Positioning track deviation correction method, positioning tracking device and readable medium

Abstract

The invention provides a positioning track deviation correction method, which comprises the following steps of: identifying and deleting abnormal positioning data to determine a position where one abnormal data is deleted, and the position is a position capable of performing positioning track deviation correction; in the process of generating the positioning track according to the positioning data of which the abnormal data is deleted, the corrected positioning track section is generated at the determined position according to the moving scene of the positioning tracking device, so that the positioning track correction is realized, the positioning accuracy, robustness and availability of the positioning tracking device are improved, and the user experience is improved. The invention further provides a positioning tracking device and a readable medium.

Description

Technical Field

[0001] The present disclosure relates to the field of computer technology, and in particular to a positioning trajectory correction method, a positioning tracking device, and a readable medium. Background Art

[0002] With the rapid development of mobile Internet and the improvement of people's quality of life, tracking devices based on GPS (Global Positioning System), mobile APP and cloud server have been more and more widely used in people's lives. By adding SIM (Subscriber Identity Module) card and wireless module to the device, Tracker devices can access wireless network, and such devices are becoming more and more popular with operators.

[0003] Nowadays, more and more tracking devices use accelerometers (G-Sensors). By performing machine learning on the data from accelerometers, the user's movement scenarios can be identified, greatly improving the user experience of tracking devices.

[0004] At present, most tracking products have the function of determining the positioning trajectory, but when positioning through positioning satellites, in an environment with poor positioning environment, positioning failure or a large deviation between the positioning position and the actual position often occurs. However, most products do not correct the positioning trajectory, resulting in a poor user experience. Summary of the invention

[0005] The present disclosure provides a positioning trajectory correction method, a positioning tracking device and a readable medium.

[0006] In a first aspect, an embodiment of the present disclosure provides a positioning trajectory correction method, the method being applied to a positioning tracking device, the method comprising:

[0007] Traversing the acquired multiple first positioning data, identifying abnormal data in the first positioning data, deleting the abnormal data to obtain second positioning data, and determining positioning abnormality-related data according to the abnormal data;

[0008] A positioning trajectory is generated according to the second positioning data, wherein, when one of the abnormal data has been deleted after the positioning abnormality associated data, a corrected positioning trajectory segment is generated between the positioning abnormality associated data and the next second positioning data of the positioning abnormality associated data according to the moving scenario of the positioning tracking device.

[0009] On the other hand, the embodiments of the present disclosure also provide a positioning and tracking device, comprising: one or more processors; a storage device, on which one or more programs are stored; when the one or more programs are executed by the one or more processors, the one or more processors implement the positioning trajectory correction method as described above; one or more I / O interfaces, connected between the processor and the storage device, configured to implement information interaction between the processor and the storage device.

[0010] On the other hand, an embodiment of the present disclosure further provides a computer-readable medium having a computer program stored thereon, wherein when the program is executed, the positioning trajectory correction method as described above is implemented.

[0011] The positioning trajectory correction method provided by the embodiment of the present disclosure identifies and deletes abnormal positioning data, determines the position where an abnormal data has been deleted, and the position is the position where the positioning trajectory correction can be performed; in the process of generating a positioning trajectory according to the positioning data from which the abnormal data has been deleted, at the determined position, a corrected positioning trajectory segment is generated according to the moving scene of the positioning tracking device to achieve positioning trajectory correction, improve the positioning accuracy, robustness and availability of the positioning tracking device, and enhance the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 A schematic diagram of a positioning trajectory correction process provided by an embodiment of the present disclosure;

[0013] Figure 2 A schematic diagram of a process for generating a corrected positioning trajectory segment provided in an embodiment of the present disclosure;

[0014] Figure 3 A schematic diagram of determining a location point corresponding to corrected positioning data provided by an embodiment of the present disclosure;

[0015] Figure 4 A schematic diagram of generating a corrected positioning trajectory segment in a moving scenario where a positioning tracking device provided by an embodiment of the present disclosure does not utilize a vehicle;

[0016] Figure 5 A schematic diagram of generating an abnormal trajectory segment provided by an embodiment of the present disclosure;

[0017] Figure 6 A schematic diagram of a process for configuring anomaly marking of location anomaly associated data provided by a specific example of the present disclosure;

[0018] Figure 7 A schematic diagram of a process for generating a positioning trajectory provided for a specific example of the present disclosure;

[0019] Figure 8 A schematic diagram of the structure of a positioning and tracking device provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0020] Example embodiments will be described more fully below with reference to the accompanying drawings, but the example embodiments may be embodied in different forms and should not be construed as limited to the embodiments set forth herein. On the contrary, the purpose of providing these embodiments is to make the present disclosure thorough and complete and to enable those skilled in the art to fully understand the scope of the present disclosure.

[0021] As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0022] The terms used herein are only used to describe specific embodiments and are not intended to limit the present disclosure. As used herein, the singular forms "a", "an" and "the" are also intended to include the plural forms, unless the context clearly indicates otherwise. It will also be understood that when the terms "comprising" and / or "made of" are used in this specification, the presence of the features, wholes, steps, operations, elements and / or components is specified, but the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or groups thereof is not excluded.

[0023] The embodiments described herein may be described with reference to plan views and / or cross-sectional views by means of idealized schematic diagrams of the present disclosure. Therefore, the example illustrations may be modified according to manufacturing techniques and / or tolerances. Therefore, the embodiments are not limited to the embodiments shown in the accompanying drawings, but include modifications of the configurations formed based on the manufacturing process. Therefore, the regions illustrated in the accompanying drawings have schematic properties, and the shapes of the regions shown in the figures illustrate the specific shapes of the regions of the elements, but are not intended to be limiting.

[0024] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by those of ordinary skill in the art. It will also be understood that terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant art and the present disclosure, and will not be interpreted as having an idealized or overly formal meaning unless explicitly defined as such herein.

[0025] In order to solve the problem that the positioning tracking device cannot obtain the positioning position or the positioning position deviates under poor positioning environment, resulting in abnormal positioning trajectory; the embodiment of the present disclosure provides a positioning trajectory correction method to determine the movement scenario of the user and the positioning tracking device. If the positioning position is found to be deviated during use, the positioning trajectory is corrected according to the movement scenario, so as to reasonably eliminate positioning anomalies, improve positioning accuracy, and enhance user experience.

[0026] like Figure 1 As shown, the positioning trajectory correction method provided by the embodiment of the present disclosure is applied to a positioning tracking device, and the method includes the following steps:

[0027] Step S11, traverse the acquired multiple first positioning data, identify abnormal data in the first positioning data, delete the abnormal data to obtain second positioning data, and determine positioning abnormality associated data according to the abnormal data.

[0028] The positioning and tracking device can use an acceleration sensor to collect acceleration data in a mobile scene. The acceleration data includes the acceleration values ​​of the X, Y, and Z axes when the positioning and tracking device moves. After the amount of the collected acceleration data reaches a predetermined standard, the machine learning model is trained with the acceleration data of different mobile scenes. After the model training is completed, the acceleration data can be input into the trained model to obtain the mobile scene of the positioning and tracking device.

[0029] When the positioning tracking device is in normal use, it can record the first positioning data, movement scene and time of each positioning period according to the positioning period. The first positioning data may include coordinates.

[0030] In this step, multiple first positioning data within the positioning cycle are obtained, and each first positioning data is cleaned, that is, each first positioning data is traversed one by one, abnormal data therein is identified in turn, the identified abnormal data is deleted from the first positioning data, and the normal first positioning data is retained, that is, the second positioning data is obtained. After the abnormal data is identified, the positioning abnormality associated data can be determined. In the embodiment of the present disclosure, the positioning abnormality associated data is the second positioning data before the currently identified abnormal data, that is, the positioning abnormality associated data is the normal positioning data.

[0031] Step S12, generating a positioning trajectory according to the second positioning data, wherein, when an abnormal data has been deleted after the positioning abnormality associated data, a corrected positioning trajectory segment is generated between the positioning abnormality associated data and the next second positioning data of the positioning abnormality associated data according to the moving scenario of the positioning tracking device.

[0032] After deleting the abnormal data, the remaining second positioning data are all normal data. A positioning trajectory is generated based on the second positioning data. In this process, the position where one of the abnormal data has been deleted after the positioning abnormality associated data is determined as the trajectory correction position. At this trajectory correction position, a corrected positioning trajectory segment is generated according to the moving scene of the positioning tracking device. In other words, different methods can be used for the moving scene of the positioning tracking device to generate a corrected positioning trajectory segment between the positioning abnormality associated data and the next second positioning data of the positioning abnormality associated data, so as to correct the positioning trajectory of the position. It should be noted that for the second positioning data that is not the positioning abnormality associated data, the positioning trajectory can be generated by connecting the position points corresponding to two adjacent second positioning data.

[0033] The positioning trajectory correction method provided by the embodiment of the present disclosure identifies and deletes abnormal positioning data, determines the position where an abnormal data has been deleted, and the position is the position where the positioning trajectory correction can be performed; in the process of generating a positioning trajectory according to the positioning data from which the abnormal data has been deleted, at the determined position, a corrected positioning trajectory segment is generated according to the moving scene of the positioning tracking device to achieve positioning trajectory correction, improve the positioning accuracy, robustness and availability of the positioning tracking device, and enhance the user experience.

[0034] In the embodiments of the present disclosure, the movement scenarios of the positioning tracking device include the movement scenarios of the positioning tracking device using transportation tools and the movement scenarios of the positioning tracking device not using transportation tools. Exemplarily, the movement scenarios of the positioning tracking device using transportation tools may include: the movement scenarios of the positioning tracking device using bicycles, cars, subways, and trains; the movement scenarios of the positioning tracking device not using transportation tools may include: the movement scenarios of the positioning tracking device by the user walking, running, etc.

[0035] In some embodiments, Figure 2 As shown, the method of generating a corrected positioning trajectory segment between the positioning abnormality associated data and the next second positioning data of the positioning abnormality associated data according to the moving scene of the positioning tracking device includes the following steps:

[0036] Step S21, determining and correcting positioning data in a moving scenario where the positioning tracking device utilizes a vehicle.

[0037] Step S22, inserting the corrected positioning data between the positioning abnormality associated data and the next second positioning data of the positioning abnormality associated data, and generating a corrected positioning trajectory segment according to the positioning abnormality associated data, the corrected positioning data and the next second positioning data of the positioning abnormality associated data.

[0038] The positioning and tracking device utilizes the moving scene of the vehicle. Since the movement of the positioning and tracking device is restricted by the moving area of ​​the vehicle, for example, bicycles and cars can only move in the road area, and trains and subways can only move in the specific track area, therefore, for the positioning and tracking device utilizing the moving scene of the vehicle, for the case where an abnormal data is deleted, a reasonable corrected positioning position point can be predicted, and the corrected positioning position point is inserted at the position of the deleted abnormal data, that is, the deleted abnormal data is replaced with the corrected positioning data, and a positioning trajectory is generated in combination with the previous and next second positioning data, that is, the position point corresponding to the positioning abnormality associated data, the position point corresponding to the corrected positioning data and the position point corresponding to the next second positioning data of the positioning abnormality associated data are connected in sequence to generate a positioning trajectory, and the generated positioning trajectory is the positioning trajectory after correction.

[0039] In some embodiments, the second positioning data includes coordinates, and the determination of the corrected positioning data (i.e., step S21) includes the following steps: determining a connecting line between a position point corresponding to the positioning abnormality associated data and a position point corresponding to the next second positioning data of the positioning abnormality associated data, and determining a straight line passing through the midpoint of the connecting line and perpendicular to the connecting line; determining the position point corresponding to the corrected positioning data according to the straight line and the driving area of ​​the vehicle, and determining the corrected positioning data according to the position point corresponding to the corrected positioning data. It should be noted that the position point corresponding to the corrected positioning data satisfies the following conditions: the position point corresponding to the corrected positioning data is located within the driving area of ​​the vehicle and is located on a straight line, and the corrected positioning trajectory segment generated based on the corrected positioning data is located within the driving area of ​​the vehicle. Exemplarily, the second positioning data corresponding to the position point located on a straight line and within the driving area of ​​the vehicle and having the smallest distance from the connecting line can be selected as the corrected positioning data.

[0040] Figure 3 A schematic diagram of determining a location point corresponding to corrected positioning data provided by an embodiment of the present disclosure. Figure 3 As shown, taking the scene where the positioning and tracking device uses a moving car as an example, A1 and A2 are the position points corresponding to two adjacent second positioning data, and the second positioning data corresponding to A1 is the positioning abnormality associated data. A position point corresponding to the abnormal data has been deleted between A1 and A2. The process of determining the position point A' corresponding to the corrected positioning data between A1 and A2 is as follows: determine the connecting line A1A2 between A1 and A2, determine the midpoint of the connecting line A1A2, that is, the position point C, determine the straight line passing through the position point C and perpendicular to the connecting line A1A2, and select a reasonable position point on the straight line as the corrected positioning position point A', and the coordinates of A' are the corrected positioning data. Among them, A' is determined based on the straight line and the driving area of ​​the vehicle. Specifically, select the position point A' that meets the following conditions: it is located on the straight line passing through the position point C, and is located in the car driving area (that is, the highway area), and the generated corrected positioning trajectory segment A1-A'-A2 is located in the car driving area, and the distance A'C between the position point A' and the position point C is the smallest. Thus, it is obtained Figure 3 The position point A' in is used as the corrected positioning point.

[0041] In some embodiments, generating a corrected positioning trajectory segment between positioning anomaly associated data and the next second positioning data of the positioning anomaly associated data according to the moving scenario of the positioning tracking device includes the following steps: in a moving scenario where the positioning tracking device does not utilize a vehicle, generating a corrected positioning trajectory segment according to the positioning anomaly associated data and the next second positioning data of the positioning anomaly associated data.

[0042] Figure 4A schematic diagram of a positioning tracking device provided in an embodiment of the present disclosure generating a corrected positioning trajectory segment in a moving scenario without using a vehicle. Figure 4 As shown, taking the scenario where the positioning tracking device moves by the user walking as an example, B1 and B2 are the location points corresponding to two adjacent second positioning data, and the second positioning data corresponding to B1 is the positioning abnormality associated data. A location point corresponding to the abnormal data has been deleted between B1 and B2. Since the positioning tracking device can move along any trajectory in the scenario where the positioning tracking device does not use a vehicle, that is, it is not limited to the vehicle movement area. For example, it is not limited to moving in specific areas such as roads and rails, but can move in areas such as sidewalks. In this case, the location point of the corrected positioning cannot be predicted. Therefore, the location point B1 corresponding to the positioning abnormality associated data and the location point B2 corresponding to the subsequent second positioning data can be directly connected to obtain a connecting line B1 B2, and the connecting line B1 B2 is used as a corrected positioning trajectory segment. In other words, in the scenario where the positioning tracking device does not use a vehicle, the corrected positioning trajectory segment overlaps with the original positioning trajectory segment.

[0043] In some embodiments, the generating of the positioning trajectory according to the second positioning data further includes the following steps: when at least two consecutive abnormal data have been deleted after the positioning abnormality associated data, generating a positioning trajectory segment between the positioning abnormality associated data and the next second positioning data of the positioning abnormality associated data, and identifying the positioning trajectory segment as an abnormal trajectory segment.

[0044] Figure 5 A schematic diagram of generating an abnormal trajectory segment provided by an embodiment of the present disclosure. Figure 5 As shown, C1 and C2 are the position points corresponding to two adjacent second positioning data, and the second positioning data corresponding to C1 is the positioning abnormality associated data. Two or more position points corresponding to the abnormal data have been deleted between C1 and C2. In this case, no matter whether the moving scene of the positioning tracking device is a moving scene using a vehicle or a moving scene not using a vehicle, a connecting line C1C2 is obtained by directly connecting the position point C1 corresponding to the positioning abnormality associated data and the position point C2 corresponding to the next second positioning data of C1. The connecting line C1C2 is used as a positioning trajectory segment, and the positioning trajectory segment is identified as an abnormal trajectory segment. Exemplarily, it can be identified by color, for example, the positioning trajectory segment C1-C2 is identified as red to indicate that the positioning trajectory segment is an abnormal trajectory segment, to distinguish it from a normal trajectory segment.

[0045] In some embodiments, the positioning abnormality associated data is configured with an abnormality mark, and the abnormality mark includes a correction mark and an error mark, the correction mark indicates that one abnormal data has been deleted after the positioning abnormality associated data, and the error mark indicates that at least two consecutive abnormal data have been deleted after the positioning abnormality associated data. The number of abnormal data deleted after the positioning abnormality associated data can be determined according to the abnormality mark of the positioning abnormality associated data, that is, when the abnormality mark of the positioning abnormality associated data is a correction mark, it is determined that one abnormal data has been deleted after the positioning abnormality associated data; when the abnormality mark of the positioning abnormality associated data is an error mark, it is determined that at least two consecutive abnormal data have been deleted after the positioning abnormality associated data.

[0046] The position of the trajectory where the abnormal data is located can be identified by configuring an abnormal mark for the positioning abnormal associated data. For the positioning abnormal associated data with the correction mark set, the positioning trajectory can be corrected later; for the positioning abnormal associated data with the error mark set, since there are many abnormal data deleted at this position, it is difficult to accurately predict and correct the correct positioning trajectory segment, so the positioning trajectory correction is no longer performed.

[0047] In some embodiments, after determining the positioning abnormality associated data according to the abnormal data and before generating the positioning trajectory according to the second positioning data, the positioning trajectory correction method may further include the following steps: configuring an abnormality mark of the positioning abnormality associated data. That is, in the process of data cleaning of each first positioning data, an abnormality mark of the positioning abnormality associated data is configured, and accordingly, in the process of generating the positioning trajectory, the position of the corrected positioning trajectory segment can be determined according to the abnormality mark.

[0048] In some embodiments, the configuration of the abnormality mark of the positioning abnormality associated data includes the following steps: when the positioning abnormality associated data does not have an abnormality mark set, setting a correction mark for the positioning abnormality associated data; when the positioning abnormality associated data has an abnormality mark set and the abnormality mark is a correction mark, updating the abnormality mark of the positioning abnormality associated data to an error mark. After deleting the abnormal data, if the previous second positioning data of the abnormal data, i.e., the positioning abnormality associated data, does not have an abnormality mark set, indicating that the deleted abnormal data is the first abnormal data deleted after the positioning abnormality associated data, then the abnormality mark is set for the positioning abnormality associated data; after deleting the abnormal data, if the previous second positioning data of the abnormal data, i.e., the positioning abnormality associated data, has a correction mark set, indicating that the deleted abnormal data is not the first abnormal data deleted after the positioning abnormality associated data, i.e., multiple consecutive abnormal data are deleted after the positioning abnormality associated data, then the abnormality mark of the positioning abnormality associated data is updated from the correction mark to the error mark.

[0049] Abnormal positioning data includes two situations: lack of positioning data and abnormal positioning data value. Lack of positioning data occurs when the positioning tracking device fails to locate. If the positioning fails, there is no corresponding first positioning data. Therefore, the abnormal data to be identified and deleted in the embodiment of the present disclosure refers to the first positioning data with abnormal value.

[0050] The identifying abnormal data in the first positioning data includes at least one of the following:

[0051] When the distance between the position point corresponding to the current first positioning data and the position point corresponding to the previous first positioning data is greater than a preset threshold, the current first positioning data is determined to be abnormal data, and the preset threshold is determined according to the moving scenario of the positioning tracking device; exemplarily, in a scenario where the positioning tracking device moves by walking of the user, if the distance between the position point corresponding to the current first positioning data and the position point corresponding to the previous first positioning data is greater than the maximum distance that can be moved by walking, the current first positioning data is considered to be abnormal data.

[0052] In the scenario where the positioning and tracking device moves using a means of transportation, if the current first positioning data does not match the moving scenario of the positioning and tracking device, the current first positioning data is determined to be abnormal data. Exemplarily, in the scenario where the positioning and tracking device moves using a bicycle, if the location point corresponding to the current first positioning data is inside a building, the current first positioning data is considered to be abnormal data; in the scenario where the positioning and tracking device moves using a car, if the location point corresponding to the current first positioning data is not on a highway, the current first positioning data is considered to be abnormal data; in the scenario where the positioning and tracking device moves using a subway, if the location point corresponding to the current first positioning data is not on a ground line, the current first positioning data is considered to be abnormal data.

[0053] In order to clearly illustrate the solution of the embodiment of the present disclosure, the following Figure 6 , through a specific example, the process of configuring the abnormal marking of the abnormal associated data is described in detail, such as Figure 6 As shown, the process of configuring the abnormality mark of the abnormality associated data includes the following steps:

[0054] Step 201: polling to obtain first positioning data in the current statistical period, where the first positioning data includes longitude and latitude and positioning time;

[0055] Step 202: Determine whether the current first positioning data is abnormal data, if so, execute step 203; otherwise, execute step 208;

[0056] Step 203: discard the abnormal data and obtain the second positioning data;

[0057] Step 204: Determine whether the previous second positioning data has an abnormal flag set. If the abnormal flag is not set, execute step 205; otherwise, execute step 206;

[0058] Step 205: Setting a correction mark for the previous second positioning data;

[0059] Step 206: Determine whether the abnormal mark of the previous second positioning data is a correction mark, if so, execute step 207; otherwise, execute step 209;

[0060] Step 207: updating the abnormal flag of the previous second positioning data to an error flag;

[0061] Step 208: retain the current first positioning data as the second positioning data;

[0062] Step 209: Determine whether the polling is finished. If not, execute step 201; otherwise, end this process.

[0063] In order to clearly illustrate the solution of the embodiment of the present disclosure, the following Figure 7 , through a specific example, the process of generating positioning trajectory is explained in detail, such as Figure 7 As shown, the process of generating the positioning trajectory includes the following steps:

[0064] Step 301: Draw the position points of all second positioning data;

[0065] Step 302: poll the normal recording points to determine whether the abnormal mark of the current second positioning data is a correction mark. If not, execute step 303; otherwise, execute step 305;

[0066] Step 303: Determine whether the abnormal mark is an error mark, if so, execute step 304; otherwise, execute step 307;

[0067] Step 304: directly connect the position point corresponding to the next second positioning data to generate a trajectory segment, and mark the trajectory segment as an abnormal trajectory segment;

[0068] Step 305: Determine the moving scene;

[0069] Step 306: Generate a corrected positioning trajectory segment according to the mobile scene, that is, determine the position point corresponding to the corrected positioning data according to the mobile scene, and insert the position point corresponding to the corrected positioning data between the position point corresponding to the current second positioning data and the position point corresponding to the next second positioning data, and connect the above three position points to form a corrected positioning trajectory segment.

[0070] Step 307: Determine whether the polling is finished. If not, execute step 301; otherwise, end this process.

[0071] The positioning trajectory correction method provided in the embodiment of the present disclosure utilizes machine learning on G-Sensor data to distinguish different moving scenarios. When positioning fails or the positioning position is abnormal, the positioning point coordinates can be corrected, thereby making the moving trajectory of the positioning tracking device more accurate.

[0072] The positioning tracking device first performs machine learning on the G-Sensor data to determine the movement scenario of the positioning tracking device. When generating the positioning trajectory, all the first positioning data are first polled. If the first positioning data is normal, the normal first positioning data is recorded as the second positioning data; if positioning failure data or abnormal first positioning data is found, the abnormal first positioning data is discarded, and a correction mark is set for the previous normal second positioning data. If more than two consecutive positioning failure data or abnormal first positioning data are found, an error mark is set for the previous normal second positioning data. The judgment standard for abnormal first positioning data is that the distance between the coordinates of the first positioning data and the coordinates of the previous normal second positioning data is greater than the maximum movement threshold under the movement scenario, or the coordinates of the first positioning data do not conform to the movement scenario.

[0073] When drawing the positioning trajectory, first draw the position points of all the second positioning data, then poll the position points of all the second positioning data, read the abnormal mark of each position point, if the abnormal mark is an error mark, directly connect the position point of the next second positioning data, and mark the segment of the positioning trajectory as an abnormal trajectory segment; if the abnormal mark is a correction mark, determine the movement scene, determine the reasonable position corresponding to the abnormal data according to the movement scene, and generate a corrected positioning trajectory segment according to the position point of the current second positioning data, the reasonable position and the position point corresponding to the next second positioning data.

[0074] like Figure 8 As shown, an embodiment of the present disclosure also provides a positioning tracking device, which includes: one or more processors 801, a storage device 802 and one or more I / O interfaces 803; wherein, one or more programs are stored on the storage device 802, and when the one or more programs are executed by the one or more processors, the one or more processors 801 implement the positioning trajectory correction method provided in the aforementioned embodiments; the I / O interface 803 is connected between the processor 801 and the storage device 802, and is configured to implement information interaction between the processor 801 and the storage device 802.

[0075] Among them, the processor 801 is a device with data processing capabilities, including but not limited to a central processing unit (CPU); the storage device 802 is a device with data storage capabilities, including but not limited to random access memory (RAM, more specifically SDRAM, DDR, etc.), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory (FLASH); the I / O interface (read-write interface) 803 is connected between the processor 801 and the storage device 802, and can realize information interaction between the processor 801 and the storage device 802, including but not limited to a data bus (Bus), etc.

[0076] A positioning tracking device is a device that implements positioning tracking functions based on GPS positioning and cloud services. It can be a wearable device that can be worn directly on the user or integrated into the user's clothes or accessories. Wearable devices are not just hardware devices, they can also achieve powerful functions through software support, data interaction, and cloud interaction. The positioning tracking device can communicate with the cloud through a wireless communication module, so that the positioning tracking device can receive instructions from the cloud and send its own relevant information to the cloud. The APP of the positioning tracking device system can obtain relevant information of the positioning tracking device in the relevant account from the cloud and control it. At the same time, different positioning tracking devices can also communicate with each other through wireless communication modules.

[0077] The embodiments of the present disclosure further provide a computer-readable medium on which a computer program is stored, wherein when the computer program is executed, the positioning trajectory correction method provided in the aforementioned embodiments is implemented.

[0078] It will be appreciated by those skilled in the art that all or some of the steps in the method disclosed above, the functional modules / units in the device may be implemented as software, firmware, hardware, and appropriate combinations thereof. In hardware implementations, the division between the functional modules / units mentioned in the above description does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed by several physical components in cooperation. Some physical components or all physical components may be implemented as software executed by a processor, such as a central processing unit, a digital signal processor, or a microprocessor, or implemented as hardware, or implemented as an integrated circuit, such as an application-specific integrated circuit. Such software may be distributed on a computer-readable medium, which may include a computer storage medium (or non-transitory medium) and a communication medium (or temporary medium). As known to those skilled in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and can be accessed by a computer. In addition, it is well known to those of ordinary skill in the art that communication media typically contain computer-readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

[0079] Example embodiments have been disclosed herein, and although specific terms are employed, they are used and should be interpreted only in a general illustrative sense and not for limiting purposes. In some instances, it will be apparent to those skilled in the art that, unless otherwise expressly stated, features, characteristics, and / or elements described in conjunction with a particular embodiment may be used alone or in combination with features, characteristics, and / or elements described in conjunction with other embodiments. Therefore, it will be understood by those skilled in the art that various changes in form and detail may be made without departing from the scope of the invention as set forth in the appended claims.

Claims

1. A positioning trajectory correction method, characterized in that: The method is applied to a positioning tracking device, and the method comprises: Traversing the acquired multiple first positioning data, identifying abnormal data in the first positioning data, deleting the abnormal data to obtain second positioning data, and determining positioning abnormality-related data according to the abnormal data; A positioning trajectory is generated according to the second positioning data, wherein, when one of the abnormal data has been deleted after the positioning abnormality associated data, a corrected positioning trajectory segment is generated between the positioning abnormality associated data and the next second positioning data of the positioning abnormality associated data according to the moving scenario of the positioning tracking device.

2. The method according to claim 1, characterized in that The method of generating a corrected positioning trajectory segment between the positioning abnormality associated data and the next second positioning data of the positioning abnormality associated data according to the moving scenario of the positioning tracking device includes: Determining corrected positioning data in a scenario where the positioning tracking device is moving using a vehicle; The corrected positioning data is inserted between the positioning abnormality associated data and the next second positioning data of the positioning abnormality associated data, and a corrected positioning trajectory segment is generated according to the positioning abnormality associated data, the corrected positioning data and the next second positioning data of the positioning abnormality associated data.

3. The method according to claim 2, characterized in that The second positioning data includes coordinates, and the determining and correcting the positioning data includes: Determine a connecting line between a position point corresponding to the positioning abnormality associated data and a position point corresponding to the next second positioning data of the positioning abnormality associated data, and determine a straight line passing through the midpoint of the connecting line and perpendicular to the connecting line; The position point corresponding to the corrected positioning data is determined according to the straight line and the driving area of ​​the vehicle, and the corrected positioning data is determined according to the position point corresponding to the corrected positioning data.

4. The method according to claim 1, characterized in that The method of generating a corrected positioning trajectory segment between the positioning abnormality associated data and the next second positioning data of the positioning abnormality associated data according to the moving scenario of the positioning tracking device includes: In a moving scenario where the positioning tracking device does not utilize a vehicle, a corrected positioning trajectory segment is generated according to the positioning abnormality associated data and the next second positioning data of the positioning abnormality associated data.

5. The method according to claim 1, characterized in that The generating of the positioning trajectory according to the second positioning data further includes: In the case where at least two consecutive abnormal data have been deleted after the positioning abnormality associated data, a positioning track segment is generated between the positioning abnormality associated data and the next second positioning data of the positioning abnormality associated data, and the positioning track segment is identified as an abnormal track segment.

6. The method according to claim 5, characterized in that In the case where the abnormal mark of the positioning abnormality associated data is a correction mark, determining that one abnormal data has been deleted after the positioning abnormality associated data; and / or, In a case where the abnormality mark of the positioning abnormality associated data is an error mark, it is determined that at least two consecutive abnormal data have been deleted after the positioning abnormality associated data.

7. The method according to claim 1, characterized in that After determining the positioning abnormality associated data according to the abnormal data and before generating the positioning trajectory according to the second positioning data, the method further includes: Configure an abnormality mark of the positioning abnormality associated data.

8. The method according to claim 7, characterized in that The configuring of the abnormality mark of the positioning abnormality associated data includes: In the case where the abnormality associated data of the positioning is not set with an abnormality mark, setting a correction mark for the abnormality associated data of the positioning; In a case where an abnormality flag has been set in the positioning abnormality associated data and the abnormality flag is a correction flag, the abnormality flag of the positioning abnormality associated data is updated to an error flag.

9. The method according to claim 1, characterized in that The second positioning data includes coordinates; the identifying abnormal data in the first positioning data includes at least one of the following: When the distance between the position point corresponding to the current first positioning data and the position point corresponding to the previous first positioning data is greater than a preset threshold, determining that the current first positioning data is abnormal data, and the preset threshold is determined according to the movement scenario of the positioning tracking device; In a moving scenario where the positioning tracking device utilizes a vehicle, if the current first positioning data does not match the moving scenario of the positioning tracking device, it is determined that the current first positioning data is abnormal data.

10. The method according to any one of claims 1 to 9, characterized in that: The determining of positioning abnormality associated data according to the abnormal data includes: The second positioning data before the abnormal data is determined as the positioning abnormality associated data.

11. A positioning tracking device, comprising: one or more processors; a storage device having one or more programs stored thereon; When the one or more programs are executed by the one or more processors, the one or more processors implement the positioning trajectory correction method according to any one of claims 1 to 10; One or more I / O interfaces are connected between the processor and the storage device and are configured to implement information interaction between the processor and the storage device.

12. A computer readable medium having a computer program stored thereon, wherein: When the program is executed, the positioning trajectory correction method as described in any one of claims 1-10 is implemented.

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