A method, device and terminal equipment for positioning monitoring

Abstract

The present application is applicable to the field of positioning technology, and provides a method, apparatus and terminal equipment for positioning monitoring, including: obtaining the second initial positioning information and the first differential positioning information of N consecutive moments, calculating the corresponding measurement positioning information according to the first differential positioning information and the second initial positioning information at each moment, determining the measurement positioning information of the preset period when it is detected that all the M consecutive measurement positioning information meet the preset conditions, and obtaining the target positioning information by smoothing and screening the measurement positioning information of the preset period based on the target number. The method predetermines the first initial positioning information of the first terminal and the second initial positioning information of the second terminal, obtains the measurement positioning information based on the local calculation according to the first differential positioning information and the second initial positioning information, and obtains the target positioning information of the first terminal by smoothing and screening, thereby reducing the cost and improving the accuracy and real-time performance of the positioning monitoring results.

Description

Technical Field

[0001] The present application belongs to the field of positioning technology, and in particular, relates to a positioning monitoring method, device and terminal equipment. Background Art

[0002] In the prior art, outdoor positioning systems usually use the GNSS Global Navigation Satellite System (GNSS). This system does not have long-term, fully automatic and uninterrupted deformation or displacement monitoring for related industries such as land, address, water conservancy and transportation. The traditional GNSS positioning method requires the received satellite signal to be sent to the background server, and the background server calculates the target position based on the satellite signal. The positioning accuracy of the target position can reach the meter level. my country's Beidou ground-based augmentation system uses high-precision local differential technology, and the positioning accuracy can reach the centimeter level, but its real-time performance is poor. RTK (Real Time Kinematic) real-time dynamic measurement technology is a real-time differential GPS (RTDGPS) technology based on carrier phase observation. It consists of three parts: base station receiver, data link, and mobile station receiver. It can solve the location information of the mobile station in real time, but its accuracy is poor.

[0003] In addition, the amount of data required to calculate the positioning monitoring data is large, the calculation efficiency is low, and the cost of solving the positioning monitoring data is too high. Summary of the invention

[0004] The embodiments of the present application provide a positioning monitoring method, apparatus and terminal device, which can solve the problems in the prior art of poor real-time performance and low accuracy of positioning monitoring results for long-term deformation and displacement offset.

[0005] In a first aspect, an embodiment of the present application provides a method for positioning monitoring, which is applied to a first terminal, and the method includes: obtaining second initial positioning information and first differential positioning information at N consecutive moments; wherein N is a positive integer greater than 0; the second initial positioning information is the initialization positioning information calculated by the second terminal based on the second real-time positioning information and the second differential positioning information of the second terminal; the corresponding measurement positioning information is calculated according to the first differential positioning information and the second initial positioning information at each moment; when it is detected that M consecutive measurement positioning information all meet the preset conditions, the measurement positioning information of the target number of preset periods is determined; wherein M is less than N; the target positioning information is obtained by smoothing and screening the measurement positioning information of the target number of preset periods; when it is detected that the difference between the target positioning information and the first initial positioning information is less than or equal to the first preset threshold, the target positioning information is sent to the second terminal, so that the second terminal sends the target positioning information to the target terminal; wherein the first initial positioning information is the initialization positioning information calculated by the first terminal based on the first real-time positioning information and the third differential positioning information of the first terminal.

[0006] Optionally, when it is detected that M consecutive measurement and positioning information all meet the preset conditions, the measurement and positioning information of the target number of preset periods is determined, including: each time a measurement and positioning information is obtained, the measurement and positioning information is compared with the previous measurement and positioning information at the previous moment; each time it is detected that the measurement and positioning information is greater than the previous measurement and positioning information, the number of consecutive times is marked as increased by one; wherein the initial value of the number of consecutive times is 0; when it is detected that the number of consecutive times is greater than M-1, the measurement and positioning information within the target number of preset periods is obtained.

[0007] Optionally, each time a measurement positioning information is obtained, after comparing the measurement positioning information with the previous measurement positioning information at the previous moment, it includes: when it is detected that the measurement positioning information is less than or equal to the previous measurement positioning information, clearing the number of consecutive times; deleting all measurement positioning information, and returning to execute the step of obtaining the second initial positioning information and the first differential positioning information at N consecutive moments and subsequent steps.

[0008] Optionally, the target positioning information is obtained by smoothing and screening the measured positioning information of the target number of preset periods, including: selecting the target measured positioning information that meets the second preset condition in each preset period; and calculating the mean of the target measured positioning information of the target number as the target positioning information.

[0009] Optionally, after smoothing and screening the measured positioning information of a preset period based on the target number to obtain the target positioning information, it also includes: when it is detected that the difference between the target positioning information and the first initial positioning information is greater than a first preset threshold, obtaining a sensing parameter; wherein the sensing parameter includes at least one of a displacement sensing parameter, an inclination sensing data threshold, a temperature sensing data threshold and a humidity sensing data threshold; comparing the sensing parameter with a corresponding sensing parameter threshold; the sensing parameter threshold includes at least one of a displacement sensing parameter threshold, an inclination sensing data threshold, a temperature sensing data threshold and a humidity sensing data threshold; when it is detected that the sensing parameter is greater than the corresponding sensing parameter threshold, generating a warning and sending it to the target terminal.

[0010] Optionally, before obtaining the second initial positioning information and the first differential positioning information of N consecutive moments, the method includes: obtaining third differential positioning information and first real-time positioning information; and calculating the first initial positioning information based on the third differential positioning information and the first real-time positioning information.

[0011] In a second aspect, an embodiment of the present application provides a positioning monitoring device, which is applied to a first terminal, and the device includes: a positioning information acquisition module, which is used to acquire second initial positioning information and first differential positioning information at N consecutive moments; wherein N is a positive integer greater than 0; the second initial positioning information is the initialization positioning information calculated by the second terminal based on the second real-time positioning information and the second differential positioning information of the second terminal; a positioning information calculation module, which is used to calculate the corresponding measured positioning information according to the first differential positioning information and the second initial positioning information at each moment; a measured positioning information determination module, which is used to determine the measured positioning information of a target number of preset periods when it is detected that M consecutive measured positioning information all meet the preset conditions; wherein M is less than N; a smoothing screening module, which is used to obtain the target positioning information by smoothing screening based on the measured positioning information of the target number of preset periods; a positioning information sending module, which is used to send the target positioning information to the second terminal when it is detected that the difference between the target positioning information and the first initial positioning information is less than or equal to the first preset threshold, so that the second terminal sends the target positioning information to the target terminal; wherein the first initial positioning information is the initialization positioning information calculated by the first terminal based on the first real-time positioning information and the third differential positioning information of the first terminal.

[0012] Optionally, the measurement and positioning information determination module includes: an information comparison unit, a marking unit and an information acquisition unit; the information comparison unit is used to compare the measurement and positioning information with the previous measurement and positioning information at the previous moment each time a measurement and positioning information is obtained; the marking unit is used to mark the number of consecutive times plus one each time it is detected that the measurement and positioning information is greater than the previous measurement and positioning information; wherein the initial value of the consecutive times is 0; the information acquisition unit is used to obtain the measurement and positioning information within a target number of preset periods when it is detected that the consecutive times are greater than M-1.

[0013] In a third aspect, an embodiment of the present application provides a terminal device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the positioning monitoring method described in any one of the first aspects is implemented.

[0014] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the positioning monitoring method described in any one of the first aspects above is implemented.

[0015] In a fifth aspect, an embodiment of the present application provides a computer program product, which, when executed on a terminal device, enables the terminal device to execute the positioning monitoring method described in any one of the above-mentioned first aspects.

[0016] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0017] The present application is applicable to the field of positioning technology, and provides a method, apparatus and terminal equipment for positioning monitoring, including: obtaining the second initial positioning information and the first differential positioning information of N consecutive moments, calculating the corresponding measurement positioning information according to the first differential positioning information and the second initial positioning information at each moment, determining the measurement positioning information of the target number of preset periods when it is detected that all the M consecutive measurement positioning information meet the preset conditions, performing smoothing screening based on the measurement positioning information of the target number of preset periods to obtain the target positioning information, and sending the target positioning information to the second terminal when it is detected that the difference between the target positioning information and the first initial positioning information is less than or equal to the first preset threshold, so that the second terminal sends the target positioning information to the target terminal. The method predetermines the first initial positioning information of the first terminal and the second initial positioning information of the second terminal, obtains the measurement positioning information based on the local calculation according to the first differential positioning information and the second initial positioning information, and obtains the target positioning information of the first terminal through smoothing screening, thereby reducing the cost and improving the accuracy and real-time performance of the positioning monitoring results. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0019] Figure 1 It is a flowchart of a positioning monitoring method provided by an embodiment of the present application;

[0020] Figure 2 1 is a flow chart of step S103 of the method for positioning monitoring provided in one embodiment of the present application;

[0021] Figure 3 1 is a flow chart of step S104 of the method for positioning monitoring provided in one embodiment of the present application;

[0022] Figure 4 This is a schematic diagram of an application scenario of a positioning monitoring method provided by an embodiment of the present application;

[0023] Figure 5 It is a structural schematic diagram of a positioning monitoring device provided in an embodiment of the present application;

[0024] Figure 6 It is a schematic diagram of the structure of the terminal device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0025] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0026] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0027] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0028] As used in the specification and appended claims of this application, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "uponce it is determined" or "in response to determining" or "uponce [described condition or event] is detected" or "in response to detecting [described condition or event]", depending on the context.

[0029] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0030] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0031] Figure 1 A flow chart of a positioning monitoring method provided in the present application is shown. As an example but not limitation, the method can be applied to a first terminal, wherein the first terminal is a Beidou positioning active station, referred to as an active station, and the second terminal is a Beidou positioning ground-based augmentation base station, referred to as a basic station. The basic station is communicatively connected to the active station, and the basic station is communicatively connected to the management terminal of the management personnel.

[0032] S101: Acquire second initial positioning information and first differential positioning information at N consecutive moments.

[0033] In actual application scenarios, fixed positions such as land geology, water conservancy, and transportation bridges usually undergo displacement and deformation over time. The characteristic of the above displacement is that after a long period of slow movement to a certain approximate value, a large displacement change will occur. Further development will cause rapid displacement changes in a short period of time, leading to more serious disasters. Therefore, it is necessary to accurately measure the displacement and deformation. For example, it is necessary to measure whether the piers of a transportation bridge have been displaced or whether there have been geological landslides, or whether the mountain has undergone deformation, sliding, and displacement.

[0034] Specifically, N is a positive integer greater than 0, and can be specifically set according to actual conditions. The second initial positioning information is the initialization positioning information calculated by the second terminal based on the second real-time positioning information and the second differential positioning information of the second terminal.

[0035] The second real-time positioning information is the positioning information of the second terminal at the current moment, and the positioning information is the position coordinates of the second terminal, and the second differential positioning information is the positioning information of the GNSS global navigation satellite system (GlobalNavigationSatellite System, GNSS) of the second terminal. The background server of the second terminal solves the second initial positioning information according to the second real-time positioning information and the second differential positioning information. The second initial positioning information is stored in the microcontroller of the second terminal, and the second initial positioning information is sent to the first terminal and the target terminal, and the target terminal includes but is not limited to the multi-factor acquisition terminal for positioning data transmission, the management terminal of the management personnel, etc. The second terminal can use GMSK Gaussian Filtered Minimum Shift Keying communication method or LORA long-range radio (Long Range Radio) communication method to send the second initial positioning information to the first terminal. The above communication method can solve the problem that the first terminal cannot be deployed due to poor communication signals in outdoor deployment.

[0036] The first terminal receives the second initial positioning information sent by the second terminal, and obtains the first differential positioning information of N consecutive moments, where the first differential positioning information is the positioning information of the GNSS global navigation satellite system (GNSS) of the first terminal at the current moment, and needs to be obtained within N consecutive moments. For example, setting N=300 corresponds to the need to obtain the first differential information of 300 moments.

[0037] S102: Calculate corresponding measurement positioning information according to the first differential positioning information and the second initial positioning information at each moment.

[0038] Specifically, after the first terminal receives the second initial positioning information, the background server locally calculates the measured positioning information at each moment according to the second initial positioning information and the first differential positioning information at each moment, wherein each moment is set to 1 second.

[0039] S103: When it is detected that M consecutive measurement and positioning information all meet the preset condition, determine the measurement and positioning information of a target number of preset periods.

[0040] Specifically, M is less than N, and can be set specifically according to actual conditions; the preset condition is that the measured positioning information at the current moment is offset compared to the measured positioning information at the previous moment, and the offset is that the value of the measured positioning information at the current moment is increased compared to the value of the measured positioning information at the previous moment. For example, the preset period is set to 10 seconds, and the value of the measured positioning information calculated for the first time cannot be compared with the value of the measured positioning information calculated at the previous moment. At this time, the number of consecutive times is 0, and the comparison can only be started from the value of the measured positioning information calculated for the second time. If the value of the measured positioning information calculated for the second time is greater than the value of the measured positioning information for the first time, the number of consecutive times is 1, and when the value of the measured positioning information calculated for the third time is greater than the value of the measured positioning information for the second time, the number of consecutive times is 2.

[0041] Correspondingly, if it is necessary to detect that five consecutive measurements of positioning information are offset compared to the measurement positioning information of the previous moment, M needs to be set to 6, which includes: the second measurement positioning information is offset compared to the first measurement positioning information, the third measurement positioning information is offset compared to the second measurement positioning information, the fourth measurement positioning information is offset compared to the third measurement positioning information, the fifth measurement positioning information is offset compared to the fourth measurement positioning information, and the sixth measurement positioning information is offset compared to the fifth measurement positioning information.

[0042] When it is detected that six consecutive measurement and positioning information all meet the preset conditions, the measurement and positioning information within 10 seconds including the six calculated measurement and positioning information is obtained.

[0043] S104: Smoothing and screening the measured positioning information of a preset number of target periods to obtain target positioning information.

[0044] Specifically, the minimum value of all measurement and positioning information within a preset period is selected as the target measurement and positioning information, a target number of target measurement and positioning information is selected within a target number of preset periods, and the target positioning information is averaged to obtain the target positioning information.

[0045] The number of targets and the preset period can be determined according to the actual application. For example, if you want to quickly monitor the positioning information of the first terminal in the case of geological disasters induced by extreme weather such as continuous heavy rain, such as mudslides and landslides, the number of targets can be set to 6, and the preset period is 10 seconds, that is, 10 seconds as a period, the smallest measurement and positioning information is selected as the target measurement and positioning information, corresponding to selecting 6 target measurement and positioning information within 1 minute, and calculating the average value of the 6 target measurement and positioning information, and then the target positioning information of the first terminal can be obtained. If you want to use it for daily monitoring of the positioning information of the first terminal, the number of targets can be set to 30, the preset period is 10 seconds, and the smallest measurement and positioning information is selected as the target measurement and positioning information with 10 seconds as a period, corresponding to selecting 30 target measurement and positioning information within 5 minutes, and calculating the average value of the 30 target measurement and positioning information, and then the target positioning information of the first terminal can be obtained.

[0046] S105: When it is detected that the difference between the target positioning information and the first initial positioning information is less than or equal to the first preset threshold, the target positioning information is sent to the second terminal, so that the second terminal sends the target positioning information to the target terminal.

[0047] Specifically, the first initial positioning information is initialization positioning information calculated by the first terminal based on the first real-time positioning information and the third differential positioning information.

[0048] The target positioning information is compared with the first initial positioning information. If the difference between the target positioning information and the first initial positioning information is less than or equal to the first preset threshold, the target positioning information is sent to the second terminal so that the second terminal can send the target positioning information to the target terminal. The first preset threshold can be specifically set according to actual conditions.

[0049] For example, the first preset threshold is 2.5 mm. When the difference between the target positioning information and the first initial positioning information is less than or equal to 2.5 mm, the first terminal sends the target positioning information to the second terminal. The second terminal can interact with the 4G communication module or the Beidou short message communication module / Fengyun satellite narrowband communication module through the internal IP, and send the target positioning information back to the target terminal through multiple communication modes. The target terminal is the management terminal of the management personnel.

[0050] In one embodiment, Figure 2 As shown, the step S103 of the method in the first embodiment is further described. Step S103 includes:

[0051] S1031: Whenever a piece of measurement and positioning information is obtained, the measurement and positioning information is compared with the previous measurement and positioning information at the previous moment.

[0052] Specifically, a measurement and positioning information is calculated at each moment, and each moment can be set to 1 second, and the measurement and positioning information at the current moment is compared with the measurement and positioning information at the previous second.

[0053] S1032: Whenever it is detected that the measured positioning information is greater than the last measured positioning information, the number of consecutive times is increased by one; wherein the initial value of the number of consecutive times is 0.

[0054] Specifically, each time the measured positioning information at the current moment is greater than the measured positioning information of the previous second, the number of consecutive times is marked plus one. The initial value of the consecutive times is 0. For example, the first measured positioning information is calculated, and then the second measured positioning information is calculated. The value of the second measured positioning information is compared with the value of the first measured positioning information. If the value of the second measured positioning information is greater than the value of the first measured positioning information, the consecutive times are marked as 1. Then the third measured positioning information is calculated. If the third measured positioning information is greater than the second measured positioning information, the consecutive times are marked as 2.

[0055] S1033: When the number of consecutive detections is greater than M-1, obtain measurement and positioning information within a preset number of target periods.

[0056] Specifically, when it is detected that the measurement and positioning information at a certain moment is greater than the measurement and positioning information at the previous moment for M-1 consecutive times, it is determined that M consecutive measurement and positioning information all meet the preset conditions, and the measurement and positioning information within the target number of preset periods is obtained. For example, M is 6, the number of targets is 30, and when the number of consecutive detections is greater than 5, the measurement and positioning information within 30 prediction periods is obtained, the prediction period is 10 seconds, and the measurement and positioning information is calculated once per second, so the measurement and positioning information within 30 preset periods is 300. If M is 8 and the number of targets is 6, when the number of consecutive detections is greater than 7, the measurement and positioning information within 6 prediction periods is obtained, the prediction period is 10 seconds, and the measurement and positioning information is calculated once per second, so the measurement and positioning information within 6 preset periods is 60.

[0057] In one embodiment, after step S1031, the following steps are included:

[0058] S1034: When it is detected that the measured positioning information is less than or equal to the previous measured positioning information, the number of consecutive times is cleared.

[0059] Specifically, when it is detected that the measured positioning information at the current moment is less than or equal to the last measured positioning information at the last moment, the consecutive number needs to be cleared. For example, after the consecutive number is marked as 2, the fourth measured positioning information is continued to be calculated. If the fourth measured positioning information is less than or equal to the third measured positioning information, the consecutive number is marked as 0.

[0060] S1035: Delete all measured positioning information, and return to execute the step of obtaining the second initial positioning information and the first differential positioning information at N consecutive moments and subsequent steps.

[0061] Specifically, after the consecutive times are marked as 0, all previous measured positioning information is deleted, and the target positioning information is recalculated, and it is necessary to return to execute the step of obtaining the second initial positioning information and the first differential positioning information at N consecutive moments and subsequent steps.

[0062] In one embodiment, Figure 3 As shown, the step S104 of the method in the first embodiment is further described. Step S104 includes:

[0063] S1041: Selecting target measurement and positioning information that meets a second preset condition within each preset period.

[0064] Specifically, the second preset condition is the minimum value of the measurement positioning information within the preset period. Correspondingly, the minimum value of the measurement positioning information within each preset period is selected as the target positioning information. For example, if the preset period is 10 seconds, it is necessary to select the minimum value of 10 measurement positioning information obtained within 10 seconds of the preset period as the target measurement positioning information.

[0065] S1042: Calculate and obtain the average of the measured positioning information of the target number as the target positioning information.

[0066] Specifically, target measurement and positioning information of the target number is selected, and the average value is calculated to obtain the target positioning information. For example, if the number of targets is 6, the target measurement and positioning information within 6 preset periods is selected, and the average value of the 6 target measurement and positioning information is calculated, and the calculated average value is used as the target positioning information.

[0067] In one embodiment, after step S104, the following steps are included:

[0068] S1043: When it is detected that the difference between the target positioning information and the first initial positioning information is greater than a first preset threshold, a sensing parameter is acquired.

[0069] Specifically, the sensing parameter includes at least one of a displacement sensing parameter, an inclination sensing data, a temperature sensing data, and a humidity sensing data, and the first preset threshold is specifically set according to actual needs (for example, the first preset threshold is set to 2.5 mm). When it is detected that the difference between the target positioning information and the first initial positioning information is greater than 2.5 mm, the displacement sensing parameter, the inclination sensing data, the temperature sensing data, and the humidity sensing data are respectively obtained through the displacement sensor, the inclination sensor, the temperature sensor, and the humidity sensor.

[0070] S1044: Compare the sensing parameter with the corresponding sensing parameter threshold.

[0071] Specifically, the sensing parameter threshold includes at least one of a displacement sensing parameter threshold, an inclination sensing data threshold, a temperature sensing data threshold, and a humidity sensing data threshold; the displacement sensing parameter threshold is 2.5 mm, the inclination sensing data threshold is 0 degrees, the temperature sensing data threshold is 35 degrees Celsius, and the humidity sensing data threshold is 50%. The acquired sensing parameters are compared with the corresponding sensing parameter thresholds. For example, the temperature sensing data is compared with the temperature sensing parameter threshold: when the temperature sensing data is detected to be 36 degrees Celsius, it is correspondingly determined that the temperature sensing data is greater than the temperature sensing parameter threshold.

[0072] S1045: When it is detected that the sensing parameter is greater than the corresponding sensing parameter threshold, a warning is generated and sent to the target terminal.

[0073] For example, when the temperature sensor detects that the current temperature is 37 degrees Celsius, a warning message is generated and sent to the target terminal, which can be the management terminal of the manager. When the tilt sensor detects that the tilt sensing data exceeds the tilt sensing data threshold range, a warning message is generated and sent to the target terminal. The tilt sensor is specifically a 3-axis tilt sensor, which needs to detect the changes in the X, Y, and Z axes of the first terminal to determine whether the surrounding environment of the first terminal has tilted, thereby increasing the reliability of real-time judgment of positioning and deformation monitoring.

[0074] When it is detected that the difference between the target positioning information and the first initial positioning information is greater than the first preset threshold, the linkage plan can also be called, such as starting the external camera to obtain the image information and / or video information of the first terminal, and starting the broadcasting device to broadcast the warning information. The linkage plan is implemented for the multi-factor land, water conservancy, transportation emergency disaster prevention and other industries, and assists in viewing the surrounding environment of the scene, thereby solving the actual needs of emergency departments such as land and water conservancy for approaching preparatory warnings, and can quickly, effectively and timely feedback the target positioning information of the first terminal.

[0075] In one embodiment, before step S101, the following steps are included:

[0076] S1001: Acquire third differential positioning information and first real-time positioning information.

[0077] Specifically, compared with the first differential positioning information, the third differential positioning information is the positioning information of the first terminal through the GNSS Global Navigation Satellite System (GNSS) at different times, and the first real-time positioning information is the current positioning information of the first terminal, which can be the location coordinates of the first terminal.

[0078] S1002: Calculate first initial positioning information based on the third differential positioning information and the first real-time positioning information.

[0079] Specifically, the backend server of the first terminal calculates the first initial positioning information according to the first real-time positioning information and the third differential positioning information. The first initial positioning information is stored in the microcontroller of the first terminal and sent to the target terminal, which can be a multi-factor collection terminal for positioning data, a management terminal of a manager, etc.

[0080] Figure 4 A schematic diagram of an application scenario of positioning monitoring is provided.

[0081] like Figure 4 As shown, the positioning monitoring system includes an active station 4011, an active station 4012, an active station 4013, a basic station 402, a public network base station 403 communicating with the basic station 402, a Beidou short message satellite 404, and a Fengyun narrowband satellite 405. Among them, the active station 4011, the active station 4012, and the active station 4013 are respectively connected to the basic station 402 for communication.

[0082] In the actual application scenario, the basic station 402 (that is, the above-mentioned "second terminal") obtains Beidou positioning information (that is, the above-mentioned "second real-time positioning information") through the GPS antenna, and transmits the Beidou positioning information back to the background service platform. The background server compares the positioning information of the Beidou Ground-Based Augmented National Basic Station (that is, the above-mentioned "second differential positioning information") and the Beidou positioning information of the second terminal, and calculates the high-precision and reliable positioning information of the second terminal (that is, the above-mentioned "second initial positioning information"), and stores the second initial positioning information in the SOC MCU (that is, the above-mentioned "microcontroller") of the basic station 402, and then continuously broadcasts the second initial positioning information of the basic station 402 to the surrounding GMSK digital communication through the GMSK module.

[0083] Active station 4011, active station 4012, and active station 4013 have the same functions. Taking active station 4011 (i.e., the above-mentioned "first terminal") as an example, the GPS antenna of active station 4011 obtains Beidou positioning information (i.e., the above-mentioned "first real-time positioning information"), and converts the Beidou positioning information into relevant local differential information through the GNSS positioning receiving module. Active station 4011 receives the local differential information of base station 402 (i.e., the above-mentioned "second initial positioning information"), and submits the local differential information of active station 4011 and the local differential information of base station 402 to the background server. The background server solves the first initial positioning information of active station 4011, and stores the first initial positioning information in the SOC MCU module of active station 4011 (i.e., the above-mentioned "microcontroller"). Through the above initialization and calibration actions, the first initial positioning information of the first terminal is obtained, and the accuracy of the first initial positioning information can reach a level less than or equal to 2.5 mm.

[0084] After obtaining the first initial positioning information, the active station 4011 switches to a fast positioning mode. The method includes:

[0085] 1. The microcontroller of the active station 4011 is embedded with a local differential processing algorithm to locally calculate the measurement positioning information of the active station 4011.

[0086] Specifically, the principle of local calculation and measurement of positioning information by the active station 4011 is to adopt a single base station local differential structure, which consists of three parts: the basic station 402, the data link, and the active station 4011 receiver. A receiver is placed on the basic station 402 as a reference station to continuously observe the satellite, and its observation data and station information are sent to the active station 4011 in real time through radio transmission equipment to provide the rate of change of distance correction. The GPS receiver of the active station 4011 receives the data transmitted by the basic station 402 through the wireless receiving equipment while receiving the GPS satellite signal. The transmitted data is the observation data and station information of the basic station 402. The basic station 402 and the active station 4011 synchronously observe the same GPS satellite, determine the relative position of the basic station 402 and the active station 4011, and calculate the coordinate difference △X, △Y, △H between the basic station 402 and the active station 4011. The WGS-84 coordinates of the basic station 4011 are added to the coordinate difference △X, △Y, △H between the basic station 402 and the active station 4011 to obtain the coordinates of the active station 4011. The coordinates of the active station 4011 are converted into the plane coordinates X, Y and altitude H of each point of the active station 4011 through coordinate conversion parameters.

[0087] Two receivers (a basic station 402 and a mobile station 4011) are observing satellite data. At the same time, the basic station 402 transmits the received carrier phase signal (or carrier phase differential correction signal) through its transmitting radio; the mobile station 4011 receives the radio signal of the basic station 402 through its receiving radio while receiving the satellite signal. Based on these two signals, the firmware software on the mobile station 4011, i.e., the microcontroller, can perform differential calculations to accurately determine the spatial relative position relationship between the basic station 402 and the mobile station 4011. In this process, there will be errors due to the influence of observation conditions, signal sources, etc., which are the instrument calibration errors, generally 1cm+1ppm in the plane and 2cm+1ppm in the elevation.

[0088] Using the base station 402 (located at a point with known coordinates), the spatially correlated errors or their impact on the measurement and positioning results are measured, so that the active station 4011 can correct its observation value or positioning result, and obtain the coordinate increment (baseline vector) and mathematical model (calculation of differential correction number) between the base station 402 and the active station 4011. The receiver on the base station 402 observes the GPS satellites and determines the observed coordinates of the measuring station. The difference between the known coordinates of the measuring station and the observed coordinates is the position correction number.

[0089] 2. Perform precision smoothing screening on the measurement and positioning information.

[0090] Specifically, the measurement and positioning information of the active station 4011 is first calculated every second to determine whether the measurement and positioning information at the current moment is offset compared with the measurement and positioning information of the previous second. If the offset occurs for five consecutive times, the measurement and positioning information of the active station 4011 is solved 10 times within 10 seconds, and then the minimum value of the 10 measurement and positioning information values ​​within 10 seconds is taken. The minimum value is the value that is closest to the first initial positioning information when the active station 4011 is compared with the basic station 402. Because GPS positioning has various deviations such as ionospheric conduction and multi-path interference, taking the minimum value in a short period of 10 seconds is to remove obvious interference changes in the data.

[0091] Next, take the minimum value of the measurement and positioning information within 10 seconds for 6 times within 1 minute, and average it to get the target measurement and positioning information within 1 minute. This mode is a fast mode, usually used in extreme weather such as continuous heavy rain, which is easy to induce geological disasters such as mudslides and landslides. Take the minimum value of the measurement and positioning information within 10 seconds for 30 times within 5 minutes, and average it to get the target measurement and positioning information within 5 minutes. This mode is used for daily monitoring. The activity station 4011 uses an embedded local differential positioning algorithm and smoothing screening of the positioning information accuracy. The positioning information is solved locally in 1-5 minutes. The amount of calculation result data is greatly reduced compared with the background calculation mode.

[0092] Compare the target measurement information with the first initial positioning information. If the values ​​are the same or the error is less than or equal to 2.5 mm, upload the target measurement positioning information to the background server and save the target measurement positioning information. If the values ​​are different or the error is greater than 2.5 mm, upload the target measurement positioning information to the background server. The background server analyzes and determines the target measurement positioning information and calls the local threshold linkage comparison plan to promptly handle the offset of the first terminal. For example, when it is found that the target measurement positioning information of the first terminal is abnormal, the peripheral power supply control module is linked to perform local preset device actions, such as starting the local recording of the camera / local loudspeaker warning information broadcast release, etc.

[0093] 3. The active station 4011 transmits the target measurement and positioning information back to the basic station 402 via the GMSK module.

[0094] In addition, after the GMSK module of the basic station 402 receives the target measurement and positioning information from the active station 4011, the internal IP is exchanged with the 4G communication module or the Beidou short message communication module / Fengyun satellite narrowband communication module, and the target measurement and positioning information is returned to the public network base station 403 through the 4G communication module, and the target measurement and positioning information is returned to the Beidou short message communication module or the Fengyun narrowband module to the Beidou short message satellite 404 and the Fengyun narrowband satellite 405. The use of Beidou satellite short message / Fengyun satellite narrowband transmission data improves the reliability of communication of equipment in remote areas and blind areas of public network coverage.

[0095] By using the Beidou national basic station 402 to perform high-precision initialization calibration on the active station 4011 and the basic station 402, the first initial positioning information of the high-precision active station 4011 and the second initial positioning information of the basic station 402 are obtained. The measurement positioning information at each moment is calculated, and the measurement positioning information is smoothly screened to improve the accuracy of the measurement positioning information and the real-time performance of the measurement. It meets the industry needs for land geology, water conservancy, transportation, and building displacement / deformation monitoring, and solves the real-time performance problem of high-precision positioning in the land, water conservancy, transportation and other industries.

[0096] The embodiment of the present application obtains the second initial positioning information and the first differential positioning information at N consecutive moments, calculates the corresponding measurement positioning information according to the first differential positioning information and the second initial positioning information at each moment, determines the measurement positioning information of the target number of preset periods when it is detected that all the M consecutive measurement positioning information meet the preset conditions, performs smoothing screening based on the measurement positioning information of the target number of preset periods to obtain the target positioning information, and sends the target positioning information to the second terminal when it is detected that the difference between the target positioning information and the first initial positioning information is less than or equal to the first preset threshold, so that the second terminal sends the target positioning information to the target terminal. This method predetermines the first initial positioning information of the first terminal and the second initial positioning information of the second terminal, obtains the measurement positioning information based on the local calculation according to the first differential positioning information and the second initial positioning information, and obtains the target positioning information of the first terminal through smoothing screening, thereby reducing the cost and improving the accuracy and real-time performance of the positioning monitoring results.

[0097] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0098] Corresponding to a positioning monitoring method described in the above embodiment, Figure 5 A structural block diagram of a positioning monitoring device provided in an embodiment of the present application is shown. For ease of explanation, only the parts related to the embodiment of the present application are shown.

[0099] Reference Figure 5 , the device is applied to a first terminal, and the device 500 includes:

[0100] The positioning information acquisition module 501 is used to acquire the second initial positioning information and the first differential positioning information at N consecutive moments; wherein N is a positive integer greater than 0.

[0101] The measurement positioning information calculation module 502 is used to calculate the corresponding measurement positioning information according to the first differential positioning information and the second initial positioning information at each moment; wherein the second initial positioning information is the initialization positioning information calculated by the second terminal based on the second real-time positioning information and the second differential positioning information of the second terminal.

[0102] The measurement and positioning information determination module 503 is used to determine the measurement and positioning information of a target number of preset periods when it is detected that M consecutive measurement and positioning information all meet the preset conditions; wherein M is less than N.

[0103] The smoothing and filtering module 504 is used to perform smoothing and filtering on the measured positioning information of a preset number of target periods to obtain the target positioning information.

[0104] The target positioning information sending module 505 is used to send the target positioning information to the second terminal when it is detected that the difference between the target positioning information and the first initial positioning information is less than or equal to the first preset threshold, so that the second terminal sends the target positioning information to the target terminal; wherein the first initial positioning information is the initialization positioning information calculated by the first terminal based on the first real-time positioning information of the first terminal and the third differential positioning information.

[0105] In one embodiment, the measurement positioning information determination module 503 includes: an information comparison unit, a marking unit and an information acquisition unit; the information comparison unit is used to compare the measurement positioning information with the previous measurement positioning information at the previous moment each time a measurement positioning information is obtained; the marking unit is used to mark the number of consecutive times plus one each time it is detected that the measurement positioning information is greater than the previous measurement positioning information; wherein the initial value of the consecutive times is 0; the information acquisition unit is used to obtain the measurement positioning information within a target number of preset periods when it is detected that the consecutive times are greater than M-1.

[0106] In one embodiment, the information comparison unit is also used to clear the consecutive times when it is detected that the measured positioning information is less than or equal to the previous measured positioning information; delete all measured positioning information, and return to execute the step of obtaining the second initial positioning information and the first differential positioning information at N consecutive moments and subsequent steps.

[0107] In one embodiment, the smoothing screening module 504 includes: a target measurement positioning information selection unit and an average calculation unit; the target measurement positioning information selection unit is used to select the target measurement positioning information that meets the second preset condition within each preset period; the average calculation unit is used to calculate the average of the target measurement positioning information of the target number as the target positioning information.

[0108] In one embodiment, the device also includes: a sensing parameter acquisition module, which is used to acquire the sensing parameters when it is detected that the difference between the target positioning information and the first initial positioning information is greater than a first preset threshold; wherein the sensing parameters include at least one of displacement sensing parameters, inclination sensing data, temperature sensing data and humidity sensing data; a sensing parameter threshold comparison module, which is used to compare the sensing parameters with the corresponding sensing parameter threshold; the sensing parameter threshold includes at least one of the displacement sensing parameter threshold, inclination sensing data threshold, temperature sensing data threshold and humidity sensing data threshold; the warning module is used to generate a warning and send it to the target terminal when it is detected that the sensing parameter is greater than the corresponding sensing parameter threshold.

[0109] In one embodiment, the positioning information acquisition module 501 is further used to acquire the third differential positioning information and the first real-time positioning information; the first initial positioning information calculation module is used to calculate the first initial positioning information based on the third differential positioning information and the first real-time positioning information.

[0110] The embodiment of the present application obtains the second initial positioning information and the first differential positioning information of N consecutive moments, calculates the corresponding measurement positioning information according to the first differential positioning information and the second initial positioning information at each moment, determines the measurement positioning information of the target number of preset periods when it is detected that all the M consecutive measurement positioning information meet the preset conditions, performs smoothing screening based on the measurement positioning information of the target number of preset periods to obtain the target positioning information, and sends the target positioning information to the second terminal when it is detected that the difference between the target positioning information and the first initial positioning information is less than or equal to the first preset threshold, so that the second terminal sends the target positioning information to the target terminal. This method predetermines the first initial positioning information of the first terminal and the second initial positioning information of the second terminal, obtains the positioning information based on the local calculation measurement according to the first differential positioning information and the second initial positioning information, and obtains the target positioning information of the first terminal through smoothing screening, thereby reducing the cost and improving the accuracy and real-time performance of the positioning monitoring results.

[0111] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0112] Figure 6 This is a schematic diagram of the structure of a terminal device provided in an embodiment of the present application. Figure 6 As shown, the terminal device 600 of this embodiment includes: at least one processor 60 ( Figure 6 Only one is shown), a memory 61, and a computer program 62 stored in the memory 61 and executable on the at least one processor 60, wherein the processor 60 implements the steps of any of the above-mentioned positioning monitoring method embodiments when executing the computer program 62.

[0113] The terminal device 600 may be a computing device such as a desktop computer, a notebook, a PDA, or a cloud server. The terminal device 600 may include, but is not limited to, a processor 60 and a memory 61. Those skilled in the art will appreciate that Figure 6 It is only an example of the terminal device 600 and does not constitute a limitation on the terminal device 600. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components, for example, it may also include input and output devices, network access devices, etc.

[0114] The processor 60 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0115] In some embodiments, the memory 61 may be an internal storage unit of the terminal device 600, such as a hard disk or memory of the terminal device 600. In other embodiments, the memory 61 may also be an external storage device of the terminal device 600, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the terminal device 600. Further, the memory 61 may also include both an internal storage unit of the terminal device 600 and an external storage device. The memory 61 is used to store an operating system, an application program, a boot loader (BootLoader), data, and other programs, such as the program code of the computer program. The memory 61 may also be used to temporarily store data that has been output or is to be output.

[0116] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0117] An embodiment of the present application also provides a network device, which includes: at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor, wherein the processor implements the steps in any of the above-mentioned method embodiments when executing the computer program.

[0118] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the above-mentioned method embodiments can be implemented.

[0119] An embodiment of the present application provides a computer program product. When the computer program product runs on a mobile terminal, the mobile terminal can implement the steps in the above-mentioned method embodiments when executing the computer program product.

[0120] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium can at least include: any entity or device that can carry the computer program code to the camera / terminal device, recording medium, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, RandomAccess Memory), electric carrier signal, telecommunication signal and software distribution medium. For example, a USB flash drive, a mobile hard disk, a disk or an optical disk. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electric carrier signals and telecommunication signals.

[0121] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0122] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0123] In the embodiments provided in the present application, it should be understood that the disclosed devices / network equipment and methods can be implemented in other ways. For example, the device / network equipment embodiments described above are merely schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0124] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0125] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A method for positioning monitoring, characterized in that: The method is applied to a first terminal, and the method includes: Acquire second initial positioning information and first differential positioning information at N consecutive moments; wherein N is a positive integer greater than 0; the second initial positioning information is initialization positioning information calculated by the second terminal based on the second real-time positioning information and the second differential positioning information of the second terminal; Calculate corresponding measurement positioning information according to the first differential positioning information and the second initial positioning information at each moment; When it is detected that M consecutive measurement and positioning information all meet the preset condition, determining the measurement and positioning information of the target number of preset periods; wherein M is less than N; The target positioning information is obtained by smoothing and screening the measurement positioning information of the preset number of periods of the target; When it is detected that the difference between the target positioning information and the first initial positioning information is less than or equal to a first preset threshold, the target positioning information is sent to the second terminal, so that the second terminal sends the target positioning information to the target terminal; wherein the first initial positioning information is the initialization positioning information calculated by the first terminal based on the first real-time positioning information of the first terminal and the third differential positioning information; The step of determining the measurement and positioning information of a target number of preset periods when it is detected that all the consecutive M measurement and positioning information satisfy the preset condition includes: Each time a piece of measurement and positioning information is obtained, the measurement and positioning information is compared with the previous measurement and positioning information at the previous moment; Each time it is detected that the measured positioning information is greater than the last measured positioning information, the number of consecutive times of marking is increased by one; When it is detected that the consecutive times are greater than M-1, the measurement and positioning information within a target number of preset periods is obtained.

2. The method according to claim 1, characterized in that The initial value of the consecutive times is 0.

3. The method according to claim 2, characterized in that After obtaining each piece of measurement and positioning information, the measurement and positioning information is compared with the last measurement and positioning information at the last moment, including: When it is detected that the measured positioning information is less than or equal to the last measured positioning information, clearing the consecutive times; Delete all measured positioning information, and return to execute the step of obtaining the second initial positioning information and the first differential positioning information at N consecutive moments and subsequent steps.

4. The method according to claim 1, characterized in that The step of obtaining the target positioning information by smoothing and screening the measured positioning information of the preset number of periods of the target comprises: Selecting target measurement positioning information that meets the second preset condition within each preset period; The average of the measured positioning information of the target number is calculated and used as the target positioning information.

5. The method according to claim 1, characterized in that After the target positioning information is obtained by smoothing and screening the measured positioning information of the preset number of target cycles, the method further includes: When it is detected that the difference between the target positioning information and the first initial positioning information is greater than a first preset threshold, a sensing parameter is acquired; wherein the sensing parameter includes at least one of a displacement sensing parameter, an inclination sensing data, a temperature sensing data and a humidity sensing data; Comparing the sensing parameter with a corresponding sensing parameter threshold; the sensing parameter threshold includes at least one of a displacement sensing parameter threshold, an inclination sensing data threshold, a temperature sensing data threshold, and a humidity sensing data threshold; When it is detected that the sensing parameter is greater than the corresponding sensing parameter threshold, a warning is generated and sent to the target terminal.

6. The method according to claim 1, characterized in that Before acquiring the second initial positioning information and the first differential positioning information at N consecutive moments, the method includes: Acquire third differential positioning information and first real-time positioning information; The first initial positioning information is calculated based on the third differential positioning information and the first real-time positioning information.

7. A positioning monitoring device, characterized in that: The device is applied to a first terminal, and includes: A positioning information acquisition module, used to acquire second initial positioning information and first differential positioning information at N consecutive moments; wherein N is a positive integer greater than 0; the second initial positioning information is initialization positioning information calculated by the second terminal based on the second real-time positioning information and the second differential positioning information of the second terminal; A positioning information calculation module, used to calculate corresponding measurement positioning information according to the first differential positioning information and the second initial positioning information at each moment; A measurement and positioning information determination module, configured to determine the measurement and positioning information of a target number of preset periods when it is detected that M consecutive measurement and positioning information all meet the preset conditions; wherein M is less than N; A smoothing screening module, used for performing smoothing screening based on the measurement positioning information of the target number of preset cycles to obtain target positioning information; A positioning information sending module, configured to send the target positioning information to the second terminal when it is detected that the difference between the target positioning information and the first initial positioning information is less than or equal to a first preset threshold, so that the second terminal sends the target positioning information to the target terminal; wherein the first initial positioning information is the initialization positioning information calculated by the first terminal based on the first real-time positioning information of the first terminal and the third differential positioning information; The measurement and positioning information determination module includes: an information comparison unit, a marking unit and an information acquisition unit; The information comparison unit is used to compare the measurement and positioning information with the previous measurement and positioning information at the previous moment each time a measurement and positioning information is obtained; The marking unit is used to increase the number of consecutive markings by one each time it is detected that the measured positioning information is greater than the last measured positioning information; The information acquisition unit is used to acquire the measurement positioning information within a target number of preset periods when it is detected that the consecutive number is greater than M.

8. The device according to claim 7, characterized in that The initial value of the consecutive times is 0.

9. A terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method according to any one of claims 1 to 6 is implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

Images