Location positioning methods, terminals and storage media

Abstract

The embodiment of the present application provides a kind of position positioning method, terminal and storage medium, belong to the field of positioning.The method comprises: receiving the position request information sent by first terminal, and the position information of second terminal is acquired based on the position request information;According to the position information of the second terminal, the sharing weight of the second terminal is calculated;The position information and sharing weight of the second terminal are sent to the first terminal, so that the first terminal calculates the position information of the first terminal based on the position information and sharing weight of the second terminal;Wherein, the first terminal is the terminal that fails to collect position information, and the second terminal is the terminal that can normally collect position information.The technical scheme of the embodiment of the present application can complement the lost position information by the position information of other terminals when the terminal loses the position information, and improve the accuracy of the obtained position information.

Description

Technical Field

[0001] This invention relates to the field of road location measurement, and more particularly to a location positioning method, terminal, and storage medium. Background Technology

[0002] In network optimization drive testing scenarios, terminals are typically used to test network quality. For single-terminal positioning, when the terminal loses its location signal, timely location updates cannot be obtained, and the ability to continuously collect location information cannot be effectively guaranteed. Furthermore, in tests using multiple terminals, situations often arise where the location information of one terminal is lost, while other terminals receive location information normally. To address the problem of missing location information, inertial navigation systems or triangulation are typically used to fill in the missing points, but the accuracy of this later-stage filling is low.

[0003] Therefore, how to obtain the terminal's location at the moment when location information is lost, and how to improve the accuracy of the obtained location information, has become an urgent problem to be solved. Summary of the Invention

[0004] The main objective of this invention is to provide a location positioning method, a terminal, and a storage medium, which aims to obtain the location of the terminal when location information is lost, thereby improving the accuracy of the obtained location information.

[0005] In a first aspect, embodiments of the present invention provide a location positioning method, including:

[0006] The system receives a location request message from a first terminal and obtains the location information of a second terminal based on the location request message; calculates the shared weight of the second terminal based on the location information of the second terminal; and sends the location information and shared weight of the second terminal to the first terminal, so that the first terminal calculates its own location information based on the location information and shared weight of the second terminal. The first terminal is a terminal that failed to collect location information, and the second terminal is a terminal that can collect location information normally.

[0007] Secondly, embodiments of the present invention also provide a terminal, the terminal including a processor, a memory, a GPS module, a computer program stored in the memory and executable by the processor, and a data bus for implementing communication between the processor and the memory, wherein when the computer program is executed by the processor, it implements the steps of any of the location positioning methods provided in this specification.

[0008] Thirdly, embodiments of the present invention also provide a storage medium for computer-readable storage, the storage medium storing one or more programs, the one or more programs being executable by one or more processors to implement the steps of any of the location positioning methods provided in this specification.

[0009] This invention provides a location positioning method, terminal, and storage medium. The method involves receiving a location request from a first terminal, obtaining the location information of a second terminal based on this request, calculating a shared weight for the second terminal based on its location information, and finally sending the location information and shared weight of the second terminal to the first terminal. This allows the first terminal to calculate its own location based on the location information and shared weight, thus achieving location positioning of the first terminal. The first terminal is one that failed to acquire location information, while the second terminal is one that can acquire location information normally. Through multi-terminal joint positioning, when the first terminal loses its positioning capability, it can supplement its missing location information based on the location information of the second terminal, enabling the first terminal to obtain the missing location information and improving the accuracy of the obtained location information. Attached Figure Description

[0010] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0011] Figure 1 This is a flowchart illustrating a location positioning method provided in an embodiment of the present invention;

[0012] Figure 2 This is a flowchart illustrating the sub-steps of a location positioning method provided in an embodiment of the present invention;

[0013] Figure 3 A flowchart illustrating another location positioning method provided in an embodiment of the present invention;

[0014] Figure 4 This is a schematic block diagram of the structure of a terminal provided in an embodiment of the present invention. Detailed Implementation

[0015] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0016] The flowchart shown in the attached diagram is for illustrative purposes only and does not necessarily include all content and operations / steps, nor does it necessarily have to be performed in the order described. For example, some operations / steps can be broken down, combined, or partially merged, so the actual execution order may change depending on the actual situation.

[0017] It should be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the invention. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0018] This invention provides a location positioning method, a terminal, and a storage medium. The location positioning method can be applied to a terminal, such as a mobile phone, tablet computer, laptop computer, desktop computer, personal digital assistant, and wearable device. Furthermore, the location positioning method can also be applied to the cloud for data processing and computation.

[0019] The location positioning method provided in this invention can be applied not only to outdoor signals, i.e., in environments where multiple terminals are used for path determination and positioning, but also to indoor inertial navigation equipment positioning scenarios. Based on the external location information between devices, the current indoor positioning information of the inertial navigation system can be assigned, thereby obtaining the indoor positioning position in real time.

[0020] The following detailed description of some embodiments of the present invention is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0021] Please refer to Figure 1 , Figure 1 This is a flowchart illustrating a location positioning method provided in an embodiment of the present invention.

[0022] like Figure 1 As shown, the location positioning method includes steps S101 to S103.

[0023] Step S101: Receive the location request information sent by the first terminal, and obtain the location information of the second terminal based on the location request information.

[0024] The first terminal is the terminal that failed to collect location information, and the second terminal is the terminal that can collect location information normally.

[0025] When the terminal fails to collect location information, the terminal, acting as the first terminal, sends a location request message, which enables the location information of the second terminal to be obtained based on the location request message.

[0026] In practice, after the first terminal sends a location request, each second terminal can obtain its own location information based on the location request to calculate the location information of the first terminal. Alternatively, the cloud can obtain the location information of each second terminal based on the location request to calculate the location information of the first terminal.

[0027] Understandably, there can be multiple first terminals and multiple second terminals. When there are multiple first terminals, each first terminal will send a location request message. After receiving the location request message, the location information of each second terminal is obtained in order to calculate the location information of the first terminal.

[0028] In the specific implementation process, the location information includes the MAC address and IP address of the second terminal, the time of location information collection, and the location information collected at each collection time. Among them, the location information collected by the second terminal at each collection time is geographical location information, including the location longitude and latitude.

[0029] Understandably, in this application, when calculating the location information of the first terminal based on the location information of the second terminal, the calculated location information of the first terminal is also geographical location information. During the calculation process, address information such as the MAC address and IP address of the second terminal are not involved in the data calculation.

[0030] In one embodiment, the location request information includes the start time when the first terminal failed to acquire location information; acquiring the location information of the second terminal based on the location request information includes: acquiring multiple location information of the second terminal before the start time based on the start time.

[0031] The location request information includes the start time of the first terminal's failure to collect location information, that is, the moment when the first terminal began to be unable to collect location information normally. In specific implementations, the location request information may also include the reason for the failure to collect location information and information such as the IP address of the first terminal. For example, the reason for the failure to collect location information could be a weak GPS signal.

[0032] When acquiring the location information of the second terminal, it can be acquired based on the start time when the first terminal cannot acquire location information, that is, acquiring multiple location information collected by the second terminal before the start time.

[0033] In one embodiment, the location information includes the location information at the start time and multiple consecutive location information prior to the start time. That is, the acquired location information of the second terminal includes the location information collected by the second terminal at the start time when the first terminal could not collect location information normally, as well as multiple consecutive location information collected by the second terminal before that start time.

[0034] For example, when the first terminal is unable to collect location information normally from time T0, the starting time is time T0. At this time, the location information collected by the second terminal at time T0, as well as the location information collected by the second terminal at several consecutive collection times before time T0, are obtained.

[0035] Step S102: Calculate the shared weight of the second terminal based on the location information of the second terminal.

[0036] After obtaining the location information of the second terminal, the sharing weight of the second terminal can be calculated based on the location information of the second terminal. The sharing weight refers to the weight of the second terminal's ability to contribute its location information to the first terminal.

[0037] Because the object is in uniform motion within a continuous, relatively small time window, and typically the time interval between two adjacent acquisition moments of the second terminal is the same. For example, the second terminal acquires position information at times T0, T0+1, and T0+2, with the time interval between the three acquisition moments being the same.

[0038] Therefore, theoretically, the movement distance of the second terminal between adjacent acquisition times should be equal. That is, the movement distance D1 of the second terminal between time T0 and time T0+1 should be equal to the movement distance D2 of the second terminal between time T0+1 and time T0+2, i.e., D1 = D2.

[0039] Considering the time-varying nature of GPS signals and the surrounding environment, location information collected from the same terminal at the same geographical location exhibits temporal fluctuations, meaning the location information of the second terminal also fluctuates. Therefore, the sharing weight of the second terminal can be determined based on the change in the distance traveled by the second terminal between different collection times over a period of time.

[0040] If the change in the movement distance of the second terminal between different data collection times is greater, the accuracy of the location information collected by the second terminal is considered low, and correspondingly, the sharing weight of the second terminal is lower. Conversely, if the change in the movement distance of the second terminal between different data collection times is smaller, the accuracy of the location information collected by the second terminal is considered high, and correspondingly, the sharing weight of the second terminal is higher.

[0041] In one embodiment, since each second terminal will have multiple collected location information, and the changes in the collected location information will also be different depending on the movement state of the second terminal.

[0042] For example, when the second terminal moves at a faster speed, the position of the second terminal changes more drastically, while when the second terminal moves at a slower speed, the position of the second terminal changes more gradually.

[0043] Therefore, in order to reduce the amount of computation and improve the accuracy of the results, different numbers of location information can be selected from the collected location information based on the motion state of the second terminal for calculation, thereby ensuring that there are relatively accurate location sample points contributing under high-speed motion.

[0044] For example, if the second terminal collects N location information points, where N is greater than or equal to 1, and the second terminal's movement speed is slow, the position change of the second terminal is not obvious. Therefore, a smaller number of sample location information points can be selected from the N location information points for calculation. Random selection or other selection methods can be used during the selection process.

[0045] When the second terminal moves at a relatively fast speed, its position changes more significantly. Therefore, more position information can be selected from N position information for calculation, thereby improving the accuracy of position sharing.

[0046] In one embodiment, please refer to Figure 2 , Figure 2 This is a schematic flowchart illustrating the sub-steps of the location positioning method provided in an embodiment of the present invention. Step S102 includes sub-steps S1021 and S1022.

[0047] Sub-step S1021: Calculate the location weight of the second terminal based on the location information of the second terminal.

[0048] Among them, the position weight refers to the fluctuation of the movement distance of the second terminal between various acquisition times. Specifically, the position weight can be determined by calculating the standard deviation of the position change of the second terminal.

[0049] In one embodiment, calculating the position weight of the second terminal based on the location information of the second terminal includes: determining the standard deviation of the position change of the second terminal based on the location information of the second terminal; and normalizing the standard deviation of the position change to obtain the position weight of the second terminal.

[0050] In the specific implementation process, multiple location information of the second terminal can be acquired, and then the standard deviation of the position change of the second terminal can be determined based on the acquired multiple location information. This standard deviation of position change refers to the standard deviation of the distance change of the movement distance of the second terminal between various acquisition times.

[0051] For example, when the first terminal is unable to collect location information normally from time T0, the location information collected by the second terminal at K sampling times before time T0 is obtained, and the movement distance of the second terminal between two adjacent sampling times is calculated based on the K location information, so as to calculate the standard deviation of position change based on the movement distance.

[0052] In practical implementation, the formula for calculating the standard deviation of positional variation can be:

[0053]

[0054] Where σ represents the standard deviation of position change, K represents the sampling time, and d(t) i ) represents the distance the second terminal travels between the (i-1)th and i-th sampling times, and r represents the average distance the second terminal travels between any two adjacent sampling times in the K sampling times.

[0055] In the specific implementation process, the movement distance of the second terminal between two adjacent sampling times can be calculated by using the position information collected by the second terminal at each sampling time. Then, the mean of the movement distance can be calculated based on multiple movement distances to facilitate the calculation of the standard deviation of position change.

[0056] For example, if there are K sampling times, and the second terminal also collects K location information points, then the second terminal calculates the movement distance between two adjacent sampling times as K-1. Adding the calculated K-1 movement distances and dividing by (K-1) yields the average movement distance.

[0057] After calculating the standard deviation σ of the position change of the second terminal, the standard deviation of the position change of the second terminal is normalized to obtain the position weight w of the second terminal.

[0058] Sub-step S1022: Based on the shared weight formula, calculate the shared weight of the second terminal according to the location weight of the second terminal.

[0059] The smaller the standard deviation of the location, the less volatile the location information collected by the second terminal within the K sampling times, and the greater the reliability of its location information sharing, i.e., the greater its sharing weight. Therefore, a sharing weight formula can be used to calculate the sharing weight of the second terminal based on its location weight.

[0060] In practical implementation, the shared weight formula can be:

[0061]

[0062] Where, ω j w represents the shared weight of the second terminal j.j Let J represent the position weight of the second terminal j, and N represent the total number of the second terminals.

[0063] Step S103: Send the location information and shared weight of the second terminal to the first terminal, so that the first terminal can calculate the location information of the first terminal based on the location information and shared weight of the second terminal.

[0064] The location information and shared weight of the second terminal are sent to the first terminal together, so that the first terminal can calculate its own location information based on the acquired information and use the calculated location information as its location information at the time when its location is missing.

[0065] In the specific implementation process, the first terminal can calculate its location information based on the following formula.

[0066]

[0067]

[0068] Where, x T0 This indicates the missing x-direction position information of the first terminal. T0 This represents the missing position information in the y-direction of the first terminal, ω. j Let x represent the shared weight of the second terminal j. j This represents the position information of the second terminal j in the x-direction, and y-direction... j This represents the position information of the second terminal j in the y direction, and N represents the total number of the second terminals.

[0069] The location positioning method provided in the above embodiments receives location request information sent by a first terminal, obtains the location information of a second terminal based on the location request information, calculates the shared weight of the second terminal based on the location information of the second terminal, and finally sends the location information and shared weight of the second terminal to the first terminal. This allows the first terminal to calculate its own location information based on the location information of the second terminal and the shared weight, thus achieving location positioning of the first terminal. Here, the first terminal is a terminal that failed to collect location information, while the second terminal is a terminal that can collect location information normally. Through multi-terminal joint positioning, when the first terminal loses its positioning capability, it can supplement its missing location information based on the location information of the second terminal, enabling the first terminal to obtain the missing location information and improving the accuracy of the obtained location information.

[0070] Please refer to Figure 3 , Figure 3 This is a flowchart illustrating another location positioning method provided in an embodiment of the present invention.

[0071] like Figure 3 As shown, the location positioning method includes steps S201 to S204.

[0072] Step S201: Pre-configure multiple terminals to place them in the same self-organizing network.

[0073] Multiple terminals used for collecting location information are pre-configured and an ad hoc network is built, so that these multiple terminals are in the same ad hoc network, so as to facilitate the sharing of location information among multiple terminals.

[0074] In the actual implementation process, each terminal in the ad hoc network creates and maintains its own location information summary table. The location information summary table includes the terminal's MAC address, the IP address assigned to the terminal by the ad hoc network, the time of location information collection, the location information collected at each collection time, the number of ad hoc network members, and the start time of location failure, etc.

[0075] In one embodiment, the location positioning method includes: receiving a join request message sent by a terminal to be joined, and sending a join response message to the terminal to be joined based on the join request message, so that the terminal to be joined joins the ad hoc network based on the join response message.

[0076] When a terminal seeking to join a self-organizing network needs to do so, it sends a join request message to the terminals already in the network to request membership. Upon receiving the join request message, the terminals in the self-organizing network send a join response message to the terminal seeking to join.

[0077] If the terminal to be joined receives the join response message, it can join the ad hoc network based on the join response message and broadcast a join success message to other terminals in the ad hoc network. At the same time, it creates a location information summary table of the terminal to be joined to save the location information and other content collected after joining the ad hoc network. If the terminal to be joined does not receive the join response message, it resends the join request message.

[0078] In practice, since there may be multiple terminals in a self-organizing network, a terminal can join the self-organizing network after receiving a join response message from at least one terminal in the network.

[0079] Furthermore, when a terminal in a self-organizing network sends a join response message to a terminal to be joined, it must send the message before the timer expires, that is, within the preset response time. If the preset response time is exceeded, the join response message can be considered invalid.

[0080] In one embodiment, the location positioning method further includes: receiving IP information sent by the terminal to be joined, maintaining ad hoc network member information based on the IP information, and sending an IP receiving message to the terminal to be joined based on the IP information.

[0081] After a terminal joins the ad hoc network, it sends IP information to other terminals in the network. This IP information refers to the IP address assigned to the terminal by the ad hoc network. Upon receiving this IP information, other terminals in the ad hoc network update their location information summary table, which in turn updates the number of ad hoc network members in the location information summary table.

[0082] After receiving the IP information, other terminals in the ad hoc network send an IP reception message to the terminal to be joined, indicating that the IP information has been received.

[0083] Step S202: Receive the location request message sent by the first terminal in the ad hoc network, and obtain the location information of the second terminal based on the location request information.

[0084] Since the first terminal is the terminal that failed to collect location information, and the second terminal is the terminal that can collect location information normally, it is understandable that when a terminal in the ad hoc network fails to collect location information at a certain moment, that terminal is called the first terminal, while the other terminals in the ad hoc network that can collect location information normally are called the second terminals.

[0085] If the first terminal fails to collect location information, it will send a location request message to the second terminal in the ad hoc network in order to obtain the location information of the second terminal based on the location request message.

[0086] Step S203: Calculate the shared weight of the second terminal based on the location information of the second terminal.

[0087] After obtaining the location information of the second terminal, the sharing weight of the second terminal can be calculated based on the location information of the second terminal. The sharing weight refers to the weight of the second terminal's ability to contribute its location information to the first terminal.

[0088] In the specific implementation process, the standard deviation of the position change of the second terminal can be calculated based on the position information of the second terminal, and then the standard deviation of the position change of the second terminal can be normalized to obtain the shared weight of the second terminal.

[0089] When there are multiple second terminals, the shared weight of each second terminal is calculated separately to facilitate the calculation of the location information of the first terminal.

[0090] Step S204: Send the location information and shared weight of the second terminal to the first terminal, so that the first terminal can calculate the location information of the first terminal based on the location information and shared weight of the second terminal.

[0091] The location information and shared weight of the second terminal are sent to the first terminal together, so that the first terminal can calculate its own location information based on the obtained location information and shared weight of the second terminal, and use the calculated location information as the location information of the first terminal at the time when the location is missing.

[0092] The location positioning method provided in the above embodiments involves forming an ad hoc network with multiple terminals, receiving location request information sent by a first terminal within the ad hoc network, obtaining location information of a second terminal based on this request information, calculating a shared weight for the second terminal based on its location information, and finally sending the location information and shared weight of the second terminal to the first terminal. The first terminal then calculates its own location information based on the location information and shared weight, thus achieving location positioning of the first terminal. In this method, the first terminal is a terminal that failed to collect location information, while the second terminal is a terminal capable of collecting location information normally. Through multi-terminal joint positioning, when the first terminal loses its positioning capability, it can supplement its missing location information based on the location information of the second terminal, enabling the first terminal to obtain the missing location information and improving the accuracy of the obtained location information.

[0093] Please see Figure 4 , Figure 4 This is a schematic block diagram of the structure of a terminal provided in an embodiment of the present invention.

[0094] like Figure 4 As shown, the terminal 300 includes a processor 301, a memory 302, and a GPS module 303. The processor 301, the memory 302, and the GPS module 303 are connected via a bus 303, such as an I2C (Inter-integrated Circuit) bus.

[0095] Specifically, processor 301 provides computing and control capabilities to support the operation of the entire terminal. Processor 301 can be a Central Processing Unit (CPU), but it can also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0096] Specifically, the memory 302 can be a Flash chip, a read-only memory (ROM) disk, an optical disk, a USB flash drive, or a portable hard drive, etc.

[0097] Those skilled in the art will understand that Figure 4 The structure shown is merely a block diagram of a portion of the structure related to the embodiments of the present invention, and does not constitute a limitation on the terminal to which the embodiments of the present invention are applied. A specific server may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0098] The processor is used to run a computer program stored in a memory, and to implement any of the location positioning methods provided in the embodiments of the present invention when executing the computer program.

[0099] In one embodiment, the processor is configured to run a computer program stored in memory, and when executing the computer program, perform the following steps:

[0100] The system receives a location request message from a first terminal and obtains the location information of a second terminal based on the location request message; calculates the shared weight of the second terminal based on the location information of the second terminal; and sends the location information and shared weight of the second terminal to the first terminal, so that the first terminal calculates its own location information based on the location information and shared weight of the second terminal. The first terminal is a terminal that failed to collect location information, and the second terminal is a terminal that can collect location information normally.

[0101] In one embodiment, the location request information includes the start time when the first terminal fails to acquire location information; when the processor implements the acquisition of the location information of the second terminal based on the location request information, it is configured to: acquire multiple location information of the second terminal before the start time based on the start time.

[0102] In one embodiment, the location information includes the location information at the start time and a plurality of consecutive location information prior to the start time.

[0103] In one embodiment, when the processor calculates the shared weight of the second terminal based on the location information of the second terminal, it is configured to: calculate the location weight of the second terminal based on the location information of the second terminal; and calculate the shared weight of the second terminal based on the location weight of the second terminal according to the shared weight formula.

[0104] In one embodiment, when the processor calculates the position weight of the second terminal based on the position information of the second terminal, it is configured to: determine the standard deviation of the position change of the second terminal based on the position information of the second terminal; and normalize the standard deviation of the position change to obtain the position weight of the second terminal.

[0105] In one embodiment, the processor is configured to: pre-configure multiple terminals so that the multiple terminals are in the same ad hoc network; when implementing the receiving of location request information sent by the first terminal, the processor is configured to: receive the location request message sent by the first terminal within the ad hoc network.

[0106] In one embodiment, the processor is configured to: receive a join request message sent by a terminal to be joined, and send a join response message to the terminal to be joined based on the join request message, so that the terminal to be joined joins the ad hoc network based on the join response message.

[0107] In one embodiment, the processor is further configured to: receive IP information sent by the terminal to be joined, maintain ad hoc network member information based on the IP information, and send an IP receive message to the terminal to be joined based on the IP information.

[0108] It should be noted that those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of the terminal described above can be referred to the corresponding process in the aforementioned location positioning method embodiments, and will not be repeated here.

[0109] This invention also provides a storage medium for computer-readable storage, wherein the storage medium stores one or more programs that can be executed by one or more processors to implement the steps of any of the location positioning methods provided in the specification of this invention.

[0110] The storage medium can be the internal storage unit of the terminal described in the foregoing embodiments, such as the hard drive or memory of the terminal. Alternatively, the storage medium can be an external storage device of the terminal, such as a plug-in hard drive, Smart Media Card (SMC), Secure Digital (SD) card, or Flash Card.

[0111] It will be understood by those skilled in the art that all or some of the steps, systems, or apparatuses disclosed above, and their functional modules / units, can be implemented as software, firmware, hardware, or suitable combinations thereof. In hardware embodiments, the division between 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 collaboratively by several physical components. Some or all physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. Such software may be distributed on a computer-readable medium, which may include computer storage media (or non-transitory media) and communication media (or transient media). As is known to those skilled in the art, the term computer storage media 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 technologies, CD-ROM, digital versatile disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and can be accessed by a computer. Furthermore, it is well known to those skilled in the art that communication media typically contain computer-readable instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.

[0112] It should be understood that the term "and / or" as used in this specification and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes such combinations. It should be noted that, herein, the terms "comprising," "including," or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0113] The sequence numbers of the above embodiments of the present invention are merely for descriptive purposes and do not represent the superiority or inferiority of the embodiments. The above descriptions are only specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and these modifications or substitutions should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method of position location, characterized by, The method comprises the following steps: receiving position request information sent by a first terminal, and obtaining position information of a second terminal based on the position request information; calculating a position weight of the second terminal according to the position information of the second terminal, and calculating a sharing weight of the second terminal according to the position weight of the second terminal based on a sharing weight formula; sending the position information and the sharing weight of the second terminal to the first terminal, so that the first terminal calculates position information of the first terminal based on the position information and the sharing weight of the second terminal; wherein the first terminal is a terminal that fails to collect position information, and the second terminal is a terminal that can normally collect position information.

2. The position location method of claim 1, wherein, The position request information comprises a starting time at which the first terminal fails to collect position information; and the step of obtaining the position information of the second terminal based on the position request information comprises the following steps: obtaining a plurality of position information of the second terminal before the starting time based on the starting time.

3. The position location method of claim 2, wherein, The position information comprises position information at the starting time and a plurality of continuous position information before the starting time.

4. The position location method of claim 3, wherein, The step of calculating the position weight of the second terminal according to the position information of the second terminal comprises the following steps: determining a position change standard deviation of the second terminal according to the position information of the second terminal; normalizing the position change standard deviation to obtain the position weight of the second terminal.

5. The position location method of claim 1, wherein, The method further comprises the following steps: preconfiguring a plurality of terminals so that the plurality of terminals are in the same ad hoc network; The step of receiving the position request information sent by the first terminal comprises the following step: receiving a position request message sent by the first terminal in the ad hoc network.

6. The position location method of claim 5, wherein, The method comprises the following steps: receiving a joining request message sent by a terminal to be joined, and sending a joining response message to the terminal to be joined based on the joining request message, so that the terminal to be joined joins the ad hoc network based on the joining response message.

7. The position location method of claim 6, wherein, The method further comprises the following steps: receiving IP information sent by the terminal to be joined, maintaining ad hoc network member information according to the IP information, and sending an IP receiving message to the terminal to be joined based on the IP information.

8. A terminal, characterized by comprising: The terminal comprises a processor, a memory, a GPS module, a computer program stored on the memory and executable by the processor, and a data bus for realizing connection communication between the processor and the memory, wherein the computer program is executed by the processor to realize the steps of the position positioning method according to any one of claims 1 to 7.

9. A storage medium for computer-readable storage, characterized in that, The storage medium stores one or more programs executable by one or more processors to realize the steps of the position positioning method according to any one of claims 1 to 7.

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