Positioning and deviation correction method and device

Abstract

The present invention relates to a positioning deviation correction method and device, the deviation correction method comprising: 1. acquiring the acquisition time, position time, position data and accuracy of a point to be corrected, as well as the acquisition time, position data and accuracy of two adjacent high-precision positioning points; 2. calculating the coordinate position of the corrected actual point through a deviation correction algorithm; the present invention makes full use of the characteristics of TRACKER, bracelet and other terminal devices using multiple positioning sources, and uses the information of high-precision points through relevant algorithms to correct low-precision points, so that it will not be overly dependent on a certain positioning source information, and will not filter out user information, so the implementation method is simple and efficient, and the user experience is greatly improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of positioning and tracking, and in particular relates to a positioning and deviation correction method and device. Background Art

[0002] Since mobile terminals were given positioning functions, people's demand for location control has gradually expanded, and products with small size and positioning functions such as TRACKER and bracelets have emerged. Our company has also launched the SBMT1001TRACKER project and put it into the Japanese market. It usually obtains positioning information through three methods: global positioning system (GPS) technology, wireless LAN positioning technology, and base station positioning technology; after the T1001SBM project was shipped to the Japanese market, Softbank often received complaints about inaccurate positioning. We analyzed the positioning data recorded by the server and found that GPS positioning is very accurate, while inaccurate positioning points basically come from WIFI positioning or base station positioning. The error of WIFI positioning is generally about 20 meters, while the positioning error of the base station can reach several kilometers, and when the WIFI device is moved, there can also be errors of several kilometers. When these original positioning data are not processed, a curved track is displayed on the map, which obviously does not meet customer expectations.

[0003] Later, we tried to use the API algorithms provided by Amap or Baidu Maps to perform corrections, but found that the conditions we collected sometimes did not meet the API requirements of Amap or Baidu Maps. In addition, Amap or Baidu Maps corrected the points that we thought were precise and did not want to be corrected. Therefore, the positioning of Amap or Baidu Maps is more suitable for use in vehicles or mobile phones, and is not applicable to devices such as TRACKER and bracelets.

[0004] Some of the correction technologies that can be found at present include GPS positioning correction, which is to obtain multiple GPS coordinate points to form a GPS coordinate point set; use a clustering algorithm to classify the GPS coordinate point set to determine one or more sub-cluster sets; determine the center coordinate point of all GPS coordinate points in the sub-cluster set with the largest number of members as the destination GPS coordinate point. This method is heavily dependent on GPS and cannot solve the situation where GPS cannot be obtained in tunnels or underground garages; another method is to filter out some invalid positioning points through a series of judgments, but this method will cause users to lose information.

[0005] Therefore, there is no deviation correction method suitable for mobile terminals for positioning and deviation correction operations of mobile terminals. Summary of the invention

[0006] The purpose of the present invention is to overcome the defects of the prior art and provide a positioning correction method and device to solve the problems of inaccurate position and large offset caused by some low-precision sources in the positioning of mobile terminals.

[0007] To achieve the above purpose, the technical solution adopted by the present invention is as follows:

[0008] Technical solution 1:

[0009] A positioning and deviation correction method, characterized by comprising:

[0010] Obtain the acquisition time, location time, location data and accuracy of the point to be corrected, as well as the acquisition time, location data and accuracy of the two adjacent high-precision positioning points;

[0011] The coordinate position of the corrected actual point is calculated through the correction algorithm;

[0012] The correction algorithm includes:

[0013] Assume that the point to be corrected is point D, the high-precision positioning point from the point to be corrected to the point to be corrected with the acquisition time before is point A, and the high-precision positioning point after is point B;

[0014] Calculate the distance L between point A and point B AB ; and the time interval Δt1 between point D and point A, and the time interval Δt2 between point D and point B;

[0015] According to the ratio of the distance between point C and point B to the distance between point C and point A being equal to the ratio of the time interval Δt2 between point D and point B to the time interval Δt1 between point D and point A, find the reference point C on the line segment AB formed by the line connecting point A and point B;

[0016] In the triangular area formed by point A, point B and point D, M hypothetical points E are uniformly selected, M ≥ 10, and the coordinates of point E are set to be E(x, y). The distances from M points E to points C and D are corrected using the precision value to obtain the corrected value N of each point E.

[0017] Find the point E with the smallest N value among the M points E, and the coordinates of the point E with the smallest N value are the coordinates of the corrected actual point.

[0018] Furthermore, let the point to be corrected be point D, and the accuracy of point D be r d ,

[0019] Suppose the high-precision positioning point whose acquisition time is before the point to be corrected is point A, and the acquisition time of point A is T A , the coordinates of point A are (A x , A y );

[0020] Suppose the high-precision positioning point whose acquisition time is after the point to be corrected is point B, and the acquisition time of point B is T B , the coordinates of point B are (B x , B y );

[0021] Calculate the distance L from point A to point B AB ,

[0022] Calculate the time interval Δt1 between point A and point D, Δt1 = T D -T A ;

[0023] Calculate the time interval Δt2 between point D and point B, Δt2 = T B -T D ;

[0024] Let the distance from point C to point A be L CA , let the distance from point C to point B be L CB According to L CB / L CA =Δt2 / Δt1, find the reference point C on the line segment AB formed by the line connecting points A and B. The coordinates of point C are

[0025] Calculate the accuracy r of point C c ;

[0026] In the triangular area formed by point A, point B and point D, M hypothetical points E are uniformly selected, M ≥ 10, and the coordinates of point E are set to be E(x, y). The distances from M points E to points C and D are corrected using the precision value to obtain the corrected value N of each point E.

[0027] The formula for correction using the precision value is:

[0028]

[0029] Find the point E with the smallest N value among the M points E, and the coordinates of the point E with the smallest N value are the coordinates of the corrected actual point.

[0030] Furthermore, the accuracy of point C is r c The calculation formula is:

[0031] Furthermore, after obtaining the acquisition time, location time, location data and accuracy of the point to be corrected, as well as the acquisition time, location data and accuracy information of the two adjacent high-precision positioning points, it is necessary to draw a coordinate system;

[0032] The coordinate system is drawn with point A as the origin and the straight line connecting point A and point B as the y-axis. At this time, the coordinate of point A (A x , A y )=(0,0); the coordinates of point B (B x , B y )=(0,B y ), then L AB =B y ; The coordinates of point c are

[0033] Furthermore, before obtaining the collection time, location time, location data and accuracy of the point to be corrected, as well as the collection time, location data and accuracy of the two adjacent high-precision positioning points, it is also necessary to detect and identify the points that deviate from the trajectory line, and obtain the initial positioning points of the terminal device positioning and tracking reported by the network server, and draw the trajectory line, and then detect the trajectory line of the positioning and tracking in real time, and identify the points that obviously deviate from the trajectory line to obtain the point to be corrected.

[0034] Furthermore, the method for determining the points that obviously deviate from the trend of the trajectory line is as follows:

[0035] On the drawn trajectory line, take P consecutive initial positioning points as a group for detection according to the acquisition time, and collect the distance X between adjacent initial positioning points, and calculate the average value

[0036] Among the P initial positioning points, let the i-th positioning point be point i, 1<i<P, the adjacent initial positioning point in front of point i is point i-1; the adjacent initial positioning point behind point n is point i+1; then the distance between point i and point i-1 is X(i-1)i, and the distance between point i and point i+1 is Xi(i+1); then set the difference threshold H;

[0037] when and When all the above conditions are met at the same time, the i-th point is considered to be a point that deviates significantly from the trajectory line, that is, a point to be corrected.

[0038] Furthermore, the average The calculation formula is:

[0039]

[0040] Furthermore, the high-precision positioning point refers to a positioning point whose positioning information comes from the global positioning system technology or a positioning point positioned via three WiFi SSIDs.

[0041] Technical solution 2:

[0042] A positioning and deviation correction device, characterized in that it comprises a main control module, a track detection module, a deviation correction module and an information interaction module respectively connected to the main control module in communication;

[0043] The main control module is used to control the process sequence of the positioning and correction method; it is also used to receive the initial positioning point of the terminal device positioning and tracking reported by the network server through the information interaction module, and draw the initial trajectory line of the positioning and tracking, and is also used to receive the coordinate position of the actual point corrected by the correction module, and draw the corrected positioning and tracking trajectory line; it is also used to request the collection time, location time, location data and accuracy of the point to be corrected from the network server through the information interaction module, as well as the collection time, location data and accuracy of the two adjacent high-precision positioning points, and then send them to the correction module;

[0044] The track detection module is used to receive the operation instructions of the main control module, detect the track line of positioning and tracking in real time, identify the points that obviously deviate from the trend of the track line, obtain the points to be corrected, and transmit the information of the points to be corrected to the main control module;

[0045] The correction module integrates a correction algorithm and is used to receive operation instructions from the main control module, perform correction operations on the point to be corrected, and obtain the coordinate position of the corrected actual point;

[0046] The information interaction module is a medium for information transmission, and is used to receive operation instructions from the main control module and interact with the network server.

[0047] Technical solution three:

[0048] A computer-readable storage medium stores a computer program, wherein the computer program enables a computer to execute the above positioning and deviation correction method.

[0049] Compared with the prior art, the present invention has the following beneficial effects:

[0050] The present invention makes full use of the characteristics of TRACKER, bracelet and other terminal devices using multiple positioning sources, and uses the information of high-precision points through relevant algorithms to correct low-precision points. It will not overly rely on the information of a certain positioning source, and will not filter out the user's information. The implementation method is simple and efficient, and the user experience is greatly improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 is a workflow diagram of a positioning and deviation correction method in one embodiment of the present invention;

[0052] Figure 2 is a real-time trajectory line drawn in one embodiment of the present invention;

[0053] Figure 3is a coordinate system drawn in one embodiment of the present invention;

[0054] Figure 4 A structural block diagram of a positioning and deviation correction device in one embodiment of the present invention DETAILED DESCRIPTION

[0055] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0056] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0057] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0058] The present invention is described in further detail below with reference to the accompanying drawings.

[0059] Figure 1 An embodiment of a positioning and deviation correction method of the present invention is shown, comprising:

[0060] S1. The main control module obtains the initial positioning point of the terminal device positioning and tracking reported by the network server, and draws a real-time trajectory line; the positioning information of the initial positioning point comes from the global positioning system (GPS) technology, wireless local area network positioning technology and base station positioning technology; the terminal device includes a TRACKER positioning tracker, a smart bracelet, etc.

[0061] S2, the trajectory detection module detects the real-time trajectory line of the positioning tracking in real time, and identifies the points that obviously deviate from the trajectory line trend, and obtains the points to be corrected; Figure 2 The curve shown in is the real-time trajectory line, and the fifth point 5 is the point that obviously deviates from the trajectory line trend, that is, the point to be corrected.

[0062] Among them, the method for judging the points that obviously deviate from the trend of the trajectory line is:

[0063] On the drawn trajectory, Figure 2 As shown in the figure, the trajectory detection module takes P consecutive initial positioning points as a group for detection according to the acquisition time, P ≥ 10, and collects the distance X between adjacent initial positioning points and calculates the average value

[0064] The average The calculation formula is:

[0065]

[0066] Among the P initial positioning points, let the i-th positioning point be point i, 1<i<P, the adjacent initial positioning point in front of point i is point i-1; the adjacent initial positioning point behind point i is point i+1; then the distance between point i and point i-1 is X(i-1)i, and the distance between point i and point i+1 is Xi(i+1); then set the difference threshold H;

[0067] when and When all the above conditions are met at the same time, the i-th point is considered to be a point that deviates significantly from the trajectory line, that is, a point to be corrected.

[0068] S3, obtaining the collection time, location time, location data and accuracy of the point to be corrected from the network server, as well as the collection time, location data and accuracy of the two adjacent high-precision positioning points; the high-precision positioning point refers to a positioning point whose positioning information comes from the global positioning system (GPS) technology or a positioning point located by three WiFi SSIDs;

[0069] S4. Calculate the coordinate position of the corrected actual point through a correction algorithm; the correction algorithm specifically includes:

[0070] Suppose the high-precision positioning point whose acquisition time is before the point to be corrected is point A, and the acquisition time of point A is T A , the coordinates of point A are (A x , A y )

[0071] Suppose the high-precision positioning point whose acquisition time is after the point to be corrected is point B, and the acquisition time of point B is T B , the coordinates of point B are (B x , B y );

[0072] Assume that the point to be corrected is point D, and the accuracy of point D is r d ;

[0073] Draw the coordinate system. When drawing the coordinate system, in order to simplify the calculation of each formula in the correction algorithm, choose point A as the origin and the straight line connecting point A and point B as the y-axis to draw the coordinate system; Figure 3 As shown, at this time, the coordinates of point A are (A x , A y )=(0,0); the coordinates of point B are (B x , B y )=(0,B y ),

[0074] Calculate the distance L from point A to point B AB ,

[0075] Calculate the time interval Δt1 between point A and point D, Δt1 = T D -T A ;

[0076] Calculate the time interval Δt2 between point D and point B, Δt2 = T B -T D ;

[0077] Let the distance from point C to point A be L CA , let the distance from point C to point B be L CB According to L CB / L CA =Δt2 / Δt1, find a point C on the line segment AB formed by the line connecting points A and B as the reference point. The coordinates of point C are:

[0078]

[0079] Calculate the accuracy r of point C c ,

[0080] In the triangular area formed by point A, point B and point D, M hypothetical points E are uniformly selected, M ≥ 10, and the coordinates of point E are set to be E(x, y). The distances from M points E to points C and D are corrected using the precision value to obtain the corrected value N of each point E.

[0081] The formula for correction using the precision value is:

[0082]

[0083] Find the point E with the smallest N value among the M points E, and the coordinates of the point E with the smallest N value are the coordinates of the corrected actual point.

[0084] S5. Draw the corrected trajectory line based on the corrected coordinate position of the actual point;

[0085] The corrected trajectory line is a smooth curve, which greatly improves the user experience.

[0086] In order to implement the above method, Figure 4 It also shows an embodiment of a positioning and deviation correction device of the present invention, comprising a main control module 1, a track detection module 2, a deviation correction module 3 and an information interaction module 4 respectively connected to the main control module 1 in communication;

[0087] The main control module 1 is used to control the process sequence of the positioning and correction method; the main control module is also used to receive the initial positioning point of the terminal device positioning and tracking reported by the network server through the information interaction module, and draw the positioning and tracking trajectory line, and is also used to request the collection time, position time, position data and accuracy of the point to be corrected from the network server through the information interaction module, as well as the collection time, position data and accuracy of the two adjacent high-precision positioning points, and send them to the correction module, and is also used to receive the coordinate position of the actual point corrected by the correction module, and draw the corrected positioning and tracking trajectory line.

[0088] The track detection module 2 is used to receive the operation instructions of the main control module, detect the track line of the positioning tracking in real time, identify the points that obviously deviate from the trend of the track line, obtain the points to be corrected, and transmit the information of the points to be corrected to the main control module;

[0089] The correction module 3 integrates a correction algorithm, and is used to receive the operation instruction of the main control module, perform correction operation on the point to be corrected, and obtain the coordinate position of the corrected actual point;

[0090] The information interaction module 4 is a medium for information transmission, and is used to receive operation instructions from the main control module and interact with the network server.

[0091] Furthermore, the positioning and deviation correction device is mounted on a mobile phone.

[0092] The operation steps of positioning and correcting by using the above positioning and correcting device are as follows:

[0093] Step 1: The terminal device such as TRACKER positioning tracker, smart bracelet, etc. detects whether GPS is available. If GPS is available, the GPS information is reported to the network server;

[0094] Step 2: When GPS is unavailable, the terminal device scans the surrounding Wi-Fi and base station information and reports it to the network server;

[0095] Step 3: The network server calculates the corresponding coordinates based on the wifi and base station data stored in itself and the information reported by the Tracker;

[0096] Step 4: The main control module obtains the positioning information of the terminal device and the positioning initial point, and draws the real-time trajectory line;

[0097] Step 5: When the main control module draws the real-time trajectory line, the trajectory detection module detects the real-time trajectory line in real time;

[0098] Step 6: When a point is found that is obviously deviated from the real-time trajectory, it is determined as a point that needs to be corrected (in the positioning of terminal devices such as TRACKER positioning trackers and smart bracelets, the points that deviate from the real-time trajectory usually come from WiFi positioning and base station positioning), as follows Figure 2 Midpoint 5 and Figure 3 Point D in the figure, and then send the position information of the point to be corrected to the main control module;

[0099] Step 7: The main control module obtains the acquisition time, position data, and accuracy of the point to be corrected, as well as the acquisition time, position data, and accuracy of the two adjacent high-precision positioning points from the network server through the information interaction module;

[0100] Step 8: The main control module sends the information obtained in step 7 to the correction module.

[0101] S008: The correction module performs correction calculation according to the request of the main control module and outputs the position coordinates of the actual point after correction. The specific correction algorithm is shown in S4.

[0102] Step 9: The main control module uses the position coordinates of the corrected actual point to draw the corrected actual trajectory line.

[0103] A computer-readable storage medium stores a computer program, wherein the computer program enables a computer to execute the above positioning and deviation correction method.

[0104] The above-described embodiments are only preferred embodiments of the present invention, and are not exhaustive of the feasible implementations of the present invention. For those skilled in the art, any obvious changes made thereto without departing from the principles and spirit of the present invention should be considered to be included in the scope of protection of the claims of the present invention.

Claims

1. A positioning and deviation correction method, characterized in that: include: Obtain the acquisition time, location time, location data and accuracy of the point to be corrected, as well as the acquisition time, location data and accuracy of the two adjacent high-precision positioning points; The coordinate position of the corrected actual point is calculated through the correction algorithm; The correction algorithm includes: Assume that the point to be corrected is point D, the high-precision positioning point whose acquisition time is before the point to be corrected is point A, and the high-precision positioning point whose acquisition time is after the point to be corrected is point B; Calculate the distance L between point A and point B AB ; and the time interval Δt1 between point D and point A, and the time interval Δt2 between point D and point B; According to the ratio of the distance between point C and point B to the distance between point C and point A being equal to the ratio of the time interval Δt2 between point D and point B to the time interval Δt1 between point D and point A, find the reference point C on the line segment AB formed by the line connecting point A and point B; In the triangular area formed by point A, point B and point D, M hypothetical points E are uniformly selected, M ≥ 10, and the coordinates of point E are set to be E(x, y). The distances from M points E to points C and D are corrected using the precision value to obtain the corrected value N of each point E. Find the point E with the smallest N value among the M points E, and the coordinates of the point E with the smallest N value are the coordinates of the corrected actual point.

2. A positioning and deviation correction method according to claim 1, characterized in that: The correction algorithm specifically includes: Assume that the point to be corrected is point D, and the accuracy of point D is r d , Suppose the high-precision positioning point whose acquisition time is before the point to be corrected is point A, and the acquisition time of point A is T A , the coordinates of point A are (A x , A y ); Suppose the high-precision positioning point whose acquisition time is after the point to be corrected is point B, and the acquisition time of point B is T B , the coordinates of point B are (B x , B y ); Calculate the distance L from point A to point B AB , Calculate the time interval Δt1 between point A and point D, Δt1 = T D -T A ; Calculate the time interval Δt2 between point D and point B, Δt2 = T B -T D ; Let the distance from point C to point A be L CA , let the distance from point C to point B be L CB According to L CB / L CA =Δt2 / Δt1, find the reference point C on the line segment AB formed by the line connecting points A and B. The coordinates of point C are Calculate the accuracy r of point C c ; In the triangular area formed by point A, point B and point D, M hypothetical points E are uniformly selected, M ≥ 10, and the coordinates of point E are set to be E(x, y). The distances from M points E to points C and D are corrected using the precision value to obtain the corrected value N of each point E. The formula for correction using the precision value is: Find the point E with the smallest N value among the M points E, and the coordinates of the point E with the smallest N value are the coordinates of the corrected actual point.

3. A positioning and deviation correction method according to claim 2, characterized in that: The accuracy of the point C is r c The calculation formula is:

4. A positioning and deviation correction method according to claim 2, characterized in that: After obtaining the acquisition time, location time, location data and accuracy of the point to be corrected, as well as the acquisition time, location data and accuracy information of the two adjacent high-precision positioning points, it is also necessary to draw a coordinate system; The coordinate system is drawn with point A as the origin and the straight line connecting point A and point B as the y-axis. At this time, the coordinate of point A (A x ,A y )=(0,0); the coordinates of point B (B x , B y )=(0,B y ), then L AB =B y ; The coordinates of point C are 5. A positioning and deviation correction method according to claim 1, characterized in that: Before obtaining the collection time, location time, location data and accuracy of the point to be corrected, as well as the collection time, location data and accuracy of the two adjacent high-precision positioning points, it is also necessary to obtain the initial positioning point of the terminal device positioning tracking reported by the network server, draw the trajectory line, and then detect the positioning tracking trajectory line in real time, and identify the points that obviously deviate from the trajectory line to obtain the point to be corrected.

6. A positioning and deviation correction method according to claim 1, characterized in that: The method for judging the points that obviously deviate from the trend of the trajectory line is: On the drawn trajectory line, take P consecutive initial positioning points as a group for detection according to the acquisition time, and collect the distance X between adjacent initial positioning points, and calculate the average value Among the P initial positioning points, let the i-th positioning point be point i, 1<i<P, the adjacent initial positioning point in front of point i is point i-1; the adjacent initial positioning point behind point n is point i+1; Then the distance between point i and point i-1 is X(i-1)i, and the distance between point i and point i+1 is Xi(i+1); then set the difference threshold H; when and When all the above conditions are met at the same time, the i-th point is considered to be a point that deviates significantly from the trajectory line, that is, a point to be corrected.

7. A positioning and deviation correction method according to claim 6, characterized in that: The average The calculation formula is:

8. A positioning and deviation correction method according to claim 5, characterized in that: The high-precision positioning point refers to a positioning point whose positioning information comes from the global positioning system technology or a positioning point positioned via three WiFi SSIDs.

9. A positioning and deviation correction device, characterized in that: It includes a main control module, a trajectory detection module, a deviation correction module and an information interaction module which are respectively connected to the main control module in communication; The main control module is used to control the process sequence of the positioning and correction method; it is also used to receive the initial positioning point of the terminal device positioning and tracking reported by the network server through the information interaction module, and draw the initial trajectory line of the positioning and tracking, and is also used to receive the coordinate position of the actual point corrected by the correction module, and draw the corrected positioning and tracking trajectory line; it is also used to request the collection time, location time, location data and accuracy of the point to be corrected from the network server through the information interaction module, as well as the collection time, location data and accuracy of the two adjacent high-precision positioning points, and then send them to the correction module; The track detection module is used to receive the operation instructions of the main control module, detect the track line of positioning and tracking in real time, identify the points that obviously deviate from the trend of the track line, obtain the points to be corrected, and transmit the information of the points to be corrected to the main control module; The correction module integrates a correction algorithm and is used to receive operation instructions from the main control module, perform correction operations on the point to be corrected, and obtain the coordinate position of the corrected actual point; The information interaction module is a medium for information transmission, and is used to receive operation instructions from the main control module and interact with the network server; Wherein, the correction algorithm includes: Assume that the point to be corrected is point D, the high-precision positioning point whose acquisition time is before the point to be corrected is point A, and the high-precision positioning point whose acquisition time is after the point to be corrected is point B; Calculate the distance L between point A and point B AB ; and the time interval Δt1 between point D and point A, and the time interval Δt2 between point D and point B; According to the ratio of the distance between point C and point B to the distance between point C and point A being equal to the ratio of the time interval Δt2 between point D and point B to the time interval Δt1 between point D and point A, find the reference point C on the line segment AB formed by the line connecting point A and point B; In the triangular area formed by point A, point B and point D, M hypothetical points E are uniformly selected, M ≥ 10, and the coordinates of point E are set to be E(x, y). The distances from M points E to points C and D are corrected using the precision value to obtain the corrected value N of each point E. Find the point E with the smallest N value among the M points E, and the coordinates of the point E with the smallest N value are the coordinates of the corrected actual point.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, wherein the computer program enables a computer to execute a positioning and correction method as described in any one of claims 1-8.

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