WO2022116717A1

WO2022116717A1 - Positioning correction method and apparatus, and storage medium

Info

Publication number: WO2022116717A1
Application number: PCT/CN2021/124559
Authority: WO
Inventors: 高翔; 车忠辉; 于宏全; 王兵; 康延辉
Original assignee: 中兴通讯股份有限公司
Priority date: 2020-12-03
Filing date: 2021-10-19
Publication date: 2022-06-09
Also published as: CN114594495A

Abstract

A positioning correction method and apparatus, and a storage medium. The correction method comprises: acquiring a collection time, a position time, and position data and precision of a point to be corrected, and collection times and position data and precision of two adjacent high-precision positioning points which are near to each other front to back; and calculating, by means of a correction algorithm, a coordinate position of the corrected actual point. The method is simple and efficient, and the user experience is improved.

Description

A positioning and deviation correction method, device and storage medium

CROSS-REFERENCE TO RELATED APPLICATIONS

The present disclosure claims the priority of Chinese patent application CN202011412439.7 filed on December 03, 2020, entitled "A Method and Device for Positioning and Correction", the entire contents of which are incorporated into the present disclosure by reference.

technical field

The present disclosure belongs to the technical field of positioning and tracking, and in particular relates to a positioning and deviation correction method, a device and a storage medium.

Background technique

Since the mobile terminal was given the positioning function, people's demand for position control has gradually expanded, and products similar to TRACKER, wristbands, etc., which are small in size and have positioning functions, have emerged as the times require. Our company also launched the SBMT1001TRACKER project and put it on the Japanese market. It usually obtains positioning information through three methods: global positioning system (GPS) technology, wireless local area network positioning technology and base station positioning technology; after the T1001SBM project is shipped in the Japanese market, it often receives information from Softbank about inaccurate positioning. complaint. We analyzed the positioning data recorded by the server and found that the GPS positioning is very accurate, and the inaccurate points are basically from WIFI positioning or base station positioning. The error of WIFI positioning is generally about 20 meters, while the positioning error of the base station can reach Several kilometers, and when there is a situation where the WIFI device is moved, errors of up to several kilometers can also occur. When this raw positioning data is not processed, what is displayed on the map is a curved trajectory that clearly does not meet the customer's expectations.

Later, I tried to use the API algorithms provided by AutoNavi or Baidu Maps to correct deviations, but found that the conditions we sometimes collected did not meet the API requirements of AutoNavi or Baidu Maps. Or Baidu Maps has been corrected, so the positioning of AutoNavi or Baidu Maps is more suitable for use in cars or mobile phones, but not for TRACKER, bracelets and other devices.

Some rectification techniques that can be found at present include GPS positioning rectification, which is to obtain multiple GPS coordinate points to form a set of GPS coordinate points; use a clustering algorithm to classify the set of GPS coordinate points to determine one or more sub-cluster sets; determine the number of members The center coordinate point of all GPS coordinate points in the most sub-cluster set is the destination GPS coordinate point. This method relies heavily on GPS and cannot solve the situation that GPS cannot be obtained in tunnels or underground garages; another method is to filter out some positioning points that are determined to be invalid through a series of judgments, but this method will cause users to Lost information. Therefore, so far, there is no deviation correction method suitable for the mobile terminal for the positioning and deviation correction operation of the mobile terminal.

SUMMARY OF THE INVENTION

The present disclosure provides a positioning deviation correction method, device and storage medium to solve the problems of inaccurate positions and large offsets caused by some low-precision sources in the positioning of mobile terminals.

To achieve the above objects, the technical solutions adopted in the present disclosure include the following first to third aspects.

In a first aspect, the present disclosure provides a positioning and deviation correction method, including: obtaining the collection time, position time, position data and accuracy of the point to be corrected, and the collection time, position data and accuracy of the two nearest adjacent high-precision positioning points. Accuracy; the coordinate position of the corrected actual point is calculated through the correction algorithm; wherein, the correction algorithm includes: setting the point to be corrected as point D, and the collection time from the high-precision positioning point before the point to be corrected to the point to be corrected as the point A, the high-precision positioning point whose acquisition time is after the point to be corrected is point B; calculate the distance L _AB between point A and point B; and the time interval Δt ₁ between point D and point A, and point D to point The time interval Δt ₂ between B; according to the ratio of the distance from point C to point B to the distance from point C to point A is equal to the time interval Δt ₂ between point D and point B and point D to point A The ratio of the time interval Δt ₁ between them is equal, and the reference point C is found on the line segment AB formed by the connection line between point A and point B; Assumed point E, M≥10, set the coordinates of point E as E(x, y), respectively correct the distances from M points E to point C and point D with the accuracy value, and obtain the correction value of each point E N value, find the point E with the smallest N value among the N values of the M points E, then the coordinates of the point E with the smallest N value are the coordinates of the corrected actual point.

In a second aspect, the present disclosure provides a positioning and deviation correction device, comprising a main control module, a trajectory detection module, a deviation correction module and an information exchange module respectively connected in communication with the main control module. The main control module is configured to control the flow sequence of the positioning and deviation correction method; it is also configured to receive the initial positioning point of the terminal equipment positioning and tracking reported by the network server through the information exchange module, and draw the initial trajectory line of the positioning and tracking, and is also configured to receive the deviation correction. The module corrects the coordinate position of the actual point, and draws the corrected positioning and tracking trajectory; it is also configured to request the acquisition time, position time, position data and accuracy of the point to be corrected from the network server through the information exchange module, as well as the adjacent before and after The acquisition time, position data and accuracy of the two nearest high-precision positioning points are sent to the deviation correction module. The trajectory detection module is configured to accept the operation instruction of the main control module, detect the trajectory line of positioning and tracking in real time, and identify the points that obviously deviate from the trend of the trajectory line, obtain the points to be corrected, and transmit the information of the points to be corrected to the main control module. The deviation correction module integrates the deviation correction algorithm, and is configured to accept the operation instructions of the main control module, perform the correction and correction operation on the point to be corrected, and obtain the coordinate position of the corrected actual point. The information exchange module is the medium of information transmission, and is configured to accept the operation instructions of the main control module and to exchange information with the network server.

In a third aspect, the present disclosure provides a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, wherein the computer program causes a computer to execute the above-mentioned positioning and deviation correction method.

Description of drawings

Fig. 1 is the working flow chart of the positioning and deviation correction method in one embodiment of the present disclosure;

2 is a real-time trajectory drawn in an embodiment of the present disclosure;

3 is a coordinate system drawn in an embodiment of the present disclosure;

FIG. 4 is a structural block diagram of a positioning and deviation correction device according to an embodiment of the present disclosure.

Detailed ways

The technical solutions of the present disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are a part of the embodiments of the present disclosure, but not all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present disclosure.

In the description of the present disclosure, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present disclosure and simplifying the description, rather than indicating or implying that the indicated device or element must have a specific orientation or a specific orientation. construction and operation, and therefore should not be construed as limiting the present disclosure. Furthermore, the terms "first", "second", and "third" are used for descriptive purposes only and should not be construed to indicate or imply relative importance.

In the description of the present disclosure, it should be noted that the terms "installed", "connected" and "connected" should be understood in a broad sense, unless otherwise expressly specified and limited, for example, it may be a fixed connection or a detachable connection Connection, or integral connection; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediate medium, can be internal communication between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present disclosure can be understood in specific situations.

The present disclosure will be described in further detail below with reference to the accompanying drawings.

FIG. 1 shows an embodiment of a positioning and deviation correction method of the present disclosure, including steps S1 to S5.

S1. The main control module obtains the initial positioning point of the terminal equipment positioning and tracking reported by the network server, and draws a real-time trajectory; the positioning information of the initial positioning point is derived from the global positioning system (global positioning system, GPS) technology, wireless local area network positioning technology and Base station positioning technology; terminal equipment includes TRACKER positioning tracker, smart bracelet, etc.

S2. The trajectory detection module detects the real-time trajectory line of positioning and tracking in real time, and identifies points that deviate significantly from the trend of the trajectory line to obtain the point to be corrected; the curve shown in Figure 2 is the real-time trajectory line, and the fifth point 5 is the It is the point that deviates significantly from the trend of the trajectory line, that is, the point to be corrected.

Among them, the method of judging the points that obviously deviate from the trend of the trajectory line is:

On the drawn trajectory line, as shown in Figure 2, the trajectory detection module takes consecutive P initial positioning points as a group for detection according to the acquisition time, P≥10, and collects the distance X between adjacent initial positioning points at the same time, and calculate the average

average value

The expression is:

In the P initial positioning points, let the i-th positioning point be point i, 1<i<P, the adjacent initial positioning point on the front side of point i is point i-1; the adjacent initial positioning point on the back side of point i is point i+1; then the distance from point i to point i-1 is X(i-1)i, and the distance from point i to point i+1 is Xi(i+1); then set the difference value threshold H;

when

and

When both are satisfied, it is considered that the i-th point i is a point that deviates significantly from the trajectory line, that is, the point to be corrected.

S3. Obtain the collection time, position time, position data and accuracy of the point to be corrected from the network server, as well as the collection time, position data and accuracy of the two nearest adjacent high-precision positioning points; high-precision positioning points refer to positioning The information comes from the positioning points of the global positioning system (GPS) technology or the positioning points that are positioned through three WIFI SSIDs;

S4. Calculate the coordinate position of the corrected actual point through the correction algorithm; the correction algorithm includes:

Suppose the high-precision positioning point before the point to be corrected with the acquisition time before the point to be corrected is point A, the acquisition time of point A is T _A , and the coordinates of point A are (A _x , A _y );

Suppose the high-precision positioning point whose acquisition time is after the point to be corrected is point B, the acquisition time of point B is T _B , and the coordinates of point B are (B _x , _By );

Suppose the point to be corrected is point D, and the precision of point D is r _d ;

After obtaining the collection time, position time, position data, and accuracy of the point to be corrected, as well as the collection time, position data, and accuracy of the two nearest high-precision positioning points before and after each other, the coordinate system needs to be drawn. When drawing the coordinate system, in order to simplify the calculation of each expression in the deviation correction algorithm, choose point A as the origin, and use the straight line connecting point A and point B as the y-axis to draw the coordinate system; as shown in Figure 3, then this , the coordinates of point A are (A _x , A _y ) ₌ (0, 0); the coordinates of point B are (B _x , By ) ₌ (0, By ),

Calculate the distance L _AB from point A to point B,

Calculate the time interval Δt ₁ between point _A and point _D , Δt ₁ =TD -TA;

Calculate the time interval Δt ₂ between point D and point B, Δt ₂ =T _B -T _D ;

Let the distance from point C to point A be L _CA , and let the distance from point C to point B be L _CB ; according to L _CB /L _CA =Δt ₂ /Δt ₁ , on the line segment AB formed by the line connecting point A and point B Find a point C as a reference point, and the coordinates of point C are:

Calculate the precision rc of point _C ,

In the triangular area formed by point A, point B and point D, evenly take M hypothetical points E, M≥10, set the coordinates of point E as E(x,y), respectively, for M points E to point C and The distance of point D is corrected by the precision value, and the correction value N value of each point E is obtained,

The expression corrected with the precision value is:

Find the point E with the smallest N value among the N values of the M points E, then the coordinates of the point E with the smallest N value are the coordinates of the corrected actual point.

S5. Based on the corrected coordinate position of the actual point, draw the corrected trajectory line. The corrected trajectory line is a smooth curve, which greatly improves the user experience.

In order to implement the above method, FIG. 4 also shows an embodiment of a positioning and deviation correction device of the present disclosure, which includes a main control module 1 , a trajectory detection module 2 communicatively connected to the main control module 1 , a deviation correction module 3 and information interaction Module 4.

The main control module 1 is configured to control the flow sequence of the positioning and deviation correction method; the main control module is further configured to receive the initial positioning point of the terminal equipment positioning and tracking reported by the network server through the information exchange module, and draw the trajectory line of the positioning and tracking, and also configure In order to request the network server through the information exchange module for the collection time, position time, position data and accuracy of the point to be corrected, as well as the collection time, position data and accuracy of the two nearest high-precision positioning points before and after adjacent to each other, send it to the deviation correction module , and is also configured to receive the coordinate position of the actual point corrected by the deviation correction module, and draw the corrected trajectory of the positioning and tracking.

The trajectory detection module 2 is configured to accept the operation instruction of the main control module, detect the trajectory line of positioning and tracking in real time, and identify the points that obviously deviate from the trend of the trajectory line, obtain the points to be corrected, and transmit the information of the points to be corrected to the main control module. .

The deviation correction module 3 integrates the deviation correction algorithm, and is configured to accept the operation instruction of the main control module, perform the correction and deviation correction operation on the point to be corrected, and obtain the coordinate position of the corrected actual point.

The information exchange module 4 is a medium for information transmission, and is configured to accept the operation instructions of the main control module and to exchange information with the network server.

In an exemplary embodiment, the positioning and deviation correction device is mounted on the mobile phone.

The operation steps for performing the positioning and deviation correction using the above-mentioned positioning and deviation correction device include the following steps 1 to 9.

Step 1. Terminal devices such as TRACKER positioning tracker and smart bracelet detect whether Gps is available. If Gps is available, the Gps information is reported to the network server.

Step 2. When GPS is unavailable, the terminal device scans the surrounding WIFI and base station information, and reports it to the network server.

Step 3: The network server calculates the corresponding coordinate position according to the WIFI and base station data stored by itself and in combination with the information reported by the TRACKER.

Step 4. The main control module draws a real-time trajectory by acquiring the positioning position information of the terminal device and positioning the initial point.

Step 5. When the main control module draws the real-time trajectory, the trajectory detection module detects the real-time trajectory in real time.

Step 6. When a point that obviously deviates from the trend of the real-time trajectory line is found, it is determined as the point that needs to be corrected, that is, the point to be corrected (in the positioning of terminal equipment such as TRACKER positioning tracker and smart bracelet, the point that deviates from the trend of the real-time trajectory line is usually From WIFI positioning and base station positioning), as shown in point 5 in Figure 2 and point D in Figure 3, and then send the position information of the point to be corrected to the main control module.

Step 7: The main control module obtains the collection time, position data, and accuracy of the point to be corrected, and the collection time, position data, and accuracy of the two nearest adjacent high-precision positioning points from the network server through the information exchange module.

Step 8. The main control module sends the information obtained in step 7 to the deviation correction module.

S008: The deviation correction module performs deviation correction calculation according to the request of the main control module, and outputs the position coordinates of the actual point after correction. The specific deviation correction algorithm is shown in S4.

Step 9: The main control module draws the corrected actual trajectory line based on the position coordinates of the corrected actual point.

A computer-readable storage medium stores a computer program, wherein the computer program causes a computer to execute the above-mentioned positioning and deviation correction method.

Compared with some situations, the beneficial effects of the present disclosure are:

The present disclosure makes full use of the characteristics of terminal devices such as TRACKER and wristbands that use multiple positioning sources, and uses the information of high-precision points to correct the deviation of low-precision points through related algorithms. The user information is filtered out, the implementation method is simple and efficient, and the user experience is greatly improved.

The above-described embodiments are only preferred embodiments of the present disclosure, rather than an exhaustive list of feasible implementations of the present disclosure. For those skilled in the art, any obvious changes made to it without departing from the principle and spirit of the present disclosure should be considered to be included within the protection scope of the claims of the present disclosure.

Claims

A positioning correction method, comprising:

Obtain the collection time, position time, position data and accuracy of the point to be corrected, as well as the collection time, position data and accuracy of the two nearest high-precision positioning points before and after each other;

Calculate the coordinate position of the corrected actual point through the correction algorithm;

The bias correction algorithm includes:

Let the point to be corrected be point D, the high-precision positioning point whose acquisition time is before the point to be corrected to the point to be corrected is point A, and the high-precision positioning point whose acquisition time is after the point to be corrected is point B;

Calculate the distance L AB between point A and point B; and the time interval Δt 1 between point D and point A, and the time interval Δt 2 between point D and point B;

According to the ratio of the distance between point C and point B to the distance between point C and point A is equal to the ratio of the time interval Δt 2 between point D and point B to the time interval Δt 1 between point D and point A Equal, find the reference point C on the line segment AB formed by the line connecting the point A and the point B;

In the triangular area formed by point A, point B and point D, evenly take M hypothetical points E, M≥10, set the coordinates of point E to be E (x,y) , respectively for M points E to point C and The distance of point D is corrected by the precision value, and the correction value N value of each point E is obtained,

Find the point E with the smallest N value among the N values of the M points E, then the coordinates of the point E with the smallest N value are the coordinates of the corrected actual point.
A method for positioning deviation correction according to claim 1, wherein the deviation correction algorithm further comprises:

Suppose the point to be corrected is point D, the precision of point D is r d ,

Suppose the high-precision positioning point before the point to be corrected with the acquisition time before the point to be corrected is point A, the acquisition time of point A is T A , and the coordinates of point A are (A x , A y );

Suppose the high-precision positioning point whose acquisition time is after the point to be corrected is point B, the acquisition time of point B is T B , and the coordinates of point B are (B x , By );

Calculate the distance L AB from point A to point B,

Calculate the time interval Δt 1 between point A and point D , Δt 1 =TD -TA;

Calculate the time interval Δt 2 between point D and point B, Δt 2 =T B -T D ;

Let the distance from point C to point A be L CA , and let the distance from point C to point B be L CB ; according to L CB /L CA =Δt 2 /Δt 1 , on the line segment AB formed by the line connecting point A and point B Find the reference point C, the coordinates of point C are

Calculate the precision rc of point C ;

In the triangular area formed by point A, point B and point D, evenly take M hypothetical points E, M≥10, set the coordinates of point E as E(x, y), respectively, for M points E to point C and The distance of point D is corrected by the precision value, and the correction value N value of each point E is obtained,

The expression modified by the precision value is:

Find the point E with the smallest N value among the N values of the M points E, then the coordinates of the point E with the smallest N value are the coordinates of the corrected actual point.
A method for positioning deviation correction according to claim 2, wherein the expression of the precision rc of the point C is:
A positioning deviation correction method according to claim 2, wherein the acquisition time, position time, position data and accuracy of the point to be corrected are obtained, as well as the acquisition time, position data and After the accuracy, the coordinate system needs to be drawn;

The coordinate system is drawn with point A as the origin, and the line connecting point A and point B as the y-axis. At this time, the coordinates of point A (A x , A y )=(0, 0); point The coordinates of B (B x , By ) = (0, By ), then L AB = By ; the coordinates of point C are
A positioning deviation correction method according to claim 1, wherein the acquisition time, position time, position data and accuracy of the point to be corrected are obtained, as well as the acquisition time and position data of the two nearest high-precision positioning points before and after adjacent to each other. Before adjusting the accuracy, it is necessary to detect and identify the points that deviate from the trend of the trajectory line. Before, it is necessary to obtain the initial positioning point of the terminal device positioning and tracking reported by the network server, draw the trajectory line, and then detect the trajectory line of the positioning and tracking in real time, and identify it. Points that deviate significantly from the trend of the trajectory line are obtained to be corrected.
A kind of positioning deviation correction method according to claim 1, wherein, the judging method of the point obviously deviating from the trajectory line trend is:

On the drawn trajectory line, take consecutive P initial positioning points as a group for detection according to the acquisition time, collect the distance X between adjacent initial positioning points, and calculate the average value

In the P initial positioning points, let the i-th positioning point be point i, 1<i<P, the adjacent initial positioning point on the front side of point i is point i-1; the adjacent initial positioning point on the back side of point n is point i+1; then the distance from point i to point i-1 is X(i-1)i, and the distance from point i to point i+1 is Xi(i+1); then set the difference value threshold H;

when
and
When both are satisfied, it is considered that the i-th point i is a point that deviates significantly from the trajectory line, that is, the point to be corrected.
A kind of positioning and deviation correction method according to claim 6, wherein,

the average
The expression is:
A positioning and deviation correction method according to claim 5, wherein the high-precision positioning point refers to the positioning point whose positioning information is derived from the global positioning system technology or the positioning point that is positioned through three WIFI SSIDs.
A positioning and deviation correction device, comprising a main control module, a trajectory detection module, a deviation correction module and an information exchange module respectively connected in communication with the main control module;

The main control module is configured to control the flow sequence of the positioning and deviation correction method; it is also configured to receive the initial positioning point of the terminal equipment positioning and tracking reported by the network server through the information exchange module, and draw the initial trajectory line of the positioning and tracking, and is also configured to: Receive the coordinate position of the actual point corrected by the deviation correction module, and draw the corrected positioning and tracking trajectory; it is also configured to request the collection time, position time, position data and accuracy of the point to be corrected from the network server through the information exchange module, and the relative The collection time, position data and accuracy of the two nearest high-precision positioning points before and after the neighbor are sent to the deviation correction module;

The trajectory detection module is configured to accept the operation instruction of the main control module, detect the trajectory line of positioning and tracking in real time, and identify the points that obviously deviate from the trajectory of the trajectory line, obtain the points to be corrected, and transmit the information of the points to be corrected to the main controller. module;

The deviation correction module integrates a deviation correction algorithm, and is configured to accept the operation instruction of the main control module, perform a deviation correction operation on the point to be corrected, and obtain the coordinate position of the corrected actual point;

The information exchange module is a medium for information transmission, and is configured to accept the operation instruction of the main control module and to exchange information with the network server.
A computer-readable storage medium storing a computer program, wherein the computer program enables a computer to execute a positioning and deviation correction method according to any one of claims 1-8.