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A positioning method and device

A positioning method and position information technology, applied in the field of geographic information, can solve problems such as attitude angle calculation error and positioning result error.

Active Publication Date: 2021-03-16
ALIBABA (CHINA) CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0006] However, using the above calculation method to calculate the attitude angle of the mobile terminal under the acceleration state will cause errors in the calculation of the attitude angle, which will lead to errors in the positioning results. Therefore, it is urgent to provide a method that can meet the processing capabilities of the mobile terminal and improve positioning. Accurate technical solutions

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Embodiment Construction

[0027] The following will clearly and completely describe the technical solutions in the embodiments of the application with reference to the drawings in the embodiments of the application. Apparently, the described embodiments are only some of the embodiments of the application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of this application.

[0028] An embodiment of the present application provides a positioning method, which can be applied to a terminal device. The terminal device is provided with an acceleration sensor capable of collecting three-axis acceleration values ​​and a gyroscope for three-axis angular velocity values. For example, a mobile terminal device such as Mobile phones, IPADs, etc., the specific application scenario can be to place the mobile terminal on the vehicle to provide users with positioning and naviga...

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Abstract

The invention discloses a positioning method and a positioning apparatus. The method includes the following steps: judging whether the apparatus is in a uniform speed state or not at the current moment based on the triaxial acceleration value, acquired by an acceleration sensor, of a device; using the attitude parameter of the device at the last moment as the attitude parameter of the device at the current moment if not; determining the attitude parameter at the current moment based on an attitude parameter obtained before the current moment and / or the triaxial acceleration value at the current moment and a preset gravity acceleration value if so; and obtaining the position information of the device at the current moment based on the position information of the device at the last moment, the speed of the device at the last moment, the attitude parameter at the current moment, the triaxial acceleration value at the current moment and the triaxial angular velocity value, acquired by a three-axis gyroscope, of the device at the current moment. The method allows position information calculation to be carried out with the attitude parameter at the last moment as the attitude parameter at the current moment when the device is in a non-uniform speed state, so the method is simple, and has a small error.

Description

technical field [0001] The present application relates to the technical field of geographic information, and more specifically, to a positioning method and device. Background technique [0002] Inertial navigation is a navigation method that uses inertial components such as accelerometers and gyroscopes to calculate the current position of the device. [0003] In the process of inertial navigation, the attitude angle of the device must be calculated first, and the calculation methods include: [0004] When the device is in the state of constant speed, the attitude angle is calculated by using the method corresponding to the state of uniform speed for the collected acceleration value, that is, the attitude angle is calculated by using the relationship between the acceleration of gravity and the acceleration components in the three axis directions collected by the three-axis accelerometer; During exercise, the collected acceleration values ​​are calculated in a manner corresp...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/16
CPCG01C21/16
Inventor 王奇王涛马艳海贾双成
Owner ALIBABA (CHINA) CO LTD
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