A device positioning method, device and computer-readable storage medium

Abstract

An embodiment of the present invention discloses a device positioning method, apparatus, and computer-readable storage medium. The method includes: obtaining positioning data, where the positioning data is the positioning data collected by M positioning devices, and the M positioning devices are M positioning devices at different positions on the device, and M is an integer greater than 1; obtaining the relative distance between a first positioning device and a second positioning device, where the first positioning device is any one of the M positioning devices, and the second positioning device is a positioning device other than the first positioning device among the M positioning devices; and determining the positioning data of the device according to the positioning data and the relative distance. The embodiment of the present invention can improve the positioning accuracy.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of positioning, and in particular, to a device positioning method, apparatus, and computer-readable storage medium. Background Art

[0002] With the continuous development of electronic technology, more and more devices, such as cars, robots, trailers, etc., are equipped with positioning devices, such as global positioning system (GPS), etc. Therefore, the device can be positioned through the positioning device. Commonly, one device is equipped with one positioning device. However, since only one positioning device is provided, the device cannot be accurately positioned. Summary of the Invention

[0003] The embodiments of the present invention disclose a device positioning method, apparatus, and computer-readable storage medium for improving positioning accuracy.

[0004] In a first aspect, a device positioning method is disclosed, including:

[0005] Obtaining positioning data, where the positioning data is the positioning data collected by M positioning devices, and the M positioning devices are M positioning devices at different positions on the device, and M is an integer greater than 1;

[0006] Obtaining the relative distance between a first positioning device and a second positioning device, where the first positioning device is any one of the M positioning devices, and the second positioning device is a positioning device among the M positioning devices other than the first positioning device;

[0007] Determining the positioning data of the device according to the positioning data and the relative distance.

[0008] As a possible implementation manner, the determining the positioning data of the device according to the positioning data and the relative distance includes:

[0009] Calculating the positioning data of the second positioning device for the position where the first positioning device is located according to the first positioning data, the second positioning data, and the relative distance, to obtain M - 1 positioning data, where the first positioning data is the positioning data collected by the first positioning device in the positioning data, and the second positioning data is the positioning data collected by the second positioning device in the positioning data;

[0010] Fusing the first positioning data and the M - 1 positioning data to obtain the positioning data of the device.

[0011] As a possible implementation, calculating the positioning data of the position where the second positioning device is located with respect to the first positioning device based on the first positioning data, the second positioning data, and the relative distance, and obtaining M - 1 positioning data includes:

[0012] Calculating the relative distances between the first positioning device and the second positioning device on different coordinates based on the first positioning data, the second positioning data, and the relative distance;

[0013] Calculating the positioning data of the position where the second positioning device is located with respect to the first positioning device based on the second positioning data and the relative distances on different coordinates, and obtaining M - 1 positioning data.

[0014] As a possible implementation, calculating the relative distances between the first positioning device and the second positioning device on different coordinates based on the first positioning data, the second positioning data, and the relative distance includes:

[0015] Determining the angle between the straight line where the first positioning device and the second positioning device are located and the earth's plane based on the first positioning data and the second positioning data;

[0016] Calculating the relative distances between the first positioning device and the second positioning device on different coordinates based on the angle and the relative distance.

[0017] As a possible implementation, fusing the first positioning data and the M - 1 positioning data to obtain the positioning data of the device includes:

[0018] Calculating the average data of the first positioning data and the M - 1 positioning data to obtain the positioning data of the device.

[0019] As a possible implementation, obtaining the relative distance between the first positioning device and the second positioning device includes:

[0020] Obtaining the stored relative distance between the first positioning device and the second positioning device.

[0021] As a possible implementation, obtaining the relative distance between the first positioning device and the second positioning device includes:

[0022] Calculating the relative distance between the first positioning device and the second positioning device based on the first positioning data and the second positioning data.

[0023] A device positioning apparatus is disclosed in a second aspect, including:

[0024] A first acquisition unit, configured to acquire positioning data, where the positioning data is positioning data collected by M positioning devices, and the M positioning devices are M positioning devices at different positions on the device, and M is an integer greater than 1;

[0025] A second acquisition unit, configured to acquire a relative distance between a first positioning device and a second positioning device, where the first positioning device is any one of the M positioning devices, and the second positioning device is a positioning device among the M positioning devices other than the first positioning device;

[0026] A determination unit, configured to determine the positioning data of the device according to the positioning data and the relative distance.

[0027] As a possible implementation manner, the determination unit includes:

[0028] A calculation subunit, configured to calculate, according to first positioning data, second positioning data, and the relative distance, positioning data of the second positioning device for the position where the first positioning device is located, to obtain M - 1 pieces of positioning data, where the first positioning data is positioning data collected by the first positioning device in the positioning data, and the second positioning data is positioning data collected by the second positioning device in the positioning data;

[0029] A fusion subunit, configured to fuse the first positioning data and the M - 1 pieces of positioning data to obtain the positioning data of the device.

[0030] As a possible implementation manner, the calculation subunit is specifically configured to:

[0031] Calculate relative distances between the first positioning device and the second positioning device on different coordinates according to the first positioning data, the second positioning data, and the relative distance;

[0032] Calculate, according to the second positioning data and the relative distances on different coordinates, positioning data of the second positioning device for the position where the first positioning device is located, to obtain M - 1 pieces of positioning data.

[0033] As a possible implementation manner, when the calculation subunit calculates relative distances between the first positioning device and the second positioning device on different coordinates according to the first positioning data, the second positioning data, and the relative distance, the calculation subunit includes:

[0034] Determine an angle between a straight line where the first positioning device and the second positioning device are located and the earth plane according to the first positioning data and the second positioning data;

[0035] Calculate relative distances between the first positioning device and the second positioning device on different coordinates according to the angle and the relative distance.

[0036] As a possible implementation manner, the fusion subunit is specifically configured to calculate the average data of the first positioning data and the M-1 positioning data to obtain the positioning data of the device.

[0037] As a possible implementation manner, the second acquisition unit is specifically configured to acquire the relative distance between the stored first positioning device and the second positioning device.

[0038] As a possible implementation manner, the second acquisition unit is specifically configured to calculate the relative distance between the first positioning device and the second positioning device according to the first positioning data and the second positioning data.

[0039] In a third aspect, a device positioning device is disclosed. The device positioning device includes a processor, a memory, an input interface, and an output interface. The memory is used to store a set of computer program codes. The input interface is used to receive information from other devices outside the device positioning device. The output interface is used to output information to other devices outside the device positioning device. When the processor is used to call the computer program codes stored in the memory, the processor is caused to execute the device positioning method disclosed in the first aspect or any possible implementation manner of the first aspect.

[0040] In a fourth aspect, a computer-readable storage medium is disclosed. A computer program or computer instructions are stored on the computer-readable storage medium. When the computer program or computer instructions run, the device positioning method disclosed in the first aspect or any possible implementation manner of the first aspect is implemented.

[0041] In a fifth aspect, a computer program product is disclosed. When it runs on a computer, the computer is caused to execute the device positioning method disclosed in the first aspect or any possible implementation manner of the first aspect.

[0042] In an embodiment of the present invention, positioning data is acquired. The positioning data is the positioning data collected by M positioning devices. The M positioning devices are M positioning devices at different positions on the device, and M is an integer greater than 1; the relative distance between the first positioning device and the second positioning device is acquired. The first positioning device is any one of the M positioning devices, and the second positioning device is the positioning device other than the first positioning device among the M positioning devices; according to the positioning data and the relative distance, the positioning data of the device is determined. Since multiple positioning devices at different positions on the device are used to position the device simultaneously and the relative distance between different positioning devices is considered, the error caused by different positions of different positioning devices is eliminated. Therefore, the positioning accuracy can be improved. Description of the Drawings

[0043] Figure 1It is a schematic diagram of a network architecture disclosed in an embodiment of the present invention;

[0044] Figure 2 It is a schematic flowchart of a device positioning method disclosed in an embodiment of the present invention;

[0045] Figure 3 It is a schematic diagram of the relative distances of different positioning devices at different coordinates disclosed in an embodiment of the present invention;

[0046] Figure 4 It is a schematic structural diagram of a device positioning device disclosed in an embodiment of the present invention;

[0047] Figure 5 It is a schematic structural diagram of another device positioning device disclosed in an embodiment of the present invention. Detailed implementation manners

[0048] An embodiment of the present invention discloses a device positioning method, device and computer-readable storage medium for improving positioning accuracy. The following will be described in detail respectively.

[0049] To better understand a device positioning method, device and computer-readable storage medium disclosed in an embodiment of the present invention, the network architecture used in the embodiment of the present invention will be described below. Please refer to Figure 1 , Figure 1 It is a schematic diagram of a network architecture disclosed in an embodiment of the present invention. As Figure 1 shown, the network architecture may include satellites and vehicles. There are 4 positioning devices on the vehicle, namely a real-time kinematic (RTK) locator and three mobile phones. The RTK locator and the three mobile phones are respectively arranged at different positions on the vehicle. The RTK locator and the three mobile phones can be positioned through satellites. Then, the vehicle can be positioned based on the positioning data collected by the RTK locator and the three mobile phones. The above steps can be executed by any one of the positioning devices, or by the vehicle-mounted computer on the vehicle, or by the in-vehicle computer, or by the cloud (server) or electronic device connected to the vehicle, or by other devices or devices, which is not limited here. In addition, the number of the above positioning devices can also be other integers greater than 1, such as 2, 3, etc. The positioning device can also be other positioning devices such as a Bluetooth positioning device, a ZigBee positioning device, etc., which is not limited here. The above satellite can also be an auxiliary positioning device corresponding to other positioning devices, such as a Bluetooth beacon, etc. The above vehicle can also be a trailer, a robot, or any other device that needs to be positioned.

[0050] To better understand a device positioning method, apparatus, and computer-readable storage medium disclosed in embodiments of the present invention, the application scenarios used in the embodiments of the present invention will be described below. To improve the positioning accuracy of a device, multiple positioning devices can be set on one device. Currently, when positioning a device, positioning data can be collected by multiple positioning devices respectively, and then the positioning data collected by the multiple positioning devices are averaged to obtain the positioning data of the device, thereby achieving the positioning of the device. However, since these multiple positioning devices are generally set at different positions on the device, there is a relative distance between these multiple positioning devices. The above method does not consider the influence of the relative distance between the multiple positioning devices on positioning, resulting in an inaccurate positioning result and not conforming to the actual situation. Especially in scenarios with high requirements for positioning accuracy, such as autonomous driving, etc.

[0051] A device positioning method, apparatus, and computer-readable storage medium disclosed in embodiments of the present invention can be applied to high-precision positioning, autonomous driving, precise navigation, vehicle-road cooperation, vehicle networking, intelligent transportation, etc. Especially for products such as high-precision positioning, autonomous driving, precise navigation, and vehicle-road cooperation with high requirements for positioning accuracy. The present invention assumes that multiple positioning devices installed on a device have no difference in performance and are equivalent; the precise positioning result of any one positioning device can represent the actual position of the device; the physical distance between any two positioning devices can be obtained or measured; and each positioning device can work properly.

[0052] The above device can be an intelligent device or a non-intelligent device. The device can be moving or stationary. In addition, to avoid mutual interference between multiple positioning devices, there is a certain distance between different positioning devices. As Figure 1 shown, there is a certain distance between the RTK locator on the vehicle and the mobile phone, which can avoid mutual interference between multiple positioning devices and also avoid the positioning of the same position by multiple positioning devices.

[0053] Please refer to Figure 2 , Figure 2 which is a schematic flowchart of a device positioning method disclosed in embodiments of the present invention. Among them, the device positioning method can be applied to devices or equipment such as positioning devices, in-vehicle computers on vehicles, on-vehicle computers, servers, and electronic devices. As Figure 2 shown, the device positioning method can include the following steps.

[0054] 201. Obtain positioning data.

[0055] The positioning data can be obtained in real time or periodically. The positioning data is the positioning data collected by M positioning devices. One positioning device can collect one positioning data, and one positioning device can also collect multiple positioning data. The M positioning devices are M positioning devices at different positions on the device, and M is an integer greater than 1.

[0056] Positioning instructions can be sent to the M positioning devices respectively first. After the M positioning devices receive the positioning instructions, they can collect the positioning data. Then the positioning devices can actively report the collected positioning data in real time or periodically. Then the positioning devices can also, after receiving a data acquisition request, report the collected positioning data according to the data acquisition request. The positioning device can directly report the positioning data to the execution entity of the device positioning method. In the case where the execution entity of the device positioning method is not the device where the positioning device is located, the positioning device can also first send the positioning data to the device where the positioning device is located, and the device reports it to the execution entity of the device positioning method.

[0057] The M positioning devices can also collect the positioning data and report the collected positioning data when detecting that the device where they are located is in a working state.

[0058] 202. Obtain the relative distance between the first positioning device and the second positioning device.

[0059] One positioning device can be selected from the M positioning devices as the first positioning device first, and the first positioning device is used as the reference positioning device. The first positioning device can be any one of the M positioning devices. Then obtain the relative distance between the first positioning device and the second positioning device, that is, obtain the relative distance between the first positioning device and each positioning device other than the first positioning device among the M positioning devices. The second positioning device is a positioning device other than the first positioning device among the M positioning devices. Among them, step 201 and step 202 can be executed in parallel or serially.

[0060] The user can pre-measure the relative distances between every two of the M positioning devices, and then store the measured relative distances for subsequent invocation. It is also possible to pre-calculate the relative distances between every two of the M positioning devices, and then store the calculated relative distances for subsequent invocation. Therefore, the relative distance between the first positioning device and the second positioning device stored can be obtained. The relative distance between the first positioning device and the second positioning device can be stored locally, in the cloud, or in the device where the positioning device is located. Therefore, when obtaining the stored relative distance between the first positioning device and the second positioning device, it can be obtained from local, from the cloud, or from the device where the positioning device is located. Since the relative distance between the first positioning device and the second positioning device is pre-calculated or measured, the acquisition time of the relative distance between the first positioning device and the second positioning device can be reduced, thereby improving the positioning efficiency.

[0061] It is also possible to calculate the relative distance between the first positioning device and the second positioning device according to the first positioning data and the second positioning data after obtaining the positioning data. The first positioning data is the positioning data collected by the first positioning device in the obtained positioning data, and the second positioning data is the positioning data collected by the second positioning device in the obtained positioning data.

[0062] Assuming that the first positioning data is (x1, y1, z1) and the second positioning data is (x2, y2, z2), the relative distance between the first positioning device and the second positioning device can be expressed as follows:

[0063]

[0064] x can be longitude, y can be latitude, z can be altitude, and x, y, and z can also be the x coordinate, y coordinate, and z coordinate in other rectangular coordinate systems, which are not limited here.

[0065] 203. Determine the positioning data of the device according to the obtained positioning data and the obtained relative distance.

[0066] After obtaining the positioning data and the relative distance between the first positioning device and the second positioning device, the positioning data of the device can be determined according to the obtained positioning data and the obtained relative distance. That is, the positioning data of the device can be determined according to the obtained positioning data and the relative distance between the first positioning device and each of the M positioning devices other than the first positioning device, that is, the device is positioned.

[0067] Specifically, first, according to the first positioning data, the second positioning data, and the relative distance, M-1 positioning data of the second positioning device for the location where the first positioning device is located can be calculated. The first positioning data is the positioning data collected by the first positioning device among the acquired positioning data, and the second positioning data is the positioning data collected by the second positioning device among the acquired positioning data. That is, according to the positioning data collected by the first positioning device, the positioning data collected by the other positioning devices among the M positioning devices except the first positioning device, and the relative distance between the first positioning device and each of the other positioning devices among the M positioning devices except the first positioning device, M-1 positioning data of the second positioning device for the location where the first positioning device is located can be calculated. After that, the first positioning data and the M-1 positioning data can be fused to obtain the positioning data of the device, that is, the device can be positioned by fusing the first positioning data and the M-1 positioning data.

[0068] When fusing the first positioning data and the M-1 positioning data to obtain the positioning data of the device, it can be to calculate the average data of the first positioning data and the M-1 positioning data to obtain the positioning data of the device, or it can be to calculate the weighted average data of the first positioning data and the M-1 positioning data to obtain the positioning data of the device.

[0069] When calculating M-1 positioning data of the second positioning device for the location where the first positioning device is located according to the first positioning data, the second positioning data, and the above relative distance, first, according to the first positioning data, the second positioning data, and the relative distance, the relative distances of the first positioning device and the second positioning device on different coordinates can be calculated, that is, the relative distances corresponding to different coordinates of the first positioning device and the second positioning device in the coordinate system are calculated. After that, according to the second positioning data and the relative distances on different coordinates, M-1 positioning data of the second positioning device for the location where the first positioning device is located can be calculated.

[0070] When calculating the relative distances of the first positioning device and the second positioning device on different coordinates according to the first positioning data, the second positioning data, and the relative distance, first, according to the first positioning data and the second positioning data, the angle between the straight line where the first positioning device and the second positioning device are located and the earth plane can be determined, and then according to this angle and the relative distance, the relative distances of the first positioning device and the second positioning device on different coordinates can be calculated. That is, the relative distance between the first positioning device and the second positioning device is projected onto different coordinates according to the angle to obtain the relative distances on different coordinates.

[0071] Please refer to Figure 3 , Figure 3 which is a schematic diagram of the relative distances of different positioning devices on different coordinates disclosed in an embodiment of the present invention. As Figure 3As shown, the relative distance between the RTK locator and the second mobile phone can be projected into a horizontal distance and a vertical distance. In the case where the coordinate system is a three-dimensional coordinate system, in addition to the horizontal distance and the vertical distance, there can be other distances.

[0072] When the device is in a stationary state, a positioning device can be selected as the first positioning device first. When selecting the first positioning device, it can be selected arbitrarily. Assume that the i-th positioning device is selected as the first positioning device. After that, the relative distances between the first positioning device and other positioning devices can be calculated or obtained, that is, d 1，i , …, d i-1，i , d i+1，i , …, d M，i . d 1，i is the relative distance between the first positioning device and the i-th positioning device, and the others are similar and will not be elaborated here. M positioning data (x1, y1, z1), …, (x M , y M , z M ) collected by M positioning devices can be obtained. (x1, y1, z1) is the positioning data collected by the first positioning device, and the others are similar and will not be elaborated here. Here, the first positioning device and the i-th positioning device (i.e., the first positioning device) will be taken as an example for illustration. The vector from the i-th positioning device to the first positioning device can be calculated first. The vector P i，1 from the i-th positioning device to the first positioning device can be expressed as follows:

[0073] P i，1 =(x1 - x i , y1 - y i , z1 - z i )

[0074] After that, the angle between P i，1 and the geodetic plane can be calculated. The angle α i，1 between P i，1 and the geodetic plane can be expressed as follows:

[0075]

[0076] The angle α i，1 between P i，1 and the geodetic plane can also be expressed as follows:

[0077]

[0078] The angle α i，1 between P i，1 and the geodetic plane can also be expressed as follows:

[0079]

[0080] The included angle α i，1 is an acute angle. Then, based on the included angle α i，1 calculate d 1，i The relative distances on different coordinates. The relative distance d on the x coordinate 1，i，x can be d 1，i cosα i1 cosδ. The relative distance d on the y coordinate 1，i，y can be d 1，i cosα i1 sinδ. The relative distance d on the z coordinate 1，i，z can be d 1，i sinα i1 . δ is the angle between the projection of d on the xy plane and the x coordinate, and can be expressed as 1，i After that, based on (x1, y1, z1), d and d 1，i，x and d 1，i，y calculate the positioning data (x 1，i，z , y 1，i , z 1，i ) of the first positioning device for the position where the i-th positioning device is located, that is, translate the positioning data collected by the first positioning device to the position where the i-th positioning device is located. When x1 is greater than x 1，i , the positioning data x i of the first positioning device for the position where the i-th positioning device is located on the x coordinate can be x1 - d 1，i . When x1 is less than x 1，i，x , the positioning data x i of the first positioning device for the position where the i-th positioning device is located on the x coordinate can be x1 + d 1，i . When y1 is greater than y 1，i，x , the positioning data y i of the first positioning device for the position where the i-th positioning device is located on the y coordinate can be y1 - d 1，i y. When y1 is less than y 1，i， , the positioning data y i of the first positioning device for the position where the i-th positioning device is located on the y coordinate can be y1 + d 1，i . When z1 is greater than z 1，i，y , the positioning data z i of the first positioning device for the position where the i-th positioning device is located on the z coordinate can be z1 - d 1，i . When z1 is less than z 1，i，z , the positioning data z i of the first positioning device for the position where the i-th positioning device is located on the z coordinate can be z1 + d 1，iIt can be z1 + d 1，i，z After that, the first positioning data and M - 1 positioning data can be fused to obtain the positioning data of the device. The value of the fused positioning data on the x - coordinate can be expressed as follows:

[0081]

[0082] It can also be expressed as follows:

[0083]

[0084] β1,..., β M are weighting factors. The value of the fused positioning data on the y - coordinate can be expressed as follows:

[0085]

[0086] It can also be expressed as follows:

[0087]

[0088] The value of the fused positioning data on the z - coordinate can be expressed as follows:

[0089]

[0090] It can also be expressed as follows:

[0091]

[0092] When the device is in a moving state, a positioning device can be selected as the first positioning device first. When selecting the first positioning device, it can be selected randomly. Assume that the i - th positioning device is selected as the first positioning device. After that, the relative distances between the first positioning device and other positioning devices can be calculated or obtained, that is, d 1，i , …, d i-1.i , d i+1，i , …, d M，i . Obtain two sets of positioning data collected by each of the M positioning devices respectively, and 2M positioning data are obtained is the positioning data collected by the first positioning device at time t1, The positioning data collected by the first positioning device at time t2. Others are similar and will not be elaborated here. t1 and t2 are two different times, and the time interval between t1 and t2 is relatively small. The specific value can be related to the actual situation. For example, when the device is moving fast, the time interval between t1 and t2 can be made smaller; when the device is moving slowly, the time interval between t1 and t2 can be made larger. Here, the first positioning device and the i-th positioning device (i.e., the first positioning device) are taken as examples for illustration. First, the vector from the i-th positioning device to the first positioning device can be calculated. The vector P from the i-th positioning device to the first positioning device i，1 can be expressed as follows:

[0093]

[0094] After that, P i，1 the angle between and the earth's plane can be calculated. The angle α between P i，1 and the earth's plane i，1 can be expressed as follows:

[0095]

[0096] P i，1 the angle α between and the earth's plane i，1 can also be expressed as follows:

[0097]

[0098] |P i，1 | can be expressed as follows:

[0099]

[0100] P i，1 the angle α between and the earth's plane i，1 can also be expressed as follows:

[0101]

[0102] The angle α i，1 is an acute angle. After that, the relative distances d i，1 in different coordinates can be calculated according to the angle α 1，i The relative distance d 1，i in the x coordinate, d 1，i，x can be d 1，i cosα i1 cosδ, d 1，i The relative distance d 1，i，y in the y coordinate 1， i cosα i1 sinδ, d1，i Relative distance d on the z coordinate 1，i，z Can be d 1，i sinα i1 . δ is d 1，i The angle between the projection on the xy plane and the x coordinate, δ can be expressed as follows:

[0103]

[0104] It can be based on d 1，i，x , d 1，i，y and d 1，i，z Calculate the positioning data (x 1，i , y 1，i , z 1，i ) of the first positioning device for the position where the i-th positioning device is located, that is, translate the positioning data collected by the first positioning device to the position where the i-th positioning device is located. When x1 is greater than x i , the positioning data x 1，i of the first positioning device for the position where the i-th positioning device is located on the x coordinate can be When x1 is less than x i , the positioning data x 1，i of the first positioning device for the position where the i-th positioning device is located on the x coordinate can be When y1 is greater than y i , the positioning data y 1，i of the first positioning device for the position where the i-th positioning device is located on the y coordinate can be When y1 is less than y i , the positioning data y 1，i of the first positioning device for the position where the i-th positioning device is located on the y coordinate can be When z1 is greater than z i , the positioning data z 1，i of the first positioning device for the position where the i-th positioning device is located on the z coordinate can be When z1 is less than z i , the positioning data z 1，i of the first positioning device for the position where the i-th positioning device is located on the z coordinate can be After that, the first positioning data and M - 1 positioning data can be fused to obtain the positioning data of the device. The value of the fused positioning data on the x coordinate can be expressed as follows:

[0105]

[0106] Can also be expressed as follows:

[0107]

[0108] The value of the fused positioning data on the y-axis can be expressed as follows:

[0109]

[0110] It can also be expressed as follows:

[0111]

[0112] The value of the fused positioning data on the z-axis can be expressed as follows:

[0113]

[0114] It can also be expressed as follows:

[0115]

[0116] The device positioning method was used for 10 experiments, and the results of the 10 experiments can be as shown in Table 1:

[0117]

[0118]

[0119] Table 1 Results of 10 experiments

[0120] The relative positioning error of the device positioning method is the ratio of the absolute positioning error of the device positioning method to the absolute positioning error of the prior art. As shown in Table 1, the positioning error of the device positioning method is only 18% - 39% of the positioning error of the prior art. It can be seen that the positioning error of the present invention is smaller than that of the prior art. Therefore, the positioning accuracy is improved.

[0121] After determining the positioning data of the device according to the acquired positioning data and the acquired relative distance, in the case of being used for autonomous driving, the next driving path can be determined according to the positioning data, or the driving path can be adjusted. In the case of being used for a trailer, the driving distance of the trailer can be counted according to the positioning data, so that the user using the trailer can be charged according to the driving distance. In the case of being used for other application scenarios, the positioning data can be processed accordingly.

[0122] In Figure 2In the described device positioning method, positioning data is obtained. The positioning data is the positioning data collected by M positioning devices. The M positioning devices are M positioning devices at different positions on the device, and M is an integer greater than 1. The relative distance between the first positioning device and the second positioning device is obtained. The first positioning device is any one of the M positioning devices, and the second positioning device is one of the M positioning devices other than the first positioning device. The positioning data of the device is determined based on the positioning data and the relative distance. Since the device is positioned simultaneously by multiple positioning devices at different positions on the device and the relative distance between different positioning devices is considered, the error caused by different positions of different positioning devices is eliminated. Therefore, the positioning accuracy can be improved.

[0123] Please refer to Figure 4 , Figure 4 which is a schematic structural diagram of a device positioning device disclosed in an embodiment of the present invention. Among them, the device positioning device can be a positioning device, a vehicle head unit, an in-vehicle computer, a server, an electronic device, or other devices or equipment. As Figure 4 shown, the device positioning device may include:

[0124] A first acquisition unit 401, configured to acquire positioning data. The positioning data is the positioning data collected by M positioning devices. The M positioning devices are M positioning devices at different positions on the device, and M is an integer greater than 1.

[0125] A second acquisition unit 402, configured to acquire the relative distance between the first positioning device and the second positioning device. The first positioning device is any one of the M positioning devices, and the second positioning device is one of the M positioning devices other than the first positioning device.

[0126] A determination unit 403, configured to determine the positioning data of the device based on the positioning data and the relative distance.

[0127] In one embodiment, the determination unit 403 may include:

[0128] A calculation subunit 4031, configured to calculate the positioning data of the position where the first positioning device is located by the second positioning device according to the first positioning data, the second positioning data, and the relative distance, and obtain M - 1 positioning data. The first positioning data is the positioning data collected by the first positioning device in the positioning data, and the second positioning data is the positioning data collected by the second positioning device in the positioning data.

[0129] A fusion subunit 4032, configured to fuse the first positioning data and the M - 1 positioning data to obtain the positioning data of the device.

[0130] In one embodiment, the calculation subunit 4031 is specifically configured to:

[0131] Calculate the relative distances between the first positioning device and the second positioning device on different coordinates according to the first positioning data, the second positioning data, and the relative distance;

[0132] Calculate the positioning data of the position where the second positioning device is located with respect to the first positioning device according to the second positioning data and the relative distances on different coordinates, and obtain M - 1 positioning data.

[0133] In one embodiment, for the calculation subunit 4031 to calculate the relative distances between the first positioning device and the second positioning device on different coordinates according to the first positioning data, the second positioning data, and the relative distance includes:

[0134] Determine the angle between the straight line where the first positioning device and the second positioning device are located and the ground plane according to the first positioning data and the second positioning data;

[0135] Calculate the relative distances between the first positioning device and the second positioning device on different coordinates according to the angle and the relative distance.

[0136] In one embodiment, the fusion subunit 4032 is specifically configured to calculate the average data of the first positioning data and the M - 1 positioning data to obtain the positioning data of the device.

[0137] In one embodiment, the second acquisition unit 402 is specifically configured to acquire the stored relative distance between the first positioning device and the second positioning device.

[0138] In one embodiment, the second acquisition unit 402 is specifically configured to calculate the relative distance between the first positioning device and the second positioning device according to the first positioning data and the second positioning data.

[0139] For the detailed descriptions of the above - mentioned first acquisition unit 401, second acquisition unit 402, and determination unit 403, reference can be directly made to the relevant descriptions in the method embodiment shown above Figure 2 and will not be elaborated here.

[0140] Please refer to Figure 5 , Figure 5 which is a schematic structural diagram of another device positioning device disclosed in an embodiment of the present invention. Among them, the device positioning device can be a positioning device, a vehicle head unit, an in - vehicle computer, a server, an electronic device, or other devices or equipment. As Figure 5As shown, the device positioning apparatus may include a processor 501, a memory 502, an input interface 503, an output interface 504, and a connection line 505. The memory 502 may exist independently, and the connection line 505 is connected to the processor 501. The memory 502 may also be integrated with the processor 501. The connection line 505 may include a path for transmitting information between the above components. Among them, program instructions are stored in the memory 502, and the processor 501 is configured to call the program instructions stored in the memory 502 to perform the following operations:

[0141] Obtain positioning data, where the positioning data is the positioning data collected by M positioning devices. The M positioning devices are M positioning devices at different positions on the device, and M is an integer greater than 1;

[0142] Obtain the relative distance between a first positioning device and a second positioning device. The first positioning device is any one of the M positioning devices, and the second positioning device is a positioning device other than the first positioning device among the M positioning devices;

[0143] Determine the positioning data of the device based on the positioning data and the relative distance.

[0144] In one embodiment, the processor 501 determines the positioning data of the device based on the positioning data and the relative distance, including:

[0145] Calculate the positioning data of the second positioning device for the position where the first positioning device is located based on the first positioning data, the second positioning data, and the relative distance, to obtain M - 1 positioning data. The first positioning data is the positioning data collected by the first positioning device in the positioning data, and the second positioning data is the positioning data collected by the second positioning device in the positioning data;

[0146] Fuse the first positioning data and the M - 1 positioning data to obtain the positioning data of the device.

[0147] In one embodiment, the processor 501 calculates the positioning data of the second positioning device for the position where the first positioning device is located based on the first positioning data, the second positioning data, and the relative distance, to obtain M - 1 positioning data, including:

[0148] Calculate the relative distances between the first positioning device and the second positioning device on different coordinates based on the first positioning data, the second positioning data, and the relative distance;

[0149] Calculate the positioning data of the second positioning device for the position where the first positioning device is located based on the second positioning data and the relative distances on different coordinates, to obtain M - 1 positioning data.

[0150] In one embodiment, the processor 501 calculates the relative distances of the first positioning device and the second positioning device on different coordinates based on the first positioning data, the second positioning data, and the relative distance, including:

[0151] Determine the angle between the line where the first positioning device and the second positioning device are located and the ground plane according to the first positioning data and the second positioning data;

[0152] Calculate the relative distances of the first positioning device and the second positioning device on different coordinates according to the angle and the relative distance.

[0153] In one embodiment, the processor 501 fuses the first positioning data and M - 1 pieces of positioning data to obtain the positioning data of the device, including:

[0154] Calculate the average data of the first positioning data and M - 1 pieces of positioning data to obtain the positioning data of the device.

[0155] In one embodiment, the processor 501 obtains the relative distance between the first positioning device and the second positioning device, including:

[0156] Obtain the stored relative distance between the first positioning device and the second positioning device.

[0157] In one embodiment, the processor 501 obtains the relative distance between the first positioning device and the second positioning device, including:

[0158] Calculate the relative distance between the first positioning device and the second positioning device according to the first positioning data and the second positioning data.

[0159] In one embodiment, the input interface 503 is used to send or output information to other devices or the device.

[0160] In one embodiment, the output interface 504 is used to receive information from other devices or the device.

[0161] The embodiment of the present invention also discloses a computer - readable storage medium, on which a computer program is stored. When the computer program runs, it implements the device positioning method as Figure 2 shown.

[0162] The specific embodiments described above further elaborate on the purpose, technical solution, and beneficial effects of the present application. It should be understood that the above - mentioned are only specific embodiments of the present application and are not used to limit the protection scope of the present application. Any modifications, equivalent replacements, improvements, etc. made on the basis of the technical solution of the present application should be included in the protection scope of the present application.

Claims

1. A device positioning method, characterized in that, Including: Obtain positioning data, where the positioning data is the positioning data collected by M positioning devices, and the M positioning devices are M positioning devices arranged at different positions on the device, and M is an integer greater than 1; Obtain the relative distance between a first positioning device and a second positioning device, where the first positioning device is any one of the M positioning devices, and the second positioning device is a positioning device among the M positioning devices other than the first positioning device, and the positioning data includes the first positioning data collected by the first positioning device and the second positioning data collected by the second positioning device; According to the first positioning data, the second positioning data and the relative distance in the positioning data, calculate the relative distances between the first positioning device and the second positioning device on different coordinates; According to the second positioning data and the relative distances on different coordinates, calculate the positioning data of the position where the second positioning device is located with respect to the first positioning device, and obtain M - 1 positioning data; Calculate the average data of the first positioning data and the M - 1 positioning data to obtain the positioning data of the device.

2. The method according to claim 1, wherein The calculating the relative distances between the first positioning device and the second positioning device on different coordinates according to the first positioning data, the second positioning data and the relative distance includes: According to the first positioning data and the second positioning data, determine the angle between the straight line where the first positioning device and the second positioning device are located and the earth's plane; Calculate the relative distances between the first positioning device and the second positioning device on different coordinates according to the angle and the relative distance.

3. The method according to claim 1 or 2, characterized in that, The obtaining the relative distance between the first positioning device and the second positioning device includes: Obtain the stored relative distance between the first positioning device and the second positioning device.

4. The method according to claim 1 or 2, characterized in that, The obtaining the relative distance between the first positioning device and the second positioning device includes: According to the first positioning data and the second positioning data, calculate the relative distance between the first positioning device and the second positioning device.

5. A device positioning device, characterized in that, Including: A first obtaining unit for obtaining positioning data, where the positioning data is the positioning data collected by M positioning devices, and the M positioning devices are M positioning devices arranged at different positions on the device, and M is an integer greater than 1; A second obtaining unit for obtaining the relative distance between a first positioning device and a second positioning device, where the first positioning device is any one of the M positioning devices, and the second positioning device is a positioning device among the M positioning devices other than the first positioning device, and the positioning data includes the first positioning data collected by the first positioning device and the second positioning data collected by the second positioning device; A determining unit for determining the positioning data of the device according to the positioning data and the relative distance; The determining unit includes: A calculation subunit, configured to calculate the relative distances of the first positioning device and the second positioning device on different coordinates according to the first positioning data, the second positioning data, and the relative distance in the positioning data; calculate the positioning data of the position where the second positioning device is located with respect to the first positioning device according to the second positioning data and the relative distances on different coordinates, to obtain M-1 positioning data; A fusion subunit, configured to fuse the first positioning data and the M-1 positioning data to obtain the positioning data of the device, including: calculating the average data of the first positioning data and the M-1 positioning data to obtain the positioning data of the device.

6. A device positioning device, characterized in that, It includes a processor, a memory, an input interface, and an output interface. The memory is used to store a set of computer program codes. The input interface is used to receive information from other devices outside the device. The output interface is used to output information to other devices outside the device. The processor is used to call the computer program codes stored in the memory to implement the device positioning method according to any one of claims 1-4.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program or computer instructions. When the computer program or computer instructions are run, the device positioning method according to any one of claims 1-4 is implemented.

8. A computer program product, characterized in that, When the computer program product runs on a computer, the computer is caused to execute the device positioning method according to any one of claims 1-4.

Images