Positioning control system, method, storage medium and electronic device

Abstract

Embodiments of the present application provide a positioning energy control system, method, storage medium and electronic device, and relate to the technical field of positioning control technology. The system comprises: an active positioning antenna connected with an external server signal; a first positioning module connected with the active positioning antenna signal, used for acquiring and transmitting first positioning information of a target object; and a second positioning module connected with the first positioning unit and the active positioning antenna signal, used for acquiring second positioning information of the target object and receiving the first positioning information. Through the present application, the problem of low positioning accuracy is solved, and the effect of improving positioning accuracy is achieved.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of communications, and more specifically, to a positioning control system, method, storage medium, and electronic device. Background Technology

[0002] Thanks to the application of technologies such as the Internet of Things, artificial intelligence, and big data, shared electric bicycles have emerged to address the pain points of short- and medium-distance travel of 3 to 10 kilometers.

[0003] As an emerging green mode of transportation, shared electric bicycles provide users with a more convenient, efficient, and low-carbon option for short- and medium-distance travel, and are widely welcomed by users. At the same time, the emergence of shared electric bicycles also improves the urban slow-moving transportation system and helps build a low-carbon city.

[0004] Currently, shared electric bicycles use satellite positioning technology. The onboard central control unit obtains location information through an internal GPS module and uploads it to a server. However, due to factors such as weather and electromagnetic interference, the positioning accuracy of shared electric bicycles still has significant deviations, causing difficulties for many users when returning the bicycles. Summary of the Invention

[0005] This invention provides a positioning control system, method, storage medium, and electronic device to at least solve the problem of positioning difficulties in related technologies.

[0006] According to one embodiment of the present invention, a positioning control system is provided, comprising:

[0007] An active positioning antenna is connected to an external server signal.

[0008] The first positioning module is connected to the active positioning antenna signal and is used to acquire and transmit the first positioning information of the target object;

[0009] The second positioning module is connected to the first positioning unit and the active positioning antenna signal, and is used to acquire the second positioning information of the target object and receive the first positioning information; when the second positioning module receives a positioning query instruction from the external server and / or a timed reporting instruction from within the target object, the first positioning module and the second positioning module respectively perform the following operations:

[0010] The first positioning module acquires first positioning information and first historical positioning information of the target object; the second positioning module acquires speed information, second positioning information, and second historical positioning information of the target object; the second positioning module performs a first invalidation judgment on the first positioning information based on the first historical positioning information and the speed information to obtain a first judgment result; the second positioning module performs a second invalidation judgment on the first positioning information based on the second historical positioning information and the speed information to obtain a second judgment result; if both the first judgment result and the second judgment result satisfy a first condition, an information fusion operation is performed on the first positioning information and the second positioning information to obtain the target positioning information.

[0011] In one exemplary embodiment, it further includes:

[0012] The motor control module is communicatively connected to the second positioning module and is used to collect motor information of the target object and transmit the motor information to the second positioning module.

[0013] In one exemplary embodiment, it further includes:

[0014] An acceleration sensing module is communicatively connected to the second positioning module, used to collect the velocity information of the target object and transmit the velocity information to the second positioning module.

[0015] In one exemplary embodiment, it further includes:

[0016] The system includes at least two Bluetooth modules, both of which are communicatively connected to the second positioning module; the target object communicates with external Bluetooth devices through the Bluetooth modules.

[0017] According to another embodiment of the present invention, a positioning control method is provided, comprising:

[0018] Obtain location query instructions from external servers and / or timed reporting instructions from within the target object;

[0019] Based on the location query command and / or the timed reporting command, perform the following operations:

[0020] The first positioning module acquires the first positioning information and the first historical positioning information of the target object; the second positioning module acquires the speed information, the second positioning information, and the second historical positioning information of the target object.

[0021] The second positioning module performs a first invalidity determination on the first positioning information based on the first historical positioning information and the speed information to obtain a first determination result; the second positioning module performs a second invalidity determination on the first positioning information based on the second historical positioning information and the speed information to obtain a second determination result.

[0022] If both the first judgment result and the second judgment result satisfy the first condition, an information fusion operation is performed on the first positioning information and the second positioning information to obtain the target positioning information.

[0023] In one exemplary embodiment, it also includes,

[0024] The second positioning module acquires heartbeat information, wherein the timing information is sent by the timing module when a first duration meets a preset threshold, and the first duration includes the duration for which the timing module performs heartbeat timing;

[0025] The target information is sent to the external server, wherein the target information includes at least one of the following: location information, power information, and motion information;

[0026] Upon receiving the first response information from the external server based on the target information, the positioning module performs heartbeat timing;

[0027] If no first response is received from the external server based on the target information, the target information is sent to the external server sequentially.

[0028] In one exemplary embodiment, it further includes:

[0029] Obtain the lock status information of the target object;

[0030] If the target object is determined to be in a locked state, the motor control information of the target object is obtained, wherein the motor control state includes the motor speed information of the target object;

[0031] If it is determined that the motor speed information does not meet the first condition, the target phase signal of the motor of the target object is obtained;

[0032] When the target phase signal of the motor meets the second condition, the object motion information is sent to the external server;

[0033] Upon receiving an unlock signal from the external server based on the object's motion information, an unlock signal is sent to the motor control module to instruct the motor control module to perform an unlock operation.

[0034] If the second duration meets the second threshold, a lock signal is sent to the motor control module to instruct the motor control module to perform a lock operation. The second duration includes the duration for which the timing module performs a delay.

[0035] In one exemplary embodiment, it further includes:

[0036] Obtain motion status information;

[0037] When it is determined that the target object is in a first motion state, the power battery voltage information is acquired;

[0038] If the power battery voltage information does not meet the third condition, at least one of the following information is sent to the external server in sequence: battery information, target location information, and a module hibernation operation is performed to instruct the target module of the target object to enter a hibernation state.

[0039] If the third threshold is met during the third duration, a module wake-up operation is performed to instruct the target module to enter the working state, wherein the third duration includes the duration during which the timer module performs sleep timing.

[0040] According to yet another embodiment of the present invention, a computer-readable storage medium is also provided, wherein a computer program is stored therein, wherein the computer program is configured to perform the steps in any of the above method embodiments when executed.

[0041] According to yet another embodiment of the present invention, an electronic device is also provided, including a memory and a processor, wherein the memory stores a computer program and the processor is configured to run the computer program to perform the steps in any of the above method embodiments.

[0042] By means of the present invention, since the positioning information is fused together by the first positioning module and the second positioning module, the problem of inaccurate positioning caused by a single positioning module can be avoided. Therefore, the problem of low positioning accuracy can be solved, and the effect of improving positioning accuracy can be achieved. Attached Figure Description

[0043] Figure 1 This is a hardware structure block diagram of a mobile terminal for a positioning control method according to an embodiment of the present invention.

[0044] Figure 2 A flowchart of a positioning control method according to an embodiment of the present invention;

[0045] Figure 3 This is a structural block diagram of a positioning control system according to an embodiment of the present invention;

[0046] Figure 4This is a structural schematic diagram according to a specific embodiment of the present invention. Detailed Implementation

[0047] The embodiments of the present invention will be described in detail below with reference to the accompanying drawings and examples.

[0048] It should be noted that the terms "first," "second," etc., in the specification, claims, and drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0049] The methods and embodiments provided in this application can be executed on a mobile terminal, computer terminal, or similar computing device. Taking running on a mobile terminal as an example, Figure 1 This is a hardware structure block diagram of a mobile terminal for a positioning control method according to an embodiment of the present invention. Figure 1 As shown, a mobile terminal may include one or more ( Figure 1 Only one is shown in the diagram. A processor 102 (which may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.) and a memory 104 for storing data are also shown. The mobile terminal may further include a transmission device 106 for communication functions and an input / output device 108. Those skilled in the art will understand that... Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the mobile terminal described above. For example, the mobile terminal may also include components that are more... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown.

[0050] The memory 104 can be used to store computer programs, such as application software programs and modules, like the computer program corresponding to the positioning control method in this embodiment of the invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, thereby implementing the above-described method. The memory 104 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the mobile terminal via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0051] The transmission device 106 is used to receive or send data via a network. Specific examples of the network described above may include a wireless network provided by the mobile terminal's communication provider. In one example, the transmission device 106 includes a Network Interface Controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, the transmission device 106 may be a Radio Frequency (RF) module, used for wireless communication with the Internet.

[0052] This embodiment provides a positioning control method. Figure 2 This is a flowchart according to an embodiment of the present invention, such as... Figure 2 As shown, the process includes the following steps:

[0053] Step S202: Obtain the location query instruction from the external server and / or the timed reporting instruction from within the target object;

[0054] In this embodiment, the external server includes, but is not limited to, external control centers, external command centers, operators, and other equipment or systems. The target object can be (but is not limited to) motor vehicles such as electric bicycles, electric vehicles, and drones, or unmanned automated equipment or devices such as non-motor vehicles. The timed reporting instruction can be sent after being triggered by the timed module inside the target object.

[0055] Step S204: Perform the following operations based on the location query instruction and / or the timed reporting instruction:

[0056] In step S2042, the first positioning module 32 acquires the first positioning information and the first historical positioning information of the target object; the second positioning module 33 acquires the speed information, the second positioning information, and the second historical positioning information of the target object.

[0057] In this embodiment, the first positioning information and the first historical positioning information, the second positioning information and the second historical positioning information all include (but are not limited to) the latitude and longitude coordinates of the target object, the positioning time, and other information. The speed information includes (but is not limited to) the movement speed and movement direction of the target object at the positioning time. The first positioning module 32 can be set as a MAX-M10S high-precision satellite positioning module, and the second positioning module 33 can be set as an A7670C-FASL with external interaction and positioning functions. This module has rich interfaces and is particularly suitable for Internet of Things applications. It is conceivable that the first positioning module 32 and the second positioning module 33 can also be other positioning modules, as long as they can realize the positioning function. This will not be elaborated here.

[0058] It should be noted that the first location information, the second location information, the first historical location information, and the second historical location information can be obtained sequentially or in an overlapping manner. For example, the second historical location information can be obtained directly after the first location information is obtained.

[0059] Step S2044: The second positioning module 33 performs a first invalidity judgment on the first positioning information based on the first historical positioning information and the speed information to obtain a first judgment result; the second positioning module 33 performs a second invalidity judgment on the first positioning information based on the second historical positioning information and the speed information to obtain a second judgment result.

[0060] In this embodiment, determining the validity of a location information using speed information and historical location information is to avoid inaccurate location information caused by interference from surrounding magnetic fields, buildings, and other factors. The principle is that, given a constant speed, the location information should have a certain relationship with both the location information and the speed information. If the three pieces of information actually obtained satisfy this condition, the location information is valid; otherwise, it is invalid. For example, if the location information is Shanghai within one hour, and the historical location information is Beijing, since the product of the time and speed information is less than the offset between Shanghai and Beijing, the location information can be determined to be inaccurate.

[0061] The purpose of using the first positioning module 32 and the second positioning module 33 for joint positioning is to reduce the probability of incorrect positioning caused by the failure or error of a single positioning module, thereby improving positioning efficiency.

[0062] Step S2046: If both the first judgment result and the second judgment result satisfy the first condition, perform an information fusion operation on the first positioning information and the second positioning information to obtain the target positioning information.

[0063] In this embodiment, when both the first and second positioning information are accurate, a weighted average can be performed on the first and second positioning information to obtain the final positioning information that can be used for control calculation. For example, M = (1.2 * A + 0.8 * B), where M is the longitude or latitude coordinate in the target positioning information, A is the longitude or latitude coordinate in the first positioning information, and B is the longitude or latitude coordinate in the second positioning information. The coefficients of A and B can be adjusted according to the specific application. For example, in some scenarios, the fusion formula can also be M = (1.5 * A + 0.5 * B).

[0064] It can be assumed that the first condition is that both the first and second location information are valid; otherwise, they are invalid.

[0065] Through the above steps, the target object is located by the first positioning module 32 and the second module, and the difference between the two positioning information is eliminated by information fusion after positioning, so that the target positioning information is more accurate, solving the problem of low positioning accuracy and improving positioning accuracy.

[0066] The entities that perform the above steps can be base stations, terminals, etc., but are not limited to these.

[0067] In an optional embodiment, the method further includes:

[0068] Step S206, the second positioning module 33 acquires heartbeat information, wherein the timing information is sent by the timing module when the first duration meets a preset threshold, and the first duration includes the duration for which the timing module performs heartbeat timing;

[0069] Step S208: Send the target information to the external server, wherein the target information includes at least one of the following: location information, power information, and motion information;

[0070] Step S2010: Upon receiving the first response information fed back by the external server based on the target information, the positioning module performs heartbeat timing;

[0071] In step S2012, if no first response information based on the target information is received from the external server, the target information is sent to the external server sequentially.

[0072] In this embodiment, heartbeat timing and sending target information when the heartbeat timing reaches a threshold are to enable the external server to periodically obtain the status of the target object, thereby enabling timely allocation or maintenance of the target object as needed.

[0073] Among them, the power information includes information such as the remaining battery power of the target object, and the location information includes the target object's target positioning information.

[0074] In an optional embodiment, the method further includes:

[0075] Step S2014: Obtain the locking status information of the target object;

[0076] Step S2016: If the target object is determined to be in a locked state, obtain the motor control information of the target object, wherein the motor control state includes the motor speed information of the target object;

[0077] Step S2018: If it is determined that the motor speed information does not meet the first condition, the target phase signal of the motor of the target object is obtained;

[0078] Step S2020: If the target phase signal of the motor satisfies the second condition, send object motion information to the external server;

[0079] Step S2022: Upon receiving an unlock signal from the external server based on the object's motion information, an unlock signal is sent to the motor control module to instruct the motor control module to perform an unlock operation.

[0080] Step S2024: If the second duration meets the second threshold, a lock signal is sent to the motor control module to instruct the motor control module to perform a lock operation. The second duration includes the duration for which the timing module performs a delay timer.

[0081] In this embodiment, obtaining the motor speed information is to determine whether the motor of the target object is in a working state. The first condition can be (but is not limited to) the motor speed being 0. Obtaining the motor target phase signal is to determine whether the target object's wheels and other structures are in motion when the motor is determined to be in a working state. The motor target phase signal can be (but is not limited to) the motor's B-phase signal. If the vehicle itself is locked, but the motor and wheels are both in a working state, it may cause the motor to run forcibly, resulting in motor damage. Therefore, an unlock signal needs to be sent to the vehicle to unlock the target object and release the energy accumulated in the motor. To prevent theft, the vehicle needs to be relocked when the second time interval reaches the second threshold, thereby increasing the difficulty of vehicle theft. The second threshold can be (but is not limited to) 1 second, or other values.

[0082] In an optional embodiment, the method further includes:

[0083] Step S2026: Obtain motion state information;

[0084] Step S2028: If it is determined that the target object is in a first motion state, obtain the power battery voltage information;

[0085] Step S2030: If the power battery voltage information does not meet the third condition, send at least one of the following information to the external server in sequence: battery information, target location information, and perform a module hibernation operation to instruct the target module of the target object to enter a hibernation state.

[0086] Step S2032: If the third duration meets the third threshold, perform a module wake-up operation to instruct the target module to enter the working state, wherein the third duration includes the duration for which the timer module performs sleep timing.

[0087] In this embodiment, when the power battery voltage is low, the system modules are put into hibernation to ensure that there is enough power to maintain the state until charging or maintenance by staff. After the third time period meets the third threshold, the modules of the target object are woken up to ensure that the target object can be used at any time and monitored in real time by the external server, so that it can be maintained or called in a timely manner.

[0088] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods according to the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0089] This embodiment also provides a positioning control system, which is used to implement the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that performs a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0090] Figure 3 This is a structural block diagram of a positioning control system according to an embodiment of the present invention, such as... Figure 2 As shown, the system includes:

[0091] Active positioning antenna 31 is connected to the signal of an external server;

[0092] The first positioning module 32 is signal-connected to the active positioning antenna 31 and is used to acquire and transmit the first positioning information of the target object;

[0093] The second positioning module 33 is signal-connected to the first positioning unit and the active positioning antenna 31, and is used to acquire the second positioning information of the target object and receive the first positioning information; when the second positioning module 33 receives a positioning query command from the external server and / or a timed reporting command from within the target object, the first positioning module 32 and the second positioning module 33 respectively perform the following operations:

[0094] The first positioning module 32 acquires first positioning information and first historical positioning information of the target object; the second positioning module 33 acquires speed information, second positioning information, and second historical positioning information of the target object; the second positioning module 33 performs a first invalidation judgment on the first positioning information based on the first historical positioning information and the speed information to obtain a first judgment result; the second positioning module 33 performs a second invalidation judgment on the first positioning information based on the second historical positioning information and the speed information to obtain a second judgment result; when both the first judgment result and the second judgment result satisfy the first condition, an information fusion operation is performed on the first positioning information and the second positioning information to obtain the target positioning information.

[0095] In this embodiment, an active antenna is used because traditional central control antennas are passive, lacking power supply and resulting in poor signal strength. An active antenna connection (supported by the chip) is employed here, effectively amplifying the antenna signal and enabling precise and effective communication between the external server and the second positioning module 33. The number of both the first positioning module 32 and the second positioning module 33 can be (but is not limited to) one or more.

[0096] In an optional embodiment, the system further includes:

[0097] The motor control module 34 is communicatively connected to the second positioning module 33 and is used to collect motor information of the target object and transmit the motor information to the second positioning module 33.

[0098] In an optional embodiment, the system further includes:

[0099] The acceleration sensing module 35 is communicatively connected to the second positioning module 33, and is used to collect the speed information of the target object and transmit the speed information to the second positioning module 33.

[0100] In an optional embodiment, the system further includes:

[0101] Bluetooth modules 36, at least two of them, are communicatively connected to the second positioning module 33; the target object communicates with external Bluetooth devices through the Bluetooth modules.

[0102] In this embodiment, communicating with an external Bluetooth device through at least two Bluetooth modules is to solve the problem of Bluetooth identification and ranging failures that negatively impact the user's cycling experience. The Bluetooth module can be (but is not limited to) a microcontroller of model DA14585, and the external Bluetooth device can be (but is not limited to) a Bluetooth helmet, Bluetooth beacon, etc., and is also responsible for communicating with the motor controller.

[0103] It should be noted that the above modules can be implemented by software or hardware. For the latter, they can be implemented in the following ways, but are not limited to: all the above modules are located in the same processor; or, the above modules are located in different processors in any combination.

[0104] The present invention will now be described with reference to specific embodiments.

[0105] like Figure 4 As shown, the system uses an A7670C-FASL (corresponding to the aforementioned second positioning module 33) as the main controller. The high-precision positioning chip (corresponding to the aforementioned first positioning module 32) and the Bluetooth microcontroller (corresponding to the aforementioned Bluetooth module 36) communicate with the main controller via UART. Since the A7670C-FASL integrates a voice module, it can directly drive the audio amplifier chip to connect to a speaker, thereby realizing the voice broadcast function of the shared electric bicycle (corresponding to the aforementioned target object).

[0106] The accelerometer (corresponding to the aforementioned accelerometer module 35) uses a LIS3DHTR, which can collect the tilt angle information of the electric bicycle. In the event of a tipping accident, the main controller will immediately report it to the road maintenance personnel. The motor controller (corresponding to the aforementioned motor control module 34) receives instructions from the main controller and is responsible for controlling the motor, brakes, throttle, and headlights, while also feeding back the tachometer information to the main controller. In addition to implementing Bluetooth functionality, the Bluetooth microcontroller also participates in the control of the helmet lock and seat lock (corresponding to the aforementioned external Bluetooth device).

[0107] Embodiments of the present invention also provide a computer-readable storage medium storing a computer program, wherein the computer program is configured to perform the steps in any of the above method embodiments when executed.

[0108] In one exemplary embodiment, the aforementioned computer-readable storage medium may include, but is not limited to, various media capable of storing computer programs, such as a USB flash drive, read-only memory (ROM), random access memory (RAM), portable hard disk, magnetic disk, or optical disk.

[0109] Embodiments of the present invention also provide an electronic device including a memory and a processor, the memory storing a computer program and the processor being configured to run the computer program to perform the steps in any of the above method embodiments.

[0110] In one exemplary embodiment, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor and the input / output device is connected to the processor.

[0111] Specific examples in this embodiment can be found in the examples described in the above embodiments and exemplary implementations, and will not be repeated here.

[0112] It is obvious to those skilled in the art that the modules or steps of the present invention described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. They can be implemented using computer-executable program code, and thus can be stored in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those described herein, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any particular combination of hardware and software.

[0113] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A positioning control system, characterized by, Comprise: Active positioning antenna, signal connection with external server; First positioning module, signal connection with the active positioning antenna, for obtaining and transmitting the first positioning information of the target object; Second positioning module, signal connection with the first positioning module and the active positioning antenna, for obtaining the second positioning information of the target object and receiving the first positioning information; In the case that the second positioning module receives the positioning query instruction from the external server and / or the timing reporting instruction from the inside of the target object, the first positioning module and the second positioning module respectively perform the following operations: The first positioning module obtains the first positioning information and the first historical positioning information of the target object; the second positioning module obtains the speed information, the second positioning information and the second historical positioning information of the target object; the second positioning module performs first invalidity judgment on the first positioning information based on the first historical positioning information and the speed information, to obtain the first judgment result; The second positioning module performs second invalidity judgment on the first positioning information based on the second historical positioning information and the speed information, to obtain the second judgment result; in the case that the first judgment result and the second judgment result both satisfy the first condition, information fusion operation is performed on the first positioning information and the second positioning information, to obtain the target positioning information.

2. The system of claim 1, wherein, Further comprise: Motor control module, communication connection with the second positioning module, for collecting the motor information of the target object and transmitting the motor information to the second positioning module.

3. The system of claim 1, wherein, Further comprise: Acceleration sensing module, communication connection with the second positioning module, for collecting the speed information of the target object and transmitting the speed information to the second positioning module.

4. The system of claim 1, wherein, Further comprise: Bluetooth module, at least two, all in communication connection with the second positioning module; the target object communicates with external Bluetooth device through the Bluetooth module.

5. A positioning control method characterized by, Applied to the system as claimed in claim 1, the method comprises: Obtaining the positioning query instruction from the external server and / or the timing reporting instruction from the inside of the target object; Based on the positioning query instruction and / or the timing reporting instruction, the following operations are performed: The first positioning module obtains the first positioning information and the first historical positioning information of the target object; the second positioning module obtains the speed information, the second positioning information and the second historical positioning information of the target object; The second positioning module performs first invalidity judgment on the first positioning information based on the first historical positioning information and the speed information, to obtain the first judgment result; the second positioning module performs second invalidity judgment on the first positioning information based on the second historical positioning information and the speed information, to obtain the second judgment result; In the case that the first judgment result and the second judgment result both satisfy the first condition, information fusion operation is performed on the first positioning information and the second positioning information, to obtain the target positioning information.

6. The method of claim 5, wherein, Further comprise, The second positioning module acquires heartbeat information, wherein the heartbeat information is sent by the timing module when a first time length meets a preset threshold, and the first time length includes a time length during which the timing module performs heartbeat timing. The target information is sent to the external server, wherein the target information includes at least one of the following: position information, power information, and motion information. The positioning module performs heartbeat timing when receiving first response information fed back by the external server based on the target information. The target information is sequentially sent to the external server when the first response information fed back by the external server based on the target information is not received.

7. The method of claim 5, wherein, Further comprising: Acquiring lock state information of the target object; When it is determined that the target object is in a locked state, acquiring motor control information of the target object, wherein the motor control information includes motor speed information of the target object; When it is determined that the motor speed information does not meet a first condition, acquiring a motor target phase signal of the target object; When the motor target phase signal meets a second condition, sending object motion information to the external server; When receiving an unlock signal fed back by the external server based on the object motion information, sending the unlock signal to the motor control module to instruct the motor control module to perform an unlock operation; When a second time length meets a second threshold, sending a lock signal to the motor control module to instruct the motor control module to perform a lock operation, wherein the second time length includes a time length during which the timing module performs delay timing.

8. The method of claim 5, wherein, Further comprising: Acquiring motion state information; When it is determined that the target object is in a first motion state, acquiring power battery voltage information; When the power battery voltage information does not meet a third condition, sequentially sending at least one of the following information to the external server: battery information, target positioning information, and performing a module sleep operation to instruct a target module of the target object to enter a sleep state; When a third time length meets a third threshold, performing a module wake-up operation to instruct the target module to enter a working state, wherein the third time length includes a time length during which the timing module performs sleep timing.

9. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer program, wherein the computer program is configured to execute the method described in any one of claims 5 to 8 when running. 10.An electronic device comprising a memory and a processor, the electronic device characterized by, The memory stores a computer program, and the processor is configured to execute the method described in any one of claims 5 to 8 by running the computer program.

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