WO2023005121A1

WO2023005121A1 - Terminal positioning method, device, storage medium, and positioning module

Info

Publication number: WO2023005121A1
Application number: PCT/CN2021/140441
Authority: WO
Inventors: 刘宇
Original assignee: 西安广和通无线软件有限公司
Priority date: 2021-07-30
Filing date: 2021-12-22
Publication date: 2023-02-02
Also published as: CN113608250A

Abstract

A terminal positioning method, a device, a storage medium, and a positioning module. The method comprises: obtaining current satellite positioning data by means of satellite positioning, so as to obtain a first terminal location (S11); disabling satellite positioning, enabling an inertial measurement apparatus, and determining an inertial measurement navigation duration, and subsequently beginning to perform timekeeping by means of a variable timer (S12); predicting a real-time location by means of the inertial measurement apparatus and on the basis of the first terminal location (S13); and once the inertial measurement navigation duration has been timed to completion, re-enabling satellite positioning to obtain newest satellite positioning data, and correcting the real-time location on the basis of the newest satellite positioning data, so as to obtain a second terminal location (S14).

Description

A terminal positioning method, device, storage medium and positioning module

This application claims the priority of the Chinese patent application submitted to the China Patent Office on July 30, 2021, with the application number 202110873719.6, and the title of the invention is "a terminal positioning method, equipment, storage medium and positioning module", the entire content of which Incorporated in this application by reference.

technical field

The present application relates to the field of positioning technology, and in particular to a terminal positioning method, device, storage medium and positioning module.

Background technique

At present, satellite positioning technology is widely used, providing high-precision location information for various industry applications and promoting social development. The basic principle of the satellite navigation system is to measure the distance between the known satellite and the user's receiver, and then integrate the data of multiple satellites to know the specific position of the receiver. However, in actual use, frequent use of satellite positioning will significantly increase power consumption. In order to overcome the above problems, in the traditional technology, positioning is also performed through inertial navigation technology, but the gyroscope and accelerometer information in the inertial measurement device used by inertial navigation There are errors, and the accumulation of errors will seriously reduce the accuracy of positioning. Therefore, how to reduce the power consumption of positioning while ensuring the positioning accuracy is an urgent problem to be solved at present.

Contents of the invention

In view of this, according to various embodiments of the present application, a terminal positioning method, device, storage medium, and positioning module are provided, which can reduce positioning power consumption while ensuring positioning accuracy. The specific plan is as follows:

In the first aspect, the present application discloses a terminal positioning method, including:

Obtain current satellite positioning data through satellite positioning to obtain the first terminal position;

Turn off the satellite positioning, enable the inertial measurement device and determine the duration of the inertial measurement navigation, and then start timing through a variable timer;

predicting a real-time position by the inertial measurement device based on the first terminal position;

After the timing reaches the inertial measurement navigation duration, the satellite positioning is re-enabled to obtain the latest satellite positioning data, and the real-time position is corrected based on the latest satellite positioning data to obtain the second terminal position.

Optionally, the obtaining current satellite positioning data through satellite positioning to obtain the first terminal position includes:

Obtain the current satellite positioning data through the satellite positioning, and obtain the base station positioning data through the base station;

The location of the first terminal is determined based on the current satellite positioning data and the base station positioning data.

Optionally, the process of predicting the real-time position through the inertial measurement device also includes:

Obtain the satellite positioning request sent by the client;

Stopping the timing of the variable timer according to the satellite positioning request, and performing the step of reactivating the satellite positioning to obtain the latest satellite positioning data.

monitoring the accumulated movement distance measured by the inertial measurement device after the variable timer starts counting;

If the moving distance is greater than the preset distance threshold, stop timing of the variable timer, and perform the step of reactivating the satellite positioning to obtain the latest satellite positioning data.

Optionally, the determination of the inertial measurement navigation duration includes:

Obtaining parameter information of an application of the terminal using the location service, and determining a distance sensitivity level corresponding to the application according to the parameter information;

According to the correspondence between the pre-built distance sensitivity level and the navigation duration, the navigation duration corresponding to the application is determined, and the navigation duration is used as the inertial measurement navigation duration.

Obtaining parameter information of an application of the terminal using the positioning service, and determining a distance sensitivity value corresponding to the application according to the parameter information;

Obtain the current velocity value of the terminal and the device error parameter of the inertial measurement device;

determining the inertial measurement navigation duration according to a pre-built navigation duration function based on the distance sensitivity value, the velocity value and the device error parameter;

Wherein, the independent variables of the navigation duration function are distance sensitivity, speed and device error, and the dependent variable is the inertial measurement navigation duration.

Optionally, after correcting the real-time position based on the latest satellite positioning data, further comprising:

According to the difference between the latest satellite positioning data and the real-time position, the coefficients of the independent variables in the navigation duration function are optimized.

In the second aspect, the application discloses a positioning module, including:

A satellite positioning module, configured to obtain current satellite positioning data through satellite positioning, so as to obtain the first terminal position;

The inertial measurement module is used to turn off the satellite positioning and enable the inertial measurement device and determine the duration of the inertial measurement navigation, and then start timing through the variable timer, based on the first terminal position, use the inertial measurement device to predict real-time Location;

The satellite positioning restart module is used to re-enable the satellite positioning to obtain the latest satellite positioning data after the timing reaches the inertial measurement navigation duration, and correct the real-time position based on the latest satellite positioning data to obtain the first Two end positions.

In a third aspect, the present application discloses an electronic device, comprising:

memory for storing computer programs;

A processor, configured to execute the computer program, so as to implement the aforementioned method for locating a terminal.

In a fourth aspect, the present application discloses a computer-readable storage medium for storing a computer program; wherein when the computer program is executed by a processor, the aforementioned method for locating a terminal is implemented.

The details of one or more embodiments of the application are set forth in the accompanying drawings and the description below. Other features, objects and advantages of the present application will be apparent from the description, drawings and claims.

Description of drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only It is an embodiment of the present invention, and those skilled in the art can also obtain other drawings according to the provided drawings on the premise of not paying creative efforts.

FIG. 1 is a flow chart of a terminal positioning method provided by the present application;

FIG. 2 is a flow chart of a specific terminal positioning method provided by the present application;

Fig. 3 is a schematic structural diagram of a positioning module provided by the present application;

FIG. 4 is a structural diagram of an electronic device provided by the present application.

Detailed ways

In the prior art, real-time positioning is performed through satellite positioning technology, but frequent use of satellite positioning will significantly increase power consumption. In the prior art, positioning is also performed through inertial navigation technology, but the gyroscope in the inertial measurement device used by inertial navigation Accelerometer and accelerometer information have errors, and the accumulation of errors will seriously reduce the positioning accuracy. In order to overcome the above technical problems, the present application also proposes a terminal positioning method, which can reduce the power consumption of positioning while ensuring the positioning accuracy.

The embodiment of the present application discloses a terminal positioning method, which is applied to the terminal, as shown in Figure 1, the method may include the following steps:

Step S11: Obtain current satellite positioning data through satellite positioning to obtain the position of the first terminal.

In this embodiment, firstly, the current satellite positioning data is acquired through satellite positioning to obtain the position of the first terminal, that is, the current accurate position of the terminal.

In this embodiment, the obtaining the current satellite positioning data through satellite positioning to obtain the position of the first terminal may include: obtaining the current satellite positioning data through the satellite positioning, and obtaining the base station positioning data through the base station; based on the The current satellite positioning data and the base station positioning data determine the position of the first terminal. That is, the above-mentioned first terminal location may be a location determined by combining satellite positioning and base station positioning.

Step S12: Turn off the satellite positioning, enable the inertial measurement device and determine the duration of the inertial measurement navigation, and then start timing through a variable timer.

In this embodiment, after obtaining the position of the first terminal, the satellite positioning function of the terminal is turned off, the inertial navigation of the inertial measurement device is enabled, and the duration of the inertial measurement navigation is determined. The duration of the inertial measurement navigation is the inertial navigation using the inertial measurement device , and then start counting from zero with a variable timer based on the above inertial navigation duration.

In this embodiment, the determining the duration of inertial measurement navigation may include: acquiring parameter information of the application that the terminal uses the positioning service, and determining the distance sensitivity level corresponding to the application according to the parameter information; According to the corresponding relationship between the distance sensitivity level and the navigation duration, the navigation duration corresponding to the application is determined, and the navigation duration is used as the inertial measurement navigation duration. It can be understood that since different applications have different sensitivity to distance, that is, the required positioning accuracy is different, so the above-mentioned inertial navigation duration can be obtained by obtaining the parameter information of the terminal using the positioning service, and then according to the parameter information Determine the distance sensitivity level corresponding to the application; and then determine the navigation duration corresponding to the above application according to the pre-built correspondence between the distance sensitivity level and the navigation duration. Moreover, when there are multiple applications using the location service, the application with the highest level of sensitivity shall prevail. Of course, in addition to this, the above inertial navigation duration may also be a fixed value set by the user.

Step S13: Based on the first terminal location, predict a real-time location through the inertial measurement device.

In this embodiment, after the above-mentioned inertial measurement device is activated, based on the determined first terminal position, the real-time position of the above-mentioned terminal is predicted by the inertial measurement device. Understandably, an inertial measurement unit typically includes an accelerometer and a gyroscope, also known as an inertial navigation combination. The accelerometer is used to detect the acceleration of the object, and the gyroscope is called an angular velocity sensor, which is used to detect the angular velocity. By collecting the initial velocity of the terminal, combined with the acceleration measured by the accelerometer, the displacement generated by the acceleration is converted according to the method of quadratic integration, and then the displacement generated by the velocity is calculated by using the initial velocity, and the real-time position of the terminal is further calculated.

Step S14: After the timing reaches the inertial measurement navigation duration, reactivate the satellite positioning to obtain the latest satellite positioning data, and correct the real-time position based on the latest satellite positioning data to obtain the second terminal position.

In this embodiment, after the inertial measurement device is enabled, the variable timer starts counting according to the duration of the inertial measurement and navigation. The satellite positioning data corrects the real-time position obtained by the inertial measurement device to obtain the second terminal position, that is, the current precise position of the terminal. It is understandable, but due to the error of the inertial measurement device, the error generated by the inertial navigation will become larger and larger as time goes by, so it needs to be corrected after a period of time.

In this embodiment, the process of predicting the real-time position through the inertial measurement device may further include: obtaining a satellite positioning request sent by the client; stopping the timing of the variable timer according to the satellite positioning request, And execute the step of reactivating the satellite positioning to obtain the latest satellite positioning data. It is understandable that, in order to fit the actual use situation, improve the overall flexibility, and meet the needs of users, it is also possible to receive satellite positioning requests sent by users when they need precise positioning at a certain moment, and then stop variable positioning according to the above satellite positioning requests. The timer is counted, and the above-mentioned steps of re-enabling the above-mentioned satellite positioning to obtain the latest satellite positioning data are performed.

In this embodiment, the process of predicting the real-time position by the inertial measurement device may further include: monitoring the accumulatively measured movement distance of the inertial measurement device after the variable timer starts counting; if the If the moving distance is greater than the preset distance threshold, the variable timer is stopped, and the step of reactivating the satellite positioning to obtain the latest satellite positioning data is performed. It can be understood that, in order to prevent the error caused by the excessively long inertial positioning distance, in this embodiment, after the variable timer starts timing by monitoring the inertial measurement device, the accumulated moving distance is measured; and in the above When the moving distance is greater than the preset distance threshold, the timing of the variable timer is stopped, and the step of re-enabling the satellite positioning to obtain the latest satellite positioning data is performed.

It can be seen from the above that in this embodiment, the current satellite positioning data is obtained through satellite positioning to obtain the first terminal position; the satellite positioning is turned off, the inertial measurement device is enabled and the duration of the inertial measurement navigation is determined, and then the variable timer is used to start timing ; Based on the first terminal position, predict the real-time position through the inertial measurement device; after the timing reaches the inertial measurement navigation duration, re-enable the satellite positioning to obtain the latest satellite positioning data, and based on the latest The satellite positioning data corrects the real-time position to obtain the second terminal position. It can be seen that firstly, after obtaining the current first terminal position of the terminal by using satellite positioning, the satellite positioning function is stopped, the real-time position is positioned by the inertial measurement device, and the duration of inertial measurement navigation is determined, so that the duration of inertial measurement navigation can be used to control the use of inertial measurement device for positioning Then, after the timing reaches the above-mentioned inertial navigation duration, the current second terminal position of the terminal is determined again by using satellite positioning. Thus, by periodically repeating the above-mentioned process, it is possible to optimize the positioning accuracy while ensuring the positioning accuracy. The power consumption problem of satellite positioning. That is, by turning off satellite positioning and using inertial navigation to estimate the position, thereby saving power consumption; and, based on the inertial measurement navigation time, the re-enabling of satellite positioning is controlled by a variable timer to correct the current position and avoid excessive errors. Therefore, relying on inertial navigation, but periodically starting satellite positioning to correct the position, the effect of reducing power consumption is achieved, and at the same time reducing positioning errors.

The embodiment of the present application discloses a specific terminal positioning method, as shown in Figure 2, the method may include the following steps:

Step S21: Obtain current satellite positioning data through satellite positioning to obtain the position of the first terminal.

Step S22: Turn off the satellite positioning and enable the inertial measurement device.

Step S23: Obtain parameter information of the application that the terminal uses the positioning service, and determine a distance sensitivity value corresponding to the application according to the parameter information.

In this embodiment, the parameter information of the application that the terminal uses the positioning service is obtained, and the distance sensitivity value corresponding to the application is determined according to the parameter information. It is understandable that different applications have different sensitivity to positioning distance errors, that is, have different positioning accuracy requirements; for example, weather forecast applications only need to know which area the terminal is currently in, and are less sensitive to position errors. As for the car navigation type business, the sensitivity to the position error is relatively high, so it can be classified and processed according to the sensitivity of the application to the position error.

Step S24: Obtain the current velocity value of the terminal and the device error parameter of the inertial measurement device.

In this embodiment, specifically, the current speed value of the terminal may be obtained through a speed sensor, and a device error parameter of a locally set inertial measurement device may be obtained. It can be understood that the difference between the output data and the actual data during the working process of the inertial measurement device can be calculated according to the above device error parameters.

Step S25: Based on the distance sensitivity value, the speed value and the device error parameter, determine the inertial measurement navigation duration according to the pre-built navigation duration function, and then start counting by a variable timer.

In this embodiment, based on the above-mentioned distance sensitivity value, the above-mentioned speed value and the above-mentioned device error parameter, the inertial measurement navigation duration is determined according to the pre-built navigation duration function, and then the timing is started by a variable timer. Wherein, the independent variables of the above-mentioned navigation duration function are distance sensitivity, speed and device error, and the dependent variable is the inertial measurement navigation duration. It can be understood that, according to the function between distance sensitivity and distance, the distance sensitivity value of the current application can be determined to determine the maximum error distance allowed by the current application, and the speed value and device error parameters can be used to estimate how long it will reach the maximum allowable Error distance, which confirms the inertial measurement navigation duration. The specific navigation duration function can be T=f(V,X,N), where N is the distance sensitivity, V is the speed, and X is the device error. The determined inertial measurement navigation time is suitable for the current application of positioning services, which can ensure the positioning accuracy as early as possible, reduce the power consumed by positioning, and improve the intelligence of positioning.

Step S26: Based on the position of the first terminal, predict the real-time position through the inertial measurement device.

Step S27: After the timing reaches the inertial measurement navigation duration, reactivate the satellite positioning to obtain the latest satellite positioning data, and correct the real-time position based on the latest satellite positioning data to obtain the second terminal position.

In this embodiment, after correcting the real-time position based on the latest satellite positioning data, it may further include: according to the difference between the latest satellite positioning data and the real-time position, automatically The coefficients of variables are optimized. It can be understood that, after the coefficients of the respective variables in the navigation duration function are continuously optimized based on a large amount of measured data, the accuracy of the function can be continuously improved, thereby improving the accuracy of the inertial navigation duration.

Wherein, for the specific process of the above-mentioned step S21, step S22, step S26, and step S27, reference may be made to the corresponding content disclosed in the foregoing embodiments, and details are not repeated here.

It can be seen from the above that in this embodiment, the inertial navigation device is used to predict the real-time position of the terminal, and then the terminal position is periodically corrected using satellite positioning, and the cycle is controlled by a variable timer according to the duration of the inertial measurement navigation, and the duration of the inertial measurement navigation depends on Due to the sensitivity of applications using location services to location errors, the speed of the current terminal and the error of the inertial measurement device itself, positioning accuracy is guaranteed while taking into account low power consumption.

Correspondingly, the embodiment of the present application also discloses a terminal positioning module, as shown in Fig. 3, the module includes:

A satellite positioning module 11, configured to acquire current satellite positioning data through satellite positioning to obtain the first terminal position;

The inertial measurement module 12 is configured to turn off the satellite positioning and enable the inertial measurement device and determine the duration of the inertial measurement navigation, and then start counting through the variable timer, based on the first terminal position, predict by the inertial measurement device real-time location;

The satellite positioning restart module 13 is used to re-enable the satellite positioning to obtain the latest satellite positioning data after timing reaches the inertial measurement navigation duration, and correct the real-time position based on the latest satellite positioning data to obtain Second end position.

It can be seen from the above that in this embodiment, the current satellite positioning data is obtained through satellite positioning to obtain the first terminal position; the satellite positioning is turned off, the inertial measurement device is enabled and the duration of the inertial measurement navigation is determined, and then the variable timer is used to start timing ; Based on the first terminal position, predict the real-time position through the inertial measurement device; after the timing reaches the inertial measurement navigation duration, re-enable the satellite positioning to obtain the latest satellite positioning data, and based on the latest The satellite positioning data corrects the real-time position to obtain the second terminal position. It can be seen that firstly, after obtaining the current first terminal position of the terminal by using satellite positioning, the satellite positioning function is stopped, the real-time position is positioned by the inertial measurement device, and the duration of inertial measurement navigation is determined, so that the duration of inertial measurement navigation can be used to control the use of inertial measurement device for positioning Then, after the timing reaches the above-mentioned inertial navigation duration, the current second terminal position of the terminal is determined again by using satellite positioning. Thus, by periodically repeating the above-mentioned process, it is possible to optimize the positioning accuracy while ensuring the positioning accuracy. The power consumption problem of satellite positioning.

In some specific embodiments, the satellite positioning module 11 may specifically include:

A data acquisition unit, configured to acquire the current satellite positioning data through the satellite positioning, and acquire the base station positioning data through the base station;

The first terminal position determining unit is configured to determine the first terminal position based on the current satellite positioning data and the base station positioning data.

In some specific embodiments, the terminal positioning module may specifically include:

a positioning request obtaining unit, configured to obtain a satellite positioning request sent by the client;

The first restart selection unit is configured to stop the timing of the variable timer according to the satellite positioning request, and perform the step of reactivating the satellite positioning to obtain the latest satellite positioning data.

a distance monitoring unit, configured to monitor the accumulatively measured moving distance of the inertial measurement device after the variable timer starts counting;

The second restart selection unit is used to stop the timing of the variable timer if the moving distance is greater than the preset distance threshold, and perform the step of re-activating the satellite positioning to obtain the latest satellite positioning data.

In some specific embodiments, the inertial measurement module 12 may specifically include:

An application level determining unit, configured to acquire parameter information of an application for which the terminal uses the positioning service, and determine a distance sensitivity level corresponding to the application according to the parameter information;

The first navigation duration determination unit is configured to determine the navigation duration corresponding to the application according to the pre-built correspondence between the distance sensitivity level and the navigation duration, and use the navigation duration as the inertial measurement navigation duration.

An application parameter acquiring unit, configured to acquire parameter information of an application for which the terminal uses the positioning service, and determine a distance sensitivity value corresponding to the application according to the parameter information;

a velocity and error acquisition unit, configured to acquire the current velocity value of the terminal and the device error parameter of the inertial measurement device;

The second navigation duration determining unit is configured to determine the inertial measurement navigation duration according to a pre-built navigation duration function based on the distance sensitivity value, the speed value and the device error parameter; wherein, the navigation duration The independent variables of the function are distance sensitivity, speed and device error, and the dependent variable is the inertial measurement navigation duration.

An optimization unit is configured to optimize the coefficients of the independent variables in the navigation duration function according to the difference between the latest satellite positioning data and the real-time position.

Further, the embodiment of the present application also discloses an electronic device, as shown in FIG. 4 , and the content in the figure should not be regarded as any limitation on the application scope of the present application.

FIG. 4 is a schematic structural diagram of an electronic device 20 provided in an embodiment of the present application. The electronic device 20 may specifically include: at least one processor 21 , at least one memory 22 , a power supply 23 , a communication interface 24 , an input/output interface 25 and a communication bus 26 . Wherein, the memory 22 is used to store a computer program, and the computer program is loaded and executed by the processor 21 to implement relevant steps in the terminal positioning method disclosed in any of the foregoing embodiments.

In this embodiment, the power supply 23 is used to provide operating voltage for each hardware device on the electronic device 20; the communication interface 24 can create a data transmission channel between the electronic device 20 and external devices, and the communication protocol it follows is applicable Any communication protocol in the technical solution of the present application is not specifically limited here; the input and output interface 25 is used to obtain external input data or output data to the external, and its specific interface type can be selected according to specific application needs, here Not specifically limited.

In addition, the memory 22, as a resource storage carrier, can be a read-only memory, random access memory, magnetic disk or optical disk, etc., and the resources stored thereon include an operating system 221, a computer program 222, and data 223 including satellite positioning data, etc. The storage method can be short-term storage or permanent storage.

Wherein, the operating system 221 is used to manage and control each hardware device and computer program 222 on the electronic device 20, so as to realize the operation and processing of the massive data 223 in the memory 22 by the processor 21, which can be Windows Server, Netware, Unix, Linux, etc. In addition to the computer program 222 that can be used to complete the terminal positioning method performed by the electronic device 20 disclosed in any of the foregoing embodiments, the computer program 222 can further include a computer program that can be used to complete other specific tasks.

Further, the embodiment of the present application also discloses a computer storage medium, the computer storage medium stores computer-executable instructions, and when the computer-executable instructions are loaded and executed by a processor, the implementation of any one of the foregoing embodiments is disclosed. The steps of the terminal positioning method.

Each embodiment in this specification is described in a progressive manner, each embodiment focuses on the difference from other embodiments, and the same or similar parts of each embodiment can be referred to each other. As for the positioning module disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and for relevant details, please refer to the description of the method part.

The steps of the methods or algorithms described in connection with the embodiments disclosed herein may be directly implemented by hardware, software modules executed by a processor, or a combination of both. Software modules can be placed in random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other Any other known storage medium.

Finally, it should also be noted that in this text, relational terms such as first and second etc. are only used to distinguish one entity or operation from another, and do not necessarily require or imply that these entities or operations, any such actual relationship or order exists. Furthermore, the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus comprising a set of elements includes not only those elements, but also includes elements not expressly listed. other elements of or also include elements inherent in such a process, method, article, or device. Without further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article or apparatus comprising said element.

A terminal positioning method, equipment, storage medium and positioning module provided by the present invention have been introduced in detail above. In this paper, specific examples are used to illustrate the principle and implementation of the present invention. The description of the above embodiments is only used To help understand the method of the present invention and its core idea; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation and scope of application. In summary, this specification The content should not be construed as a limitation of the invention.

Claims

A terminal positioning method, applied to a terminal, comprising:

Obtain current satellite positioning data through satellite positioning to obtain the first terminal position;

Turn off the satellite positioning, enable the inertial measurement device and determine the duration of the inertial measurement navigation, and then start timing through a variable timer;

predicting a real-time position by the inertial measurement device based on the first terminal position;

After the timing reaches the inertial measurement navigation duration, the satellite positioning is reactivated to obtain the latest satellite positioning data, and the real-time position is corrected based on the latest satellite positioning data to obtain the second terminal position.
The terminal positioning method according to claim 1, wherein the obtaining current satellite positioning data through satellite positioning to obtain the first terminal position comprises:

Obtain the current satellite positioning data through the satellite positioning, and obtain the base station positioning data through the base station;

The location of the first terminal is determined based on the current satellite positioning data and the base station positioning data.
The terminal positioning method according to claim 1, wherein the process of predicting the real-time position through the inertial measurement device further includes:

Obtain the satellite positioning request sent by the client;

Stopping the timing of the variable timer according to the satellite positioning request, and performing the step of reactivating the satellite positioning to obtain the latest satellite positioning data.
The terminal positioning method according to claim 1, wherein the process of predicting the real-time position through the inertial measurement device further includes:

monitoring the accumulated movement distance measured by the inertial measurement device after the variable timer starts counting;

When the moving distance is greater than the preset distance threshold, the variable timer is stopped, and the step of reactivating the satellite positioning to obtain the latest satellite positioning data is performed.
The terminal positioning method according to claim 1, wherein said determining the duration of inertial measurement navigation includes:

Obtaining parameter information of an application for which the terminal uses the positioning service, and determining a distance sensitivity level corresponding to the application according to the parameter information;

According to the correspondence between the pre-built distance sensitivity level and the navigation duration, the navigation duration corresponding to the application is determined, and the navigation duration is used as the inertial measurement navigation duration.
The terminal positioning method according to any one of claims 1 to 5, wherein the determining the duration of inertial measurement navigation includes:

Obtaining parameter information of an application of the terminal using the positioning service, and determining a distance sensitivity value corresponding to the application according to the parameter information;

Obtain the current velocity value of the terminal and the device error parameter of the inertial measurement device;

determining the inertial measurement navigation duration according to a pre-built navigation duration function based on the distance sensitivity value, the velocity value and the device error parameter;

Wherein, the independent variables of the navigation duration function are distance sensitivity, speed and device error, and the dependent variable is the inertial measurement navigation duration.
The terminal positioning method according to claim 6, wherein, after correcting the real-time position based on the latest satellite positioning data, further comprising:

According to the difference between the latest satellite positioning data and the real-time position, the coefficients of the independent variables in the navigation duration function are optimized.
A positioning module, characterized in that it comprises:

A satellite positioning module, configured to obtain current satellite positioning data through satellite positioning, so as to obtain the first terminal position;

The inertial measurement module is used to turn off the satellite positioning and enable the inertial measurement device and determine the duration of the inertial measurement navigation, and then start timing through the variable timer, based on the first terminal position, use the inertial measurement device to predict real-time Location;

The satellite positioning restart module is used to re-enable the satellite positioning to obtain the latest satellite positioning data after the timing reaches the inertial measurement navigation duration, and correct the real-time position based on the latest satellite positioning data to obtain the first Two end positions.
An electronic device, characterized in that it comprises:

memory for storing computer programs;

A processor, configured to execute the computer program, so as to realize the terminal positioning method according to any one of claims 1 to 7.
A computer-readable storage medium, characterized by being used to store a computer program; wherein the computer program implements the terminal positioning method according to any one of claims 1 to 7 when executed by a processor.