CN113740889B

CN113740889B - Positioning method and device, equipment, storage medium and positioning system

Info

Publication number: CN113740889B
Application number: CN202111006871.0A
Authority: CN
Inventors: 江国平
Original assignee: Hangzhou Haikang Auto Software Co ltd
Current assignee: Hangzhou Haikang Auto Software Co ltd
Priority date: 2021-08-30
Filing date: 2021-08-30
Publication date: 2024-08-02
Anticipated expiration: 2041-08-30
Also published as: CN113740889A

Abstract

The embodiment of the application provides a positioning method, a positioning device, equipment, a storage medium and a positioning system, which are used for respectively determining a first inertial positioning point and a first satellite positioning point of a positioning object at a first moment based on an inertial signal and a satellite positioning signal acquired at the first moment; determining a first distance between a first inertial positioning point and a first satellite positioning point, and estimating a second distance for the movement of the positioning object in a period from a first moment to a second moment; determining a second satellite positioning point of the positioning object at the second moment based on the satellite positioning signals acquired at the second moment; determining an inertial positioning predicted point of the positioning object at a second moment according to the first distance, the second distance and the second satellite positioning point; and determining a track positioning point of the positioning object at a second moment based on the second satellite positioning point and the inertial positioning prediction point. The embodiment of the application can improve the positioning precision of the object when the object leaves the area with poor positioning signal quality and the satellite positioning signal is obtained again.

Description

Positioning method and device, equipment, storage medium and positioning system

Technical Field

The present application relates to the field of positioning technologies, and in particular, to a positioning method and apparatus, a device, a storage medium, and a positioning system.

Background

Currently, vehicles are equipped with advanced driving assistance systems (ADVANCED DRIVING ASSISTANCE SYSTEM, ADAS). The ADAS has a positioning function, periodically collects satellite positioning signals and determines positioning points of the vehicle. In practical application, there are areas with poor satellite positioning signal quality, such as tunnels and urban canyons. When the vehicle is located in these areas, the positioning accuracy is low, and the actual positioning point of the vehicle cannot be correctly determined.

In the related art, inertial measurement devices (Inertial Measurement Unit, IMU) are employed to solve the above-described problems. Specifically, in an area with poor satellite positioning signal quality, the position of the vehicle is determined by using inertial signals acquired by the IMU and an inertial navigation algorithm.

However, there is an accumulated error in the IMU due to factors such as serious zero drift of the gyroscope, vibration of the vehicle, and the like, as a result of positioning obtained by directly integrating the acceleration. When the vehicle leaves the area with poor satellite positioning signal quality and the satellite positioning signal is obtained again, compared with the positioning point with accumulated error determined based on the inertial signal acquired by the IMU, the positioning point determined based on the satellite positioning signal has abrupt change. Under the condition, if the positioning point of the vehicle is determined directly based on the satellite positioning signal and the inertial signal, the finally determined positioning point has larger error and lower vehicle positioning precision.

Disclosure of Invention

The embodiment of the application aims to provide a positioning method, a device, equipment, a storage medium and a positioning system, so that when an object leaves an area with poor positioning signal quality, the positioning accuracy of the object is improved when a satellite positioning signal is obtained again. The specific technical scheme is as follows:

In a first aspect, an embodiment of the present application provides a positioning method, where the method includes:

Determining a first inertial positioning point and a first satellite positioning point of a positioning object at a first moment respectively based on an inertial signal and a satellite positioning signal acquired at the first moment;

determining a first distance between the first inertial positioning point and the first satellite positioning point, and estimating a second distance for the movement of the positioning object in a period from a first moment to a second moment, wherein the period from the first moment to the second moment is the acquisition period of the satellite positioning signal;

Determining a second satellite positioning point of the positioning object at the second moment based on satellite positioning signals acquired at the second moment;

determining an inertial positioning prediction point of the positioning object at the second moment according to the first distance, the second distance and the second satellite positioning point;

And determining a track positioning point of the positioning object at the second moment based on the second satellite positioning point and the inertial positioning prediction point.

In a second aspect, an embodiment of the present application provides a positioning device, including:

The first determining unit is used for respectively determining a first inertia positioning point and a first satellite positioning point of the positioning object at the first moment based on the inertia signal and the satellite positioning signal acquired at the first moment;

The second determining unit is used for determining a first distance between the first inertial positioning point and the first satellite positioning point and estimating a second distance of the movement of the positioning object in a time period from a first moment to a second moment, wherein the time period from the first moment to the second moment is the acquisition period time period of the satellite positioning signal;

A third determining unit, configured to determine a second satellite positioning point of the positioning object at the second time based on the satellite positioning signal acquired at the second time;

a fourth determining unit, configured to determine an inertial positioning prediction point of the positioning object at the second moment according to the first distance, the second distance, and the second satellite positioning point;

And a fifth determining unit, configured to determine a track positioning point of the positioning object at the second moment based on the second satellite positioning point and the inertial positioning prediction point.

In a third aspect, an embodiment of the present application provides an electronic device, including a processor, a communication interface, a memory, and a communication bus, where the processor, the communication interface, and the memory complete communication with each other through the communication bus;

The memory is used for storing a computer program;

The processor is configured to implement any positioning method step provided in the first aspect when executing the program stored in the memory.

In a fourth aspect, embodiments of the present application provide a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements any of the positioning method steps provided in the first aspect above.

In a fifth aspect, embodiments of the present application also provide a computer program product which, when run on a computer, causes the computer to perform any of the positioning method steps provided in the first aspect above.

In a sixth aspect, an embodiment of the present application further provides a positioning system, including a satellite positioning module, an inertial measurement device, and a processor;

the satellite positioning module is used for acquiring satellite positioning signals;

The inertial measurement device is used for acquiring inertial signals;

The processor is configured to perform any of the positioning method steps provided in the first aspect.

In a seventh aspect, an embodiment of the present application further provides a vehicle, including a vehicle body and the positioning system provided in the sixth aspect.

The embodiment of the application has the beneficial effects that:

In the technical scheme provided by the embodiment of the application, the first inertial positioning point of the positioning object is determined based on the inertial signals acquired at the first moment, and the first satellite positioning point is determined based on the satellite positioning signals acquired at the first moment. And determining an inertial positioning predicted point of the positioning object at a second moment based on a first distance between the first inertial positioning point and the first satellite positioning point and a second distance of the movement of the positioning object during an estimated acquisition period of the satellite positioning signal. The inertial positioning prediction point is an inertial positioning point for weakening the accumulated error as much as possible. Therefore, it is helpful to improve the accuracy of positioning the object based on the inertial positioning points.

In addition, a trajectory anchor point of the positioning object at the second moment is determined based on the second satellite anchor point and the inertial positioning prediction point. The determination of the track locating point comprehensively considers two factors of an inertia locating point and a satellite locating point. Therefore, the track curve of the positioning object generated based on the track positioning point can be smooth and the track quality can be optimized while the positioning precision of the positioning object is improved.

Therefore, in the embodiment of the application, when the positioning object leaves the area with poor positioning signal quality and the satellite positioning signal is obtained again, the track positioning point of the positioning object can be determined by utilizing the inertia positioning point and the second satellite positioning point which weaken the accumulated error as much as possible, so that the positioning precision of the positioning object is improved.

Of course, it is not necessary for any one product or method of practicing the application to achieve all of the advantages set forth above at the same time.

Drawings

In order to more clearly illustrate the embodiments of the application or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the application, and other embodiments may be obtained according to these drawings to those skilled in the art.

Fig. 1 is a schematic view of a scenario of an object positioning application in the related art.

Fig. 2 is a first block diagram of a positioning system according to an embodiment of the present application.

Fig. 3 is a schematic view of a scenario of an object positioning application according to an embodiment of the present application.

Fig. 4 is a schematic diagram of a second structure of a positioning system according to an embodiment of the present application.

Fig. 5 is a schematic diagram of a third structure of a positioning system according to an embodiment of the present application.

Fig. 6 is a schematic diagram of a fourth structure of a positioning system according to an embodiment of the present application.

Fig. 7 is a schematic flow chart of a first positioning method according to an embodiment of the present application.

Fig. 8 is a second flowchart of a positioning method according to an embodiment of the present application.

Fig. 9 is a third flowchart of a positioning method according to an embodiment of the present application.

Fig. 10 is a fourth flowchart of a positioning method according to an embodiment of the present application.

Fig. 11 is a fifth flowchart of a positioning method according to an embodiment of the present application.

Fig. 12 is a sixth flowchart of a positioning method according to an embodiment of the present application.

Fig. 13 is a seventh flowchart of a positioning method according to an embodiment of the present application.

Fig. 14 is a schematic diagram of an eighth flowchart of a positioning method according to an embodiment of the present application.

Fig. 15 is a ninth flowchart of a positioning method according to an embodiment of the present application.

Fig. 16 is a tenth flowchart of a positioning method according to an embodiment of the present application.

Fig. 17 is a schematic structural diagram of a positioning device according to an embodiment of the present application.

Fig. 18 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

Detailed Description

The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. Based on the embodiments of the present application, all other embodiments obtained by the person skilled in the art based on the present application are included in the scope of protection of the present application.

Currently, ADASs are installed in vehicles. The ADAS has a positioning function, periodically collects satellite positioning signals, further determines positioning points of the vehicle, and reports real-time positioning points of the vehicle to a background server. The background server displays real-time positioning points of the vehicle and tracks of the vehicle reported by the ADAS based on the positioning points reported by the ADAS.

In practical applications, the positioning accuracy of a vehicle depends on the satellite positioning signal quality of the area where the vehicle is located. For example, satellite positioning signals in tunnels and urban canyons are poor in quality, and when a vehicle is located in the areas, positioning accuracy is low, and an actual positioning point of the vehicle cannot be accurately determined, so that a track of the vehicle cannot be determined.

In the related art, IMU is employed to solve the above-mentioned problems. Specifically, in an area with poor satellite positioning signal quality, the positioning point of the current vehicle is determined by utilizing inertial signals acquired by the IMU and an inertial navigation algorithm and combining with the historical positioning point, so as to determine the track curve of the vehicle.

However, the IMU has a serious problem of zero drift, and when the vehicle is located in an area with poor satellite positioning signal quality due to the influence of factors such as vehicle vibration, the IMU has an accumulated error in determining the positioning point of the vehicle. Based on this, when the vehicle leaves the area where the satellite positioning signal quality is poor, the satellite positioning signal is recovered, compared with the positioning point determined based on the inertial signal acquired by the IMU, the situation that the positioning point determined based on the satellite positioning signal has abrupt change occurs. At this time, if the positioning point of the vehicle is determined directly based on the satellite positioning signal and the inertial signal, the error of the finally determined positioning point is larger, and the formed track curve has a broken line type straight line drawing shape.

As shown in fig. 1, after a vehicle enters a tunnel, the vehicle cannot receive satellite positioning signals, and further inertial signals are collected by using an IMU, and positioning points of the vehicle are determined by using the inertial signals. Because of the accumulated error of the IMU, the track curve of the vehicle is drawn as curve 1 in fig. 1 using the anchor points determined by the inertial signals.

When the vehicle exits the tunnel, the vehicle re-receives the satellite positioning signal. At this time, the anchor point of the vehicle determined by the vehicle using the satellite positioning signal, such as anchor point 1 in fig. 1, anchor point 2 of the vehicle determined by the inertial signal. A certain distance exists between the positioning point 1 and the positioning point 2, so that at the tunnel outlet, the track curve of the vehicle has a broken line type straight line drawing shape, such as a circle marked part shown in fig. 1.

In addition, when the vehicle leaves the area with poor satellite positioning signal quality and the satellite positioning signal is obtained again, the satellite positioning signal is considered to drift due to the fact that the distance between the positioning point determined by the satellite positioning signal and the positioning point determined by the inertial signal is too large, and then the satellite positioning signal is discarded. In this case, the vehicle always adopts the locating point determined by the inertial signals acquired by the IMU. And IMU accumulated errors are increasing, which further reduces vehicle positioning accuracy.

In order to solve the above problem, when the positioning object leaves the area with poor quality of the positioning signal and the positioning signal is obtained again, the embodiment of the application provides a positioning system which is a distributed inertial navigation system. As shown in fig. 2. The positioning system is mounted on the positioning object. The positioning object may be a vehicle, a person, a robot or the like. The positioning system comprises a satellite positioning module 21, an inertial measurement unit 22 and a processor 23. The processor 23 may include a System-on-a-Chip (SoC), a micro-control module (Microcontroller Unit, MCU), and the like.

The satellite positioning module 21 is configured to collect satellite positioning signals and transmit the satellite positioning signals to the processor 23. The satellite positioning signals may be global positioning system (Global Positioning System, GPS) signals, among others. The satellite positioning signals may also be Beidou satellite navigation system (BeiDou Navigation SATELLITE SYSTEM, BDS) signals. The embodiment of the present application is not limited thereto.

The inertial measurement device 22 is used for acquiring inertial signals and transmitting the inertial signals to the processor 23. The inertial measurement unit 22 may also be used to collect information such as the direction of movement of the object.

The processor 23 is configured to perform correction processing on the inertia positioning points, specifically: determining a first inertial positioning point and a first satellite positioning point of a positioning object at a first moment based on an inertial signal and a satellite positioning signal acquired at the first moment respectively; determining a first distance between a first inertial positioning point and a first satellite positioning point, and estimating a second distance for the movement of the positioning object in a period from a first moment to a second moment, wherein the period from the first moment to the second moment is the acquisition period of satellite positioning signals; determining a second satellite positioning point of the positioning object at the second moment based on the satellite positioning signals acquired at the second moment; and determining an inertial positioning predicted point of the positioning object at the second moment according to the first distance, the second distance and the second satellite positioning point.

The inertial positioning point is a positioning point obtained based on an inertial signal, and the inertial positioning prediction point is a positioning point obtained by performing correction processing on the inertial positioning point.

The processor 23 is further configured to determine a trajectory anchor point of the positioning object at the second moment based on the second satellite anchor point and the inertial positioning prediction point.

In addition, a trajectory anchor point of the positioning object at the second moment is determined based on the second satellite anchor point and the inertial positioning prediction point. The determination of the track locating point comprehensively considers two factors of an inertia locating point and a satellite locating point. Therefore, the track curve of the positioning object generated based on the track positioning point can be smoothed while the positioning precision of the positioning object is improved, and the track quality is optimized as shown in a circle part of the track curve 2 in fig. 3.

In one embodiment of the present application, the processor 23 may include a system on chip SoC 231 and a micro control module MCU 232 as in the positioning system shown in fig. 4. The satellite positioning module 21 is connected with the MCU 232, the MCU 232 is connected with the SoC 231, and the SoC 231 is connected with the inertial measurement device 22.

The SoC 231 has higher processing performance than the MCU 232. But the SoC 231 directly supports fewer module types for access. And MCU 232 has pins thereon for connection to the various modules. Based on this, in the case that the SoC 231 does not have a pin connected to the satellite positioning module 21, the satellite positioning module 21 can be connected to the SoC 231 through the MCU 232, so that the above-mentioned correction processing for the inertial positioning point can be implemented, positioning of the positioning object can be implemented, and positioning accuracy of the positioning object can be improved.

In another embodiment of the present application, for example, a positioning object (e.g., a vehicle, a mobile robot, etc.) having wheels (e.g., wheels), a positioning system as shown in fig. 5 may also include a wheel pulse sensor 24. The wheel pulse sensor 24 is connected to the processor 23.

In one example, the wheel pulse sensor 24 may be connected to the MCU 232, and the MCU 232 is connected to the SoC 231. In another example, in the case where the SoC 231 has a pin connected to the wheel pulse sensor 24, the wheel pulse sensor 4 may also be directly connected to the SoC 231.

In the embodiment of the present application, the specific connection manner of the SoC 231 and the wheel pulse sensor 24 is not specifically limited as long as the wheel pulse sensor 24 is guaranteed to be capable of communicating with the SoC 231.

The wheel pulse sensor 24 is configured to collect a wheel pulse signal and transmit the wheel pulse signal to the processor 23.

The processor 23 may use the wheel pulse signal in combination with the wheel diameter of the positioning object to determine the speed of movement of the positioning object (for ease of understanding, this speed will be referred to below simply as the wheel pulse speed). In addition, the processor 23 may also determine the speed of the movement of the positioning object (for ease of understanding, this speed will be referred to as the inertial speed for short) using the inertial signal of the positioning object.

The processor 23 performs a weighted average of the wheel pulse velocity and the inertia velocity to obtain a weighted velocity. The processor 23 can determine the inertial localization point of the localization object using the weighted speed, and the direction of motion of the object.

The inertial signal has a cumulative error and the wheel pulse signal has no cumulative error. Therefore, the accuracy of determining the speed using the wheel pulse signal is higher than that of determining the speed using the inertia signal. In the embodiment of the application, the processor 23 performs weighted average on the wheel pulse speed and the inertia speed to determine the speed of the positioning object, which is equivalent to authentication of the inertia signal by using the wheel pulse signal, so that the influence of the accumulated error of the inertia positioning point can be effectively reduced, and the accuracy of the inertia positioning point is improved.

In one embodiment of the present application, the positioning system, as shown in fig. 6, may also include a communication module 25.

The communication module 25 is configured to send the track positioning point of the object determined by the processor 23 to the background server, and send information from the background service to the processor 23.

In the embodiment of the application, the positioning system may further include other modules, such as a screen for displaying information, which is not limited.

Based on the above positioning system, an embodiment of the present application provides a positioning method, as shown in fig. 7. The method may be applied to the processor 23 of the positioning system as shown in fig. 2, or may be applied to a background server as shown in fig. 6, which is not limited. For ease of understanding, the following description uses a processor as a main body of execution, and is not intended to be limiting. The positioning method comprises the following steps:

step S71, determining a first inertial positioning point and a first satellite positioning point of the positioning object at the first moment based on the inertial signal and the satellite positioning signal acquired at the first moment, respectively.

In the embodiment of the application, the satellite positioning module acquires satellite positioning signals of a positioning object in real time, and the IMU acquires inertial signals of the positioning object in real time. The processor acquires inertial signals of the positioning object and satellite positioning signals of the positioning object in real time. The inertial signal may be a signal acquired by the IMU, or an inertial signal acquired by other inertial devices. The inertial signal is a vector and may include the acceleration and direction of motion of the object. The satellite positioning signal may be a GPS signal or a BDS signal.

The processor determines an inertial positioning point of the positioning object at the first moment based on the inertial signals of the positioning object acquired at the first moment, and the inertial positioning point is used as a first inertial positioning point. The processor determines a satellite positioning point of the positioning object at a first moment as a first satellite positioning point based on satellite positioning signals of the positioning object acquired at the first moment. The first time may be any time, and is not limited thereto. The first inertial positioning point and the first satellite positioning point may be represented in the form of position coordinates.

In the embodiment of the application, if the positioning system does not comprise the wheel pulse sensor, the processor determines the inertial speed of the positioning object at the first moment by utilizing the inertial signal of the positioning object acquired at the first moment. The processor may determine an inertial positioning point of the positioning object at the first moment directly using the inertial velocity and the direction of movement of the object.

In one embodiment of the application, the positioning system may further comprise a wheel pulse sensor. The wheel pulse sensor sends a wheel pulse signal to the processor based on the wheel rotation of the positioning object.

In this case, the processor determines the wheel pulse speed of the positioning object at the first moment by using the wheel pulse signal of the positioning object acquired at the first moment in combination with the wheel diameter of the positioning object. In addition, the processor determines the inertial velocity of the positioning object at the first moment by utilizing the inertial signals of the positioning object acquired at the first moment. The processor performs a weighted average of the wheel pulse velocity and the inertial velocity to obtain a weighted velocity. The processor determines an inertial positioning point of the positioning object at a first moment by using the weighted speed and the movement direction of the positioning object.

The inertial signal has a cumulative error and the wheel pulse signal has no cumulative error. Therefore, the accuracy of determining the speed using the wheel pulse signal is higher than that of determining the speed using the inertia signal. In the embodiment of the application, the processor carries out weighted average on the wheel pulse speed and the inertia speed to determine the speed of the positioning object, which is equivalent to the authentication of the inertia signal by using the wheel pulse signal, thereby effectively reducing the influence of the accumulated error of the inertia positioning point and improving the accuracy of the inertia positioning point.

Step S72, determining a first distance between the first inertial positioning point and the first satellite positioning point, and estimating a second distance of the object moving in a duration from the first moment to the second moment, wherein the duration from the first moment to the second moment is the acquisition period duration of the satellite positioning signals.

After determining the first inertial positioning point and the first satellite positioning point, the processor may calculate a distance between the first inertial positioning point and the first satellite positioning point, i.e., a first distance.

In addition, after acquiring the inertial signal of the positioning object at the first moment, the processor may acquire the speed of the positioning object at the first moment, such as the weighted speed or the inertial speed, based on the inertial signal at the first moment. The processor estimates a distance, i.e., a second distance, the positioning object moves in a duration from the first time to the second time using a speed of the positioning object at the first time.

In the embodiment of the application, the acquisition period duration of the satellite positioning signals can be a fixed value, that is, the processor can acquire the satellite positioning signals according to fixed frequency.

Step S73, determining a second satellite positioning point of the positioning object at the second moment based on the satellite positioning signals acquired at the second moment.

When the time reaches the second moment, the processor acquires satellite positioning signals of the positioning object at the second moment, and determines a second satellite positioning point of the positioning object at the second moment based on the satellite positioning signals at the second moment.

Step S74, determining an inertial positioning predicted point of the positioning object at the second moment according to the first distance, the second distance and the second satellite positioning point.

After the first distance and the second distance are obtained, the processor starts to correct the inertial positioning point by using the first distance, the second distance and the second satellite positioning point, namely predicts the inertial positioning point of the positioning object at the second moment, so that the offset distance between the inertial positioning point at the second moment and the satellite positioning point is reduced, and the accumulated error of the inertial positioning point is reduced. Here, the inertial localization point of the object to be predicted to be located at the second time may also be referred to as an inertial localization prediction point.

Step S75, determining a track positioning point of the positioning object at the second moment based on the second satellite positioning point and the inertial positioning prediction point.

In the embodiment of the application, after the processor obtains the second satellite positioning point and the inertial positioning prediction point, the processor can fuse the second satellite positioning point and the inertial positioning prediction point to obtain the track positioning point of the positioning object at the second moment. Further, the processor generates a trajectory curve of the positioning object using the trajectory anchor point of the positioning object.

In the embodiment of the application, corresponding weights can be respectively configured for the inertial signal and the satellite positioning signal. The processor fuses the second satellite positioning point and the inertial positioning prediction point based on the weight of the inertial signal and the weight of the satellite positioning signal so as to obtain a track positioning point of the positioning object at the second moment. Further, the processor generates a trajectory curve of the positioning object using the trajectory anchor point of the positioning object.

In one embodiment of the present application, in order to further improve the accuracy of object positioning, the state of the satellite positioning signal, the weight of the inertial signal and the weight of the satellite positioning signal, and the acquisition frequency of the inertial signal may be adjusted.

For example, when the satellite positioning signal is normal and the satellite positioning signal does not carry an abnormal identifier, it is indicated that the strength of the satellite positioning signal is higher, the confidence of the satellite positioning signal is higher, and the positioning object is positioned according to the satellite positioning signal, so that higher positioning accuracy can be obtained. In this case, the acquisition frequency of the inertial signal may be set to a preset acquisition frequency, the weight value of the inertial signal when determining the track positioning point is a first weight value, and the weight value of the satellite positioning signal when determining the track positioning point is a second weight value;

When the satellite positioning signal is abnormal, the strength of the satellite positioning signal is weak, even the satellite positioning signal cannot be acquired, the confidence of the satellite positioning signal is low, the positioning object is positioned according to the satellite positioning signal, and low positioning precision can be obtained. This situation is more consistent with a situation where the positioning object enters an area where satellite positioning signal quality is poor. In this case, the acquisition frequency of the inertial signal may be gradually increased, the acquisition frequency of the inertial signal may be greater than or equal to the preset acquisition frequency, and the magnitude of the acquisition frequency of the inertial signal may be inversely proportional to time; in addition, the weight value of the inertia signal when determining the track positioning point is a fifth weight value, and the weight value of the satellite positioning signal when determining the track positioning point is a sixth weight value;

When the satellite positioning signal is normal and carries an abnormal mark, the strength of the satellite positioning signal is weak, the confidence of the satellite positioning signal is low, the positioning object is positioned according to the satellite positioning signal, and low positioning precision can be obtained. This situation is more consistent with a scenario where the positioning object has just left an area where satellite positioning signal quality is poor. At this time, the acquisition frequency of the inertial signal can be reduced, that is, the acquisition frequency of the inertial signal is greater than or equal to the preset acquisition frequency, and the size of the acquisition frequency of the inertial signal is in direct proportion to the time; in addition, the weight value of the inertia signal when determining the track positioning point is a third weight value, and the weight value of the satellite positioning signal when determining the track positioning point is a fourth weight value;

The first weight value is smaller than the third weight value, and the third weight value is smaller than the fifth weight value; the second weight value is greater than the fourth weight value, which is greater than the sixth weight value.

In one embodiment of the application, the inertial signal may comprise an acceleration signal. In this case, as shown in fig. 8, the above step S72 may be refined as follows.

Step S721, determining a first distance between the first inertial positioning point and the first satellite positioning point.

In step S722, a first speed of the positioning object at the first moment is determined according to the acceleration signal of the positioning object acquired at the first moment.

In the embodiment of the present application, the execution order of step S721 and step S722 is not limited.

In step S723, a second distance that the positioning object moves in the duration from the first time to the second time is estimated using the first speed and the duration from the first time to the second time.

In the embodiment of the application, the duration from the first time to the second time is the acquisition period duration of the satellite positioning signals. The processor obtains an acceleration signal by using the inertial signal, and then, a second distance for moving the positioning object in the acquisition period duration of the satellite positioning signal can be estimated by using the acceleration signal and the acquisition period duration of the satellite positioning signal.

For example, the processor may estimate a second distance traveled by the positioning object during a period of acquisition of the satellite positioning signals using the following formula:

S＝v*T；

wherein S represents the second distance, v represents the first speed determined based on the acceleration signal, and T represents the duration from the first time to the second time, i.e. the duration in the acquisition cycle of the satellite positioning signal.

Based on the determined first distance and second distance, subsequent correction processing can be performed on the inertial positioning points, so that inertial positioning prediction of the positioning object at the second moment is obtained, and the positioning accuracy of the positioning object is further improved.

In another embodiment of the application, the inertial signal may comprise an acceleration signal, and the positioning object may further have a wheel pulse sensor mounted thereon. In this case, as shown in fig. 9, the above step S72 may be refined as follows.

Step S724, determining a first distance between the first inertial positioning point and the first satellite positioning point. The same as in step S721 described above.

Step S725, determining the first speed of the positioning object at the first moment according to the acceleration signal of the positioning object acquired at the first moment. The same as in step S722 described above.

Step S726, determining a second speed of the positioning object at the first moment according to the wheel pulse signals acquired by the wheel pulse sensor at the first moment.

And the wheel pulse sensor acquires a wheel pulse signal of the positioning object. The processor determines a second speed of the positioning object at the first moment according to the wheel pulse signals of the positioning object acquired at the first moment.

For example, the wheel pulse sensor transmits a wheel pulse signal every time the wheel of the positioning object rotates one turn. If the processor receives 5 wheel pulse signals within 1 second(s), and the radius of the wheel is 20 centimeters (cm), the second speed of the positioning object is determined to be 5x (2 x pi x 20) =628 cm/s.

In step S727, the first speed and the second speed are weighted and averaged to obtain the target speed.

In the embodiment of the application, the processor can pre-configure the weight of the pulse speed of the wheel and the weight of the inertia speed. And the processor performs weighted average on the first speed and the second speed by using the configured weight to obtain the target speed.

In step S728, the target speed and the duration from the first time to the second time are used to estimate the second distance that the positioning object moves within the duration from the first time to the second time.

The wheel pulse signal does not have the problem of accumulated error with respect to the inertial signal. The first speed and the second speed are weighted and fused to obtain a target speed, which is equivalent to the authentication of the inertial signal by using the wheel pulse signal, so that the accuracy of the determined target speed is improved. And then, the target speed is utilized later, so that the second distance of the object movement can be estimated accurately, and the positioning accuracy of the positioning object is improved.

In another embodiment of the present application, as shown in fig. 10, the above step S74 may be refined as follows.

Step S741, determining the deviation correcting distance corresponding to the minimum distance between the first distance and the second distance.

In the embodiment of the application, a determination rule of the deviation rectifying distance can be preset in the processor. And the processor determines the deviation rectifying distance corresponding to the minimum distance in the first distance and the second distance according to the determination rule of the deviation rectifying distance.

In one embodiment, the determination rule is: and multiplying the minimum distance in the first distance and the second distance by a preset proportional value to obtain the deviation correcting distance. Namely, step S741 may specifically be: determining a minimum distance of the first distance and the second distance; and calculating the product of the minimum distance and a preset proportional value to obtain the deviation correcting distance. The preset proportion value can be set according to actual requirements.

For example, the preset ratio value may be 1/4, 1/5, 2/5, or the like. The explanation will be given taking a preset ratio of 1/4 as an example. The first distance is S0 and the second distance is S1. If S0> S1, the deviation rectifying distance is 1/4 x S1. If S0 is less than or equal to S1, the deviation rectifying distance is 1/4 of S0.

Alternatively, the preset proportional value may be the inverse of the preset deviation correcting number. For example, if the preset deviation rectifying frequency is 4, the preset proportion value is 1/4. For another example, if the preset deviation rectifying frequency is 5, the preset proportion value is 1/5.

The preset deviation rectifying times are the maximum times of deviation rectifying treatment on one inertia locating point. For example, the number of correction processing of the inertial positioning point obtained based on the inertial signal is 0, and based on the inertial positioning point, determining an inertial positioning prediction point once, then adding 1 to the number of correction processing of the inertial positioning point; and determining an inertial positioning prediction point based on the inertial positioning point, and determining the inertial positioning prediction point once again, wherein the number of times of correction processing of the inertial positioning point is increased by 1 again. Briefly, it can be understood that the preset deviation rectifying times are as follows: after performing step S71 once, the maximum number of times of steps S72 to S75 is circularly performed; or determining the maximum number of inertial positioning prediction points.

In another embodiment, the determination rule is: subtracting a preset deviation value from the minimum distance between the first distance and the second distance to obtain a deviation correcting distance. Namely, step S741 may specifically be: determining a minimum distance of the first distance and the second distance; and calculating the difference value between the minimum distance and the preset deviation value to obtain the deviation correcting distance. The preset deviation value can be set according to actual requirements.

For example, the preset deviation value may be 1,5, 7 meters, or the like. The preset deviation value of 5 is taken as an example for illustration. The first distance is S0 and the second distance is S1. If S0> S1, the deviation rectifying distance is S1-5. If S0 is less than or equal to S1, the deviation rectifying distance is S0-5.

The above determination rule may be set according to actual requirements, and is not limited thereto.

In step S742, referring to the direction from the first satellite positioning point to the first inertial positioning point, a point at a third distance from the second satellite positioning point is taken as an inertial positioning prediction point of the positioning object at the second moment, and the third distance is the difference between the first distance and the deviation correcting distance.

It can be understood that the direction from the second satellite positioning point to the inertial positioning prediction point is the same or approximately the same as the direction from the first satellite positioning point to the first inertial positioning point, and the distance between the second satellite positioning point and the inertial positioning prediction point is smaller than the distance between the first satellite positioning point and the first inertial positioning point by a correction distance.

After the processor obtains the second satellite positioning point, a point which is at a third distance from the second satellite positioning point can be used as an inertial positioning prediction point of the positioning object at the second moment in the direction from the first satellite positioning point to the first inertial positioning point.

In the embodiment of the application, the processor comprehensively considers the first distance between the inertia positioning point and the satellite positioning point and the second distance for the movement of the positioning object in the acquisition period duration of one satellite positioning signal to determine the corresponding deviation correcting distance, so that the distance between the inertia positioning point and the satellite positioning point is reduced by the deviation correcting distance. The method can smoothly reduce the distance between the inertia positioning point and the satellite positioning point, reduce the accumulated error of the inertia positioning point, further improve the positioning precision of the positioning object, and effectively avoid the problem that the track curve of the positioning object has the shape of a broken line type pull straight line.

In one embodiment of the present application, in order to achieve synchronization of the inertial positioning point and the satellite positioning point, as shown in fig. 11, after determining the inertial positioning prediction point of the positioning object at the second moment in step S74, the method may further include the following steps:

Step S76, detecting whether the distance between the second satellite positioning point and the inertial positioning prediction point is within a preset distance range. If yes, the correction processing of the inertial positioning point is finished, and in a new calculation period of the track positioning point, the track positioning point of the positioning object can be determined directly based on the newly acquired inertial signal and satellite positioning signal; if not, step S77 is performed.

The preset distance range can be set according to actual requirements. For example, if the positioning accuracy requirement is high, the preset distance range may be set to a smaller value; if the positioning accuracy requirement is low, the preset distance range can be set to a larger value.

The execution sequence of step S75 and step S76 is not limited in the embodiment of the present application. The two steps may or may not be performed simultaneously. For example, S75 may be performed again in a case where it is determined that the distance between the second satellite positioning point and the inertial positioning prediction point is within the preset distance range, or S76 may be performed after S75 is performed.

Step S77, the second time is taken as the new first time, and step S71 is executed again.

In the embodiment of the application, the processor detects whether the distance between the second satellite positioning point and the inertial positioning prediction point is within a preset distance range.

If not, the processor may determine that the inertial positioning prediction point and the second satellite positioning point are not synchronized, and return to the execution step S71, and continue the correction process until the inertial positioning prediction point and the second satellite positioning point are synchronized.

If so, the processor can synchronize the inertial positioning prediction point and the second satellite positioning point, and then continue to correct the error without the inertial signal of the positioning object, and finish the error correction. In a new calculation period of the track positioning point, the processor directly utilizes the collected inertial signals and satellite positioning signals to respectively determine the inertial positioning point and the satellite positioning point, and directly utilizes the determined inertial positioning point and the determined satellite positioning point to determine the track positioning point of the positioning object without executing the correction processing.

In one embodiment of the present application, in order to achieve synchronization of the inertial positioning point and the satellite positioning point, as shown in fig. 12, after determining the inertial positioning prediction point of the positioning object at the second moment in step S74, the method may further include the following steps:

step S78, detecting and determining whether the accumulated times of the inertial positioning predicted points reach the preset deviation rectifying times. If not, step S79 is executed to continue the deviation correcting process and to redetermine the inertial positioning predicted point. If yes, the correction processing of the inertia positioning point can be ended.

The preset deviation rectifying times can be set according to actual requirements. For example, the preset deviation rectifying times may be 4,5 or 7.

In the embodiment of the application, the primary inertial positioning prediction point is determined, namely, the primary correction processing is carried out on the inertial positioning point.

The execution sequence of step S75 and step S78 is not limited in the embodiment of the present application. Both may be performed simultaneously.

Step S79, taking the second moment as a new first moment, taking the inertial positioning predicted point as a new first inertial positioning point, taking the second satellite positioning point as a new first satellite positioning point, and returning to execute step S72.

After determining the inertial positioning predicted point of the positioning object at the second moment, the processor detects and determines whether the accumulated times of the inertial positioning predicted point reach the preset deviation correcting times. If not, the inertial positioning point and the satellite positioning point are considered to be not synchronous yet, and the step S79 is executed to continue the prediction processing, namely to continue the correction processing. If yes, the inertial positioning point and the satellite positioning point can be considered to be synchronous, the prediction processing is ended, and the correction processing is ended.

And under the condition that the accumulated times of the inertial positioning predicted points do not reach the preset deviation correcting times, the processor takes the second moment as a new first moment, takes the inertial positioning predicted points as new first inertial positioning points and takes the second satellite positioning points as new first satellite positioning points. And the processor performs new deviation rectifying processing on the first inertial positioning point, namely the inertial positioning predicted point of the positioning object at a new second moment. At this time, 1 is added to the number of times the inertial positioning prediction point is determined.

For example, the first time is t ₁. The processor determines that the inertial positioning point at time t ₁ is the inertial positioning point 1, the first satellite positioning point is the satellite positioning point 1, calculates the distance d ₁ between the inertial positioning point 1 and the satellite positioning point 1, and estimates the distance d ₂ of the movement of the positioning object during the acquisition period of the satellite positioning signal.

The processor may determine satellite positioning point 2 at a second time t ₂. The processor determines an inertial positioning predicted point 2 of the positioning object at the time t ₂ according to the distance d ₁、d₂ and the satellite positioning point 2. Further, the cumulative number of inertial positioning prediction points is determined plus 1. And the processor performs weighted fusion on the inertial positioning prediction point 2 and the satellite positioning point 2 to obtain a track positioning point 1 of the positioning object at the moment t ₂.

In addition, the processor detects and determines whether the accumulated times of the inertial positioning predicted points reach a preset time threshold. If not, the processor takes the time t ₂ as a new first time, takes the inertial positioning predicted point 2 as a new first inertial positioning point, takes the satellite positioning point 2 as a new first satellite positioning point, calculates the distance d ₁₁ between the inertial positioning predicted point 2 and the satellite positioning point 2, estimates the distance d ₁₂ of the movement of the positioning object in the acquisition period duration of the satellite positioning signal, and redetermines the inertial positioning predicted point.

In the embodiment of the application, the deviation rectifying processing of preset deviation rectifying times is carried out on the inertial locating points obtained based on the inertial signals, so that the accumulated error of the inertial signals is reduced to the maximum extent, the satellite locating points and the inertial locating points are synchronized to the maximum extent, and the accuracy of locating the subsequent locating objects is improved.

In another embodiment of the present application, the embodiments shown in fig. 11 and fig. 12 described above may be combined to improve the positioning accuracy of the positioning object to the maximum extent. Specifically, as shown in fig. 13, after determining the inertial positioning prediction point of the positioning object at the second moment in step S74, the method may further include the following steps:

In step S710, the detection determines whether the accumulated number of times of the inertial positioning prediction points reaches the preset deviation correcting number. If not, step S711 is executed to continue the correction processing, and the inertial positioning prediction point is redetermined. If yes, go to step S712.

The execution sequence of step S75 and step S710 is not limited in the embodiment of the present application. The two may or may not be executed simultaneously. For example, S710 may also be performed after S75 is performed.

Step S711, taking the second moment as the new first moment, taking the inertial positioning prediction point as the new first inertial positioning point, taking the second satellite positioning point as the new first satellite positioning point, and returning to execute step S72.

Step S712, detecting whether the distance between the second satellite positioning point and the inertial positioning prediction point is within a preset distance range. If yes, ending the correction processing; if not, step S713 is performed.

Step S713, the second time is taken as the new first time, and step S71 is re-executed.

The descriptions of the steps S710-S713 are relatively simple, and refer to the descriptions of the fig. 11 and 12, and are not repeated here.

In one embodiment of the present application, as shown in fig. 14, the embodiment of the present application may be further optimized, including the steps of:

step S751, calculating a fourth distance between the second satellite positioning point and the first satellite positioning point.

In step S752, it is detected whether the fourth distance is smaller than the first preset distance threshold. If yes, executing step S753; if not, step S754 is performed.

Step S753, determining a track positioning point of the positioning object at the second moment based on the second satellite positioning point and the inertial positioning prediction point.

Step S754, the second time is set as the new first time, and step S71 is executed again.

The moving object has its specific physical properties. The physical characteristics may be determined from the physical relationship of speed, duration, and distance. For example, the speed of the positioning object is 10m/s, the acquisition period duration of the satellite positioning signal is 1s, and then one acquisition period duration, the moving distance of the positioning object is 10×1=10m. If the distance between the first satellite positioning point and the second satellite positioning point reaches 100m, and 100 is far greater than 10, the second satellite positioning point can be determined to be not in line with the physical attribute of the object motion.

In the embodiment of the application, a first preset distance threshold is preset in the processor, and the first preset distance threshold can be determined according to the physical characteristics of the moving object. And the processor calculates a fourth distance between the second satellite positioning point and the first satellite positioning point after obtaining the second satellite positioning signal. If the fourth distance is detected to be smaller than the first preset distance threshold value, the second satellite positioning point can be considered to be in accordance with the physical characteristics of the moving object, and the processor determines the track positioning point of the positioning object at the second moment based on the second satellite positioning point and the inertial positioning prediction point.

If the fourth distance is detected to be greater than or equal to the first preset distance threshold, the second satellite positioning point is considered to be not in accordance with the physical characteristics of the moving object, the error of the second satellite positioning point is larger, the second satellite positioning point cannot be used for determining the track positioning point of the positioning object, the processor can discard the second satellite positioning point, the second moment is taken as the new first moment, the step S71 is executed again, and the new round of deviation rectifying processing is performed.

In an embodiment of the present application, the embodiment of the present application further provides a positioning method, as shown in fig. 15, where the method may further include the following steps:

step S714, extracting a track anchor point from the plurality of track anchor points of the acquired positioning object.

The processor may obtain a plurality of trace anchor points for the anchor object over a period of time. In order to improve the positioning accuracy, the processor can screen a plurality of track positioning points of the obtained positioning object, and further improve the quality of the track curve.

Step S715, generating a track curve of the positioning object according to the extracted track positioning points.

In the embodiment of the application, the processor extracts part of track positioning points from the obtained plurality of track positioning points of the positioning object, so that abnormal track positioning points can be effectively removed, and then the track curve of the positioning object is generated based on normal track positioning points, thereby improving the positioning precision of the positioning object and optimizing the quality of the track curve.

In one embodiment of the present application, the processor may have a pre-stored correspondence between speed and sampling frequency. The sampling frequency may be a frequency at which the processor uploads the trace anchor point to the background server.

In the embodiment of the application, the speed is proportional to the sampling frequency. I.e. the greater the speed, the greater the sampling frequency. For example, when the speed of the positioning object is less than 36Km/h, the sampling frequency is 0.3Hz; the speed of the positioning object is more than or equal to 36Km/h and less than 72Km/h, and the sampling frequency is 0.5Hz; when the speed of the positioning object is greater than or equal to 72Km/h, the sampling frequency is 1Hz.

In this case, the processor determines a target sampling frequency corresponding to the speed of the positioning object at the second time according to the correspondence between the speed and the sampling frequency stored in advance. The speed of the positioning object at the second moment may be the above-mentioned inertial speed or target speed, which is not limited.

The processor extracts a track locating point from a plurality of track locating points of the obtained locating object according to the target sampling frequency. Wherein the target sampling frequency is less than the frequency at which the trace anchor point of the object is obtained. In this way, the processor may generate a trajectory curve of the positioning object from the extracted trajectory positioning points. In the embodiment of the present application, the track curve may be a bezier curve or other curves, which is not limited thereto.

In an alternative embodiment, the processor extracts the track anchor point from the plurality of track anchor points of the obtained positioning object according to the target sampling frequency, which may be: the processor extracts a track positioning point every other period duration corresponding to the target sampling frequency.

In one embodiment of the present application, to further improve positioning accuracy, the processor may determine a fifth distance between adjacent track positioning points according to an acquisition order of the track positioning points; and screening out track positioning points corresponding to a fifth distance smaller than a second preset distance threshold from the obtained plurality of track positioning points of the positioning object, and generating a track curve. The track positioning point corresponding to the fifth distance may include two track positioning points or one of the two track positioning points calculated to obtain the fifth distance.

For example, the processor may indicate, for each track anchor point, that the track anchor point does not conform to the physical attribute of the object motion if the fifth distance between the track anchor point and the last obtained non-excluded track anchor point is greater than or equal to a second preset distance threshold; if the fifth distance between the track positioning point and the last obtained non-excluded track positioning point is smaller than a second preset distance threshold, the track positioning point is consistent with the physical attribute of the object motion, and the track positioning point is reserved for subsequent generation of a track curve of the positioning object.

The second preset distance threshold may be determined according to a period duration of obtaining the track positioning point and a speed of positioning the object. In the embodiment of the application, the adjacent track positioning points refer to non-excluded track positioning points.

By the embodiment, the track positioning points which do not accord with the physical attribute of the object motion can be eliminated, and the purpose of improving the positioning precision is achieved.

The positioning method provided by the embodiment of the present application is described in detail below with reference to the flowchart shown in fig. 16.

In step S161, the processor detects whether the satellite positioning signal is normal. If not, then step S162 is performed; if yes, go to step S164.

In step S162, the processor detects whether the inertial anchor point and the satellite anchor point are synchronized. If yes, ending the processing; if not, step S163 is performed.

In the embodiment of the application, when the distance between the inertia positioning point and the satellite positioning point is within the preset distance range, the inertia positioning point and the satellite positioning point are considered to be synchronous. Otherwise, the inertial anchor point and the satellite anchor point are considered to be unsynchronized.

In step S163, the processor performs correction processing on the inertial positioning points, so that the inertial positioning points and the satellite positioning points are synchronized.

In the embodiment of the application, based on an inertial positioning point determined by an inertial signal, determining an inertial positioning prediction point once can be understood that the inertial positioning point is subjected to a correction process once. In the embodiment of the application, for one inertia positioning point, the deviation rectifying processing of preset deviation rectifying times can be carried out on the inertia positioning point.

The flow of the correction process can be referred to the descriptions of fig. 7-15, and will not be repeated here.

In performing step S163, the processor may gradually increase the acquisition frequency of the inertial signal. The processor acquires inertial signals according to the increased acquisition frequency.

The value range of the acquisition frequency of the inertia signal can be set according to actual requirements. For example, if the acquisition frequency of the inertial signal is in the range of 20-50 Hz, the processor gradually increases the acquisition frequency of the inertial signal from 20Hz to 50Hz.

In addition, in performing step S163, the processor may also collect a wheel pulse signal. The processor performs weighting processing on the inertia signal and the wheel pulse signal to obtain the target speed of the positioning object, and then the processor participates in determining the track positioning point of the positioning object.

Because the satellite positioning signal is abnormal at this time, the processor can directly take the inertia positioning point as a track positioning point of the positioning object. The inertia signal and the wheel pulse signal are weighted specifically, that is, the wheel pulse speed and the inertia speed are weighted, which is described above with reference to the wheel pulse signal.

In step S164, the processor detects whether the satellite positioning signal carries an abnormal identifier. If yes, go to step S165; if not, step S166 is performed.

In step S165, the processor performs a correction process on the inertial positioning point, so that the inertial positioning point and the satellite positioning point are synchronized.

In performing step S165, the processor may gradually decrease the acquisition frequency of the inertial signal.

For example, if the acquisition frequency of the inertial signal is in the range of 20-50 Hz, the processor gradually reduces the acquisition frequency of the inertial signal from 50Hz to 20Hz.

In performing step S165, the processor may exclude abnormal satellite positioning points.

The abnormal satellite positioning points are satellite positioning points which do not accord with the physical characteristics of the object motion. See in particular the description of fig. 14 section above.

In performing step S165, the processor may also collect a wheel pulse signal. And the processor performs weighting processing on the satellite positioning points, the inertia signals and the wheel pulse signals to obtain track positioning points of the positioning objects.

In step S166, the processor performs weighting processing on the satellite positioning points, the inertial signals and the wheel pulse signals to obtain track positioning points of the positioning object.

In performing step S166, the processor may set the acquisition frequency of the inertial signal to a minimum acquisition frequency. For example, if the acquisition frequency of the inertial signal is in the range of 20 to 50Hz, the SoC sets the acquisition frequency of the inertial signal to 20Hz.

In addition, in the process of executing step S166, the processor may also exclude abnormal satellite positioning points; and acquiring the wheel pulse signals so as to carry out weighting processing on the satellite positioning points, the inertia signals and the wheel pulse signals, and obtaining track positioning points of the positioning objects.

In step S167, the processor outputs the trace anchor point.

The track positioning point can be represented by longitude and latitude information or can be represented by other modes, and the track positioning point is not limited.

Corresponding to the above positioning method, the embodiment of the present application further provides a positioning device, as shown in fig. 17, where the positioning device includes:

A first determining unit 171 for determining a first inertial positioning point and a first satellite positioning point of the positioning object at a first time, respectively, based on the inertial signal and the satellite positioning signal acquired at the first time;

a second determining unit 172, configured to determine a first distance between the first inertial positioning point and the first satellite positioning point, and estimate a second distance for the moving of the positioning object in a duration from the first time to the second time, where the duration from the first time to the second time is a duration of a collection period of the satellite positioning signal;

a third determining unit 173, configured to determine a second satellite positioning point of the positioning object at the second time based on the satellite positioning signals acquired at the second time;

A fourth determining unit 174, configured to determine an inertial positioning predicted point of the positioning object at the second moment according to the first distance, the second distance, and the second satellite positioning point;

And a fifth determining unit 175, configured to determine a track positioning point of the positioning object at the second moment based on the second satellite positioning point and the inertial positioning prediction point.

In an alternative embodiment, the inertial signal comprises an acceleration signal; the second determining unit 172 may specifically be configured to:

Determining a first speed of the positioning object at a first moment according to the acceleration signal of the positioning object acquired at the first moment;

And estimating a second distance of the moving of the positioning object in the duration from the first moment to the second moment by using the first speed and the duration from the first moment to the second moment.

In an alternative embodiment, the inertial signal comprises an acceleration signal, and the positioning object is provided with a wheel pulse sensor;

The second determining unit 172 may specifically be configured to:

Determining a second speed of the positioning object at the first moment according to the wheel pulse signals acquired by the wheel pulse sensor at the first moment;

Weighted average is carried out on the first speed and the second speed, so that a target speed is obtained;

And estimating a second distance of the moving of the positioning object in the duration from the first moment to the second moment by using the target speed and the duration from the first moment to the second moment.

In an alternative embodiment, the first determining unit 171 may be further configured to:

And re-executing the step of respectively determining a first inertial positioning point and a first satellite positioning point of the positioning object at the first moment based on the inertial signal and the satellite positioning signal acquired at the first moment by taking the second moment as a new first moment when the distance between the second satellite positioning point and the inertial positioning prediction point is not within a preset distance range after determining the inertial positioning prediction point of the positioning object at the second moment.

In an alternative embodiment, the second determining unit 172 may be further configured to:

after determining the inertial positioning predicted point of the positioning object at the second moment, if the accumulated times of the inertial positioning predicted point are not up to the preset deviation correcting times, taking the second moment as a new first moment, taking the inertial positioning predicted point as a new first inertial positioning point, taking the second satellite positioning point as a new first satellite positioning point, and re-executing the steps of determining the first distance between the first inertial positioning point and the first satellite positioning point, and estimating the second distance of the movement of the positioning object in the time period from the first moment to the second moment;

Or the first determining unit 171, is further configured to:

after determining the inertial positioning predicted point of the positioning object at the second moment, if the accumulated times of the inertial positioning predicted point are determined to reach the preset deviation correcting times, if the distance between the second satellite positioning point and the inertial positioning predicted point is not within the preset distance range, the second moment is taken as a new first moment, and the steps of respectively determining the first inertial positioning point and the first satellite positioning point of the positioning object at the first moment based on the inertial signals and the satellite positioning signals acquired at the first moment are re-executed.

In an alternative embodiment, the fourth determining unit 174 may specifically be configured to:

Determining a deviation rectifying distance corresponding to the minimum distance in the first distance and the second distance;

and referring to the direction from the first satellite positioning point to the first inertia positioning point, taking a point which is a third distance from the second satellite positioning point as an inertia positioning prediction point of the positioning object at the second moment, wherein the third distance is the difference value between the first distance and the deviation correcting distance.

determining a minimum distance of the first distance and the second distance;

and calculating the product of the minimum distance and a preset proportional value to obtain the deviation rectifying distance, wherein the preset proportional value is the reciprocal of the preset deviation rectifying times.

In an alternative embodiment, the fifth determining unit 175 may specifically be configured to:

calculating a fourth distance between the second satellite positioning point and the first satellite positioning point;

If the fourth distance is smaller than the first preset distance threshold value, determining a track positioning point of the positioning object at a second moment based on the second satellite positioning point and the inertial positioning prediction point;

Or alternatively

The first determining unit 171 may also be configured to:

And if the fourth distance is greater than or equal to the first preset distance threshold, taking the second moment as a new first moment, and re-executing the step of respectively determining a first inertial positioning point and a first satellite positioning point of the positioning object at the first moment based on the inertial signal and the satellite positioning signal acquired at the first moment.

In an alternative embodiment, the positioning device may further include:

an extracting unit for extracting a track locating point from a plurality of track locating points of the obtained locating object;

and the generating unit is used for generating a track curve of the positioning object according to the extracted track positioning point.

In an alternative embodiment, the extraction unit may be specifically configured to:

Determining a fifth distance between adjacent track positioning points according to the acquisition sequence of the track positioning points;

and screening out track positioning points corresponding to a fifth distance smaller than a second preset distance threshold from the obtained plurality of track positioning points of the positioning object.

Corresponding to the above positioning method, the embodiment of the present application further provides an electronic device, as shown in fig. 18, including a processor 181, a communication interface 182, a memory 183, and a communication bus 184, where the processor 181, the communication interface 182, and the memory 183 complete communication with each other through the communication bus 184.

A memory 183 for storing a computer program;

The processor 181 is configured to perform the positioning method steps described above with reference to any one of fig. 7 to 16 when executing the program stored in the memory 183.

The communication bus referred to by the electronic device may be a peripheral component interconnect standard (PERIPHERAL COMPONENT INTERCONNECT, PCI) bus, or an extended industry standard architecture (Extended Industry Standard Architecture, EISA) bus, or the like. The communication bus may be classified as an address bus, a data bus, a control bus, or the like. For ease of illustration, the figures are shown with only one bold line, but not with only one bus or one type of bus.

The communication interface is used for communication between the electronic device and other devices.

The Memory may include random access Memory (Random Access Memory, RAM) or may include Non-Volatile Memory (NVM), such as at least one disk Memory. Optionally, the memory may also be at least one memory device located remotely from the aforementioned processor.

The processor may be a general-purpose processor including a central processing unit (Central Processing Unit, CPU), a network processor (Network Processor, NP), etc.; but may also be a digital signal Processor (DIGITAL SIGNAL Processor, DSP), application SPECIFIC INTEGRATED Circuit (ASIC), field-Programmable gate array (Field-Programmable GATE ARRAY, FPGA) or other Programmable logic device, discrete gate or transistor logic device, discrete hardware components.

In yet another embodiment of the present application, there is also provided a computer readable storage medium having stored therein a computer program which when executed by a processor implements the steps of any of the positioning methods described above.

In a further embodiment of the present application, there is also provided a computer program product which, when run on a computer, causes the computer to perform the steps of any of the positioning methods of the above embodiments.

In yet another embodiment of the present application, a vehicle is also provided that includes the positioning system of any of figures 2-6.

In the above embodiments, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, produces a flow or function in accordance with embodiments of the present application, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in or transmitted from one computer-readable storage medium to another, for example, by wired (e.g., coaxial cable, optical fiber, digital Subscriber Line (DSL)), or wireless (e.g., infrared, wireless, microwave, etc.). The computer readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that contains an integration of one or more available media. The usable medium may be a magnetic medium (e.g., floppy disk, hard disk, tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid state disk Solid STATE DISK (SSD)), etc.

It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

In this specification, each embodiment is described in a related manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for the system, apparatus, electronic device, computer readable storage medium and computer program embodiments, the description is relatively simple as it is substantially similar to the method embodiments, and reference is made to the section of the description of the method embodiments where relevant.

The foregoing description is only of the preferred embodiments of the present application and is not intended to limit the scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application are included in the protection scope of the present application.

Claims

1. A method of positioning, the method comprising:

When a positioning object leaves an area where satellite positioning signals cannot be received, respectively determining a first inertia positioning point and a first satellite positioning point of the positioning object at a first moment based on inertia signals and satellite positioning signals acquired at the first moment;

determining a minimum distance of the first distance and the second distance;

Calculating the product of the minimum distance and a preset proportional value to obtain a deviation rectifying distance, wherein the preset proportional value is the inverse of the preset deviation rectifying times; or, calculating the difference value between the minimum distance and a preset deviation value to obtain a deviation rectifying distance;

Referring to the direction from the first satellite positioning point to the first inertia positioning point, taking a point with a third distance from the second satellite positioning point as an inertia positioning prediction point of the positioning object at the second moment, wherein the third distance is a difference value between the first distance and the deviation correcting distance;

2. The method of claim 1, wherein the inertial signal comprises an acceleration signal; the step of estimating the second distance of the moving of the positioning object in the duration from the first moment to the second moment includes:

determining a first speed of the positioning object at the first moment according to the acceleration signal of the positioning object acquired at the first moment;

and estimating a second distance of the positioning object moving in the time period from the first time to the second time by using the first speed and the time period from the first time to the second time.

3. The method of claim 1, wherein the inertial signal comprises an acceleration signal, the positioning object having a wheel pulse sensor mounted thereon;

the step of estimating the second distance of the moving of the positioning object in the duration from the first moment to the second moment includes:

Determining a second speed of the positioning object at the first moment according to a wheel pulse signal acquired by the wheel pulse sensor at the first moment;

And estimating a second distance of the positioning object moving in the time period from the first time to the second time by using the target speed and the time period from the first time to the second time.

4. The method of claim 1, wherein after determining an inertial positioning prediction point of the positioning object at the second time instant, the method further comprises:

And re-executing the steps of respectively determining a first inertial positioning point and a first satellite positioning point of the positioning object at the first moment based on the inertial signal and the satellite positioning signal acquired at the first moment by taking the second moment as a new first moment under the condition that the distance between the second satellite positioning point and the inertial positioning prediction point is not in a preset distance range.

5. The method of claim 1, wherein after determining an inertial positioning prediction point of the positioning object at the second time instant, the method further comprises:

If the accumulated times of the inertial positioning predicted points do not reach the preset deviation rectifying times, taking the second moment as a new first moment, taking the inertial positioning predicted points as new first inertial positioning points, taking the second satellite positioning points as new first satellite positioning points, and re-executing the steps of determining the first distance between the first inertial positioning points and the first satellite positioning points and estimating the second distance of the movement of the positioning object in the duration from the first moment to the second moment;

Or alternatively

And if the accumulated times of the inertial positioning predicted points reach the preset deviation rectifying times, the second moment is taken as a new first moment when the distance between the second satellite positioning points and the inertial positioning predicted points is not in the preset distance range, and the step of respectively determining the first inertial positioning points and the first satellite positioning points of the positioning object at the first moment based on the inertial signals and the satellite positioning signals acquired at the first moment is re-executed.

6. The method of claim 1, wherein the step of determining a trajectory anchor point of the positioning object at the second time based on the second satellite anchor point and the inertial positioning prediction point comprises:

if the fourth distance is smaller than a first preset distance threshold, determining a track positioning point of the positioning object at the second moment based on the second satellite positioning point and the inertial positioning prediction point;

Or alternatively

And if the fourth distance is greater than or equal to the first preset distance threshold, the second moment is taken as a new first moment, and the step of determining a first inertial positioning point and a first satellite positioning point of the positioning object at the first moment respectively based on the inertial signal and the satellite positioning signal acquired at the first moment is re-executed.

7. The method according to any one of claims 1-6, further comprising:

extracting a track positioning point from the obtained plurality of track positioning points of the positioning object;

and generating a track curve of the positioning object according to the extracted track positioning point.

8. The method of claim 7, wherein the step of extracting a track anchor point from the plurality of obtained track anchor points of the positioning object comprises:

9. A positioning device, the device comprising:

the first determining unit is used for respectively determining a first inertia positioning point and a first satellite positioning point of the positioning object at the first moment based on the inertia signal and the satellite positioning signal acquired at the first moment when the positioning object leaves an area where the satellite positioning signal cannot be received;

A fourth determining unit configured to determine a minimum distance of the first distance and the second distance; calculating the product of the minimum distance and a preset proportional value to obtain a deviation rectifying distance, wherein the preset proportional value is the inverse of the preset deviation rectifying times; or, calculating the difference value between the minimum distance and a preset deviation value to obtain a deviation rectifying distance; referring to the direction from the first satellite positioning point to the first inertia positioning point, taking a point with a third distance from the second satellite positioning point as an inertia positioning prediction point of the positioning object at the second moment, wherein the third distance is a difference value between the first distance and the deviation correcting distance;

10. The apparatus of claim 9, wherein the inertial signal comprises an acceleration signal; the second determining unit is specifically configured to:

estimating a second distance of the positioning object moving in the time period from the first time to the second time by using the first speed and the time period from the first time to the second time; or alternatively

The inertial signals comprise acceleration signals, and a wheel pulse sensor is arranged on the positioning object;

The second determining unit is specifically configured to:

Estimating a second distance of the positioning object moving in the time period from the first time to the second time by using the target speed and the time period from the first time to the second time; or alternatively

The first determining unit is further configured to:

After determining an inertial positioning predicted point of the positioning object at the second moment, re-executing the steps of respectively determining a first inertial positioning point and a first satellite positioning point of the positioning object at the first moment based on an inertial signal and a satellite positioning signal acquired at the first moment by taking the second moment as a new first moment under the condition that the distance between the second satellite positioning point and the inertial positioning predicted point is not in a preset distance range; or alternatively

The second determining unit is further configured to:

After determining that the inertial positioning predicted point of the positioning object at the second moment, if the accumulated times of the inertial positioning predicted point are not up to the preset deviation correcting times, taking the second moment as a new first moment, taking the inertial positioning predicted point as a new first inertial positioning point, taking the second satellite positioning point as a new first satellite positioning point, and re-executing the steps of determining a first distance between the first inertial positioning point and the first satellite positioning point, and estimating a second distance of the movement of the positioning object in a period from the first moment to the second moment;

Or the first determining unit is further configured to:

After determining the inertial positioning predicted point of the positioning object at the second moment, if the accumulated times of the inertial positioning predicted point reach the preset deviation correcting times, if the distance between the second satellite positioning point and the inertial positioning predicted point is not within the preset distance range, taking the second moment as a new first moment, and re-executing the steps of respectively determining a first inertial positioning point and a first satellite positioning point of the positioning object at the first moment based on the inertial signal and the satellite positioning signal acquired at the first moment; or alternatively

The fifth determining unit is specifically configured to:

Or the first determining unit is further configured to:

If the fourth distance is greater than or equal to the first preset distance threshold, the second moment is taken as a new first moment, and the step of respectively determining a first inertial positioning point and a first satellite positioning point of the positioning object at the first moment based on the inertial signal and the satellite positioning signal acquired at the first moment is re-executed; or alternatively

The apparatus further comprises:

An extracting unit, configured to extract a track positioning point from a plurality of obtained track positioning points of the positioning object;

The generation unit is used for generating a track curve of the positioning object according to the extracted track positioning point; or alternatively

The extraction unit is specifically configured to:

11. The electronic equipment is characterized by comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory are communicated with each other through the communication bus;

The memory is used for storing a computer program;

the processor is configured to implement the method steps of any of claims 1-8 when executing a program stored on the memory.

12. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored therein a computer program which, when executed by a processor, implements the method steps of any of claims 1-8.

13. A positioning system comprising a satellite positioning module, an inertial measurement device, and a processor;

The inertial measurement device is used for acquiring inertial signals;

the processor being adapted to perform the method steps of any of claims 1-8.