Positioning method and device of carrier terminal equipment, carrier, storage medium and terminal

Abstract

This invention relates to a method, apparatus, carrier, storage medium, and terminal for positioning end-devices. Breaking with conventional methods, it innovatively treats the carrier as a virtual robot, its rotational structure as the robot's rotary joints, and its displacement structure as the robot's telescopic joints, constructing a kinematic model of the carrier and calculating the rotational rotation of each joint. Based on this, the rotational and displacement parameters of the carrier can be accurately calculated according to the initial rotational attitude, initial position, target rotational attitude, target position, kinematic model, and rotational rotation of each joint. This transforms the operator's work from repetitive manual adjustments based on visual inspection to aligning and adjusting each joint of the carrier to the corresponding parameters based on the rotational and displacement parameters. This significantly reduces the experience requirements for installation workers while improving installation efficiency and accuracy, providing a fast and precise method for positioning end-devices.

Description

Technical Field

[0001] This invention relates to the field of control, and more particularly to a positioning method for a vehicle end device. Background Technology

[0002] In recent years, with the continuous improvement of the accuracy of image acquisition equipment such as cameras and webcams, machine vision technology has been widely used in operation scenarios such as palletizing, welding, handling, assembly, painting, inspection, and recognition. Taking vision-based recognition scenarios as an example, the shape, size, and other characteristics of the workpiece to be identified determine the specific direction and position from which to photograph the workpiece to achieve the best detection and recognition effect, thereby improving its recognition efficiency and accuracy.

[0003] In existing technologies, to capture images of a workpiece to be identified at a specific direction and position, a carrier capable of adjusting its direction and position is provided to adjust the image acquisition device to the optimal rotational posture. d and position T d .like Figure 1 As shown, an example is provided of a standard three-dimensional triaxial mount capable of adjusting the three-dimensional angles (rotation parameters) θ1, θ2, and θ3 and the horizontal, vertical, and axial displacements x, y, and z (displacement parameters) to mount and fix an image acquisition device, thereby adjusting the image acquisition device to the optimal rotational posture R. d and the best position T d .

[0004] However, for a specific workpiece to be identified, given the optimal rotational orientation R of the known image acquisition device... d and the best position T d That is, given the optimal capture position of the lens, how to adjust the vehicle's rotation and displacement parameters, such as... Figure 1 The example vehicle's θ1, θ2, θ3 and x, y, z coordinates the image acquisition device to the optimal rotational orientation R. d and the best position T d It's a difficult point.

[0005] Currently, image acquisition equipment is manually adjusted by visually estimating its lens position while mounted on a carrier, continuously adjusting the carrier to achieve the desired rotational posture and position. This method has several drawbacks: 1. It requires highly skilled workers who need to continuously adjust the carrier's rotation and displacement parameters based on the image acquisition equipment's current rotational posture and position. This visual lens readjustment process is time-consuming, especially in industrial scenarios where the workpiece to be identified changes frequently, requiring constant adjustments to the carrier's rotation and displacement parameters based on the workpiece's shape and size, significantly reducing production efficiency; 2. Workers visually adjusting the lens position can only bring the image acquisition equipment infinitely close to the optimal rotational posture R.d and the best position T d Sometimes the optimal rotational posture R cannot be achieved. d and the best position T d Most importantly, adjusting the rotation parameters affects the displacement parameters, making the adjustment process more difficult for workers, and sometimes even after multiple adjustments, the optimal rotation posture R cannot be achieved. d and the best position T d The accuracy of its installation cannot be guaranteed, which affects the final effect of subsequent identification, detection and other tasks.

[0006] Therefore, how to determine the optimal rotational orientation R of the image acquisition device d and the best position T d This allows for the determination of the vehicle's rotation and displacement parameters, facilitating quick and easy adjustment of the image acquisition equipment on the vehicle to the optimal rotational orientation. d and position T d This is a technical problem that urgently needs to be solved. Summary of the Invention

[0007] To solve the above-mentioned technical problems, the present invention provides a positioning method for a vehicle end device, comprising:

[0008] S1: Treat the vehicle as a virtual robot, its rotational structure as the robot's rotational joint, and its displacement structure as the robot's telescopic joint, and construct the vehicle's kinematic model;

[0009] S2: Based on the kinematic model of the vehicle, calculate the rotation of each rotary joint;

[0010] S3: Obtain the initial rotation attitude and initial position of the vehicle's end-effector;

[0011] S4: Obtain the target rotation attitude and target position of the vehicle's end effector;

[0012] S5: Determine the rotational and displacement parameters of the vehicle based on the initial rotational attitude, initial position, target rotational attitude, target position of the vehicle's end device, the vehicle's kinematic model, and the rotational amount of each rotational joint.

[0013] Further, step S5 includes:

[0014] S51: Calculate the difference between the initial rotation attitude and the target rotation attitude;

[0015] S52: Calculate the rotation parameters based on the difference between the initial rotation attitude and the target rotation attitude;

[0016] S53: Determine the transition position of the vehicle end-effector based on the initial position, rotation parameters, and rotation amount of each rotation joint;

[0017] S54: Calculate the difference between the target position and the transition position as the displacement parameter.

[0018] Furthermore, if the vehicle is a standard three-dimensional three-axis vehicle, then step S51 is as follows: calculate the difference between the initial rotational attitude and the target rotational attitude using formula (3);

[0019]

[0020] Among them, R o Indicates the initial rotational attitude, R d ΔR represents the target rotation attitude, and ΔR represents the difference between the initial rotation attitude and the target rotation attitude.

[0021] Further, in step S52, each rotation parameter is calculated using formulas (4)-(6);

[0022] θ1=arctan(ΔR 32 ΔR 33 (4)

[0023]

[0024] θ3=arctan(ΔR 21 ΔR 11 (6)

[0025] Where, ΔR ij Let θ1, θ2, and θ3 represent the element in the i-th row and j-th column of ΔR, where 1 ≤ i ≤ 3 and 1 ≤ j ≤ 3; θ1, θ2, and θ3 represent the rotation parameters of the vehicle.

[0026] Furthermore, in step S53, the transition position of the vehicle end device is calculated by back-calculating using formulas (7)-(8);

[0027]

[0028]

[0029] Where P1 is the transition pose of the end effector, T0 is the initial position of the end effector, S1, S2, and S3 represent the spin of each rotational joint of the vehicle, and [S1], [S2], and [S3] represent the antisymmetric matrices corresponding to the spin of S1, S2, and S3.

[0030] Furthermore, in step S54, the displacement parameters are calculated using formula (9);

[0031] ΔT=T d -T1 (9)

[0032] Among them, T dT1 represents the target position of the vehicle's end-effector, T1 represents the transition position of the vehicle's end-effector, and ΔT represents the difference between the target position and the transition position, i.e., the displacement parameter.

[0033] On the other hand, the present invention also provides a positioning device for a vehicle end device, used in any of the above positioning methods, comprising: a model building module, a screw calculation module, a first acquisition module, a second acquisition module, and a parameter determination module, which respectively execute steps S1-S5.

[0034] On the other hand, the present invention also provides a vehicle whose rotation parameters and displacement parameters are determined by any of the above-mentioned positioning methods; or includes any of the above-mentioned positioning devices.

[0035] On the other hand, the present invention also provides a computer storage medium storing executable program code; the executable program code is used to execute any of the above-mentioned positioning methods.

[0036] On the other hand, the present invention also provides a terminal, including a memory and a processor; the memory stores program code executable by the processor; the program code is used to execute any of the above-described positioning methods.

[0037] The positioning method, device, carrier, storage medium, and terminal for end-devices provided by this invention break with conventional methods. It innovatively treats the carrier as a virtual robot, its rotational structure as the robot's rotary joints, and its displacement structure as the robot's telescopic joints, constructing a kinematic model of the carrier and calculating the rotational rotation of each joint. Based on this, the rotational and displacement parameters of the carrier can be accurately calculated according to the initial rotational attitude, initial position, target rotational attitude, target position, kinematic model, and the rotational rotation of each joint. This transforms the operator's work from repetitive manual adjustments based on visual inspection to aligning and adjusting each joint of the carrier to the corresponding parameters based on the rotational and displacement parameters. This significantly reduces the experience requirements for installation workers while improving installation efficiency and accuracy, providing a fast and precise method for positioning end-devices. Attached Figure Description

[0038] Figure 1 A schematic diagram of the structure of one embodiment of the vehicle as an example;

[0039] Figure 2 This is a flowchart of an embodiment of the positioning method for the end device of the vehicle according to the present invention. Detailed Implementation

[0040] To explain the technical concept of the present invention in detail, the image acquisition device mentioned in the background art can be optionally, but is not limited to, mounted on a vehicle to capture the lens in a specific direction and position, with optimal rotation posture R.d and the best position T d The example of photographing the workpiece to be identified is used for explanation, but it is not limited to this. Those skilled in the art will understand that the end of the carrier can optionally, but is not limited to, installing other equipment. Any technical solution that uses the rotation and displacement parameters of the carrier to position the rotational attitude and location of the end-of-carrier equipment should be included within the scope of protection of this invention. Furthermore, the specific structure of the carrier can also be, but is not limited to, [the following]. Figure 1 The following explanation uses a standard three-dimensional triaxial vehicle as an example. Its rotation parameters include three-dimensional angles θ1, θ2, and θ3, with the rotation axes of the three rotating structures being mutually perpendicular. Its displacement parameters include x, y, and z, with the displacement directions of the three displacement structures being mutually perpendicular, representing horizontal, vertical, and axial displacement. Those skilled in the art will understand that the rotation parameters of this vehicle, adjusted through rotary joints, can have their quantity, position, angle range, and rotation axis direction determined by those skilled in the art based on the required position and accuracy of the end-device. Similarly, the displacement parameters of this vehicle, adjusted through telescopic joints, can have their quantity, position, telescopic length, and telescopic direction determined by those skilled in the art based on the required position and accuracy of the end-device. Examples, but not limited to, include two-dimensional (two-axis) vehicles and six-dimensional (three-axis) vehicles.

[0041] like Figure 2 As shown, the present invention provides a positioning method for a vehicle end device, comprising:

[0042] S1: Treat the vehicle as a virtual robot, its rotational structure as the robot's rotational joint, and its displacement structure as the robot's telescopic joint, and construct the vehicle's kinematic model;

[0043] Specifically, the vehicle is considered as a virtual robot. Depending on the specific characteristics of the vehicle's rotating structure, one or more parameters can be selected, but are not limited to, the number of rotating structures, the position of each rotating structure, the angle range, and the direction of rotation. These rotating structures are transformed into the robot's rotary joints, and each rotational parameter that needs to be calculated, such as... Figure 1 In the example, θ1, θ2, and θ3 represent the rotation angles required for each rotary joint of the virtual robot. Depending on the specific characteristics of the vehicle's displacement structure, one or more parameters can be selected, but are not limited to: the number of displacement structures, the position of each displacement structure, the extension range, and the extension direction. This transforms the displacement structure into the robot's telescopic joints, and each displacement parameter that needs to be calculated, such as... Figure 1 In the example, x, y, and z represent the displacement that each telescopic joint of the virtual robot needs to extend or retract.

[0044] More specifically, with Figure 1Taking a standard three-dimensional three-axis vehicle as an example, a virtual coordinate system is established based on the distribution of the vehicle's rotary joints and telescopic joints, so that the vehicle's rotary joints correspond to the rotation axis and the telescopic joints correspond to the horizontal, vertical and vertical three-dimensional axes. The virtual robot composed of the vehicle is modeled and its kinematic model is constructed.

[0045] S2: Based on the kinematic model of the vehicle, calculate the rotation of each rotary joint;

[0046] Specifically, based on the kinematic model, when the vehicle is in its initial pose, for each rotational joint of the virtual robot, the position of the joint center and the direction vector representing the positive direction of rotation of that joint are obtained, and the screw of that joint is constructed, such as... Figure 1 The spins S1, S2, and S3 of the shown rotary joints θ1, θ2, and θ3 are given. Figure 1 Taking the example vehicle as an example, the screw S1 corresponding to the rotary joint θ1 is represented by a six-dimensional vector, which represents the effect of the change of the rotary joint θ1 on the rotational attitude and position of the end device of the vehicle.

[0047] S3: Obtain the initial rotational attitude of the vehicle's end-device R o and initial position T0;

[0048] Specifically, the initial rotational attitude R can be determined, but is not limited to, based on the current position of the vehicle's end device in six-dimensional space. o And the initial position T0, taking the end device of the vehicle as an image acquisition device as an example, is the current position of the lens of the image acquisition device in six-dimensional space. More specifically, this initial rotational attitude R o The initial position T0 can be obtained, but is not limited to, by means of an angle measuring instrument, ruler, sensor, etc.

[0049] More specifically, the initial rotational attitude R o The initial position and initial position T0 are collectively referred to as the initial pose P0, which can be selected, but is not limited to, as shown in formula (1), and is represented by a 4*4 matrix, where the initial rotational orientation R o The initial pose P0 in six-dimensional space is determined by using a 3x3 matrix and the initial position T0 is represented by a 3x1 vector.

[0050]

[0051] S4: Obtain the target rotational attitude R of the vehicle's end-device d and target position T d ;

[0052] Specifically, taking the end device of the vehicle as an image acquisition device as an example, the optimal shooting position of the image acquisition device, i.e., the optimal capture position of its lens, can be determined based on the shape, size, etc. of the workpiece / object to be identified, in order to calculate the optimal rotational attitude and position that the image acquisition device should be in, as the target rotational attitude R. d and target position T d .

[0053] More specifically, the target rotation attitude R d and target position T d Collectively referred to as target pose P d The target rotation attitude can be, but is not limited to, represented by a 4*4 matrix as shown in formula (2), where the target rotation attitude R d The target position T is represented by a 3x3 matrix. d Represented by a 3*1 vector, to determine its unique target pose P in six-dimensional space. d .

[0054]

[0055] S5: Based on the initial rotational attitude R of the vehicle's end-device o Initial position T0, target rotation attitude R d Target location T d By combining the kinematic model of the vehicle with the rotational rotation of each rotary joint, the rotational and displacement parameters of the vehicle are determined.

[0056] The positioning method for the end-effector of this invention breaks with conventional methods, innovatively treating the vehicle as a virtual robot, its rotational structure as the robot's rotary joints, and its displacement structure as the robot's telescopic joints. A kinematic model of the vehicle is constructed, and the rotational amount of each joint is calculated. Based on this, the initial rotational attitude R of the end-effector can be determined. o Initial position T0, target rotation attitude R d Target location T d By using the kinematic model of the vehicle and the rotational rotation of each joint, the rotational and displacement parameters of the vehicle are precisely calculated. This transforms the operator's work from repetitive visual adjustments to simply aligning and adjusting each joint according to the corresponding rotational and displacement parameters. This significantly reduces the experience required of the installation workers and improves installation efficiency and accuracy, making it a fast and precise method for positioning end-device equipment. It is important to note that steps S1-S5 and the subsequent numbering are for illustrative purposes only and do not constitute any limitation on the steps of this positioning method. For example, steps S1-S2 and steps S3 and S4 can be performed simultaneously or sequentially without any order restriction.

[0057] Specifically, step S5 may include, but is not limited to:

[0058] S51: Calculate the initial rotational attitude R o and target rotation attitude R d The difference ΔR;

[0059] S52: Based on the initial rotational attitude R o and target rotation attitude R d The difference is used to calculate each rotation parameter;

[0060] Specifically, with Figure 1 Taking a standard three-dimensional triaxial vehicle as an example, its rotation parameters include three-dimensional angles θ1, θ2, and θ3. According to the kinematic model of the vehicle, the rotation axes of its rotating joints correspond to the x, y, and z axes of the coordinate system, respectively, and are set perpendicularly to each other. Therefore, the initial rotational attitude R can be calculated using formula (3), but is not limited to this method. o and target rotation attitude R d The difference ΔR; the Euler angle representation using the roll-pitch-yaw method, i.e. formulas (4)-(6), is used to calculate each rotation parameter Θ1, Θ2, Θ3.

[0061]

[0062] θ1=roll=arctan(ΔR 32 ΔR 33 (4)

[0063]

[0064] θ3=yaw=arctan(ΔR 21 ΔR 11 (6)

[0065] Where, ΔR ij This represents the element in the i-th row and j-th column of ΔR.

[0066] S53: Determine the transition position T1 of the vehicle end device based on the initial position T0, rotation parameters, and rotation amount of each rotation joint;

[0067] Specifically, if the rotational joints of the vehicle are adjusted according to the rotational parameters calculated in step S52, the rotational attitude of the vehicle's end-effector has reached the target rotational attitude R. dMeanwhile, due to the movement of the rotary joints, the current position of the vehicle end device is no longer its initial position T0, but has moved to the transition position T1 due to the movement of the rotary joints. In other words, the current position of the vehicle end device is now the transition position T1, and it has changed. At this time, the transition position T1 can be calculated using the initial position T0 of the vehicle end device, the rotation parameters calculated in step S42, and the rotation amount of each rotary joint determined in step S1.

[0068] More specifically, the same Figure 1 Taking the standard three-dimensional triaxial vehicle as an example, the transition position T1 can be calculated by back-calculating the formulas (7)-(8) based on its kinematic model and spinor.

[0069]

[0070]

[0071] Where P1 is the transition pose of the end device of the vehicle, [S1], [S2], and [S3] represent the skew-symmetric matrices corresponding to the spinors S1, S2, and S3, and θ1, θ2, and θ3 represent the rotation parameters.

[0072] S54: Calculate the target position T d The difference ΔT between the transition position T1 and the transition position T1 is used as the displacement parameter.

[0073] Specifically, target location T d The difference ΔT between the transition position T1 and the final position T1 is the remaining displacement that the end device of the vehicle needs to move, which is the displacement parameter of the vehicle that needs to be calculated. It can be obtained by formula (9) but is not limited to it. More specifically, each element of ΔT is the displacement that each displacement structure of the vehicle needs to move in each dimension, which is the displacement parameter.

[0074] More specifically, with Figure 1 Taking a standard three-dimensional triaxial vehicle as an example, ΔT is a three-dimensional vector representing the displacement parameters on x, y, and z.

[0075] ΔT=T d -T1 (9)

[0076] This embodiment provides a preferred example of how to calculate the rotation and displacement parameters in steps S51-S54, but it is not limited thereto. A specific calculation formula is given using a standard three-dimensional triaxial vehicle as an example, but it is not limited thereto. Those skilled in the art will understand that vehicles come in various forms, and different rotational and / or displacement structures will inevitably lead to different kinematic models. Based on this, the calculation formulas will vary slightly, but the specific calculation steps are still based on S51-S54, varying for different models. These will not be listed individually here; only an adaptive example based on a standard three-dimensional triaxial vehicle is provided.

[0077] On the other hand, the present invention also provides a positioning device for a vehicle end-device, used to execute any of the above-described positioning methods for vehicle end-devices, comprising: a model building module, a screw calculation module, a first acquisition module, a second acquisition module, and a parameter determination module, which respectively execute the above-described steps S1-S5. Specifically, the division of each module is only a functional division and does not limit its physical division in any way; those skilled in the art will understand that the first acquisition module and the second acquisition module may be, but are not limited to, input devices to input various rotational attitudes, positions, etc.; or acquisition devices to acquire various rotational attitudes, positions, etc. in real time; or communication devices to acquire various rotational attitudes, positions, etc. in real time. The model building module, the screw calculation module, and the parameter determination module may be, but are not limited to, computer programs to execute the above-described functions.

[0078] On the other hand, the present invention also provides a vehicle whose rotation parameters and displacement parameters are determined by any of the above-mentioned positioning methods; or includes any of the above-mentioned positioning devices.

[0079] On the other hand, the present invention also provides a computer storage medium storing executable program code; the executable program code is used to execute the positioning method of any of the above-mentioned vehicle end devices.

[0080] On the other hand, the present invention also provides a terminal device, including a memory and a processor; the memory stores program code executable by the processor; the program code is used to execute the positioning method of any of the above-mentioned vehicle end devices.

[0081] For example, the program code can be divided into one or more modules / units, which are stored in the memory and executed by the processor to complete the present invention. The one or more modules / units can be a series of computer program instruction segments capable of performing a specific function, which describe the execution process of the program code in the terminal device.

[0082] The terminal device can be a desktop computer, laptop, handheld computer, or cloud server, etc. The terminal device may include, but is not limited to, a processor and memory. Those skilled in the art will understand that the terminal device may also include input / output devices, network access devices, buses, etc.

[0083] The processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor.

[0084] The memory can be an internal storage unit of the terminal device, such as a hard drive or RAM. The memory can also be an external storage device of the terminal device, such as a plug-in hard drive, SmartMedia Card (SMC), Secure Digital (SD) card, or Flash Card. Furthermore, the memory can include both internal and external storage units of the terminal device. The memory is used to store the program code and other programs and data required by the terminal device. The memory can also be used to temporarily store data that has been output or will be output.

[0085] The positioning device, vehicle, computer storage medium, and terminal of the above-mentioned vehicle end device are created based on the positioning method of the above-mentioned vehicle end device. Their technical functions and beneficial effects will not be elaborated here. The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0086] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A method for positioning a vehicle end device, characterized in that, include: S1: Treat the vehicle as a virtual robot, its rotational structure as the robot's rotational joint, and its displacement structure as the robot's telescopic joint, and construct the vehicle's kinematic model; S2: Based on the kinematic model of the vehicle, calculate the rotation of each rotary joint; S3: Obtain the initial rotation attitude and initial position of the vehicle's end-effector; S4: Obtain the target rotation attitude and target position of the vehicle's end effector; S5: Based on the initial rotational attitude, initial position, target rotational attitude, target position of the vehicle's end effector, the vehicle's kinematic model, and the rotational displacement of each rotational joint, determine the vehicle's rotational and displacement parameters; including: S51: Calculate the difference between the initial rotation attitude and the target rotation attitude; S52: Calculate the rotation parameters based on the difference between the initial rotation attitude and the target rotation attitude; S53: Determine the transition position of the vehicle end-effector based on the initial position, rotation parameters, and rotation amount of each rotation joint; S54: Calculate the difference between the target position and the transition position as the displacement parameter.

2. The positioning method according to claim 1, characterized in that, If the vehicle is a standard three-dimensional three-axis vehicle, then step S51 is as follows: calculate the difference between the initial rotation attitude and the target rotation attitude using formula (3); Among them, R o Indicates the initial rotational attitude, R d ΔR represents the target rotation attitude, and ΔR represents the difference between the initial rotation attitude and the target rotation attitude.

3. The positioning method according to claim 2, characterized in that, In step S52, each rotation parameter is calculated using formulas (4)-(6); θ1=arctan(ΔR 32 ,ΔR 33 ) (4) θ3=arctan(ΔR 21 ,ΔR 11 ) (6) Where, ΔR ij Let θ1, θ2, and θ3 represent the element in the i-th row and j-th column of ΔR, where 1 ≤ i ≤ 3 and 1 ≤ j ≤ 3; θ1, θ2, and θ3 represent the rotation parameters of the vehicle; roll represents θ1.

4. The positioning method according to claim 3, characterized in that, In step S53, the transition position of the vehicle end device is calculated by back-calculating using formulas (7)-(8); Where P1 is the transition pose of the vehicle end device, R1 is the transition rotational attitude, T1 is the transition position, T0 is the initial position of the vehicle end device, S1, S2, and S3 represent the screw of each rotational joint of the vehicle, and [S1], [S2], and [S3] represent the antisymmetric matrices corresponding to the screws S1, S2, and S3.

5. The positioning method according to claim 4, characterized in that, In step S54, the displacement parameters are calculated using formula (9); ΔT=T d -T1 (9) Among them, T d T1 represents the target position of the vehicle's end-effector, T1 represents the transition position of the vehicle's end-effector, and ΔT represents the difference between the target position and the transition position, i.e., the displacement parameter.

6. A positioning device for a vehicle end-device, characterized in that, The method for performing the positioning method according to any one of claims 1-5 includes: a model building module, a screw calculation module, a first acquisition module, a second acquisition module, and a parameter determination module, which respectively perform steps S1-S5.

7. A computer storage medium, characterized in that, It stores executable program code; the executable program code is used to execute the positioning method according to any one of claims 1-5.

8. A terminal, characterized in that, It includes a memory and a processor; the memory stores program code that can be executed by the processor; the program code is used to execute the positioning method described in any one of 1-5.

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