CN110308471B - Equipment positioning method and device, storage medium and electronic equipment - Google Patents
Equipment positioning method and device, storage medium and electronic equipment Download PDFInfo
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- CN110308471B CN110308471B CN201910543912.6A CN201910543912A CN110308471B CN 110308471 B CN110308471 B CN 110308471B CN 201910543912 A CN201910543912 A CN 201910543912A CN 110308471 B CN110308471 B CN 110308471B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
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Abstract
The embodiment of the application discloses a device positioning method, a device, a storage medium and electronic equipment, wherein the electronic equipment comprises an inertial positioning component and a satellite positioning component, initial position information is obtained through the satellite positioning component when the positioning state information of the satellite positioning component meets the triggering condition of inertial positioning, actual vehicle motion information is obtained from a target vehicle, and finally the obtained actual vehicle motion information and the initial position information are used for positioning to obtain real-time position information based on the inertial positioning component. Therefore, the electronic equipment can realize positioning constantly, the influence of factors such as poor satellite positioning signals is reduced, and the stability of positioning and navigation service provided by the electronic equipment for the vehicle is improved. In addition, the actual vehicle motion information is used for replacing the equipment motion information to realize inertial positioning, so that positioning errors caused by inconsistent motion of the electronic equipment and the vehicle are eliminated, and the accuracy of the inertial positioning is higher.
Description
Technical Field
The present application relates to the field of positioning technologies, and in particular, to a device positioning method and apparatus, a storage medium, and an electronic device.
Background
Currently, electronic devices such as smart phones and tablet computers are equipped with a satellite Positioning component such as a GPS (Global Positioning System). With the satellite positioning component equipped, the electronic device can provide a positioning navigation service for the user.
Generally, a user provides a location navigation service for a vehicle using an electronic device. However, the satellite positioning component needs to receive the satellite positioning signal provided by the positioning satellite to realize positioning, and the transmission of the satellite positioning signal is easily interfered by obstructions, such as tunnels, viaducts, and the like, which obstruct the reception of the satellite positioning signal. When the satellite positioning assembly cannot receive the satellite positioning signal, positioning cannot be achieved, and stability of the electronic equipment for providing positioning navigation service for the vehicle is poor.
Disclosure of Invention
The embodiment of the application provides a device positioning method and device, a storage medium and electronic equipment, which can improve the stability of the electronic equipment for providing positioning navigation service for a vehicle.
In a first aspect, an embodiment of the present application provides an apparatus positioning method, which is applied to an electronic apparatus, where the electronic apparatus includes an inertial positioning component and a satellite positioning component, and the apparatus positioning method includes:
acquiring positioning state information of the satellite positioning assembly;
if the positioning state information meets the triggering condition of inertial positioning, acquiring initial position information and actual vehicle motion information of a target vehicle through the satellite positioning assembly;
and positioning by utilizing the acquired actual vehicle motion information and the initial position information to obtain real-time position information based on the inertial positioning component.
In a second aspect, an embodiment of the present application provides an apparatus positioning device, which is applied to an electronic device, where the electronic device includes an inertial positioning component and a satellite positioning component, and the apparatus positioning device includes:
the state acquisition module is used for acquiring positioning state information of the satellite positioning assembly;
the information acquisition module is used for acquiring initial position information and actual vehicle motion information of the target vehicle through the satellite positioning assembly when the positioning state information meets the triggering condition of inertial positioning;
and the position positioning module is used for positioning to obtain real-time position information by utilizing the obtained actual vehicle motion information and the initial position information based on the inertial positioning component.
In a third aspect, the present application provides a storage medium, on which a computer program is stored, and when the computer program runs on a computer, the computer is caused to execute the device positioning method provided in the present application.
In a fourth aspect, an embodiment of the present application provides an electronic device, which includes a processor and a memory, where the memory stores a computer program, and the processor is configured to execute the device location method according to the embodiment of the present application by calling the computer program.
In the embodiment of the application, the electronic equipment comprises an inertial positioning component and a satellite positioning component, initial position information is obtained through the satellite positioning component when the positioning state information of the satellite positioning component meets the triggering condition of inertial positioning, actual vehicle motion information is obtained from a target vehicle, and finally the obtained actual vehicle motion information and the initial position information are used for positioning to obtain real-time position information based on the inertial positioning component. Therefore, the electronic equipment can realize positioning constantly, the influence of factors such as poor satellite positioning signals is reduced, and the stability of positioning and navigation service provided by the electronic equipment for the vehicle is improved. In addition, the actual vehicle motion information is used for replacing the equipment motion information to realize inertial positioning, so that positioning errors caused by inconsistent motion of the electronic equipment and the vehicle are eliminated, and the accuracy of the inertial positioning is higher.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic flow chart of an apparatus positioning method according to an embodiment of the present disclosure.
Fig. 2 is a schematic diagram of a target vehicle traveling to a tunnel (target area) in the embodiment of the present application.
Fig. 3 is another schematic flow chart of a device location method according to an embodiment of the present disclosure.
Fig. 4 is a schematic structural diagram of a device positioning apparatus provided in an embodiment of the present application.
Fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Fig. 6 is another schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
Referring to the drawings, wherein like reference numbers refer to like elements, the principles of the present application are illustrated as being implemented in a suitable computing environment. The following description is based on illustrated embodiments of the application and should not be taken as limiting the application with respect to other embodiments that are not detailed herein.
The embodiment of the application firstly provides an equipment positioning method, and the equipment positioning method is applied to electronic equipment. The main body of the device positioning method may be the device positioning apparatus provided in this embodiment of the present application, or an electronic device integrated with the device positioning apparatus, where the device positioning apparatus may be implemented in a hardware or software manner, and the electronic device may be a device with processing capability and configured with a processor, such as a smart phone, a tablet computer, a palm computer, a notebook computer, or a desktop computer.
Referring to fig. 1, fig. 1 is a schematic flow chart of an apparatus positioning method according to an embodiment of the present disclosure. The device positioning method is applied to the electronic device provided by the embodiment of the present application, where the electronic device includes an inertial positioning component and a satellite positioning component, as shown in fig. 1, a flow of the device positioning method provided by the embodiment of the present application may be as follows:
101, positioning state information of the satellite positioning assembly is acquired.
In the embodiment of the application, the electronic equipment is provided with an inertial positioning component and a satellite positioning component, wherein the inertial positioning component is used for carrying out integral operation by utilizing motion information of the electronic equipment to obtain the real-time speed and the real-time position of the electronic equipment, and the satellite positioning component is used for receiving a satellite positioning signal provided by a positioning satellite and calculating according to the satellite positioning signal to obtain the real-time speed, the real-time position and the like. It should be noted that the types of the satellite positioning components in the embodiments of the present application are not limited, and include, but are not limited to, a global positioning satellite component, a glonass satellite positioning component, a galileo satellite positioning component, a beidou satellite positioning component, and the like.
In the embodiment of the application, the triggering condition for triggering the electronic device to perform inertial positioning is preset, the electronic device firstly acquires the positioning state information of the satellite positioning assembly, and judges whether the positioning state information of the satellite positioning assembly meets the triggering condition of the inertial positioning, so that whether the inertial positioning is triggered or not is determined according to the judgment result. The setting of the triggering condition of the inertial positioning is not particularly limited in the embodiment of the present application, and can be set by a person skilled in the art according to actual needs.
For example, since the satellite positioning component needs to receive a satellite positioning signal provided by a positioning satellite to achieve positioning, and transmission of the satellite positioning signal is easily interfered by an obstruction, such as a tunnel, an overhead bridge, etc., which will obstruct reception of the satellite positioning signal, the triggering condition for triggering inertial positioning may be set such that the signal strength of the satellite positioning signal is lower than or equal to a preset signal strength threshold, which is a minimum signal strength at which the satellite positioning component can achieve positioning according to the satellite positioning signal. Therefore, the electronic equipment can acquire the signal intensity of the satellite positioning signal as the positioning state information of the satellite positioning assembly, then judge whether the signal intensity of the satellite positioning signal is lower than or greater than a preset signal intensity threshold value, if so, judge that the positioning state information of the satellite positioning assembly meets the triggering condition of inertial positioning, and otherwise, judge that the positioning state information of the satellite positioning assembly does not meet the triggering condition of the inertial positioning.
102, if the positioning state information of the satellite positioning component meets the triggering condition of inertial positioning, acquiring initial position information and acquiring actual vehicle motion information of the target vehicle through the satellite positioning component.
In the embodiment of the application, when the electronic device determines that the positioning state information of the satellite positioning component meets the triggering condition of inertial positioning, the electronic device acquires initial position information through the satellite positioning component and acquires actual vehicle motion information of a target vehicle.
The electronic equipment executes positioning operation through the satellite positioning assembly to obtain current position information, and the current position information obtained through positioning of the satellite positioning assembly is used as initial position information. Further, the electronic device acquires the actual vehicle motion information of the target vehicle from the target vehicle using a wired communication connection or a wireless communication connection between the electronic device and the target vehicle.
And 103, positioning to obtain real-time position information by utilizing the obtained actual vehicle motion information and the initial position information based on the inertial positioning component.
The electronic equipment can obtain real-time position information of the electronic equipment by utilizing the obtained actual vehicle motion information and initial position information and adopting a preset inertial positioning algorithm for positioning based on the inertial positioning component. The inertial positioning algorithm may be selected by a person skilled in the art according to actual needs, and the embodiment of the present application is not limited in particular.
As can be seen from the above, in the embodiment of the application, the electronic device includes the inertial positioning component and the satellite positioning component, and obtains the initial position information through the satellite positioning component and obtains the actual vehicle motion information from the target vehicle by obtaining the positioning state information of the satellite positioning component and when the positioning state information of the satellite positioning component meets the triggering condition of the inertial positioning, and finally obtains the real-time position information by positioning using the obtained actual vehicle motion information and the initial position information based on the inertial positioning component. Therefore, the electronic equipment can realize positioning constantly, the influence of factors such as poor satellite positioning signals is reduced, and the stability of the electronic equipment for providing positioning navigation service for the vehicle is improved. In addition, the actual vehicle motion information is used for replacing the equipment motion information to realize inertial positioning, so that positioning errors caused by inconsistent motion of the electronic equipment and the vehicle are eliminated, and the accuracy of the inertial positioning is higher.
In one embodiment, "acquiring actual vehicle motion information of a target vehicle" includes:
(1) sending an information acquisition request to a target vehicle, wherein the information acquisition request is used for indicating the target vehicle to acquire actual vehicle motion information based on a motion sensor fixedly arranged on the target vehicle;
(2) and receiving the actual vehicle motion information returned by the target vehicle.
When the electronic equipment acquires the actual vehicle motion information of the target vehicle, an information acquisition request can be generated according to a message format agreed with the target vehicle in advance, the generated information acquisition request is sent to the target vehicle, the target vehicle is instructed to acquire the actual vehicle motion information based on a motion sensor fixedly arranged on the target vehicle, and the acquired actual vehicle motion information is returned to the electronic equipment. The target vehicle, i.e., the vehicle in which the electronic device provides the positioning and navigation service, is colloquially a vehicle driven by a user of the electronic device.
On the other hand, when the target vehicle receives an information acquisition request from the electronic device, the target vehicle acquires motion information by using a motion sensor fixedly arranged on the target vehicle, and the motion information is recorded as actual vehicle motion information. The motion sensor includes, but is not limited to, an acceleration sensor, an electronic compass, a gyroscope, and the like, and correspondingly, the actual vehicle motion information that can be acquired by the target vehicle includes, but is not limited to, acceleration information, direction information/pitch angle information, angular velocity information, and the like of the vehicle.
It should be noted that the electronic device may establish a wired communication connection or a wireless communication connection with the target vehicle, so that when the positioning state information of the satellite positioning component satisfies the triggering condition of inertial positioning, the electronic device sends an information acquisition request to the target vehicle by using the wired communication connection or the wireless communication connection with the target vehicle, and receives actual vehicle motion information returned by the target vehicle through the wired communication connection or the wireless communication connection with the target vehicle.
In one embodiment, "acquiring positioning state information of a satellite positioning component" includes:
predicting the remaining time of the target vehicle driving to the nearest target area as positioning state information, wherein the target area comprises areas where the number of the positioning satellites can be searched and is less than the preset number, and/or areas where the satellite navigation signal intensity is lower than the preset intensity;
and "triggering condition of inertial positioning" includes:
and the remaining time length of the target vehicle running to the nearest target area is less than or equal to a preset time length threshold value for triggering inertial positioning.
In order to enable the electronic device to provide positioning navigation service for the vehicle better, the electronic device is switched to inertial positioning when satellite navigation is about to be unavailable.
Accordingly, in the embodiment of the present application, a region in which satellite navigation cannot be achieved is denoted as a target region, that is, a region in which the number of positioning satellites is less than the preset number and/or a region in which the satellite navigation signal strength is lower than the preset strength can be searched. The preset number and the preset intensity can be set by a person skilled in the art based on experience, for example, the preset number can be set to 3 or 4, wherein the altitude is ignored when the preset number is set to 3.
In the embodiment of the application, when the electronic equipment acquires the positioning state information of the satellite positioning component, the remaining time of the target vehicle running to the nearest target area is predicted, and the predicted remaining time is used as the positioning state information of the satellite positioning component. The target area can be set as a destination for how to predict the remaining time of the target vehicle running to the target area, then the current position information is obtained through positioning of the satellite positioning assembly, and then the time of the target vehicle running to the destination from the current position described by the current position information is calculated by using a preset navigation algorithm and is used as the predicted remaining time.
After the predicted remaining time is used as the positioning state information of the satellite positioning component, the electronic device further determines whether the satellite positioning state information meets the triggering condition of inertial positioning, wherein the triggering condition of inertial positioning is set as:
and the remaining time length of the target vehicle running to the nearest target area is less than or equal to a preset time length threshold value for triggering inertial positioning.
Correspondingly, the electronic device may determine whether the predicted remaining time is less than or equal to a preset time threshold for triggering inertial positioning, determine, by the electronic device, that the positioning state information satisfies the triggering condition for inertial positioning if the remaining time is less than or equal to the time threshold, and determine, by the electronic device, that the positioning state information does not satisfy the triggering condition for inertial positioning if the remaining time is greater than the time threshold.
It should be noted that, in the embodiment of the present application, there is no specific limitation on the time length threshold for triggering inertial positioning, and a person skilled in the art may take an empirical value according to actual needs, for example, in the embodiment of the present application, the time length threshold for triggering inertial positioning is set to 5 seconds, so that when the target vehicle is about to travel to a target area where satellite positioning cannot be achieved within 5 seconds or less, the target vehicle is switched to inertial positioning.
For example, assuming that the threshold value of the time length for triggering inertial positioning is 5 seconds, referring to fig. 2, for the target vehicle shown in fig. 2, the nearest target area is the tunnel shown in fig. 2, and accordingly, the electronic device predicts the remaining time length of the target vehicle traveling to the tunnel as positioning state information, and if the predicted remaining time length is less than or equal to 5 seconds, the electronic device determines that the positioning state information meets the triggering condition of inertial positioning.
In an embodiment, before the "positioning to obtain the real-time position information by using the obtained actual vehicle motion information and the initial position information based on the inertial positioning component", the method further includes:
(1) acquiring self equipment motion information, and judging whether the equipment motion information is consistent with actual vehicle motion information or not;
(2) and if the equipment motion information is inconsistent with the actual vehicle motion information, positioning by using the acquired actual vehicle motion information and the initial position information to obtain real-time position information based on the inertial positioning component.
It is understood that during the period of using the electronic device to provide the positioning navigation service for the vehicle, the user may hold the electronic device to do other things, such as browsing web pages, videos, etc., which results in the movement of the electronic device being out of synchronization with the movement of the vehicle, and thus the accuracy of the positioning is affected. On the contrary, when the electronic device is synchronized with the motion of the vehicle (for example, the electronic device is fixed on the vehicle body by the fixing device), the positioning navigation service can be accurately provided for the vehicle.
Based on this, in the embodiment of the present application, the electronic device does not directly perform inertial positioning using the actual vehicle motion information acquired from the target vehicle, but performs inertial positioning using the actual vehicle motion information acquired from the target vehicle only when the electronic device does not coincide with the motion of the target vehicle.
The electronic equipment acquires self motion information by using a motion sensor arranged on the electronic equipment, records the self motion information as equipment motion information, then judges whether the acquired equipment motion information is consistent with the motion information of the vehicle and the actual vehicle, if the equipment motion information is inconsistent with the motion information of the actual vehicle, the motion of the electronic equipment is inconsistent with the motion of the target vehicle, and the electronic equipment is positioned by using the acquired actual vehicle motion information and initial position information to acquire real-time position information based on an inertial positioning component.
In one embodiment, after determining whether the device movement information is consistent with the actual vehicle movement information, the method further includes:
(1) if the equipment movement information is consistent with the actual vehicle movement information, sending an information termination request to the target vehicle, wherein the information termination request is used for indicating the target vehicle to stop providing the actual vehicle movement information;
(2) and based on the inertial positioning component, positioning by utilizing the equipment motion information and the initial position information to obtain real-time position information.
Based on the above description, it can be understood that if the acquired device motion information is consistent with the actual vehicle motion information, it indicates that the motion of the electronic device is consistent with that of the target vehicle, and the inertial positioning is achieved without using the actual vehicle motion information of the target vehicle. At this time, the electronic device generates an information termination request according to a message format agreed with the target vehicle in advance, and sends the generated information termination request to the target vehicle to instruct the target vehicle to stop providing the actual vehicle motion information.
In addition, the electronic equipment is further positioned by adopting a preset inertial positioning algorithm to obtain real-time position information of the electronic equipment by utilizing the obtained equipment motion information and the initial position information based on the inertial positioning component. The inertial positioning algorithm may be selected by a person skilled in the art according to actual needs, and the embodiment of the present application is not limited in particular.
In an embodiment, the device positioning method provided by the present application further includes:
(1) acquiring real-time residual electric quantity, and judging whether the real-time residual electric quantity is lower than a preset electric quantity threshold value or not;
(2) and if the real-time remaining power is lower than the preset power threshold, closing the satellite positioning assembly.
It should be noted that the electronic device consumes a large amount of power when the satellite positioning module is used for satellite positioning, which may seriously shorten the endurance time of the electronic device.
Therefore, in the embodiment of the present application, a preset electric quantity threshold for triggering the satellite positioning component to be turned off is preset, and a value of the preset electric quantity threshold is not specifically limited, and a person having ordinary skill in the art can obtain an empirical value according to actual needs, for example, the value of the preset electric quantity threshold in the embodiment of the present application is 45% of the total electric quantity of the electronic device.
Correspondingly, the electronic equipment obtains the real-time residual power of the electronic equipment in the inertial positioning process, judges whether the obtained real-time residual power is lower than a preset power threshold value or not, and closes the satellite positioning assembly if the obtained real-time residual power is lower than the preset power threshold value so as to save power consumption.
In one embodiment, after turning off the satellite positioning component, the method further comprises:
and starting the satellite positioning component at preset time intervals, and correcting the real-time position information obtained by positioning the inertial positioning component based on the satellite positioning component.
In the embodiment of the application, in consideration that the positioning accuracy of the inertial positioning is lower than that of the satellite positioning, the electronic device periodically starts the satellite positioning component to assist the inertial positioning component in positioning after the satellite positioning component is turned off.
The electronic equipment starts the satellite positioning component at each preset time interval, and corrects real-time position information obtained by positioning the inertial positioning component based on the satellite positioning component. Namely, the satellite positioning component is started at preset time intervals for positioning, the time sequence position information obtained by positioning the inertial positioning component is replaced by the position information obtained by positioning the satellite positioning component, and the real-time position information obtained by positioning the inertial positioning component is corrected. In addition, the satellite positioning assembly may be turned off after the correction is completed.
In an embodiment, after the step of determining whether the real-time remaining power is lower than the preset power threshold, the method further includes:
and if the real-time remaining power is greater than or equal to the preset power threshold and the real-time positioning state information of the satellite positioning assembly meets the triggering condition of satellite positioning, obtaining real-time position information based on satellite positioning assembly positioning.
In the embodiment of the application, if the obtained real-time remaining power is greater than or equal to the preset power threshold, the electronic device further obtains real-time positioning state information of the satellite positioning assembly, and judges whether the real-time positioning state information of the satellite positioning assembly meets a triggering condition of satellite positioning, and if the real-time positioning state information of the satellite positioning assembly meets the triggering condition of satellite positioning, real-time position information is obtained based on satellite positioning assembly positioning.
The triggering condition of the satellite positioning may be set with reference to the triggering condition of the inertial positioning, for example, the triggering condition set as the satellite positioning may be that the real-time position of the electronic device is outside the target area, that is, the real-time position of the electronic device is in an area where satellite navigation can be implemented.
Referring to fig. 3, fig. 3 is another schematic flow chart of an apparatus positioning method provided in an embodiment of the present application, where the apparatus positioning method is applied to an electronic apparatus provided in the embodiment of the present application, the electronic apparatus includes an inertial positioning component and a satellite positioning component, and the flow of the apparatus positioning method may include:
the electronic device predicts the remaining time period for the target vehicle to travel to the nearest target area 201, wherein the target area comprises an area where positioning satellite data smaller than a preset number can be searched and/or an area where the satellite navigation signal intensity is lower than a preset intensity.
The target vehicle, i.e., the vehicle in which the electronic device provides the positioning and navigation service, is colloquially a vehicle driven by a user of the electronic device.
In the embodiment of the application, the electronic equipment is provided with an inertial positioning component and a satellite positioning component, wherein the inertial positioning component is used for carrying out integral operation by utilizing motion information of the electronic equipment to obtain the real-time speed and the real-time position of the electronic equipment, and the satellite positioning component is used for receiving a satellite positioning signal provided by a positioning satellite and calculating according to the satellite positioning signal to obtain the real-time speed, the real-time position and the like. It should be noted that the types of the satellite positioning components in the embodiments of the present application are not limited, and include, but are not limited to, a global positioning satellite component, a glonass satellite positioning component, a galileo satellite positioning component, a beidou satellite positioning component, and the like.
In order to enable the electronic device to provide positioning navigation service for the vehicle better, the electronic device is switched to inertial positioning when satellite navigation is about to be unavailable.
In the embodiment of the present application, a region in which satellite navigation cannot be achieved is regarded as a target region, that is, a region in which the number of positioning satellites is less than a preset number and/or a region in which the satellite navigation signal intensity is lower than a preset intensity may be searched. The preset number and the preset intensity can be set by a person skilled in the art based on experience, for example, the preset number can be set to 3 or 4, wherein the altitude is ignored when the preset number is set to 3.
In the embodiment of the application, the electronic equipment firstly predicts the remaining time of the target vehicle running to the nearest target area. The target area can be set as a destination for how to predict the remaining time of the target vehicle running to the target area, then the current position information is obtained through positioning of the satellite positioning assembly, and then the time of the target vehicle running to the destination from the current position described by the current position information is calculated by using a preset navigation algorithm and is used as the predicted remaining time.
202, the electronic device determines whether the acquired remaining duration is less than or equal to a preset trigger duration threshold for inertial positioning.
The electronic equipment further judges whether the predicted remaining time length is smaller than or equal to a preset time length threshold value for triggering inertial positioning, and if the remaining time length is smaller than or equal to the time length threshold value, the target vehicle is about to enter the target area.
It should be noted that, in the embodiment of the present application, there is no specific limitation on the time length threshold for triggering the inertial positioning, and a person skilled in the art may take an empirical value according to actual needs, for example, in the embodiment of the present application, the time length threshold for triggering the inertial positioning is set to be 5 seconds.
And 203, if the obtained remaining time length is less than or equal to a preset time length threshold value for triggering inertial positioning, the electronic equipment sends an information obtaining request to the target vehicle, wherein the information obtaining request is used for indicating the target vehicle to collect the actual vehicle motion information based on a motion sensor fixedly arranged on the target vehicle.
And when the acquired remaining time length is less than or equal to a preset time length threshold value for triggering inertial positioning, the electronic equipment is switched to inertial positioning. At the moment, the electronic equipment generates an information acquisition request according to a message format agreed with the target vehicle in advance, sends the generated information acquisition request to the target vehicle, instructs the target vehicle to acquire actual vehicle motion information based on a motion sensor fixedly arranged on the target vehicle, and returns the acquired actual vehicle motion information to the electronic equipment. The target vehicle, i.e., the vehicle in which the electronic device provides the positioning and navigation service, is colloquially a vehicle driven by a user of the electronic device.
On the other hand, when the target vehicle receives an information acquisition request from the electronic device, the target vehicle acquires motion information by using a motion sensor fixedly arranged on the target vehicle, and the motion information is recorded as actual vehicle motion information. The motion sensor includes, but is not limited to, an acceleration sensor, an electronic compass, a gyroscope, and the like, and correspondingly, the actual vehicle motion information that can be acquired by the target vehicle includes, but is not limited to, acceleration information, direction information/pitch angle information, angular velocity information, and the like of the vehicle.
It should be noted that the electronic device may establish a wired communication connection or a wireless communication connection with the target vehicle, so that when the positioning state information of the satellite positioning component satisfies the triggering condition of inertial positioning, the electronic device sends an information acquisition request to the target vehicle by using the wired communication connection or the wireless communication connection with the target vehicle, and receives actual vehicle motion information returned by the target vehicle through the wired communication connection or the wireless communication connection with the target vehicle.
And 204, the electronic equipment acquires initial position information through the satellite positioning component and receives actual vehicle motion information returned by the target vehicle.
The electronic equipment executes positioning operation through the satellite positioning assembly to obtain current position information, and the current position information obtained through positioning of the satellite positioning assembly is used as initial position information. In addition, the electronic device receives the actual vehicle motion information returned by the target vehicle by using a wired communication connection or a wireless communication connection between the electronic device and the target vehicle.
205, the electronic device obtains its own device motion information and determines whether the device motion information is consistent with the actual vehicle motion information.
It is understood that during the period of using the electronic device to provide the positioning navigation service for the vehicle, the user may hold the electronic device to do other things, such as browsing web pages, videos, etc., which results in the movement of the electronic device being out of synchronization with the movement of the vehicle, and thus the accuracy of the positioning is affected. On the contrary, when the electronic device is synchronized with the motion of the vehicle (for example, the electronic device is fixed on the vehicle body by the fixing device), the positioning navigation service can be accurately provided for the vehicle.
Based on this, the electronic device acquires the motion information of the electronic device by using a motion sensor arranged on the electronic device, records the motion information as device motion information, then judges whether the acquired device motion information is consistent with the motion information of the vehicle and the actual vehicle, and if the device motion information is inconsistent with the motion information of the actual vehicle, the motion of the electronic device and the target vehicle is inconsistent at this time.
And 206, if the equipment motion information is inconsistent with the actual vehicle motion information, the electronic equipment uses the acquired actual vehicle motion information and the initial position information to position to obtain real-time position information based on the inertial positioning component.
When the acquired device motion information is inconsistent with the actual vehicle motion information, it is indicated that the electronic device cannot provide accurate positioning navigation service for the target vehicle by using the device motion information of the electronic device, and therefore when the acquired device motion information is inconsistent with the actual vehicle motion information, the electronic device uses the acquired actual vehicle motion information and the initial position information to obtain the real-time position information of the electronic device by positioning through a preset inertial positioning algorithm based on the inertial positioning component. The inertial positioning algorithm may be selected by a person skilled in the art according to actual needs, and the embodiment of the present application is not limited in particular.
The embodiment of the application also provides an equipment positioning device. Referring to fig. 4, fig. 4 is a schematic structural diagram of an apparatus positioning device according to an embodiment of the present disclosure. The device positioning apparatus is applied to an electronic device, the electronic device includes an inertial positioning component and a satellite positioning component, the device positioning apparatus includes a state obtaining module 401, an information obtaining module 402 and a position positioning module 403, as follows:
a state obtaining module 401, configured to obtain positioning state information of the satellite positioning component;
an information obtaining module 402, configured to obtain initial position information and actual vehicle motion information of the target vehicle through the satellite positioning component when the positioning state information of the satellite positioning component meets a trigger condition of inertial positioning;
the position locating module 403 is configured to obtain real-time position information by locating according to the obtained actual vehicle motion information and the initial position information based on the inertial locating component.
In one embodiment, when obtaining the actual vehicle motion information of the target vehicle, the information obtaining module 402 is configured to:
sending an information acquisition request to a target vehicle, wherein the information acquisition request is used for indicating the target vehicle to acquire actual vehicle motion information based on a motion sensor fixedly arranged on the target vehicle;
and receiving the actual vehicle motion information returned by the target vehicle.
In one embodiment, in obtaining the positioning status information of the satellite positioning component, the status obtaining module 401 is configured to:
predicting the remaining time of the target vehicle driving to the nearest target area as positioning state information, wherein the target area comprises areas where the number of the positioning satellites can be searched and is less than the preset number, and/or areas where the satellite navigation signal intensity is lower than the preset intensity;
and the triggering conditions of inertial positioning include:
and the remaining time length of the target vehicle running to the nearest target area is less than or equal to a preset time length threshold value for triggering inertial positioning.
In an embodiment, before the inertial positioning component is used to obtain the real-time position information by positioning using the obtained actual vehicle motion information and the initial position information, the position positioning module 403 is further configured to:
acquiring self equipment motion information, and judging whether the equipment motion information is consistent with actual vehicle motion information or not;
and if the equipment motion information is inconsistent with the actual vehicle motion information, positioning by using the acquired actual vehicle motion information and the initial position information to obtain real-time position information based on the inertial positioning component.
In one embodiment, after determining whether the device movement information is consistent with the actual vehicle movement information, the position location module 403 is further configured to:
if the equipment movement information is consistent with the actual vehicle movement information, sending an information termination request to the target vehicle, wherein the information termination request is used for indicating the target vehicle to stop providing the actual vehicle movement information;
and based on the inertial positioning component, positioning by utilizing the equipment motion information and the initial position information to obtain real-time position information.
In one embodiment, the position location module 403 is further configured to:
acquiring real-time residual electric quantity, and judging whether the real-time residual electric quantity is lower than a preset electric quantity threshold value or not;
and if the real-time remaining power is lower than the preset power threshold, closing the satellite positioning assembly.
In one embodiment, after the satellite positioning components are turned off, the position location module 403 is further configured to:
and starting the satellite positioning component at preset time intervals, and correcting the real-time position information obtained by positioning the inertial positioning component based on the satellite positioning component.
In an embodiment, after determining whether the real-time remaining power is lower than the preset power threshold, the position location module 403 is further configured to:
and if the real-time remaining power is greater than or equal to the preset power threshold and the real-time positioning state information of the satellite positioning assembly meets the triggering condition of satellite positioning, obtaining real-time position information based on satellite positioning assembly positioning.
It should be noted that the device positioning apparatus provided in the embodiment of the present application and the device positioning method in the foregoing embodiment belong to the same concept, and any method provided in the device positioning method embodiment may be run on the device positioning apparatus, and a specific implementation process thereof is described in detail in the device positioning method embodiment, and is not described herein again.
The present application provides a computer-readable storage medium, on which a computer program is stored, and when the stored computer program is executed on a computer, the computer is caused to execute the steps in the device positioning method provided by the present application. The storage medium may be a magnetic disk, an optical disk, a Read Only Memory (ROM), a Random Access Memory (RAM), or the like.
Referring to fig. 5, the electronic device includes a processor 501, a memory 502, an inertial positioning component 503, and a satellite positioning component 504. The processor 501 is electrically connected to the memory 502, the inertial positioning component 503 and the satellite positioning component 504.
The processor 501 is a control center of the electronic device, connects various parts of the entire electronic device using various interfaces and lines, performs various functions of the electronic device and processes data by running or loading a computer program stored in the memory 502, and calling data stored in the memory 502.
The memory 502 may be used to store software programs and modules, and the processor 501 executes various functional applications and data processing by running the computer programs and modules stored in the memory 502. The memory 502 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, a computer program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data created according to use of the electronic device, and the like. Further, the memory 502 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device. Accordingly, the memory 502 may also include a memory controller to provide the processor 501 with access to the memory 502.
The inertial positioning component 503 is configured to perform an integration operation using the motion information of the electronic device to obtain a real-time speed and a real-time position of the electronic device.
The satellite positioning module 504 is configured to receive a satellite positioning signal provided by a positioning satellite, and calculate a real-time speed and a real-time position according to the satellite positioning signal, including but not limited to a global satellite positioning module, a glonass satellite positioning module, a galileo satellite positioning module, and a beidou satellite positioning module.
In this embodiment of the present application, the processor 501 in the electronic device loads instructions corresponding to one or more processes of the computer program into the memory 502 according to the following steps, and the processor 501 runs the computer program stored in the memory 502, so as to implement various functions, as follows:
acquiring positioning state information of a satellite positioning assembly;
if the positioning state information of the satellite positioning assembly meets the triggering condition of inertial positioning, acquiring initial position information and actual vehicle motion information of the target vehicle through the satellite positioning assembly;
and positioning to obtain real-time position information by utilizing the obtained actual vehicle motion information and the initial position information based on the inertial positioning component.
Referring to fig. 6, fig. 6 is another schematic structural diagram of the electronic device according to the embodiment of the present disclosure, and the difference from the electronic device shown in fig. 5 is that the electronic device further includes components such as an input unit 505 and an output unit 506.
The input unit 505 may be used to receive input numbers, character information, or user characteristic information (such as a fingerprint), and generate a keyboard, a mouse, a joystick, an optical or trackball signal input, etc., related to user setting and function control, among others.
The output unit 506 may be used to display information input by the user or information provided to the user, such as a screen.
In this embodiment of the present application, the processor 501 in the electronic device loads instructions corresponding to one or more processes of the computer program into the memory 502 according to the following steps, and the processor 501 runs the computer program stored in the memory 502, so as to implement various functions, as follows:
acquiring positioning state information of a satellite positioning assembly;
if the positioning state information of the satellite positioning assembly meets the triggering condition of inertial positioning, acquiring initial position information and actual vehicle motion information of the target vehicle through the satellite positioning assembly;
and positioning to obtain real-time position information by utilizing the obtained actual vehicle motion information and the initial position information based on the inertial positioning component.
In one embodiment, in obtaining the actual vehicle motion information of the target vehicle, the processor 501 performs:
sending an information acquisition request to a target vehicle, wherein the information acquisition request is used for indicating the target vehicle to acquire actual vehicle motion information based on a motion sensor fixedly arranged on the target vehicle;
and receiving the actual vehicle motion information returned by the target vehicle.
In one embodiment, in obtaining the positioning state information of the satellite positioning component, the processor 501 performs:
predicting the remaining time of the target vehicle driving to the nearest target area as positioning state information, wherein the target area comprises areas where the number of the positioning satellites can be searched and is less than the preset number, and/or areas where the satellite navigation signal intensity is lower than the preset intensity;
and the triggering conditions of inertial positioning include:
and the remaining time length of the target vehicle running to the nearest target area is less than or equal to a preset time length threshold value for triggering inertial positioning.
In one embodiment, before obtaining the real-time position information by positioning based on the inertial positioning component using the obtained actual vehicle motion information and the initial position information, the processor 501 further performs:
acquiring self equipment motion information, and judging whether the equipment motion information is consistent with actual vehicle motion information or not;
and if the equipment motion information is inconsistent with the actual vehicle motion information, positioning by using the acquired actual vehicle motion information and the initial position information to obtain real-time position information based on the inertial positioning component.
In one embodiment, after determining whether the device motion information is consistent with the actual vehicle motion information, processor 501 further performs:
if the equipment movement information is consistent with the actual vehicle movement information, sending an information termination request to the target vehicle, wherein the information termination request is used for indicating the target vehicle to stop providing the actual vehicle movement information;
and based on the inertial positioning component, positioning by utilizing the equipment motion information and the initial position information to obtain real-time position information.
In an embodiment, processor 501 further performs:
acquiring real-time residual electric quantity, and judging whether the real-time residual electric quantity is lower than a preset electric quantity threshold value or not;
and if the real-time remaining power is lower than the preset power threshold, closing the satellite positioning assembly.
In one embodiment, after turning off the satellite positioning component, processor 501 further performs:
and starting the satellite positioning component at preset time intervals, and correcting the real-time position information obtained by positioning the inertial positioning component based on the satellite positioning component.
In an embodiment, after determining whether the real-time remaining power is lower than the preset power threshold, the processor 501 further performs:
and if the real-time remaining power is greater than or equal to the preset power threshold and the real-time positioning state information of the satellite positioning assembly meets the triggering condition of satellite positioning, obtaining real-time position information based on satellite positioning assembly positioning.
It should be noted that the electronic device provided in the embodiment of the present application and the device positioning method in the foregoing embodiment belong to the same concept, and any method provided in the device positioning method embodiment may be run on the electronic device, and a specific implementation process thereof is described in detail in the feature extraction method embodiment, and is not described herein again.
It should be noted that, for the device location method of the present application, it can be understood by those skilled in the art that all or part of the process of implementing the device location method of the present application can be implemented by controlling the relevant hardware through a computer program, where the computer program can be stored in a computer-readable storage medium, such as a memory of an electronic device, and executed by at least one processor in the electronic device, and during the execution, the process of implementing the device location method can include the process of the embodiment of the device location method. The storage medium may be a magnetic disk, an optical disk, a read-only memory, a random access memory, etc.
For the device positioning apparatus in the embodiment of the present application, each functional module may be integrated into one processing chip, or each module may exist alone physically, or two or more modules are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium, such as a read-only memory, a magnetic or optical disk, or the like.
The above detailed description is provided for a device positioning method, apparatus, storage medium and electronic device provided in the embodiments of the present application, and a specific example is applied in the present application to explain the principle and the implementation of the present application, and the description of the above embodiments is only used to help understanding the method and the core idea of the present application; meanwhile, for those skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.
Claims (9)
1. A device positioning method is applied to an electronic device, and is characterized in that the electronic device comprises an inertial positioning component and a satellite positioning component, and the device positioning method comprises the following steps:
predicting the remaining time of the target vehicle driving to the nearest target area, wherein the target area comprises areas where the number of the positioning satellites can be searched and is less than the preset number, and/or areas where the satellite navigation signal intensity is lower than the preset intensity;
if the residual time length is less than or equal to a preset time length threshold value for triggering inertial positioning, acquiring initial position information and actual vehicle motion information of the target vehicle through the satellite positioning assembly;
and positioning by utilizing the acquired actual vehicle motion information and the initial position information to obtain real-time position information based on the inertial positioning component.
2. The device location method of claim 1, wherein the step of obtaining actual vehicle motion information of the target vehicle comprises:
sending an information acquisition request to the target vehicle, wherein the information acquisition request is used for indicating the target vehicle to acquire actual vehicle motion information based on a motion sensor fixedly arranged on the target vehicle;
and receiving the actual vehicle motion information returned by the target vehicle.
3. The device positioning method according to claim 1, wherein before the step of obtaining real-time position information by positioning using the obtained actual vehicle motion information and the initial position information based on the inertial positioning component, the method further comprises:
acquiring self equipment motion information, and judging whether the equipment motion information is consistent with the actual vehicle motion information or not;
and if the equipment motion information is inconsistent with the actual vehicle motion information, positioning by using the acquired actual vehicle motion information and the initial position information based on the inertial positioning component to obtain real-time position information.
4. The device location method according to any one of claims 1-3, further comprising:
acquiring real-time residual electric quantity, and judging whether the real-time residual electric quantity is lower than a preset electric quantity threshold value or not;
and if the real-time remaining power is lower than the preset power threshold, closing the satellite positioning assembly.
5. The device location method of claim 4, wherein the step of turning off the satellite positioning assembly is followed by further comprising:
and starting the satellite positioning component at preset time intervals, and correcting the real-time position information obtained by positioning the inertial positioning component based on the satellite positioning component.
6. The device positioning method according to claim 4, wherein after the step of determining whether the real-time remaining power is lower than a preset power threshold, the method further comprises:
and if the real-time residual electric quantity is greater than or equal to the preset electric quantity threshold value and the real-time positioning state information of the satellite positioning assembly meets the triggering condition of satellite positioning, obtaining real-time position information based on the satellite positioning assembly positioning.
7. An apparatus positioning device applied to an electronic apparatus, wherein the electronic apparatus comprises an inertial positioning component and a satellite positioning component, the apparatus positioning device comprising:
the state acquisition module is used for predicting the remaining time of the target vehicle running to the nearest target area, wherein the target area comprises areas where the number of the searchable positioning satellites is less than the preset number and/or areas where the satellite navigation signal intensity is lower than the preset intensity;
the information acquisition module is used for acquiring initial position information and actual vehicle motion information of the target vehicle through the satellite positioning assembly when the remaining time length is less than or equal to a preset time length threshold value for triggering inertial positioning;
and the position positioning module is used for positioning to obtain real-time position information by utilizing the obtained actual vehicle motion information and the initial position information based on the inertial positioning component.
8. A storage medium having stored thereon a computer program, characterized in that, when the computer program is run on a computer, it causes the computer to execute the device positioning method according to any one of claims 1 to 6.
9. An electronic device comprising a processor, a memory, an inertial positioning component and a satellite positioning component, the memory storing a computer program, wherein the processor is adapted to perform the device positioning method of any of claims 1 to 6 by invoking the computer program.
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| CN110971753A (en) * | 2019-10-12 | 2020-04-07 | 平安国际智慧城市科技股份有限公司 | Positioning method and device based on browser, mobile terminal and storage medium |
| CN110824516B (en) * | 2019-10-29 | 2021-11-23 | 维沃移动通信有限公司 | Positioning method and electronic equipment |
| CN112325876A (en) * | 2020-10-20 | 2021-02-05 | 北京嘀嘀无限科技发展有限公司 | Positioning method, positioning device, electronic equipment and readable storage medium |
| CN113740889B (en) * | 2021-08-30 | 2024-08-02 | 杭州海康汽车软件有限公司 | Positioning method and device, equipment, storage medium and positioning system |
| CN113965646B (en) * | 2021-11-10 | 2023-02-28 | Oppo广东移动通信有限公司 | Positioning control method and device, electronic equipment and storage medium |
| CN118678299A (en) * | 2024-08-01 | 2024-09-20 | 比亚迪股份有限公司 | Communication method, electronic equipment and storage medium |
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| CN100533066C (en) * | 2007-11-22 | 2009-08-26 | 杭州电子科技大学 | Inertia compensation method used for earth-based vehicle GPS navigation |
| DE102014215570B4 (en) * | 2014-08-06 | 2021-12-30 | Elektrobit Automotive Gmbh | Vehicle navigation system |
| CN106123906A (en) * | 2016-08-17 | 2016-11-16 | 深圳市金立通信设备有限公司 | A kind of auxiliary navigation method and terminal |
| CN109254308A (en) * | 2017-07-12 | 2019-01-22 | 北京金坤科创技术有限公司 | Outdoor positioning mode and indoor positioning mode self-adapting switch method |
| CN107436145A (en) * | 2017-08-17 | 2017-12-05 | 海华电子企业(中国)有限公司 | MEMS based on POI interactions cooperates with seamless vehicle positioning method and system |
| CN109841078B (en) * | 2017-11-27 | 2022-03-04 | 腾讯科技（深圳）有限公司 | Navigation data processing method and device and storage medium |
| CN108121003A (en) * | 2017-12-26 | 2018-06-05 | 湖南迈克森伟电子科技有限公司 | Integrated navigation precise positioning system |
| CN108828645A (en) * | 2018-06-28 | 2018-11-16 | 郑州云海信息技术有限公司 | A kind of navigation locating method, system, equipment and computer readable storage medium |
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