Positioning loss compensation method and positioning loss compensation system

Abstract

The present invention relates to a method and system for compensating for lost positioning. When a moving object cannot be accurately positioned, current position information and correction information of the moving object are obtained, wherein the correction information includes at least one or more of acceleration information and geomagnetic information. Based on the current position information and the correction information, the movement distance and movement direction on the movement trajectory of the moving object are corrected. In the case of poor positioning, the acceleration information and geomagnetic information of the moving object are obtained and compared and calibrated with the movement information when the positioning accuracy is higher, and the movement distance and direction are compensated, thereby improving the accuracy of movement data in various situations.

Description

Technical Field

[0001] The present invention relates to the field of communication technology, and in particular to a positioning loss compensation method and a positioning loss compensation system. Background Art

[0002] Currently, most smart wearable sports devices use satellite positioning to calculate movement trajectory, distance, and speed, and also support measuring step count using accelerometers. When satellite signals are poor or absent, most devices use the speed before the loss of the satellite signal as the average speed during the loss period to calculate movement distance. However, in practice, if the satellite signal is lost for an extended period, the predicted movement distance can be significantly inaccurate, resulting in inaccurate movement data. Summary of the Invention

[0003] The present invention aims to provide a method, apparatus, terminal device and storage medium for compensating for positioning loss to address the deficiencies in the prior art. The technical problem to be solved by the present invention is achieved through the following technical solutions.

[0004] In a first aspect, an embodiment of the present invention provides a method for compensating for positioning loss, the method comprising:

[0005] When the moving object cannot be accurately located, obtaining current position information and correction information of the moving object, wherein the correction information includes at least one or more of acceleration information and geomagnetic information;

[0006] The moving distance and moving direction of the moving object on the moving trajectory are corrected according to the current position information and the correction information.

[0007] Optionally, the correcting the movement distance on the movement trajectory of the moving object according to the current position information and the correction information includes:

[0008] When the precision factor is greater than a first preset value, determining current motion information of the moving object according to the acceleration information;

[0009] Acquire historical movement information when the precision factor is less than or equal to a first preset value;

[0010] Correcting the current movement distance according to the historical movement information and the current movement information.

[0011] Optionally, the correcting the moving direction of the moving object on the moving trajectory according to the current position information and the correction information includes:

[0012] Obtain the heading angle and speed of a moving object during its motion;

[0013] determining a motion trajectory of the moving object according to the heading angle and the motion speed;

[0014] If the moving object cannot be accurately located, determining the current moving direction of the moving object based on the geomagnetic information and the acceleration information;

[0015] According to the current moving direction, the moving direction of the moving object on the moving trajectory is corrected.

[0016] Optionally, the correction information further includes air pressure information, and the method further includes:

[0017] When the moving object cannot be accurately located, obtain the air pressure information of the moving object at different slopes;

[0018] determining current slope information of the moving object based on the air pressure information and the acceleration information;

[0019] The current cadence information is corrected according to the current slope information.

[0020] Optionally, the method further includes:

[0021] After the moving object finishes moving, obtaining movement information corresponding to a precision factor greater than a second preset value during the movement, wherein the movement information includes at least cadence information and stride information;

[0022] The historical motion information is updated according to the motion information.

[0023] Optionally, obtaining historical motion information when the precision factor is less than or equal to a first preset value includes:

[0024] When the precision factor is less than or equal to a first preset value, obtaining historical acceleration information corresponding to different positions of the moving object;

[0025] determining the cadence information of the moving object at different positions based on the historical acceleration information;

[0026] Determining a historical movement distance of the moving object within a preset time period based on the position information of the moving object at different positions;

[0027] According to the historical movement distance, stride information corresponding to different positions of the moving object is determined.

[0028] In a second aspect, an embodiment of the present invention provides a compensation system for lost positioning, the system comprising at least a main controller, an acceleration sensor, a geomagnetic sensor, a positioning chip, and an air pressure sensor, wherein the main controller is used to execute any of the compensation methods for lost positioning described in the first aspect.

[0029] Optionally, the acceleration sensor is connected to the main controller, and the acceleration sensor is used to obtain acceleration information of the moving object at different positions.

[0030] Optionally, the geomagnetic sensor is connected to the main controller, and the geomagnetic sensor is used to obtain geomagnetic information of the moving object at different positions.

[0031] Optionally, the air pressure sensor is connected to the main controller, and the air pressure sensor is used to obtain air pressure information of the moving object at different positions.

[0032] The embodiments of the present invention include the following advantages:

[0033] The embodiments of the present invention provide a method for compensating for lost positioning and a system for compensating for lost positioning. When the moving object cannot be accurately positioned, current position information and correction information of the moving object are obtained, wherein the correction information includes at least one or more of acceleration information or geomagnetic information. Based on the current position information and the correction information, the movement distance and movement direction on the movement trajectory of the moving object are corrected. In the case of poor positioning, the acceleration information and geomagnetic information of the moving object are obtained, and compared and calibrated with the movement information when the positioning accuracy is higher, and the movement distance and orientation are compensated, thereby improving the accuracy of motion data in various situations. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 is a flowchart of an embodiment of a method for compensating for positioning loss according to the present invention;

[0035] Figure 2 It is a structural diagram of an embodiment of a positioning loss compensation system of the present invention. DETAILED DESCRIPTION

[0036] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0037] An embodiment of the present invention provides a method for compensating for positioning loss, which is used to correct motion data of a moving object when positioning is poor. The embodiment is performed by a terminal device, for example, the terminal device includes at least a wearable device.

[0038] Reference Figure 1 , shows a flowchart of an embodiment of a method for compensating for positioning loss of the present invention, which may specifically include the following steps:

[0039] S101. When a moving object cannot be accurately located, obtain current position information and correction information of the moving object, wherein the correction information includes at least one or more of acceleration information and geomagnetic information;

[0040] Specifically, the moving object can be a person or an object. For example, when a person exercises, he or she carries a wearable device, such as a watch. The wearable device includes a main controller, an acceleration sensor, a geomagnetic sensor, a positioning chip and an air pressure sensor. When the positioning chip functions normally, the moving person can be accurately positioned. When the positioning chip does not perform well, the current position information and correction information are obtained through various sensors. The correction information includes at least one or more of acceleration information or geomagnetic information. The correction information is used to correct the movement distance and direction.

[0041] S102: Correct the moving distance and moving direction of the moving object on its moving trajectory according to the current position information and the correction information.

[0042] In an embodiment of the present invention, the terminal device corrects the running distance according to the current position information and acceleration information, and can also correct the moving direction according to the current position information and geomagnetic information.

[0043] The method for compensating for lost positioning provided by an embodiment of the present invention obtains the current position information and correction information of the moving object when the moving object cannot be accurately positioned, wherein the correction information includes at least one or more of acceleration information or geomagnetic information; based on the current position information and the correction information, the movement distance and movement direction on the movement trajectory of the moving object are corrected. In the case of poor positioning, the acceleration information and geomagnetic information of the moving object are obtained, and compared and calibrated with the movement information when the positioning accuracy is higher, and the movement distance and orientation are compensated, thereby improving the accuracy of motion data in various situations.

[0044] Another embodiment of the present invention further supplements the method for compensating for positioning loss provided in the above embodiment.

[0045] Optionally, correcting the movement distance of the moving object on the movement trajectory according to the current position information and the correction information includes:

[0046] When the precision factor is greater than a first preset value, determining current motion information of the moving object according to the acceleration information;

[0047] Acquire historical movement information when the precision factor is less than or equal to a first preset value;

[0048] Correct the current movement distance based on historical movement information and current movement information.

[0049] The DOP refers to data obtained from the satellite positioning chip. The terminal can extract positioning-related data (NMEA-0183 protocol format) from the satellite positioning chip. Parsing this data reveals whether the current position is lost and the DOP of the current position. The smaller the DOP, the higher the positioning accuracy.

[0050] Specifically, during exercise, the acceleration in the vertical and travel directions will change periodically, and the current cadence can be calculated based on this characteristic;

[0051] When the positioning environment is good, it can obtain relatively accurate movement distance, movement steps, stride length, and cadence. The stride length corresponding to a specific cadence is stored in the memory chip. The average cadence under general movement is 160-190. 200 bytes of space (more can be reserved) are reserved in the memory chip to store the stride length corresponding to a cadence of 80-280.

[0052] When positioning is lost or the precision factor is greater than a preset value, distance correction can be performed using the step frequency calculated from the acceleration data and the corresponding step length read from the memory chip in advance.

[0053] Optionally, correcting the motion direction of the moving object on the motion trajectory according to the current position information and the correction information includes:

[0054] Obtain the heading angle and speed of a moving object during its motion;

[0055] Determine the trajectory of the moving object based on the heading angle and movement speed;

[0056] If the moving object cannot be accurately located, the current direction of the moving object is determined based on geomagnetic information and acceleration information;

[0057] According to the current moving direction, the running direction of the moving object on the moving trajectory is corrected.

[0058] Specifically, the terminal can use the built-in geomagnetic sensor to determine the direction of the user's movement. The specific calculation method is as follows:

[0059] (1) According to the three-axis gravity acceleration component A x , A y , A z , calculate the pitch angle Pitch and roll angle Roll:

[0060] Pitch:

[0061] Roll:

[0062] (2) Then the three-axis data X of the geomagnetic M , Y M , Z M The heading angle can be calculated by converting Pitch and Roll into Hy and Hx required to calculate the heading angle.

[0063]

[0064]

[0065] Azimuth =

[0066] Azimuth is the current direction angle, which is used to determine the current direction of movement.

[0067] Optionally, the correction information further includes air pressure information, and the method further includes:

[0068] When the moving object cannot be accurately located, obtain the air pressure information of the moving object at different slopes;

[0069] Determine the current slope information of the moving object based on the air pressure information and acceleration information;

[0070] Correct the current cadence information based on the current slope information.

[0071] Specifically, the current altitude is calculated using the current air pressure.

[0072] H=44300*(1- (P / P0)^(1 / 5.256) );

[0073] Where H is the altitude, P is the current air pressure, and P0 is the sea level pressure;

[0074] During exercise, the rate of change of altitude data is used to determine whether the user is on flat ground or sloped ground. Different altitude change rates correspond to different calibration factors, and distance calibration is performed on the exercise step length and calibration factor.

[0075] Optionally, the method further includes:

[0076] After the moving object finishes moving, obtaining movement information corresponding to a precision factor greater than a second preset value during the movement, wherein the movement information includes at least cadence information and stride information;

[0077] The historical motion information is updated according to the motion information.

[0078] Optionally, obtaining historical motion information when the precision factor is less than or equal to a first preset value includes:

[0079] When the precision factor is less than or equal to a first preset value, obtaining historical acceleration information corresponding to different positions of the moving object;

[0080] Determine the cadence information of the moving object at different positions based on historical acceleration information;

[0081] Determine the historical movement distance of the moving object within a preset time period based on the position information of the moving object at different locations;

[0082] According to the historical movement distance, the stride information corresponding to the moving object at different positions is determined.

[0083] It should be noted that for the sake of simplicity, the method embodiments are described as a series of actions. However, those skilled in the art should be aware that the embodiments of the present invention are not limited by the order of the actions described, because according to the embodiments of the present invention, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in this specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments of the present invention.

[0084] The method for compensating for lost positioning provided by an embodiment of the present invention obtains the current position information and correction information of the moving object when the moving object cannot be accurately positioned, wherein the correction information includes at least one or more of acceleration information or geomagnetic information; based on the current position information and the correction information, the movement distance and movement direction on the movement trajectory of the moving object are corrected. In the case of poor positioning, the acceleration information and geomagnetic information of the moving object are obtained, and compared and calibrated with the movement information when the positioning accuracy is higher, and the movement distance and orientation are compensated, thereby improving the accuracy of motion data in various situations.

[0085] Another embodiment of the present invention provides a positioning loss compensation system, which is used to execute the positioning loss compensation method provided in the above embodiment.

[0086] Reference Figure 2 , shows a structural block diagram of an embodiment of a positioning loss compensation system of the present invention, the system includes at least a main controller 301, an acceleration sensor 302, a geomagnetic sensor 303, a satellite positioning chip 305 and an air pressure sensor 304, wherein the main controller is used to execute the above-mentioned positioning loss compensation method.

[0087] The acceleration sensor is connected to the main controller, and is used to obtain acceleration information of the moving object at different positions.

[0088] Specifically, an accelerometer is a sensor capable of measuring acceleration. It typically consists of a mass, a damper, an elastic element, a sensitive element, and an adaptive circuit. During acceleration, the sensor measures the inertial force acting on the mass and uses Newton's second law to determine the acceleration value. Common accelerometers, depending on the sensor's sensitive element, include capacitive, inductive, strain gauge, piezoresistive, and piezoelectric types.

[0089] The geomagnetic sensor is connected to the main controller and is used to obtain geomagnetic information of a moving object at different positions.

[0090] Geomagnetic sensors are a key component of data acquisition systems, and their performance plays a crucial role in determining their accuracy. Anisotropic magnetoresistive sensors, made of a thin-film alloy (permalloy), measure magnetic field variations based on the principle that the electrical resistance of a current-carrying magnetic material changes in the presence of an external magnetic field. When the sensor is connected, assuming no external magnetic field, the thin-film alloy exhibits an internal magnetization vector parallel to the direction of the current flow.

[0091] The air pressure sensor is connected to the main controller and is used to obtain air pressure information of the moving object at different positions.

[0092] Specifically, a pressure sensor is a detection device that senses the measured information and, according to a specific pattern, converts it into an electrical signal or other desired output format to meet requirements for information transmission, processing, storage, display, recording, and control. It is a crucial component in implementing automated detection and control. The sensor's primary sensing element consists of a pressure-sensitive film and a pin for opening and closing. A flexible resistor is connected to the sensor circuit. When the pressure of the measured gas decreases or increases, the film deforms, moving the pin, which in turn changes the resistor's resistance. The 0-5V signal voltage is obtained from the sensor, converted by analog-to-digital converters (A / D converters), and then transmitted to a computer in an appropriate format. Pressure sensors primarily measure gas pressure. One-atmosphere pressure range sensors are commonly used to monitor weather changes and measure altitude, leveraging the correlation between air pressure and altitude.

[0093] In the case of inaccurate positioning accuracy, the acceleration sensor will collect acceleration information, the geomagnetic sensor will collect geomagnetic information, and the air pressure sensor will collect air pressure information and send them to the main controller. The main controller will compare and correct the acceleration information, geomagnetic information, and air pressure information with historical operation information, and compensate for the movement distance and direction, thereby improving the accuracy of movement data in various situations.

[0094] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0095] The positioning loss compensation system provided by an embodiment of the present invention obtains the current position information and correction information of the moving object when the moving object cannot be accurately positioned, wherein the correction information includes at least one or more of acceleration information or geomagnetic information; based on the current position information and correction information, the movement distance and movement direction on the movement trajectory of the moving object are corrected. In the case of poor positioning, the acceleration information and geomagnetic information of the moving object are obtained, and compared and calibrated with the movement information when the positioning accuracy is higher, and the movement distance and direction are compensated, thereby improving the accuracy of motion data in various situations.

[0096] It should be noted that the above detailed description is exemplary and is intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the art to which this application belongs.

[0097] It should be noted that the terms used herein are intended only to describe specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0098] It should be noted that the terms "first," "second," and the like in the specification and claims of this application and the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, such that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0099] In addition, the terms "comprises" and "comprising" and any variations thereof are intended to cover a non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, product, or apparatus.

[0100] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used herein to describe the spatial positional relationship of a device or feature to other devices or features as shown in the figures. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figures. For example, if the device in the drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be subsequently positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways, such as rotated 90 degrees or in other orientations, and the spatially relative descriptions used herein are interpreted accordingly.

[0101] In the above detailed description, reference is made to the accompanying drawings, which form a part hereof. In the drawings, similar symbols typically identify similar components, unless the context dictates otherwise. The illustrated embodiments described in the detailed description, drawings, and claims are not meant to be limiting. Other embodiments may be used, and other changes may be made, without departing from the spirit or scope of the subject matter presented herein.

[0102] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. A method for compensating for positioning loss, characterized in that: The method comprises: When the moving object cannot be accurately located, obtaining current position information and correction information of the moving object, wherein the correction information includes at least one or more of acceleration information and geomagnetic information; According to the current position information and the correction information, the movement distance and movement direction of the movement object on the movement trajectory are corrected, specifically including: during the movement, the acceleration in the vertical and travel directions will change periodically, and the current step frequency can be calculated based on this feature; when the positioning environment is good, a more accurate movement distance, movement steps, step length, and step frequency can be obtained, and the step length corresponding to a specific step frequency is stored in the memory chip. The average step frequency during movement is 160-190, and 200 steps are reserved in the memory chip. Bytes of space are used to store the step length corresponding to the 80-280 step frequency; when the precision factor is greater than the first preset value, the current motion information of the moving object is determined according to the acceleration information; historical motion information when the precision factor is less than or equal to the first preset value is obtained; the current motion distance is corrected according to the historical motion information and the current motion information; when positioning is lost or the precision factor is greater than the first preset value, the step frequency calculated by the acceleration data and the corresponding step length read out from the storage chip in advance are used for distance correction; the correction information also includes air pressure information. When the moving object cannot be accurately positioned, the air pressure information of the moving object at different slopes is obtained; the current slope information of the moving object is determined according to the air pressure information and the acceleration information; the current step frequency information is corrected according to the current slope information. Specifically, the current altitude is calculated according to the current air pressure: H=44300*(1(P / P0)^(1 / 5 .256) ); Where H is the altitude, P is the current air pressure, and P0 is the sea level pressure; During exercise, the rate of change of altitude data is used to determine whether the user is on flat ground or sloped ground. Different altitude change rates correspond to different calibration factors, and distance calibration is performed on the exercise step length and calibration factor. After the moving object finishes moving, motion information corresponding to a precision factor greater than a second preset value during the movement is obtained, wherein the motion information includes at least cadence information and stride information; and historical motion information is updated according to the motion information.

2. The method according to claim 1, characterized in that The correcting the moving direction of the moving object on the moving trajectory according to the current position information and the correction information includes: Obtain the heading angle and speed of a moving object during its motion; determining a motion trajectory of the moving object according to the heading angle and the motion speed; If the moving object cannot be accurately located, determining the current moving direction of the moving object based on the geomagnetic information and the acceleration information; According to the current moving direction, the moving direction of the moving object on the moving trajectory is corrected.

3. The method according to claim 1, characterized in that The acquiring of historical motion information when the precision factor is less than or equal to a first preset value includes: When the precision factor is less than or equal to a first preset value, obtaining historical acceleration information corresponding to different positions of the moving object; determining the cadence information of the moving object at different positions based on the historical acceleration information; Determining a historical movement distance of the moving object within a preset time period based on the position information of the moving object at different positions; According to the historical movement distance, stride information corresponding to different positions of the moving object is determined.

4. A compensation system for positioning loss, characterized in that: The system includes at least a main controller, an acceleration sensor, a geomagnetic sensor, a positioning chip, and an air pressure sensor, wherein the main controller is used to execute the positioning loss compensation method according to any one of claims 1-3.

5. The system according to claim 4, characterized in that The acceleration sensor is connected to the main controller, and is used to obtain acceleration information of a moving object at different positions.

6. The system according to claim 4, characterized in that The geomagnetic sensor is connected to the main controller, and is used to obtain geomagnetic information of a moving object at different positions.

7. The system according to claim 4, wherein: The air pressure sensor is connected to the main controller, and is used to obtain air pressure information of a moving object at different positions.

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