  • the positioning platform obtains the scene information of the positioning target, obtains the request configuration information template according to the scene information, and configures and generates the mobility positioning data report request.
  • the scene information may include: indoor scenes and outdoor scenes.
  • step S5 a request for reporting mobility positioning data is sent to the edge computing platform.
  • step S5 a mobility positioning data report request is sent to the edge computing platform for the edge computing platform to determine whether to trigger the mobility positioning data reporting behavior according to the data reporting trigger strategy information, and when it determines that the mobility positioning data reporting behavior is triggered Report the positioning data of the positioning target.
  • step S6 positioning data is received.
  • the data report trigger strategy information includes a reference position and a position change type
  • the reference position includes an absolute reference position of the positioning target
  • the position change type includes: an absolute position change type; wherein the reference position and the position change type are used to indicate
  • the edge computing platform detects whether the position of the positioning target has changed according to the absolute reference position, which corresponds to the description in step S201.
  • the data reporting trigger strategy information includes a location change measurement method and a trigger reporting threshold.
  • the data reporting trigger strategy information includes the location change type, and the location change type includes the relative location change type; the location change type is used to instruct the edge computing platform to obtain the historical positioning data of the positioning target, and determine the positioning based on the historical positioning data At least one relative reference position of the target, and detecting whether the position of the positioning target has changed according to the at least one relative reference position, corresponds to the description in step S202 and step S203.
  • the data report trigger strategy information further includes a location change measurement method and a trigger report threshold.
  • the location change measurement method includes a ranging method, and the trigger report threshold includes a distance threshold; the location change measurement method and trigger report threshold are used for Instructs the edge computing platform to obtain the distance between the positioning target and all relative reference positions based on the ranging method, and detect whether the positioning target has a position change according to the size relationship between the obtained total distance and the distance threshold.
  • the data report trigger strategy information includes a trigger measurement method and a trigger report threshold, the trigger measurement method includes a speed measurement method, and the trigger report threshold includes a rate change threshold; the trigger measurement method and the trigger report threshold are used to indicate the edge
  • the computing platform obtains the speed of the positioning target every preset time period, calculates the speed change, and determines whether to trigger the mobility positioning data reporting behavior according to the relationship between the speed change and the speed change threshold, corresponding to steps S2b and The description in step S2c.
  • the embodiments of the present disclosure provide a positioning method, which can be used to determine the reporting of positioning data by determining the mobility of the positioning target, and send the corresponding request to the edge computing platform to realize the mobility positioning of the positioning target.
  • the embodiments of the present disclosure provide an edge computing platform, including: one or more processors; a storage device configured to store one or more programs; when the one or more programs are executed by the one or more processors,
  • the one or more processors are enabled to implement the positioning method including step S1 (or S01) as in any of the foregoing embodiments.
  • the embodiments of the present disclosure provide a computer-readable medium on which a computer program is stored, where the program is executed by a processor to implement any of the positioning methods including step S1 (or S01) in the above embodiments step.
  • the embodiments of the present disclosure provide a positioning platform, including: one or more processors; a storage device configured to store one or more programs; when the one or more programs are executed by the one or more processors,
  • the one or more processors implement the positioning method including step S4 as in any of the foregoing embodiments.
  • the embodiment of the present disclosure also provides a computer-readable medium on which a computer program is stored, wherein the program is executed by a processor to implement any of the steps in the positioning method including step S4 in the foregoing embodiments.
  • the embodiments of the present disclosure provide a positioning method, an edge computing platform, a positioning platform, and a computer-readable medium.
  • the positioning method applicable to the edge computing platform determines whether to trigger the mobility positioning data reporting behavior according to the data reporting trigger strategy information. When the positioning target meets the corresponding mobility conditions, the positioning data is reported, which can ensure the sufficiency and timeliness of the positioning data, while rationally using bandwidth resources and processing resources, and realizes the compatibility of data timeliness and platform resources; applicable
  • the positioning method based on the positioning platform generates a mobile positioning data report request through configuration, so that the edge computing platform reports the positioning data based on the mobility of the positioning target, ensures the adequacy and timeliness of the positioning data, and solves the problem of bandwidth resources and processing resources.
  • the waste problem realizes the compatibility of data timeliness and platform resources.
  • Such software may be distributed on a computer-readable medium, and the computer-readable medium may include a computer storage medium (or a non-transitory medium) and a communication medium (or a transitory medium).
  • the term computer storage medium includes volatile and non-volatile data implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Sexual, removable and non-removable media.
  • Computer storage media include but are not limited to RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disk (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, magnetic disk storage or other magnetic storage devices, or Any other medium used to store desired information and that can be accessed by a computer.
  • a communication medium usually contains computer-readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transmission mechanism, and may include any information delivery medium. .

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Abstract

本申请提供了一种定位方法，包括：接收移动性定位数据上报请求，该移动性定位数据上报请求中记载有与定位目标对应的数据上报触发策略信息；根据数据上报触发策略信息判断是否触发移动性定位数据上报行为；若判断出触发移动性定位数据上报行为，上报定位目标的定位数据。本申请还提供了一种边缘计算平台、定位平台和计算机可读介质。

Description

定位方法、边缘计算平台、定位平台和计算机可读介质 技术领域
本公开涉及但不限于通信技术领域。
背景技术
随着通信技术的发展和快速演进，边缘计算平台的重要性日益凸显。在边缘计算平台的众多应用场景中，其与相应定位平台之间的通信交互尤为重要。现阶段，边缘计算平台与定位平台的定位数据传输多采用单次查询响应和周期性上报两种模式，相应的定位数据传输接口标准包括位置查阅接口和位置订阅接口两大类。
其中，位置查阅接口用于单次查询响应，即接收到单次定位数据查询后，边缘计算平台仅根据当次查询向定位平台上报一次定位数据，此后不会再主动向定位平台发布定位数据；位置订阅接口用于周期性持续上报，在定位平台向边缘计算平台订阅定位数据后，边缘计算平台根据约定的时间周期向定位平台上报定位数据。
发明内容
本公开提出了一种定位方法、边缘计算平台、定位平台和计算机可读介质。
第一方面，本公开实施例提供了一种定位方法，包括：接收移动性定位数据上报请求，所述移动性定位数据上报请求中记载有与定位目标对应的数据上报触发策略信息；根据所述数据上报触发策略信息判断是否触发移动性定位数据上报行为；若判断出触发移动性定位数据上报行为，上报所述定位目标的定位数据。
第二方面，本公开实施例还提供了一种定位方法，包括：配置生成移动性定位数据上报请求，所述移动性定位数据上报请求中记载有与定位目标对应的数据上报触发策略信息；向边缘计算平台发送所述移动性定位数据上报请求，以供所述边缘计算平台根据所述数据上报触发策略信息判断是否触发移动性定位数据上报行为，并在判断出 触发移动性定位数据上报行为时上报所述定位目标的定位数据；接收所述定位数据。
第三方面，本公开实施例提供了一种边缘计算平台，包括：一个或多个处理器；存储装置，用于存储一个或多个程序；当所述一个或多个程序被所述一个或多个处理器执行，使得所述一个或多个处理器实现如第一方面所述定位方法。
第四方面，本公开实施例提供了一种计算机可读介质，其上存储有计算机程序，其中，所述程序被处理器执行时实现如第一方面所述的定位方法中的步骤。
第五方面，本公开实施例提供了一种定位平台，包括：一个或多个处理器；存储装置，用于存储一个或多个程序；当所述一个或多个程序被所述一个或多个处理器执行，使得所述一个或多个处理器实现如第二方面所述的定位方法。
第六方面，本公开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，其中，所述程序被处理器执行时实现如第二方面所述的定位方法中的步骤。
附图说明
图1为本公开实施例提供的一种定位方法的流程图；
图2为本公开实施例提供的另一种定位方法的流程图；
图3为本公开实施例提供的又一种定位方法的流程图；
图4为本公开实施例提供的再一种定位方法的流程图；
图5为本公开实施例中步骤S201的一种示例性实施方法流程图；
图6为本公开实施例提供的再一种定位方法的流程图；
图7为本公开实施例中步骤S2的一种示例性实施方法流程图；
图8为本公开实施例提供的再一种定位方法的流程图。
具体实施方式
为使本领域的技术人员更好地理解本公开的技术方案，下面结合附图对本公开提供的定位方法、边缘计算平台、定位平台和计算机 可读介质进行详细描述。
在下文中将参考附图更充分地描述示例实施例，但是所述示例实施例可以以不同形式来体现且不应当被解释为限于本文阐述的实施例。反之，提供这些实施例的目的在于使本公开透彻和完整，并将使本领域技术人员充分理解本公开的范围。
本文所使用的术语仅用于描述特定实施例，且不意欲限制本公开。如本文所使用的，单数形式“一个”和“该”也意欲包括复数形式，除非上下文另外清楚指出。还将理解的是，当本说明书中使用术语“包括”和/或“由……制成”时，指定存在所述特征、整体、步骤、操作、元件和/或组件，但不排除存在或添加一个或多个其他特征、整体、步骤、操作、元件、组件和/或其群组。
将理解的是，虽然本文可以使用术语第一、第二等来描述各种元件，但这些元件不应当受限于这些术语。这些术语仅用于区分一个元件和另一元件。因此，在不背离本公开的指教的情况下，下文讨论的第一元件、第一组件或第一模块可称为第二元件、第二组件或第二模块。
除非另外限定，否则本文所用的所有术语(包括技术和科学术语)的含义与本领域普通技术人员通常理解的含义相同。还将理解，诸如那些在常用字典中限定的那些术语应当被解释为具有与其在相关技术以及本公开的背景下的含义一致的含义，且将不解释为具有理想化或过度形式上的含义，除非本文明确如此限定。
如上所述，位置查阅接口用于单次查询响应，即接收到单次定位数据查询后，边缘计算平台仅根据当次查询向定位平台上报一次定位数据，此后不会再主动向定位平台发布定位数据，这会导致定位平台获取到的定位数据不充分，且时效性较差；位置订阅接口用于周期性持续上报，在定位平台向边缘计算平台订阅定位数据后，边缘计算平台根据约定的时间周期向定位平台上报定位数据，这会消耗不必要的带宽资源，并造成处理资源的浪费。由此可见，现阶段边缘计算平台的定位数据传输模式存在不能兼顾定位数据时效性和平台资源的问题。
因此，本公开提供了定位方法、边缘计算平台、定位平台和计算机可读介质，其实质上避免了由于现有技术的缺点或限制所导致的问题中的一个或多个。本公开所提供的定位方法、边缘计算平台、定位平台和计算机可读介质，可用于基于定位目标的移动性和相应触发策略进行定位数据的上报。
其中，针对应用于边缘计算平台的定位方法，该边缘计算平台与定位平台建立通信关系，根据相应的定位数据传输协议向定位平台上报定位目标的定位数据，定位平台即为外部提供定位服务的定位应用。在一些实施例中，边缘计算平台通过在与定位平台的定位数据传输接口标准中增加一个移动性上报接口，通过该定位方法实现调用该接口，与定位平台进行通信。
图1为本公开实施例提供的一种定位方法的流程图。如图1所示，应用于边缘计算平台侧(例如由边缘计算平台执行)，该方法包括步骤S01至S03。
在步骤S01，接收移动性定位数据上报请求。
其中，该移动性定位数据上报请求中记载有与定位目标对应的数据上报触发策略信息，该数据上报触发策略信息用于指示边缘计算平台基于定位目标的移动性进行定位数据上报。在一些实施例中，该移动性定位数据上报请求由定位平台发送，数据上报触发策略信息或可称为移动性上报接口定义信息。
在一些实施例中，移动性定位数据上报请求还可包括定位平台的统一资源定位符(Uniform Resource Locator，简称URL)，以指示定位应用接收定位数据的地址；移动性定位数据上报请求还可包括定位坐标系信息，该定位坐标系信息可记录在数据上报触发策略信息中，用于指示定位数据的坐标格式，例如经纬度坐标或自定义坐标；移动性定位数据上报请求还可包括定位目标的标识信息。
在步骤S02，根据数据上报触发策略信息判断是否触发移动性定位数据上报行为。
其中，移动性定位数据上报行为即基于定位目标移动性的定位数据上报行为，由此，根据数据上报触发策略信息判断是否触发移动 性定位数据上报行为，即根据定位目标当前的移动性是否满足相应触发策略来判断是否触发移动性定位数据上报行为。在一些实施例中，定位目标的移动性可由定位目标的位置和速度进行体现，定位目标移动性的变化即可体现于位置变更和速度变化，由此，可根据定位目标的位置变更和速度变化判断是否触发移动性定位数据上报行为。
在步骤S02中，若判断出触发移动性定位数据上报行为，执行步骤S03。在一些实施例中，在步骤S02之前，还包括：对移动性定位数据上报请求(发送该请求的定位平台)进行鉴权，在鉴权通过后执行步骤S02。
在步骤S03，上报定位目标的定位数据。
其中，上报的定位数据用于描述定位目标的定位信息，上报定位数据的同时还可同时上报定位平台的统一资源定位符、数据上报触发策略信息和定位目标的标识信息，用于安全性和数据正确性验证。
在一些实施例中，上报定位目标的定位数据后继续执行步骤S02，根据数据上报触发策略信息判断是否触发移动性定位数据上报行为的步骤。
图2为本公开实施例提供的另一种定位方法的流程图。该方法为基于图1所示方法的一种示例性实施方案。如图2所示，该方法包括步骤S1至S3。
在步骤S1，接收移动性定位数据上报请求。
步骤S2，根据数据上报触发策略信息判断是否触发移动性定位数据上报行为。
在步骤S2中，若判断出触发移动性定位数据上报行为，执行步骤S3；若未判断出触发移动性定位数据上报行为，则持续对定位目标进行移动性监测，直到判断出触发移动性定位数据上报行为，执行步骤S3。
在步骤S3，上报定位目标的定位数据。
本公开实施例提供了一种定位方法，该方法可用于根据数据上报触发策略信息判断是否触发移动性定位数据上报行为，由此，在定位目标的移动性满足相应触发策略时进行其定位数据的上报，在保证 定位数据的充分性和时效性的同时，合理使用带宽资源和处理资源，实现了对数据时效性和平台资源的兼容。
图3为本公开实施例提供的另一种定位方法的流程图。该方法为基于图2所示方法的一种示例性实施方案。如图3所示，示例性地，步骤S2，根据数据上报触发策略信息判断是否触发移动性定位数据上报行为的步骤，包括：步骤S2a、根据数据上报触发策略信息检测定位目标是否发生位置变更。
在步骤S2a中，若检测出定位目标发生位置变更，则判断出触发移动性定位数据上报行为，后续执行步骤S3；若检测出定位目标未发生位置变更，则持续对定位目标的位置变更情况进行监测，直到检测出定位目标发生位置变更，进而判断出触发移动性定位数据上报行为，后续执行步骤S3。
图4为本公开实施例提供的又一种定位方法的流程图。该方法为基于图3所示方法的一种示例性实施方案。示例性地，数据上报触发策略信息包括参考位置和位置变更类型，参考位置包括定位目标的绝对参考位置，位置变更类型包括绝对位置变更类型；如图4所示，步骤S2a，根据数据上报触发策略信息检测定位目标是否发生位置变更的步骤，包括：步骤S201、根据绝对参考位置检测定位目标是否发生位置变更。
其中，该绝对参考位置是由定位平台指定或获取到的。
图5为本公开实施例中步骤S201的一种示例性实施方法流程图。进一步地，数据上报触发策略信息还包括位置变更度量方式和触发上报阈值，位置变更度量方式包括测距方式，触发上报阈值包括：距离阈值；如图4所示，步骤S201，根据绝对参考位置检测定位目标是否发生位置变更的步骤，包括步骤S2011和步骤S2012。
在步骤S2011，基于测距方式获取定位目标与绝对参考位置之间的距离。
其中，可通过实时定位监测定位目标计算该距离，例如，当定位坐标系为经纬度坐标系时，可根据定位目标与绝对参考位置所处的经度、纬度和高度计算得到该距离；当定位坐标系为自定义坐标系时， 可根据定位目标与绝对参考位置所处的坐标位置的坐标值计算得到该距离。
在步骤S2012，比较所获取到的距离与距离阈值的大小。
在步骤S2012中，若所获取到的距离大于或等于距离阈值，则检测出定位目标发生位置变更；若所获取到的距离小于距离阈值，则检测出定位目标未发生位置变更。
本公开实施例提供了一种定位方法，该方法可用于根据定位目标与绝对参考位置之间的距离确定定位目标是否发生了位置变更，根据定位目标的位置变更判断是否进行其定位数据的上报，在保证定位数据的充分性和时效性的同时，合理使用带宽资源和处理资源，实现了对数据时效性和平台资源的兼容。
图6为本公开实施例提供的再一种定位方法的流程图。该方法为基于图3所示方法的一种示例性实施方案。示例性地，数据上报触发策略信息包括位置变更类型，位置变更类型包括相对位置变更类型；如图6所示，步骤S2a，根据数据上报触发策略信息检测定位目标是否发生位置变更的步骤，包括步骤S202和S203。
在步骤S202，获取定位目标的历史定位数据，并根据历史定位数据确定定位目标的至少一个相对参考位置。
其中，不同于绝对参考位置，相对参考位置是由边缘计算平台根据定位目标的历史定位数据，选取历史定位数据中的某个或某几个定位位置确定的。
在步骤S203，根据至少一个相对参考位置检测定位目标是否发生位置变更。
在一些实施例中，进一步地，类似于步骤S201，根据绝对参考位置检测定位目标是否发生位置变更的步骤，数据上报触发策略信息还包括位置变更度量方式和触发上报阈值，位置变更度量方式包括测距方式，触发上报阈值包括距离阈值；步骤S203，根据至少一个相对参考位置检测定位目标是否发生位置变更的步骤，包括：基于测距方式获取定位目标与全部相对参考位置之间的距离；比较所获取到的全部距离与距离阈值的大小；若存在所获取到的距离大于或等于距离 阈值，则检测出定位目标发生位置变更，若所获取到的全部距离均小于距离阈值，则检测出定位目标未发生位置变更。
其中，当相对参考位置只有一个时，即比较定位目标与该相对参考位置之间的距离和距离阈值的大小关系；当相对参考位置有多个时，分别将获取到的多个距离与距离阈值进行比较，当定位目标与多个相对参考位置的距离均小于距离阈值时，则其位置未变更，可应用于当定位目标为在一定范围内运动的物体时，例如，针对进行流动展示或装卸货的货品、可试用或试穿的商品以及限制运动范围为不规则形状的定位目标。
本公开实施例提供了一种定位方法，该方法可用于根据定位目标与单个或多个相对参考位置之间的距离确定定位目标是否发生了位置变更，根据定位目标的位置变更判断是否进行其定位数据的上报，提高了位置变更判断的精确性。
图7为本公开实施例中步骤S2的一种示例性实施方法流程图。示例性地，数据上报触发策略信息包括触发度量方式和触发上报阈值，触发度量方式包括测速方式，触发上报阈值包括速率变化量阈值；如图7所示，步骤S2，根据数据上报触发策略信息判断是否触发移动性定位数据上报行为的步骤，包括步骤S2b和S2c。
在步骤S2b，基于测速方式，每隔预设时间段获取定位目标的速率，并计算速率变化量。
其中，该速率变化量可由该预设时间段内末尾时刻的速率减去初始时刻的速率，并取绝对值计算得到。在一些实施例中，或可通过矢量计算定位目标的加速度用于判断是否触发移动性定位数据上报行为。
在步骤S2c，比较速率变化量与速率变化量阈值的大小。
在步骤S2c中，若速率变化量大于或等于速率变化量阈值，则判断出触发移动性定位数据上报行为，后续执行步骤S3；若速率变化量小于速率变化量阈值，则持续对定位目标的速度变化情况进行监测。
其中，定位目标的加速或减速行为均会触发移动性定位数据上 报行为，在一些实施例中，定位目标的变向行为也会触发移动性定位数据上报行为。
本公开实施例提供了一种定位方法，该方法可用于根据定位目标的速度变化确定定位目标的移动性，并判断是否进行其定位数据的上报，在保证定位数据的充分性和时效性的同时，合理使用带宽资源和处理资源，实现了对数据时效性和平台资源的兼容。
图8为本公开实施例提供的再一种定位方法的流程图。如图8所示，该定位方法应用于定位平台侧(例如由定位平台执行)，该方法包括步骤S4至S6。
在步骤S4，配置生成移动性定位数据上报请求。
其中，移动性定位数据上报请求中记载有与定位目标对应的数据上报触发策略信息。
在一些实施例中，定位平台获取定位目标的常态信息，常态信息包括静止状态或运动状态；可根据其常态信息获取请求配置信息模板，并配置生成移动性定位数据上报请求，例如，针对常态为静止状态的定位目标，设置通过监测其与一个绝对参考位置之间的距离触发定位数据的上报；针对常态为运动状态的定位目标，设置通过监测其速度变化触发定位数据的上报。
在一些实施例中，定位平台获取定位目标的场景信息，可根据其场景信息获取请求配置信息模板，并配置生成移动性定位数据上报请求，例如，场景信息可包括：室内场景和室外场景。
在步骤S5，向边缘计算平台发送移动性定位数据上报请求。
在步骤S5中，向边缘计算平台发送移动性定位数据上报请求，以供边缘计算平台根据数据上报触发策略信息判断是否触发移动性定位数据上报行为，并在判断出触发移动性定位数据上报行为时上报定位目标的定位数据。
在步骤S6，接收定位数据。
在一些实施例中，数据上报触发策略信息包括参考位置和位置变更类型，参考位置包括定位目标的绝对参考位置，位置变更类型包括：绝对位置变更类型；其中，参考位置和位置变更类型用于指示边 缘计算平台根据绝对参考位置检测定位目标是否发生位置变更，对应步骤S201中的描述。进一步地，在一些实施例中，数据上报触发策略信息包括位置变更度量方式和触发上报阈值，位置变更度量方式包括：测距方式，触发上报阈值包括：距离阈值；其中，位置变更度量方式和触发上报阈值用于指示边缘计算平台基于测距方式获取定位目标与绝对参考位置之间的距离，并根据所获取到的距离与距离阈值的大小关系检测定位目标是否发生位置变更，对应步骤S2011和步骤S2012中的描述。
或者，在一些实施例中，数据上报触发策略信息包括位置变更类型，位置变更类型包括相对位置变更类型；位置变更类型用于指示边缘计算平台获取定位目标的历史定位数据，根据历史定位数据确定定位目标的至少一个相对参考位置，并根据至少一个相对参考位置检测定位目标是否发生位置变更，对应步骤S202和步骤S203中的描述。进一步地，在一些实施例中，数据上报触发策略信息还包括位置变更度量方式和触发上报阈值，位置变更度量方式包括测距方式，触发上报阈值包括距离阈值；位置变更度量方式和触发上报阈值用于指示边缘计算平台基于测距方式获取定位目标与全部相对参考位置之间的距离，并根据所获取到的全部距离与距离阈值的大小关系检测定位目标是否发生位置变更。
再或者，在一些实施例中，数据上报触发策略信息包括触发度量方式和触发上报阈值，触发度量方式包括测速方式，触发上报阈值包括速率变化量阈值；触发度量方式和触发上报阈值用于指示边缘计算平台基于测速方式，每隔预设时间段获取定位目标的速率，计算速率变化量，并根据速率变化量与速率变化量阈值的大小关系判断是否触发移动性定位数据上报行为，对应步骤S2b和步骤S2c中的描述。
本公开实施例提供了一种定位方法，该方法可用于确定通过定位目标的移动性判定进行定位数据的上报，将相应请求发送至边缘计算平台，实现对定位目标的移动性定位。
本公开实施例提供了一种边缘计算平台，包括：一个或多个处理器；存储装置，配置为存储一个或多个程序；当该一个或多个程序 被该一个或多个处理器执行，使得该一个或多个处理器实现如上述实施例中的任一包括步骤S1(或S01)的定位方法。
本公开实施例提供了一种计算机可读介质，其上存储有计算机程序，其中，该程序被处理器执行时实现如上述实施例中的任一包括步骤S1(或S01)的定位方法中的步骤。
本公开实施例提供了一种定位平台，包括：一个或多个处理器；存储装置，配置为存储一个或多个程序；当该一个或多个程序被该一个或多个处理器执行，使得该一个或多个处理器实现如上述实施例中的任一包括步骤S4的定位方法。
本公开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，其中，该程序被处理器执行时实现如上述实施例中的任一包括步骤S4的定位方法中的步骤。
本公开实施例提供了一种定位方法、边缘计算平台、定位平台和计算机可读介质,可应用于边缘计算平台的定位方法通过根据数据上报触发策略信息判断是否触发移动性定位数据上报行为，仅在定位目标满足相应移动性条件时上报定位数据，可实现在保证定位数据的充分性和时效性的同时，合理使用带宽资源和处理资源，实现了对数据时效性和平台资源的兼容；可应用于定位平台的定位方法通过配置生成移动性定位数据上报请求，使得边缘计算平台基于定位目标的移动性进行定位数据的上报，保证定位数据的充分性和时效性，并解决带宽资源和处理资源的浪费问题，实现了对数据时效性和平台资源的兼容。
本领域普通技术人员可以理解，上文中所公开方法中的全部或某些步骤、装置中的功能模块/单元可以被实施为软件、固件、硬件及其适当的组合。在硬件实施方式中，在以上描述中提及的功能模块/单元之间的划分不一定对应于物理组件的划分；例如，一个物理组件可以具有多个功能，或者一个功能或步骤可以由若干物理组件合作执行。某些物理组件或所有物理组件可以被实施为由处理器，如中央处理器、数字信号处理器或微处理器执行的软件，或者被实施为硬件，或者被实施为集成电路，如专用集成电路。这样的软件可以分布在计 算机可读介质上，计算机可读介质可以包括计算机存储介质(或非暂时性介质)和通信介质(或暂时性介质)。如本领域普通技术人员公知的，术语计算机存储介质包括在用于存储信息(诸如计算机可读指令、数据结构、程序模块或其他数据)的任何方法或技术中实施的易失性和非易失性、可移除和不可移除介质。计算机存储介质包括但不限于RAM、ROM、EEPROM、闪存或其他存储器技术、CD-ROM、数字多功能盘(DVD)或其他光盘存储、磁盒、磁带、磁盘存储或其他磁存储装置、或者可以用于存储期望的信息并且可以被计算机访问的任何其他的介质。此外，本领域普通技术人员公知的是，通信介质通常包含计算机可读指令、数据结构、程序模块或者诸如载波或其他传输机制之类的调制数据信号中的其他数据，并且可包括任何信息递送介质。
本文已经公开了示例实施例，并且虽然采用了具体术语，但它们仅用于并仅应当被解释为一般说明性含义，并且不用于限制的目的。在一些实例中，对本领域技术人员显而易见的是，除非另外明确指出，否则可单独使用与特定实施例相结合描述的特征、特性和/或元素，或可与其他实施例相结合描述的特征、特性和/或元件组合使用。因此，本领域技术人员将理解，在不脱离由所附的权利要求阐明的本公开的范围的情况下，可进行各种形式和细节上的改变。

Claims (12)

  1. 一种定位方法，包括：
    接收移动性定位数据上报请求，所述移动性定位数据上报请求中记载有与定位目标对应的数据上报触发策略信息；
    根据所述数据上报触发策略信息判断是否触发移动性定位数据上报行为；
    若判断出触发移动性定位数据上报行为，上报所述定位目标的定位数据。
  2. 根据权利要求1所述的方法，其中，所述根据所述数据上报触发策略信息判断是否触发移动性定位数据上报行为的步骤，包括：
    根据所述数据上报触发策略信息检测所述定位目标是否发生位置变更；
    若检测出所述定位目标发生位置变更，则判断出触发移动性定位数据上报行为。
  3. 根据权利要求2所述的定位方法，其中，所述数据上报触发策略信息包括：参考位置和位置变更类型；
    所述参考位置包括：所述定位目标的绝对参考位置，所述位置变更类型包括：绝对位置变更类型；
    根据所述数据上报触发策略信息检测所述定位目标是否发生位置变更的步骤，包括：
    根据所述绝对参考位置检测所述定位目标是否发生位置变更。
  4. 根据权利要求3所述的定位方法，其中，所述数据上报触发策略信息还包括：位置变更度量方式和触发上报阈值；
    所述位置变更度量方式包括：测距方式，所述触发上报阈值包括：距离阈值；
    所述根据所述绝对参考位置检测所述定位目标是否发生位置变更的步骤，包括：
    基于所述测距方式获取所述定位目标与所述绝对参考位置之间的距离；
    比较所获取到的距离与所述距离阈值的大小；
    若所获取到的距离大于或等于所述距离阈值，则检测出所述定位目标发生位置变更。
  5. 根据权利要求2所述的定位方法，其中，所述数据上报触发策略信息包括：位置变更类型；
    所述位置变更类型包括：相对位置变更类型；
    所述根据所述数据上报触发策略信息检测所述定位目标是否发生位置变更的步骤，包括：
    获取所述定位目标的历史定位数据，并根据所述历史定位数据确定所述定位目标的至少一个相对参考位置；
    根据所述至少一个相对参考位置检测所述定位目标是否发生位置变更。
  6. 根据权利要求5所述的定位方法，其中，所述数据上报触发策略信息还包括：位置变更度量方式和触发上报阈值；
    所述位置变更度量方式包括：测距方式，所述触发上报阈值包括：距离阈值；
    所述根据所述至少一个相对参考位置判断所述定位目标是否发生位置变更的步骤，包括：
    基于所述测距方式获取所述定位目标与全部所述相对参考位置之间的距离；
    比较所获取到的全部距离与所述距离阈值的大小；
    若存在所获取到的距离大于或等于所述距离阈值，则检测出所述定位目标发生位置变更。
  7. 根据权利要求1所述的定位方法，其中，所述数据上报触发策略信息包括：触发度量方式和触发上报阈值；
    所述触发度量方式包括：测速方式，所述触发上报阈值包括：速率变化量阈值；
    所述根据所述数据上报触发策略信息判断是否触发移动性定位数据上报行为的步骤，包括：
    基于所述测速方式，每隔预设时间段获取所述定位目标的速率， 并计算速率变化量；
    比较所述速率变化量与所述速率变化量阈值的大小；
    若所述速率变化量大于或等于所述速率变化量阈值，则判断出触发移动性定位数据上报行为。
  8. 一种定位方法，包括：
    配置生成移动性定位数据上报请求，所述移动性定位数据上报请求中记载有与定位目标对应的数据上报触发策略信息；
    向边缘计算平台发送所述移动性定位数据上报请求，以供所述边缘计算平台根据所述数据上报触发策略信息判断是否触发移动性定位数据上报行为，并在判断出触发移动性定位数据上报行为时上报所述定位目标的定位数据；
    接收所述定位数据。
  9. 一种边缘计算平台，包括：
    一个或多个处理器；
    存储装置，配置为存储一个或多个程序；
    当所述一个或多个程序被所述一个或多个处理器执行时，使得所述一个或多个处理器实现如权利要求1-7中任一所述的定位方法。
  10. 一种定位平台，包括：
    一个或多个处理器；
    存储装置，配置为存储一个或多个程序；
    当所述一个或多个程序被所述一个或多个处理器执行，使得所述一个或多个处理器实现如权利要求8中所述的定位方法。
  11. 一种计算机可读介质，其上存储有计算机程序，其中，所述程序被处理器执行时实现如权利要求1-7中任一所述的定位方法中的步骤。
  12. 一种计算机可读介质，其上存储有计算机程序，其中，所述程序被处理器执行时实现如权利要求8中所述的定位方法中的步骤。
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