CN116264734A - A positioning method, terminal and storage medium - Google Patents
A positioning method, terminal and storage medium Download PDFInfo
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- CN116264734A CN116264734A CN202111528398.2A CN202111528398A CN116264734A CN 116264734 A CN116264734 A CN 116264734A CN 202111528398 A CN202111528398 A CN 202111528398A CN 116264734 A CN116264734 A CN 116264734A
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- 238000007499 fusion processing Methods 0.000 claims description 6
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- 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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/10—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements, e.g. omega or decca systems
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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Abstract
本发明公开了一种定位方法，终端及存储介质，终端接收定位信号；其中，定位信号至少包括一种信号；根据定位信号进行环境判定处理，获得环境判定结果；若环境判定结果为室内外交界处，则根据定位信号的信号相关信息进行融合定位处理，获得目标定位信息，从而能够有效地提高在室内外交界处的定位精度，提升定位稳定性和可靠性。
The invention discloses a positioning method, a terminal and a storage medium. The terminal receives a positioning signal; wherein, the positioning signal includes at least one signal; the environment judgment process is performed according to the positioning signal to obtain an environment judgment result; if the environment judgment result is an indoor or outdoor boundary At the position, the fusion positioning process is performed according to the signal-related information of the positioning signal to obtain the target positioning information, so that the positioning accuracy at the indoor and outdoor boundaries can be effectively improved, and the positioning stability and reliability can be improved.
Description
Technical Field
The present invention relates to the field of wireless positioning technologies, and in particular, to a positioning method, a terminal, and a storage medium.
Background
With the vigorous development of modern industry, the requirements of people on location services are increased, and the location application is also popularized with the development of the information age. The positioning mainly comprises outdoor positioning and indoor positioning; currently, there are four major navigation systems in the outdoor positioning technology, including the global terminal (Global Positioning System, GPS) in the united states, the beidou satellite navigation system (BeiDou Navigation Satellite System, BDS) in china, the galileo satellite navigation system (Galileo satellite navigation system) in europe, and the gnonius satellite navigation system (GLOBAL NAVIGATION SATELLITE SYSTEM, GLONASS) in russia. The conventional indoor positioning technology mainly comprises a fifth generation mobile communication technology (5 th-Generation Mobile Communication Technology, 5G) positioning method, a Bluetooth positioning method, an Ultra Wideband (UWB) positioning method and the like.
Although effective positioning can be realized for the outdoor environment and the indoor environment respectively based on the prior art, seamless connection cannot be realized at the indoor and outdoor junctions, the continuity of positioning service is poor, the positioning precision of the indoor and outdoor junctions is poor, and stable and reliable positioning service under different outdoor and indoor scenes cannot be provided.
Disclosure of Invention
The invention provides a positioning method, a terminal and a storage medium, which can effectively improve the positioning precision at the junction between the indoor and the outdoor and improve the positioning stability and the reliability.
The technical scheme of the invention is realized as follows:
in a first aspect, the present invention provides a positioning method, the method comprising:
receiving a positioning signal; wherein the positioning signal comprises at least one signal;
performing environment judgment processing according to the positioning signals to obtain environment judgment results;
and if the environment judgment result is the indoor and outdoor junction, carrying out fusion positioning processing according to the signal related information of the positioning signal to obtain target positioning information.
In a second aspect, the present invention provides a terminal comprising a receiving unit, a determining unit and an acquiring unit,
The receiving unit is used for receiving the positioning signal; wherein the positioning signal comprises at least one signal;
the judging unit is used for carrying out environment judging processing according to the positioning signal to obtain an environment judging result;
and the acquisition unit is used for carrying out fusion positioning processing according to the signal related information of the positioning signal if the environment judgment result is the indoor and outdoor junction, so as to obtain target positioning information.
In a third aspect, the present invention provides a terminal further comprising a processor, a memory storing instructions executable by the processor, which when executed by the processor, implement a positioning method as described above.
In a fourth aspect, the present invention provides a computer readable storage medium having stored thereon a program for use in a terminal, the program, when executed by a processor, implementing a positioning method as described above.
The invention provides a positioning method, a terminal and a storage medium, wherein the terminal receives a positioning signal; wherein the positioning signal comprises at least one signal; performing environment judgment processing according to the positioning signals to obtain an environment judgment result; and if the environment judgment result is the indoor and outdoor junction, carrying out fusion positioning processing according to the signal related information of the positioning signal to obtain target positioning information. Therefore, in the invention, when the terminal is positioned, the environment judgment processing can be performed according to the received positioning signals so as to determine the current environment of the terminal, and if the environment judgment result is an indoor and outdoor junction, the fusion positioning processing can be performed according to the positioning signals so as to determine the target positioning information; that is, when the terminal is positioned, the environment where the terminal is positioned is firstly determined, and if the terminal is positioned at the indoor and outdoor junction, the target positioning information is acquired by adopting a fusion positioning processing mode, so that the terminal can be accurately positioned even if the terminal is positioned at the indoor and outdoor junction, the positioning precision at the indoor and outdoor junction is effectively improved, and the positioning stability and reliability are improved.
Drawings
Fig. 1 is a schematic diagram of an implementation flow of a positioning method according to an embodiment of the present invention;
fig. 2 is a second schematic implementation flow chart of the positioning method according to the embodiment of the present invention;
fig. 3 is a schematic diagram of a third implementation flow of a positioning method according to an embodiment of the present invention;
fig. 4 is a schematic diagram of an implementation flow of a positioning method according to an embodiment of the present invention;
fig. 5 is a schematic diagram of an implementation flow of a positioning method according to an embodiment of the present invention;
fig. 6 is a schematic diagram of an implementation flow of a positioning method according to an embodiment of the present invention;
FIG. 7 is a schematic diagram illustrating an implementation of a positioning method according to an embodiment of the present invention;
fig. 8 is a schematic diagram seventh of an implementation flow of a positioning method according to an embodiment of the present invention;
fig. 9 is a schematic diagram of an implementation flow of a positioning method according to an embodiment of the present invention;
fig. 10 is a second schematic implementation diagram of the positioning method according to the embodiment of the present invention;
fig. 11 is a schematic diagram of an implementation flow of a positioning method according to an embodiment of the present invention;
fig. 12 is a schematic diagram of an implementation flow of a positioning method according to an embodiment of the present invention;
fig. 13 is a schematic diagram III of an implementation of a positioning method according to an embodiment of the present invention;
fig. 14 is a schematic diagram of an implementation flow of a positioning method according to an embodiment of the present invention;
Fig. 15 is a schematic diagram for implementing a positioning method according to an embodiment of the present invention;
fig. 16 is a schematic diagram fifth implementation of a positioning method according to an embodiment of the present invention;
fig. 17 is a schematic diagram sixth implementation of the positioning method according to the embodiment of the present invention;
fig. 18 is a schematic diagram seventh for implementing the positioning method according to the embodiment of the present invention;
fig. 19 is a schematic diagram of a composition structure of a terminal according to an embodiment of the present invention;
fig. 20 is a schematic diagram of a second component structure of the terminal according to the embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It is to be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to be limiting. It should be noted that, for convenience of description, only a portion related to the related application is shown in the drawings.
The current common indoor positioning technology mainly comprises methods of 5G positioning, bluetooth positioning, UWB positioning and the like. With the rise of new 5G services and the wide application of LBS services, various services and applications of 5G are embedded with location service functions. The 5G positioning application has wide application, and in particular, in complex indoor environments, such as environments of manufacturing parks, medical treatment, transportation hubs, exhibition halls, shops and the like, it is often necessary to determine the location information of mobile terminals or their holders, devices and articles indoors. The multiple enabling technologies in the 5G network, such as ultra-dense network, large-scale array antenna, D2D communication and the like, can greatly improve the spectrum efficiency of unit area, multiply increase the capacity of the network, meet the requirements of the communication network, have the indoor positioning function, and can cater to the application ecology of LBS in 5G service. Bluetooth positioning is carried out on an indoor Bluetooth local area network access point, and position information of a user is obtained through a fingerprint matching method. The location technique based on signal fingerprinting abstracts and formalizes the specific environment of the location, describes the locations in the location environment with specific, quantized parameters, and integrates this information with a database. The observer queries a database according to the fingerprint characteristics of the position of the object to be positioned, and determines the position of the object according to a specific matching rule, and the positioning accuracy depends on the density of fingerprint acquisition. The UWB technology is a wireless technology that transmits and receives extremely narrow pulses having nanosecond or microsecond levels or less to thereby have bandwidths of the order of 3.1 to 10.6GHz, is high in transmission rate, low in transmission power, high in penetration capability, and is based on extremely narrow pulses, and is generally used for positioning tracking or navigation of an indoor moving object. However, the existing positioning technology cannot be in seamless connection at the indoor and outdoor junctions, the continuity of positioning service is poor, the positioning precision at the indoor and outdoor junctions is poor, and stable and reliable positioning service in different outdoor and indoor scenes cannot be provided.
In order to solve the problems of the positioning method in the prior art, the embodiment of the invention provides a positioning method, a terminal and a storage medium, wherein the terminal receives a positioning signal; wherein the positioning signal comprises at least one signal; performing environment judgment processing according to the positioning signals to obtain environment judgment results; and if the environment judgment result is the indoor and outdoor junction, carrying out fusion positioning processing according to the signal related information of the positioning signal to obtain target positioning information. The positioning accuracy at the junction between the indoor and outdoor can be effectively improved, and the positioning stability and reliability are improved.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
Example 1
The embodiment of the invention provides a positioning method, fig. 1 is a schematic diagram of an implementation flow of the positioning method provided by the embodiment of the invention, and as shown in fig. 1, the positioning method may include the following steps:
In an embodiment of the present invention, the terminal may first receive the positioning signal.
It should be noted that, in the embodiment of the present invention, the positioning signal is used for positioning; namely, the terminal can position the terminal by receiving the positioning signal to acquire the target positioning information of the terminal.
Further, in embodiments of the present invention, the positioning signal comprises at least one signal, i.e. the positioning signal may comprise a plurality of signals from different positioning sources; for example, the positioning signals may include satellite signals and 5G signals, which are signals transmitted by the satellites and the base station, respectively.
And 102, performing environment judgment processing according to the positioning signal to obtain an environment judgment result.
In the embodiment of the invention, after receiving the positioning signal, the terminal can perform environment judgment processing according to the positioning signal to obtain an environment judgment result.
In the embodiment of the present invention, the environment determining process refers to determining, according to the received positioning signal, the environment in which the terminal is located, so as to determine whether the terminal is located in an outdoor environment, an indoor environment, or an indoor-outdoor junction.
Further, in an embodiment of the present invention, the environment determination result includes an outdoor environment, an indoor environment, and an indoor-outdoor junction.
It should be noted that, in the embodiment of the present invention, the positioning effects obtained by different kinds of positioning signals under different environments are different; for example, in an open outdoor environment, the GPS can provide more accurate positioning service, while in an indoor environment, due to the shielding of a building, the GPS has a positioning blind area and does not have a good positioning effect, and at the moment, the 5G signal has better positioning capability; and at the indoor and outdoor junctions, better positioning accuracy may not be obtained by using the GPS or 5G signals alone. Therefore, the embodiment of the invention determines the environment of the terminal, and then adopts an adaptive positioning mode by combining the environment judgment result so as to obtain a good positioning effect.
Specifically, in the embodiment of the present invention, the method for obtaining the environment determination result by performing the environment determination process according to the positioning signal may be: determining the number of positioning sources according to the positioning signals; if the number of the positioning sources is smaller than or equal to the first threshold value and the number of the second positioning sources is smaller than or equal to the second threshold value, determining that the environment judgment result is an indoor and outdoor junction; if the number of the positioning sources is larger than the first threshold value as a result of the number of the positioning sources, determining that the environment judgment result is an outdoor environment; and if the number of the positioning sources is larger than the second threshold value as a result of the number of the second positioning sources, determining that the environment judgment result is an indoor environment.
And 103, if the environment judgment result is the indoor and outdoor junction, carrying out fusion positioning processing according to the signal related information of the positioning signal to obtain target positioning information.
In the embodiment of the invention, after performing environment judgment processing according to the positioning signal to obtain an environment judgment result, if the environment judgment result is an indoor and outdoor junction, the terminal performs fusion positioning processing according to the signal related information of the positioning signal to obtain target positioning information.
In the embodiment of the invention, the fusion positioning process is used for positioning the terminal at the indoor and outdoor junction, namely, the terminal at the indoor and outdoor junction can be accurately positioned through the fusion positioning process, so that the continuity of positioning service can be improved, and the seamless connection of positioning at the indoor and outdoor junction is realized.
Further, in the embodiment of the invention, the fusion positioning processing is realized mainly based on a fusion positioning algorithm; specifically, the method for obtaining the target positioning information by fusion positioning processing according to the positioning signals comprises the following steps: calculating a first weighting value corresponding to the signal related information of a first signal in the positioning signals; if the first weighted value is smaller than the preset threshold value, initial positioning information is determined according to the second signal; determining auxiliary positioning information according to the first signal; performing fusion processing on the initial positioning information and the auxiliary positioning information to determine target positioning information; if the first weighted value is larger than the preset threshold value, determining target positioning information according to the first signal.
That is, in the embodiment of the present invention, the fusion positioning process mainly refers to fusing positioning information determined by different types of positioning signals at the indoor and outdoor junctions, so as to obtain accurate positioning at the indoor and outdoor junctions.
Fig. 2 is a second schematic implementation flow chart of a positioning method according to an embodiment of the present invention, as shown in fig. 2, a method for obtaining target positioning information by performing fusion positioning processing according to positioning signals may include the following steps:
In the embodiment of the invention, fusion positioning processing is performed according to the positioning signals to obtain target positioning information, specifically, the terminal can calculate a first weighting value corresponding to the signal related information of the first signal in the positioning signals; wherein the first signal is any one of positioning signals; the first weight characterizes a signal strength of the first signal.
It should be noted that, in the embodiment of the present invention, the first signal is any one of positioning signals; for example, the positioning signals include a GPS signal and a 5G signal, and the first signal may be a GPS signal.
Further, in an embodiment of the present invention, the first weighted value is a weighted average corresponding to the first signal, and the first weighted value may represent a signal strength of the first signal.
Further, in the embodiment of the present invention, a weighted average value corresponding to the first signal, that is, the first weighted value, may be determined according to the signal related information of the first signal.
Specifically, in the embodiment of the present invention, the method for calculating the first weighted value corresponding to the signal related information of the first signal in the positioning signal may be to calculate the first weighted value based on the preset weighted value calculation model and the signal related information of the first signal; the preset weighted value calculation model is formed based on the signal intensity calculation model; the signal strength calculation model is based on the signal strength, the signal strength threshold and the signal maximum received power.
In the embodiment of the present invention, after calculating the first weighted value corresponding to the signal related information of the first signal in the positioning signals, the terminal may determine the target positioning information based on the first weighted value.
It will be appreciated that in embodiments of the present invention, the first weight may be indicative of the signal strength of the first signal, and thus, after the first weight is determined, the manner in which the target positioning information is determined may be further determined according to the signal strength of the first signal.
Specifically, in an embodiment of the present invention, a method for determining target positioning information based on a first weighted value may include: if the first weighted value is smaller than the preset threshold value, determining target positioning information according to the first signal and the second signal; the second signal is a signal different from the first signal in the positioning signals; if the first weighted value is larger than the preset threshold value, determining target positioning information according to the first signal.
Fig. 3 is a schematic diagram of a third implementation flow of a positioning method according to an embodiment of the present invention, as shown in fig. 3, a method for calculating a first weighted value corresponding to signal related information of a first signal in positioning signals by a terminal, that is, a method proposed in step 201 may include the following steps:
In the embodiment of the present invention, the terminal calculates a first weighted value corresponding to the signal related information of the first signal in the positioning signals, and specifically, the terminal may calculate the first weighted value based on a preset weighted value calculation model and the signal related information of the first signal; the preset weighted value calculation model is formed based on the signal intensity calculation model; the signal strength calculation model is based on the signal strength, the signal strength threshold and the signal maximum received power.
It should be noted that, in the embodiment of the present invention, the preset weight calculation model is used to calculate the weighted average value corresponding to the positioning signal, and the preset weight calculation model may be expressed as the following formula:
ω＝ktan -1 R(1)
wherein ω is a weighted average value, k is a preset coefficient for balancing the magnitude of ω, so that ω satisfies 0.ltoreq.ω.ltoreq.1; r is a signal intensity normalization value.
Further, in the embodiment of the present invention, the preset weighted value calculation model is configured based on a signal strength calculation model, where the signal strength calculation model is used to calculate a signal strength normalized value corresponding to the positioning signal, and the signal strength calculation model may be expressed as the following formula:
wherein RSS i For signal strength, RSS th For signal strength threshold, RSS max Maximum value of signal receiving power; that is, the signal strength calculation model is constructed based on the signal strength, the signal strength threshold, and the signal maximum received power.
Fig. 4 is a schematic diagram of an implementation flow chart of a positioning method according to an embodiment of the present invention, as shown in fig. 4, a method for determining target positioning information based on a first weighted value, that is, a method according to step 202 may include the following steps:
202a, if the first weighted value is smaller than a preset threshold value, determining target positioning information according to the first signal and the second signal; the second signal is a signal different from the first signal in the positioning signals.
In the embodiment of the invention, the terminal determines the target positioning information based on the first weighted value, specifically, if the first weighted value is smaller than a preset threshold value, the terminal determines the target positioning information according to the first signal and the second signal; the second signal is a signal different from the first signal in the positioning signals.
It should be noted that, in the embodiment of the present invention, the preset threshold is used to measure whether the target positioning information can be determined based on the first signal alone; the magnitude of the preset threshold is not particularly limited in the present invention.
Further, in an embodiment of the present invention, the second signal is a signal different from the first signal in the positioning signals; for example, the first signal is a 5G signal and the second signal is a GPS signal.
Further, in the embodiment of the present invention, if the first weighted value is smaller than the preset threshold value, the target positioning information cannot be determined based on the first signal only, and the target positioning information needs to be determined by combining the first signal and the second signal.
Illustratively, in an embodiment of the present invention, the preset threshold is 0.5; the first signal is a 5G signal, and the second signal is a GPS signal; the first weighting value corresponding to the first signal is 0.4, it can be determined that the target positioning information needs to be determined based on the 5G signal and the GPS signal together.
Specifically, in an embodiment of the present invention, a method of determining target positioning information from a first signal and a second signal includes: determining initial positioning information according to the second signal; determining auxiliary positioning information according to the first signal; and then fusing the initial positioning information and the auxiliary positioning information to determine target positioning information.
Step 202b, if the first weighted value is greater than the preset threshold value, determining the target positioning information according to the first signal.
In the embodiment of the invention, if the first weighted value is smaller than the preset threshold, after the terminal determines the target positioning information according to the first signal and the second signal, if the first weighted value is larger than the preset threshold, the terminal determines the target positioning information according to the first signal.
It can be appreciated that in the embodiment of the present invention, if the first weighted value is greater than the preset threshold, it is indicated that the signal strength of the first signal is sufficiently high, and the target positioning information may be determined directly based on the first signal.
Illustratively, in an embodiment of the present invention, the preset threshold is 0.5; the first weight value is 0.75, and the target positioning information can be determined directly according to the first signal.
Further, in embodiments of the present invention, the manner in which the different kinds of signals determine the positioning information is different.
Fig. 5 is a schematic diagram of an implementation flow of a positioning method according to an embodiment of the present invention, and as shown in fig. 5, a method for determining target positioning information by a terminal according to a first signal and a second signal may include the following steps:
In the embodiment of the invention, the terminal determines the target positioning information according to the first signal and the second signal, and in particular, the terminal can determine the initial positioning information according to the second signal.
It should be noted that, in the embodiment of the present invention, the initial positioning information refers to positioning information of the terminal determined according to the second signal.
It will be appreciated that, since the first weighting value is smaller than the preset threshold, it is indicated that the signal strength of the first signal is weaker at this time, the initial positioning information may be determined by using the second signal, and the target positioning information may be determined based on the initial positioning information.
It should be noted that, in the embodiment of the present invention, the initial positioning information may be a section of predicted track.
It will be appreciated that in embodiments of the present invention, since the manner in which the positioning information is determined from the different types of signals is different, the manner in which the initial positioning information is determined from the second signal is also dependent on the type of second signal; for example, when the second signal is a GPS signal, then initial positioning information is determined based on the principles of GPS positioning.
In the embodiment of the invention, the terminal determines the target positioning information according to the first signal and the second signal, and in particular, the terminal can determine the auxiliary positioning information according to the first signal.
It should be noted that, in the embodiment of the present invention, the auxiliary positioning information is determined according to the first signal, that is, the positioning information determined based on the first signal is used as the auxiliary positioning information, so as to obtain the target positioning information in combination with the initial positioning information.
Further, in the embodiment of the present invention, the auxiliary positioning information is a positioning circle with positioning accuracy as a radius.
It will be appreciated that in the embodiment of the present invention, the manner of determining the auxiliary positioning information according to the first signal also corresponds to the kind of the first signal; the difference is that if the auxiliary positioning information is determined according to the first signal, a positioning circle is also determined by combining the positioning accuracy corresponding to the first signal.
And 303, carrying out fusion processing on the initial positioning information and the auxiliary positioning information, and determining target positioning information.
In the embodiment of the invention, after determining the initial positioning information according to the second signal and determining the auxiliary positioning information according to the first signal, the terminal can perform fusion processing on the initial positioning information and the auxiliary positioning information to determine the target positioning information.
It can be understood that in the embodiment of the invention, the initial positioning information and the auxiliary positioning information are fused, so that the target positioning information is determined, and a positioning effect which is more accurate at the indoor and outdoor junctions can be obtained.
Specifically, in the embodiment of the present invention, the method for determining the target positioning information includes the steps of: determining a second reference point which is closest to a first reference point corresponding to the auxiliary positioning information in the initial positioning information; the first reference point is the center of the auxiliary positioning information; further determining the midpoint of the target line segment, and determining the midpoint as target positioning information; the target line segment is a connecting line formed based on the first reference point and the second reference point.
Fig. 6 is a flowchart showing a method for implementing the positioning method according to the embodiment of the present invention, as shown in fig. 6, a method for determining initial positioning information by a terminal according to a second signal, that is, a method proposed in step 301 may include the following steps:
In the embodiment of the invention, the terminal determines initial positioning information according to the second signal, specifically, the terminal can construct a predicted track based on the second positioning information in a preset time period; wherein the second positioning information is positioning information determined according to the second signal.
It should be noted that, in the embodiment of the present invention, the predicted track is formed based on the second positioning information within the preset time period, and the size of the preset time period is not limited in the present invention.
Further, in the embodiment of the present invention, the second positioning information refers to positioning information determined according to the second signal, that is, the second positioning information is positioning information corresponding to each time determined according to the second signal, and a predicted track is formed based on the second positioning information within a preset period of time.
It can be appreciated that in the embodiment of the present invention, the second positioning information is determined in a manner corresponding to the second signal, for example, the second signal is a GPS signal, and the second positioning information is determined based on the principle of positioning the GPS signal; the second signal is a 5G signal, and the second positioning information is determined based on the principle of 5G signal positioning.
In an exemplary embodiment of the present invention, fig. 7 is a schematic diagram illustrating an implementation of the positioning method according to the embodiment of the present invention, as shown in fig. 7, an X-axis is established based on the direction of the second positioning information, so as to construct a rectangular coordinate system, and a predicted track L (t) is formed based on the second positioning information in a preset time period.
Step 301b, determining the predicted trajectory as initial positioning information.
In the embodiment of the present invention, after the terminal constructs the predicted track based on the second positioning information within the preset period of time, the predicted track may be determined as the initial positioning information.
It will be appreciated that in embodiments of the present invention, the predicted trajectory is determined as initial positioning information, and thus the target positioning information may be determined based on the initial positioning information.
Fig. 8 is a schematic diagram seventh of an implementation flow of a positioning method according to an embodiment of the present invention, as shown in fig. 8, a method for determining auxiliary positioning information by a terminal according to a first signal, that is, a method proposed in step 302 may include the following steps:
302a, determining a positioning circle according to first positioning information; the first positioning information is positioning information determined according to the first signal; the radius of the positioning circle is the positioning precision of the first signal.
In the embodiment of the invention, the terminal determines the auxiliary positioning information according to the first signal, specifically, the terminal can determine the positioning circle according to the first positioning information; the first positioning information is positioning information determined according to the first signal; the radius of the positioning circle is the positioning precision of the first signal.
In the embodiment of the present invention, the first positioning information is positioning information determined according to a first signal, where a determining manner of the first positioning information corresponds to the first signal, for example, the first signal is a GPS signal, and the first positioning information is determined based on a principle of positioning the GPS signal; the first signal is a 5G signal, and the first positioning information is determined based on the principle of 5G signal positioning.
Further, in the embodiment of the present invention, it is necessary to determine a positioning circle according to the first positioning information, where the radius of the positioning circle is the positioning accuracy of the first signal.
In an exemplary embodiment of the present invention, after determining first positioning information according to a GPS signal, determining a positioning circle by using positioning accuracy of the GPS signal as a radius and combining the first positioning information; when the first signal is a 5G signal, after the first positioning information is calculated according to the 5G signal, the positioning circle is determined by taking the positioning precision of the 5G signal as the radius and combining the first positioning information.
Step 302b, determining the positioning circle as auxiliary positioning information.
In the embodiment of the present invention, the terminal may determine the positioning circle as the auxiliary positioning information after determining the positioning circle according to the first positioning information.
It will be appreciated that in embodiments of the present invention, the positioning circle is determined as auxiliary positioning information, and thus the target positioning information may be determined based on the auxiliary positioning information.
Fig. 9 is a schematic diagram of an implementation flow of a positioning method according to an embodiment of the present invention, as shown in fig. 9, a method for determining target positioning information by fusing initial positioning information and auxiliary positioning information by a terminal, that is, a method proposed in step 303 may include the following steps:
In the embodiment of the invention, the terminal performs fusion processing on the initial positioning information and the auxiliary positioning information to determine the target positioning information, and specifically, the terminal can firstly determine a second reference point which is closest to a first reference point corresponding to the auxiliary positioning information in the initial positioning information; the first reference point is the center of the auxiliary positioning information.
It should be noted that, in the embodiment of the present invention, since the auxiliary positioning information may be a positioning circle, the first reference point is the center of the auxiliary positioning information.
Further, in the embodiment of the present invention, since the initial positioning information may be a section of predicted track, the second reference point is a point closest to the first reference point in the initial positioning information.
In an embodiment of the present invention, fig. 10 is a schematic diagram illustrating implementation of the positioning method according to the embodiment of the present invention, and as shown in fig. 10, initial positioning information, i.e., a predicted track is L (t), and auxiliary positioning information is a circle C i The centre of a circle is A, i.e. the first reference point is A, its coordinates are (x i ,y i ) The method comprises the steps of carrying out a first treatment on the surface of the Wherein, circle C i The radius of the first signal is the positioning precision of the first signal; the closest point to A on L (t) is M, the second reference point is M, and its coordinates are (x 0 ,y 0 )。
In the embodiment of the invention, after the terminal determines the second reference point closest to the first reference point corresponding to the auxiliary positioning information in the initial positioning information, the midpoint of the target line segment can be determined, and the midpoint is determined as the target positioning information; the target line segment is a connecting line formed based on the first reference point and the second reference point.
It should be noted that, in the embodiment of the present invention, a line formed according to the first reference point and the second reference point is a target line segment; and further determining the midpoint of the target line segment as target positioning information.
In an exemplary embodiment of the present invention, as shown in fig. 9, a connection line is formed according to a first reference point a and a second reference point M, where the connection line is a target line segment; and determining the midpoint C of the target line segment as target positioning information.
Fig. 11 is a schematic diagram of an implementation flow chart of a positioning method according to an embodiment of the present invention, as shown in fig. 11, a method for obtaining an environment determination result by a terminal according to an environment determination process performed by a positioning signal, that is, a method proposed by step 102 may include the following steps:
In the embodiment of the invention, the terminal performs the environment judgment processing according to the positioning signal to obtain the environment judgment result, and specifically, the terminal can determine the number result of the positioning sources according to the positioning signal.
It should be noted that, in the embodiment of the present invention, the number of positioning sources may be used to determine the current environment of the terminal; the positioning source may be the source end that emits the positioning signal.
In the embodiment of the invention, after determining the number of positioning sources according to the positioning signal, the terminal determines that the environment determination result is the indoor and outdoor junction if the number of positioning sources is smaller than or equal to the first threshold and the number of second positioning sources is smaller than or equal to the second threshold.
It should be noted that, in the embodiment of the present invention, the first threshold is used to measure the number level of the first positioning sources, and similarly, the second threshold is used to measure the number level of the second positioning sources.
It should be noted that, in the embodiment of the present invention, the first positioning source and the second positioning source are two different positioning sources; the terminal is easy to receive signals of a first positioning source under an outdoor environment, for example, the first positioning source is a satellite; the terminal is easy to receive signals of the second positioning source in an indoor environment, for example, the second positioning source is a base station.
In an exemplary embodiment of the present invention, it is assumed that the first threshold is 4, the second threshold is 3, the first positioning source is a satellite, the second positioning source is a base station, and if the number of positioning sources is less than or equal to 4 as a result of the number of satellites and the number of base stations is less than or equal to 3, it is determined that the environment determination result is an indoor/outdoor junction.
In the embodiment of the invention, after determining the number of positioning sources according to the positioning signal, the terminal determines that the environment determination result is an outdoor environment if the number of positioning sources is greater than the first threshold as the number of positioning sources.
It should be noted that, in the embodiment of the present invention, the number of positioning sources is greater than the first threshold as a result of the number of positioning sources, and the number of positioning sources is greater than the first threshold.
Illustratively, in the embodiment of the present invention, the first threshold is 4, the number of positioning sources is 5, and if the number of positioning sources is greater than the first threshold, the environment determination result is determined to be an outdoor environment.
In the embodiment of the invention, after determining the number of positioning sources according to the positioning signal, the terminal determines that the environment determination result is an indoor environment if the number of positioning sources is greater than the second threshold as the number of positioning sources.
It should be noted that, in the embodiment of the present invention, the number of positioning sources is greater than the second threshold as a result of the number of positioning sources, which means that the positioning sources only include the second positioning sources, and the number of the second positioning sources is greater than the second threshold.
In an exemplary embodiment of the present invention, the second threshold is 3, the number of positioning sources is 4, and if the number of positioning sources is greater than the second threshold, the environment determination result is determined to be an indoor environment.
Fig. 12 is a schematic flowchart of an implementation flow of a positioning method according to an embodiment of the present invention, as shown in fig. 12, after performing an environment determination process according to a positioning signal, and obtaining an environment determination result, that is, after step 102, the terminal may further include the following steps:
104, if the environment judgment result is an outdoor environment, performing outdoor positioning processing according to the outdoor positioning signal to obtain outdoor positioning information; the outdoor positioning signal is a signal for realizing outdoor positioning in the positioning signals.
In the embodiment of the invention, after performing environment judgment processing according to a positioning signal to obtain an environment judgment result, if the environment judgment result is an outdoor environment, the terminal performs outdoor positioning processing according to an outdoor positioning signal to obtain outdoor positioning information; the outdoor positioning signal is a signal for realizing outdoor positioning in the positioning signals.
In the embodiment of the present invention, the outdoor positioning process refers to determining outdoor positioning information in an outdoor environment; in an outdoor environment, it is necessary to perform outdoor positioning processing based on an outdoor positioning signal.
Further, in the embodiment of the present invention, the outdoor positioning signal is a signal for implementing outdoor positioning in the positioning signals, that is, the signal strength of the outdoor positioning signal in the outdoor environment is better, and the terminal may obtain the outdoor positioning information of the terminal in the outdoor environment according to the outdoor positioning signal.
Illustratively, in an embodiment of the present invention, the outdoor positioning signal is a GPS signal; fig. 13 is a schematic diagram of a third implementation of the positioning method according to the embodiment of the present invention, and fig. 13 is a schematic diagram of determining outdoor positioning information according to GPS signals, where P (x, y, z) is a spatial coordinate of a terminal, that is, the outdoor positioning information; s is S 1 (x 1 ,y 1 ,z 1 )、S 2 (x 2 ,y 2 ,z 2 )、S 3 (x 3 ,y 3 ,z 3 )、S 4 (x 4 ,y 4 ,z 4 ) The space coordinates of 4 satellites corresponding to the GPS signals are respectively; the outdoor positioning information may be calculated by the following formula:
wherein x is i 、y i Z i Namely 4 satellites S i (x i ,y i ,z i ) I=1, 2,3, 4; v (V) ti Is S 1 、S 2 、S 3 、S 4 Clock difference of the 4 satellites, V t Is the clock difference of the terminal, d i The distance between 4 satellites and the respective receiver, c is the speed of light.
It can be seen that, in the embodiment of the present invention, when determining outdoor positioning information according to GPS signals, the outdoor positioning information of the terminal may be obtained by calculating the quaternary equation set.
In the embodiment of the present invention, if the environment determination result is an outdoor environment, the terminal performs outdoor positioning processing according to the outdoor positioning signal, and after obtaining the outdoor positioning information, may determine the outdoor positioning information as target positioning information.
It is understood that in the embodiment of the present invention, in an outdoor environment, outdoor positioning information determined using an outdoor positioning signal may be directly used as target positioning information.
Fig. 14 is an eleventh implementation flow chart of the positioning method according to the embodiment of the present invention, as shown in fig. 14, after the terminal performs the environment determination processing according to the positioning signal, and obtains the environment determination result, that is, after step 102, the method may further include the following steps:
106, if the environment judgment result is an indoor environment, performing indoor positioning processing according to the indoor positioning signal to obtain indoor positioning information; the indoor positioning signals are signals used for realizing indoor positioning in the positioning signals.
In the embodiment of the invention, after performing environment judgment processing according to a positioning signal to obtain an environment judgment result, if the environment judgment result is an indoor environment, the terminal performs indoor positioning processing according to the indoor positioning signal to obtain indoor positioning information; the indoor positioning signals are signals used for realizing indoor positioning in the positioning signals.
In the embodiment of the present invention, the indoor positioning process refers to determining indoor positioning information in an indoor environment; in an indoor environment, it is necessary to perform indoor positioning processing based on an indoor positioning signal.
Further, in the embodiment of the invention, the indoor positioning signal is a signal for realizing indoor positioning in the positioning signals, that is, the indoor positioning signal has better signal strength in the indoor environment, and the terminal can obtain the indoor positioning information of the terminal in the indoor environment according to the indoor positioning signal; for example, the indoor positioning signals may be fourth generation mobile communication technology (4 th-Generation Mobile Communication Technology, 4G), UWB signals, bluetooth signals, and the like.
In an exemplary embodiment of the present invention, the indoor positioning signal is a 5G signal, and the indoor positioning information is determined according to the 5G signal; fig. 15 is a schematic diagram for implementing a positioning method according to an embodiment of the present invention, and fig. 15 is a schematic diagram for determining indoor positioning information according to a 5G signal; three pico base stations (pico rru) are shown; after each two pico-base stations measure the Time Of Arrival (TOA) between the pico-base stations and the terminal, the distance difference between the two pico-base stations and the terminal can be obtained according to the propagation velocity Of electromagnetic waves; further, the two pico-base stations are used as focuses, and the terminal is necessarily located on a hyperbola formed by the distance difference between the two pico-base stations, so that the position of the terminal, namely the indoor positioning information, can be determined according to the intersection point of the hyperbolas only by selecting the hyperbolas corresponding to the two pico-base stations.
Further, in the embodiment of the present invention, based on the above example, fig. 16 is a schematic diagram five of implementation of the positioning method according to the embodiment of the present invention, as shown in fig. 16, a BS 1 (0,0)、BS 2 (x 2 ,y 2 )、BS 3 (x 3 ,y 3 ) The coordinates of three pico base stations are respectively, and MS (x, y) is the coordinates of a terminal, namely indoor positioning information; two hyperbolic equations are constructed according to the coordinate information:
wherein d 12 For terminal to pico-base station BS 1 And BS 2 Is a distance difference of (2); d, d 13 For terminal to pico-base station BS 1 And BS 3 Is a distance difference between the two.
Further, by determining d 12 Corresponding time differences, i.e. electromagnetic waves from the terminal to the pico-base station BS 1 And BS 2 Time difference of transmission, and d 13 Corresponding time differences, i.e. electromagnetic waves from the terminal to the pico-base station BS 1 And BS 3 The time difference of transmission between them is then based on the formula d=c·t, where c is the propagation speed of the electromagnetic wave, obtaining a distance difference d 12 And d 13 The method comprises the steps of carrying out a first treatment on the surface of the Finally, d 12 And d 13 Substituting the hyperbola equations (4) and (5) to obtain the target positioning information.
In the embodiment of the invention, when determining indoor positioning information according to the 5G signal, the method is only based on a basic calculation principle, and parameters such as amplitude, phase and arrival angle of electromagnetic waves can be further measured during practical application, so as to improve positioning accuracy.
In the embodiment of the invention, if the environment determination result is an indoor environment, the terminal performs indoor positioning processing according to the indoor positioning signal, and after obtaining the indoor positioning information, the terminal can determine the indoor positioning information as target positioning information.
It is understood that in the embodiment of the present invention, in an indoor environment, indoor positioning information determined using an indoor positioning signal may be directly used as target positioning information.
In summary, in the embodiment of the present invention, the environment where the terminal is located is first determined according to the number of positioning sources; because signals of two positioning sources can be received at the indoor and outdoor junction at the same time, in order to enhance the continuity and the accuracy of positioning service, the target positioning information of the terminal at the indoor and outdoor junction is acquired in a fused positioning processing mode, so that the seamless connection of the indoor and outdoor junction is realized, and the positioning effect is effectively improved.
The embodiment of the invention provides a positioning method, wherein a terminal receives a positioning signal; wherein the positioning signal comprises at least one signal; performing environment judgment processing according to the positioning signals to obtain an environment judgment result; and if the environment judgment result is the indoor and outdoor junction, carrying out fusion positioning processing according to the signal related information of the positioning signal to obtain target positioning information. Therefore, in the invention, when the terminal is positioned, the environment judgment processing can be performed according to the received positioning signals so as to determine the current environment of the terminal, and if the environment judgment result is an indoor and outdoor junction, the fusion positioning processing can be performed according to the positioning signals so as to determine the target positioning information; that is, when the terminal is positioned, the environment where the terminal is positioned is firstly determined, and if the terminal is positioned at the indoor and outdoor junction, the target positioning information is acquired by adopting a fusion positioning processing mode, so that the terminal can be accurately positioned even if the terminal is positioned at the indoor and outdoor junction, the positioning precision at the indoor and outdoor junction is effectively improved, and the positioning stability and reliability are improved.
Example two
Based on the above embodiment, for example, in another embodiment of the present invention, a positioning system in a terminal may be mainly divided into two modules, including an environment judging module and a positioning executing module; the environment judging module is used for carrying out environment judging processing, and the positioning executing module is used for carrying out positioning processing according to the environment judging result to obtain target positioning information; FIG. 17 is a diagram for implementing a positioning method according to an embodiment of the present invention, as shown in FIG. 17, after receiving a positioning request, performing an environment determination process; specifically, the environment determination result may include three cases, where the first case is that the number of the first positioning sources is less than or equal to a first threshold value, and the number of the second positioning sources is less than or equal to a second threshold value, and the environment determination result is determined to be an indoor-outdoor junction; the second condition is that the number of the first positioning sources is larger than a first threshold value, and the environment judgment result is determined to be an outdoor environment; the third condition is that the number of the second positioning sources is larger than a second threshold value, and the environment judgment result is determined to be an indoor environment; further, based on three different environment judgment results, the positioning execution module performs corresponding positioning processing, including fusion positioning processing for indoor and outdoor junctions, outdoor positioning processing for outdoor environments and indoor positioning processing for indoor environments; and finally, ending the positioning request.
In an exemplary embodiment of the present invention, fig. 18 is a schematic diagram seventh for implementing the positioning method according to the embodiment of the present invention, and as shown in fig. 18, the terminal may be in three different situations; the terminal may receive positioning signals transmitted from different base stations when the terminal is in an indoor environment, and may receive positioning signals transmitted from multiple satellites when the terminal is in an outdoor environment, and may simultaneously receive positioning signals transmitted from the base stations and satellites when the terminal is at an indoor and outdoor junction.
In an exemplary embodiment of the present invention, the first positioning source is a satellite, the first threshold is 4, and if the environment determination result is that the number of satellites is greater than 4, it is determined that the environment determination result is an outdoor environment.
In an exemplary embodiment of the present invention, the second positioning source is a pico base station, the second threshold is 3, and if the environment determination result is that the pico base station number is greater than 3, it is determined that the environment determination result is an indoor environment.
For example, in the embodiment of the present invention, if the number of satellites is less than or equal to 4 and the number of base stations is less than or equal to 3, it is determined that the environmental determination result is an indoor/outdoor junction.
Further, in the embodiment of the present invention, if the environment determination result is an outdoor environment, outdoor positioning processing is performed according to the positioning signal, so as to obtain target positioning information.
Exemplary, in an embodiment of the present invention, under an outdoor environment, S 1 (x 1 ,y 1 ,z 1 )、S 2 (x 2 ,y 2 ,z 2 )、S 3 (x 3 ,y 3 ,z 3 )、S 4 (x 4 ,y 4 ,z 4 ) The space coordinates of 4 satellites corresponding to the GPS signals are respectively; and calculating the space coordinates of the terminal based on the formula (3) so as to acquire the target positioning information.
Further, in the embodiment of the present invention, if the environment determination result is an indoor environment, indoor positioning processing is performed according to the positioning signal, so as to obtain target positioning information.
For example, in the embodiment Of the present invention, after measuring the Time Of Arrival (TOA) between each two pico-stations and the terminal in an indoor environment, the distance difference between the two pico-stations and the terminal may be obtained according to the propagation rate Of electromagnetic waves; further, the two pico-base stations are used as focuses, and the terminal is necessarily positioned on a hyperbola formed by the distance difference between the two pico-base stations and the focuses; first, BS 1 (0,0)、BS 2 (x 2 ,y 2 )、BS 3 (x 3 ,y 3 ) The coordinates of three pico base stations are respectively, and MS (x, y) is the coordinates of a terminal, namely target positioning information; according to the upper partThe formula (4) and the formula (5) construct two hyperbola equations, and further, the electromagnetic waves are calculated to reach the two picocell base stations BS at the terminal respectively 1 And BS 2 Determining two distance differences d corresponding to two hyperbolic equations based on the time difference of transmission 12 And d 13 Finally, d 12 And d 13 Substituting the above formulas (4) and (5) to obtain the target positioning information of the terminal in the indoor environment.
Further, in the embodiment of the invention, if the environment determination result is the indoor and outdoor junction, fusion positioning processing is performed according to the signal related information of the positioning signal, so as to obtain the target positioning information.
Further, in the embodiment of the present invention, at the indoor and outdoor junctions, first, a first weighting value corresponding to signal related information of a first signal in the positioning signals is calculated; wherein the first signal is any one of positioning signals; the first weight value characterizes the signal strength of the first signal; the first weighted value can be calculated by the above formulas (1) and (2); further, if the first weighted value is smaller than a preset threshold value, determining target positioning information according to the first signal and the second signal; if the first weighted value is larger than the preset threshold value, determining target positioning information according to the first signal.
Illustratively, in an embodiment of the present invention, the positioning signals include GPS signals and 5G signals; optionally taking the 5G signal as a first signal, calculating a first weighting value corresponding to the 5G signal, wherein the first weighting value of the 5G signal is 0.4 at a certain moment, and the preset threshold value is 0.5; then it can be determined that under the current time, the target positioning information needs to be determined based on the 5G signal and the GPS signal together; specifically, firstly, a rectangular coordinate system is established by taking the facing direction of a terminal as an X axis, initial positioning information is determined based on GPS signals with stronger signals, and the initial positioning information forms a predicted track L (t) in a period of time; then, the positioning accuracy of the 5G signal is taken as the radius to determine a positioning circle C i Namely auxiliary positioning information, selecting a point M closest to a circle center A of the auxiliary positioning information on a predicted track L (t); further determining the midpoint C of the connecting line segment formed by the A and the M as target positioning information; further, if at a certain pointAt the moment, the first weighted value of the 5G signal is 0.55, and it can be determined that the target positioning information can be determined directly based on the 5G signal at the moment, without fusion positioning processing with the GPS signal.
In summary, in the embodiment of the present invention, the environment where the terminal is located is first determined according to the number of positioning sources; because signals of two positioning sources can be received at the indoor and outdoor junction at the same time, in order to enhance the continuity and the accuracy of positioning service, the target positioning information of the terminal at the indoor and outdoor junction is acquired in a fused positioning processing mode, so that the seamless connection of the indoor and outdoor junction is realized, and the positioning effect is effectively improved.
The embodiment of the invention provides a positioning method, wherein a terminal receives a positioning signal; wherein the positioning signal comprises at least one signal; performing environment judgment processing according to the positioning signals to obtain an environment judgment result; and if the environment judgment result is the indoor and outdoor junction, carrying out fusion positioning processing according to the signal related information of the positioning signal to obtain target positioning information. Therefore, in the invention, when the terminal is positioned, the environment judgment processing can be performed according to the received positioning signals so as to determine the current environment of the terminal, and if the environment judgment result is an indoor and outdoor junction, the fusion positioning processing can be performed according to the positioning signals so as to determine the target positioning information; that is, when the terminal is positioned, the environment where the terminal is positioned is firstly determined, and if the terminal is positioned at the indoor and outdoor junction, the target positioning information is acquired by adopting a fusion positioning processing mode, so that the terminal can be accurately positioned even if the terminal is positioned at the indoor and outdoor junction, the positioning precision at the indoor and outdoor junction is effectively improved, and the positioning stability and reliability are improved.
Example III
Based on the above embodiment, in another embodiment of the present invention, fig. 19 is a schematic diagram of the composition structure of a terminal according to an embodiment of the present invention, and as shown in fig. 19, a terminal 10 according to an embodiment of the present invention may include a receiving unit 11, a determining unit 12, and an obtaining unit 13.
The receiving unit 11 is configured to receive a positioning signal; wherein the positioning signal comprises at least one signal.
The determining unit 12 is configured to perform an environment determining process according to the positioning signal, and obtain an environment determining result.
And the obtaining unit 13 is configured to perform fusion positioning processing according to the signal related information of the positioning signal if the environment determination result is an indoor and outdoor junction, so as to obtain target positioning information.
Further, the acquiring unit 13 is specifically configured to calculate a first weighted value corresponding to a first signal in the positioning signals; wherein the first signal is any one of the positioning signals; the first weighting value characterizes a signal strength of the first signal; and determining the target positioning information based on the first weighting value.
Further, the obtaining unit 13 is further specifically configured to calculate the first weighted value based on a preset weighted value calculation model and signal related information of the first signal; the preset weighted value calculation model is formed based on a signal intensity calculation model; the signal strength calculation model is composed based on signal strength, a signal strength threshold and a signal maximum received power.
Further, the obtaining unit 13 is further specifically configured to determine the target positioning information according to the first signal and the second signal if the first weighted value is smaller than a preset threshold; wherein the second signal is a signal different from the first signal in the positioning signals; and if the first weighted value is larger than a preset threshold value, determining the target positioning information according to the first signal.
Further, the acquiring unit 13 is further specifically configured to determine initial positioning information according to the second signal; and determining auxiliary positioning information according to the first signal; and carrying out fusion processing on the initial positioning information and the auxiliary positioning information to determine the target positioning information.
Further, the obtaining unit 13 is further specifically configured to construct a predicted track based on the second positioning information within the preset time period; wherein the second positioning information is positioning information determined according to the second signal; and determining the predicted trajectory as the initial positioning information.
Further, the acquiring unit 13 is further specifically configured to determine a positioning circle according to the first positioning information; wherein the first positioning information is positioning information determined according to the first signal; the radius of the positioning circle is the positioning precision of the first signal; and determining the positioning circle as the auxiliary positioning information.
Further, the obtaining unit 13 is further specifically configured to determine a second reference point in the initial positioning information, which is closest to the first reference point corresponding to the auxiliary positioning information; the first reference point is the center of the circle of the auxiliary positioning information; determining a midpoint of a target line segment, and determining the midpoint as the target positioning information; the target line segment is a connecting line formed based on the first reference point and the second reference point.
Further, the determining unit 12 is specifically configured to determine a number of positioning sources according to the positioning signal; if the number of the positioning sources is smaller than or equal to a first threshold value and the number of the second positioning sources is smaller than or equal to a second threshold value, determining that the environment judgment result is the indoor and outdoor junction; and if the number of the positioning sources is larger than the first threshold value as a result of the number of the positioning sources, determining that the environment judgment result is an outdoor environment; and if the number of the positioning sources is larger than the second threshold value as a result of the number of the positioning sources, determining that the environment judgment result is an indoor environment.
Further, the obtaining unit 13 is further configured to perform, after the determining unit 12 performs an environment determining process according to the positioning signal, an environment determining result, and if the environment determining result is the outdoor environment, perform an outdoor positioning process according to an outdoor positioning signal, to obtain outdoor positioning information; the outdoor positioning signal is a signal used for realizing outdoor positioning in the positioning signals; and determining the outdoor positioning information as the target positioning information.
Further, the obtaining unit 13 is further configured to perform an environment determination process according to the positioning signal by the determining unit 12, and after obtaining an environment determination result, if the environment determination result is the indoor environment, perform an indoor positioning process according to an indoor positioning signal, so as to obtain indoor positioning information; the indoor positioning signals are signals used for realizing indoor positioning in the positioning signals; and determining the indoor positioning information as the target positioning information.
Further, the positioning signals at least comprise global terminal GPS signals and fifth generation mobile communication technology 5G signals.
Fig. 20 is a schematic diagram of a second component structure of a terminal according to an embodiment of the present invention, as shown in fig. 20, the terminal 10 according to an embodiment of the present invention may further include a processor 14, a memory 15 storing instructions executable by the processor 14, and further, the terminal 10 may further include a communication interface 16, and a bus 17 for connecting the processor 14, the memory 15 and the communication interface 16.
In an embodiment of the present invention, the processor 14 may be at least one of an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), a digital signal processor (Digital Signal Processor, DSP), a digital signal processing device (Digital Signal Processing Device, DSPD), a programmable logic device (ProgRAMmable Logic Device, PLD), a field programmable gate array (Field ProgRAMmable Gate Array, FPGA), a central processing unit (Central Processing Unit, CPU), a controller, a microcontroller, and a microprocessor. It will be appreciated that the electronics for implementing the above-described processor functions may be other for different devices, and embodiments of the present invention are not particularly limited. The processor 14 may further comprise a memory 15, which memory 15 may be connected to the processor 14, wherein the memory 15 is adapted to store executable program code comprising computer operation instructions, the memory 15 may comprise a high speed RAM memory, and may further comprise a non-volatile memory, e.g. at least two disk memories.
In an embodiment of the invention, a bus 17 is used to connect the communication interface 16, the processor 14 and the memory 15 and the communication between these devices.
In an embodiment of the invention, the memory 15 is used for storing instructions and data.
Further, in an embodiment of the present invention, the processor 14 is configured to receive a positioning signal; wherein the positioning signal comprises at least one signal;
performing environment judgment processing according to the positioning signals to obtain environment judgment results;
and if the environment judgment result is the indoor and outdoor junction, carrying out fusion positioning processing according to the signal related information of the positioning signal to obtain target positioning information.
In practical applications, the Memory 15 may be a volatile Memory (RAM), such as a Random-Access Memory (RAM); or a nonvolatile Memory (non-volatile Memory), such as a Read-Only Memory (ROM), a flash Memory (flash Memory), a Hard Disk (HDD) or a Solid State Drive (SSD); or a combination of the above types of memories and provides instructions and data to the processor 14.
In addition, each functional module in the present embodiment may be integrated in one analysis unit, each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional modules.
The integrated units, if implemented in the form of software functional modules, may be stored in a computer-readable storage medium, if not sold or used as separate products, and based on this understanding, the technical solution of the present embodiment may be embodied essentially or partly in the form of a software product, or all or part of the technical solution may be embodied in a storage medium, which includes several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) or processor (processor) to perform all or part of the steps of the method of the present embodiment. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The embodiment of the invention provides a terminal, which receives a positioning signal; wherein the positioning signal comprises at least one signal; performing environment judgment processing according to the positioning signals to obtain an environment judgment result; and if the environment judgment result is the indoor and outdoor junction, carrying out fusion positioning processing according to the signal related information of the positioning signal to obtain target positioning information. Therefore, in the invention, when the terminal is positioned, the environment judgment processing can be performed according to the received positioning signals so as to determine the current environment of the terminal, and if the environment judgment result is an indoor and outdoor junction, the fusion positioning processing can be performed according to the positioning signals so as to determine the target positioning information; that is, when the terminal is positioned, the environment where the terminal is positioned is firstly determined, and if the terminal is positioned at the indoor and outdoor junction, the target positioning information is acquired by adopting a fusion positioning processing mode, so that the terminal can be accurately positioned even if the terminal is positioned at the indoor and outdoor junction, the positioning precision at the indoor and outdoor junction is effectively improved, and the positioning stability and reliability are improved.
Specifically, the program instructions corresponding to one positioning method in the present embodiment may be stored on a storage medium such as an optical disc, a hard disc, a usb disk, or the like; when the program instructions corresponding to a positioning method in the storage medium are read or executed by an electronic device, the method comprises the following steps:
receiving a positioning signal; wherein the positioning signal comprises at least one signal;
performing environment judgment processing according to the positioning signals to obtain environment judgment results;
and if the environment judgment result is the indoor and outdoor junction, carrying out fusion positioning processing according to the signal related information of the positioning signal to obtain target positioning information.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of a hardware embodiment, a software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, magnetic disk storage, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of implementations of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each block and/or flow of the flowchart illustrations and/or block diagrams, and combinations of blocks and/or flow diagrams in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart block or blocks and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart block or blocks and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks and/or block diagram block or blocks.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the present invention.
Claims (15)
1. A method of positioning, the method comprising:
receiving a positioning signal; wherein the positioning signal comprises at least one signal;
Performing environment judgment processing according to the positioning signals to obtain environment judgment results;
and if the environment judgment result is the indoor and outdoor junction, carrying out fusion positioning processing according to the signal related information of the positioning signal to obtain target positioning information.
2. The method according to claim 1, wherein the performing fusion positioning processing according to the signal related information of the positioning signal to obtain target positioning information includes:
calculating a first weighting value corresponding to signal related information of a first signal in the positioning signals; wherein the first signal is any one of the positioning signals; the first weighting value characterizes a signal strength of the first signal;
the target location information is determined based on the first weighting value.
3. The method of claim 2, wherein calculating a first weight value corresponding to signal related information of a first signal of the positioning signals comprises:
calculating a first weighted value based on a preset weighted value calculation model and signal related information of the first signal; the preset weighted value calculation model is formed based on a signal intensity calculation model; the signal strength calculation model is composed based on signal strength, a signal strength threshold and a signal maximum received power.
4. The method of claim 2, wherein the determining the target positioning information based on the first weighting value comprises:
if the first weighted value is smaller than a preset threshold value, determining the target positioning information according to the first signal and the second signal; wherein the second signal is a signal different from the first signal in the positioning signals;
and if the first weighted value is larger than a preset threshold value, determining the target positioning information according to the first signal.
5. The method of claim 4, wherein said determining said target positioning information from said first signal and said second signal comprises:
determining initial positioning information according to the second signal;
determining auxiliary positioning information according to the first signal;
and carrying out fusion processing on the initial positioning information and the auxiliary positioning information, and determining the target positioning information.
6. The method of claim 5, wherein said determining initial positioning information from said second signal comprises:
constructing a predicted track based on second positioning information in a preset time period; wherein the second positioning information is positioning information determined according to the second signal;
And determining the predicted track as the initial positioning information.
7. The method of claim 5, wherein said determining secondary positioning information from said first signal comprises:
determining a positioning circle according to the first positioning information; wherein the first positioning information is positioning information determined according to the first signal; the radius of the positioning circle is the positioning precision of the first signal;
and determining the positioning circle as the auxiliary positioning information.
8. The method of claim 5, wherein the fusing the initial positioning information and the auxiliary positioning information to determine the target positioning information comprises:
determining a second reference point closest to a first reference point corresponding to the auxiliary positioning information in the initial positioning information; the first reference point is the center of the circle of the auxiliary positioning information;
determining a midpoint of a target line segment, and determining the midpoint as the target positioning information; the target line segment is a connecting line formed based on the first reference point and the second reference point.
9. The method according to claim 1, wherein the performing the environment determination processing according to the positioning signal to obtain an environment determination result includes:
Determining the number of positioning sources according to the positioning signals;
if the number of the positioning sources is smaller than or equal to a first threshold value and the number of the second positioning sources is smaller than or equal to a second threshold value, determining that the environment judgment result is the indoor and outdoor junction;
if the number of the positioning sources is larger than the first threshold value as a result of the number of the positioning sources, determining that the environment judgment result is an outdoor environment;
and if the number of the positioning sources is larger than the second threshold value as a result of the number of the positioning sources, determining that the environment judgment result is an indoor environment.
10. The method according to claim 9, wherein after the performing the environment determination processing according to the positioning signal and obtaining the environment determination result, the method further comprises:
if the environment judgment result is the outdoor environment, performing outdoor positioning processing according to an outdoor positioning signal to obtain outdoor positioning information; the outdoor positioning signal is a signal used for realizing outdoor positioning in the positioning signals;
and determining the outdoor positioning information as the target positioning information.
11. The method according to claim 9, wherein after the performing the environment determination processing according to the positioning signal and obtaining the environment determination result, the method further comprises:
if the environment judgment result is the indoor environment, performing indoor positioning processing according to the indoor positioning signal to obtain indoor positioning information; the indoor positioning signals are signals used for realizing indoor positioning in the positioning signals;
and determining the indoor positioning information as the target positioning information.
12. The method of claim 1, wherein the positioning signals include at least global terminal GPS signals and fifth generation mobile communication technology 5G signals.
13. A terminal, characterized in that the terminal comprises a receiving unit, a judging unit and an acquiring unit,
the receiving unit is used for receiving the positioning signal; wherein the positioning signal comprises at least one signal;
the judging unit is used for carrying out environment judging processing according to the positioning signal to obtain an environment judging result;
and the acquisition unit is used for carrying out fusion positioning processing according to the signal related information of the positioning signal if the environment judgment result is the indoor and outdoor junction, so as to obtain target positioning information.
14. A terminal, characterized in that it further comprises a processor, a memory storing instructions executable by said processor, which instructions, when executed by said processor, implement the method according to any of claims 1-12.
15. A computer readable storage medium having stored thereon a program for use in a terminal, which program, when executed by a processor, implements the method according to any of claims 1-12.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN118244310A (en) * | 2024-05-28 | 2024-06-25 | 深圳市飞易通科技有限公司 | Vehicle positioning method and device, and vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN118244310A (en) * | 2024-05-28 | 2024-06-25 | 深圳市飞易通科技有限公司 | Vehicle positioning method and device, and vehicle |
| CN118244310B (en) * | 2024-05-28 | 2024-08-09 | 深圳市飞易通科技有限公司 | Vehicle positioning method and device and automobile |
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