A positioning signal compensation method, system, electronic device and readable storage medium

Abstract

The application provides a positioning signal compensation method, system, electronic equipment and readable storage medium, wherein the positioning signal compensation method comprises the following steps: obtaining fault point information base and driving route of a target vehicle, comparing the driving route with the fault point information base, and judging whether there is a fault point in the driving route; if there is, running a predictive compensation strategy and a real-time compensation strategy, if not, running the real-time compensation strategy, and executing the positioning signal compensation strategy when it is determined that the current positioning position is invalid; the positioning signal compensation strategy comprises compensating the positioning signal of the target vehicle according to the driving information and the driving route of the target vehicle. The positioning signal compensation method provided by the application can obtain a positioning compensation result in a place where there is no signal or the signal is weak, thereby avoiding the problem of positioning failure of the target vehicle during driving.

Description

TECHNICAL FIELD

[0001] The present application relates to the positioning technical field, and in particular to a positioning signal compensation method and system, electronic equipment and readable storage medium. BACKGROUND

[0002] With the development of the automobile industry, the automobile is endowed with more and more functions, and the accuracy of the positioning signal is related to a series of core functions such as automatic driving, Internet of Things, navigation and vehicle safety. However, due to the positioning principle of the positioning signal, in complex urban roads and tunnels and other areas without signals or with weak signals, the positioning signal is easy to lose or have large deviation, thereby affecting the positioning function of the vehicle. Therefore, it is particularly important to correct or compensate the positioning information.

[0003] At present, there are two means to correct the positioning error in the industry: including installing an inertial navigation system (IMU) at the vehicle end and real-time dynamic carrier phase difference technology (RTK). Among them, the inertial navigation system measures the acceleration of the vehicle in the inertial reference system to calculate the vehicle yaw angle and position information, which is not easily affected by the external environment, but the positioning error will increase with time because the navigation information is integrated, and the long-term precision is poor. In addition, a long initial alignment time is required before each use; secondly, an additional inertial navigation device needs to be added to the vehicle end, so the cost is high. And the real-time dynamic carrier phase difference technology adopts the difference method of real-time processing of the carrier phase observation of two measurement stations, and the carrier phase collected by the reference station is sent to the receiver for difference solution coordinates. When there is navigation input, the positioning accuracy of this scheme is high, but it cannot solve the problem of no GNSS signal input; secondly, this scheme needs to rely on the RTK base station, and the signal of the RTK base station only covers an area of about 15KM, so a high density of RTK base stations is required, so the construction cost is extremely high, and it is currently impossible to implement comprehensively.

[0004] Therefore, how to provide a new positioning signal compensation method to overcome the above-mentioned defects in the prior art has become one of the technical problems that the technical personnel in the field are eager to solve. SUMMARY

[0005] The purpose of the present application is to provide a positioning signal compensation method, system, electronic equipment and readable storage medium to solve the problems of increasing positioning error with time and high cost required for positioning in the prior art.

[0006] In order to achieve the above-mentioned purpose, the present application provides a positioning signal compensation method, comprising:

[0007] obtaining the driving route of the target vehicle;

[0008] According to the driving route and the pre-acquired fault point information library, it is judged whether there is a fault point in the driving route;

[0009] If yes, a predictive compensation strategy is executed; the predictive compensation strategy comprises: judging whether a first preset signal compensation condition is met between the current positioning information of the target vehicle and the fault point, if yes, a positioning signal compensation strategy is executed, and if no, a real-time compensation strategy is executed; the execution of the real-time compensation strategy comprises: judging whether a second preset signal compensation condition is met by the current positioning information, if yes, the positioning signal compensation strategy is executed;

[0010] If no, the real-time compensation strategy is executed;

[0011] The positioning signal compensation strategy comprises: compensating the positioning signal of the target vehicle according to the driving information of the target vehicle and the driving route.

[0012] Optionally, the driving route of the target vehicle is acquired by:

[0013] It is judged whether the navigation route of the target vehicle can be acquired;

[0014] If yes, the navigation route is taken as the driving route;

[0015] If no, it is judged whether the habitual driving route of the target vehicle can be acquired, if yes, the habitual driving route is taken as the driving route, and if no, the predictive compensation strategy is not executed.

[0016] Optionally, before the driving route is judged according to the pre-constructed fault point information library whether there is a fault point on the driving route, the fault point information library is further constructed by the following steps:

[0017] The historical driving data of all verification vehicles are acquired;

[0018] According to the historical driving data, the driving cycle of the verification vehicle is divided to acquire a historical positioning information sequence; wherein the historical positioning information sequence comprises a plurality of GPS position information and a time stamp corresponding to each GPS position information;

[0019] According to the historical positioning information sequence and a first preset fault point confirmation rule, all candidate fault points are determined;

[0020] According to the position information of all candidate fault points, a candidate fault point information database is constructed; wherein the position information of the candidate fault point comprises the longitude, latitude of the candidate fault point, the road name where the candidate fault point is located and the POI name corresponding to the candidate fault point;

[0021] screening the candidate fault points in the candidate fault point information database according to a second preset fault point confirmation rule to determine all the fault points for constructing the fault point information library;

[0022] obtaining the fault point information library according to all the fault points.

[0023] Optionally, the determining all the candidate fault points according to the historical positioning information sequence and the first preset fault point confirmation rule comprises:

[0024] performing the following steps on each of the verification vehicles:

[0025] calculating a first time interval and a first distance interval between an initial GPS positioning position and a next GPS positioning position of the verification vehicle receiving the GPS position information according to the historical driving data of the verification vehicle, and determining that the initial GPS positioning position is the candidate fault point when the first time interval is greater than a first time preset threshold or the first distance interval is greater than a first distance preset threshold; and taking the next GPS positioning position as a new initial GPS positioning position, and iteratively performing the above steps until all the GPS position information of the verification vehicle is calculated.

[0026] Optionally, the screening the candidate fault points in the candidate fault point information database according to the second preset fault point confirmation rule to determine the fault points for constructing the fault point information library comprises:

[0027] dividing all the candidate fault points obtained into a plurality of fault groups according to road names where the candidate fault points are located or POI names corresponding to the candidate fault points, and performing the following steps on each of the fault groups:

[0028] calculating an average distance between each of the candidate fault points in the fault group and the rest of the candidate fault points in the same group, and removing all first candidate fault points and retaining all second candidate fault points according to the average distance; wherein the first candidate fault point is a candidate fault point with an average distance greater than a preset judgment distance threshold, and the second candidate fault point is a candidate fault point with an average distance less than or equal to the preset judgment distance threshold;

[0029] calculating an average value of the longitude and the latitude of all the second candidate fault points in the fault group to obtain a center fault point of the fault group, and taking the number of the second candidate fault points in the fault group as a frequency of the center fault point;

[0030] determining whether the frequency of the center fault point is greater than a preset frequency judgment threshold; if yes, taking the center fault point as a fault point of the fault group and recording the fault point into the fault point information library; and if no, not recording the fault point.

[0031] Optionally, when the predictive compensation strategy is run, the method further comprises:

[0032] determining whether the current GPS position information is the same as the road name or POI name of all the fault points matched in the driving route;

[0033] if not, the predictive compensation strategy is closed;

[0034] if yes, the predictive compensation strategy is run.

[0035] Optionally, the determining whether there is a fault point on the driving route according to the driving route and the pre-acquired fault point information library comprises:

[0036] acquiring a GPS sequence corresponding to the driving route, the GPS sequence comprising all driving information in the driving route;

[0037] comparing the driving route with the fault point information library, comprising comparing the GPS sequence with the fault point information library.

[0038] Optionally, the determining whether the current positioning information of the target vehicle and the fault point meet a first preset signal compensation condition comprises:

[0039] calculating a second distance interval between the current positioning position of the target vehicle and the next fault point according to the current positioning information of the target vehicle, and determining that the current positioning information of the target vehicle meets the first preset signal compensation condition if the second distance interval is less than a second distance preset threshold.

[0040] Optionally, the determining whether the current positioning information meets a second preset signal compensation condition comprises:

[0041] calculating a second time interval and a third distance interval between the current positioning position and the previous positioning position receiving positioning information according to the current positioning information of the target vehicle, and determining that the current positioning information of the target vehicle meets the second preset signal compensation condition if the second time interval is greater than a second time preset threshold or the third distance interval is greater than a third distance preset threshold.

[0042] Optionally, the compensating the positioning signal of the target vehicle according to the driving information of the target vehicle and the driving route comprises:

[0043] The current positioning position is taken as a starting position, and a driving distance of the target vehicle is obtained according to a driving speed of the target vehicle and a driving time of the target vehicle, and the starting position and the driving distance of the target vehicle are matched with the driving route to output a positioning compensation result.

[0044] To achieve the above object, the present application further provides a positioning signal compensation system, comprising a data acquisition module, a data judgment module, a predictive compensation module, a real-time compensation module and a positioning data recovery module.

[0045] The data acquisition module is configured to acquire a driving route of a target vehicle.

[0046] The data judgment module is configured to judge whether a fault point exists in the driving route according to the driving route and a pre-acquired fault point information library.

[0047] The predictive compensation module is configured to judge whether a first preset signal compensation condition is met between current positioning information of the target vehicle and the fault point, and if yes, a positioning signal compensation strategy is executed, and if not, a real-time compensation strategy is executed.

[0048] The real-time compensation module is configured to judge whether a second preset signal compensation condition is met by the current positioning information, and if yes, the positioning signal compensation strategy is executed.

[0049] The positioning data recovery module is configured to compensate a positioning signal of the target vehicle according to driving information of the target vehicle and the driving route.

[0050] To achieve the above object, the present application further provides an electronic device comprising a processor and a memory, wherein the memory stores a computer program, and the computer program is executed by the processor to implement the positioning signal compensation method.

[0051] To achieve the above object, the present application further provides a readable storage medium, wherein the readable storage medium stores a computer program, and the computer program is executed by a processor to implement the positioning signal compensation method.

[0052] Compared with the prior art, the positioning signal compensation method, system, electronic device and readable storage medium provided by the present application have the following beneficial effects:

[0053] The positioning signal compensation method provided by the present application firstly acquires a driving route of a target vehicle; secondly, judges whether there is a fault point in the driving route according to the driving route and a pre-acquired fault point information library; if yes, executes a predictive compensation strategy, the predictive compensation strategy comprising: judging whether a first preset signal compensation condition is met between current positioning information of the target vehicle and the fault point, if yes, executing a positioning signal compensation strategy, if no, executing a real-time compensation strategy; the execution of the real-time compensation strategy comprising: judging whether a second preset signal compensation condition is met by the current positioning information, if yes, executing the positioning signal compensation strategy; if no, executing the real-time compensation strategy; wherein the positioning signal compensation strategy comprises: compensating the positioning signal of the target vehicle according to driving information of the target vehicle and the driving route. The positioning signal compensation method provided by the present application compares the driving route with the fault point information library, and switches different compensation strategies in real time during the whole driving process of the target vehicle according to different comparison results and current positioning information, so as to ensure that the target vehicle can obtain a positioning compensation result in a place without signal or with weak signal, regardless of whether there is a fault point in the driving route, thereby avoiding the problem of positioning failure of the target vehicle during driving. Further, the positioning signal compensation method provided by the present application does not need to increase additional positioning equipment or base stations, so as to improve the vehicle positioning accuracy while avoiding high positioning equipment manufacturing cost and positioning equipment calibration and calibration time, thereby enabling rapid development and iterative upgrade, thus having a good input-output ratio.

[0054] The positioning signal compensation system, the electronic device and the readable storage medium provided by the present application belong to the same inventive concept as the positioning signal compensation method provided by the present application, and at least have the same technical effects, which will not be repeated here. BRIEF DESCRIPTION OF DRAWINGS

[0055] Figure 1 The flowchart of the positioning signal compensation method provided by an embodiment of the present application;

[0056] Figure 2 The flowchart of the fault point information library acquisition provided by an embodiment of the present application;

[0057] Figure 3 The flowchart of the candidate fault point acquisition provided by an embodiment of the present application;

[0058] Figure 4 The flowchart of the fault point information library screening provided by an embodiment of the present application;

[0059] Figure 5 The flowchart of the operation of the predictive compensation strategy provided by an embodiment of the present application;

[0060] Figure 6 A flow chart of a running real-time compensation strategy provided by an embodiment of the present application is shown in FIG. 1.

[0061] Figure 7 A structure diagram of a positioning signal compensation system provided by an embodiment of the present application is shown in FIG. 2. DETAILED DESCRIPTION

[0062] The specific embodiments of the present application will be described in more detail below with reference to the accompanying drawings. The advantages and features of the present application will be more apparent from the following description. It should be noted that the accompanying drawings are very simplified and use non-precise proportions, which are only used to facilitate and clarify the purpose of illustrating the embodiments of the present application. It should be understood that the drawings of the specification do not necessarily show the specific structure of the present application in proportion, and the illustrative features used to illustrate some principles of the present application in the drawings will also be slightly simplified. The specific design features of the present application disclosed herein include, for example, specific dimensions, directions, positions and shapes, which will be determined in part by the specific environment to be applied and used. In the embodiments described below, the same reference signs are sometimes used in different drawings to represent the same parts or parts with the same function, and the repeated description is omitted. In this specification, similar reference signs and letters are used to represent similar items, so once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0063] Before specifically introducing the positioning signal compensation method provided by the present application, it should be particularly noted that although the positioning signal compensation method provided by the present application is described by taking the GPS positioning system as an example, it is obvious that the positioning signal compensation method provided by the present application is not limited to the GPS positioning system, but can also be used in other positioning systems other than the GPS positioning system, including but not limited to the Beidou positioning system, etc.

[0064] Embodiment One

[0065] The embodiment provides a positioning signal compensation method, and specifically, please refer to the accompanying drawings Figure 1 In the embodiment, the positioning signal compensation method comprises the following steps. Figure 1 A flow chart of the positioning signal compensation method provided by the embodiment is schematically shown in FIG. 1. Figure 1 It can be seen that the positioning signal compensation method provided by the embodiment comprises the following steps.

[0066] Obtaining a driving route of a target vehicle;

[0067] According to the driving route and the pre-obtained fault point information library, it is determined whether there is a fault point in the driving route;

[0068] If yes, a predictive compensation strategy is executed, which includes: judging whether a first preset signal compensation condition is met between the current positioning information of the target vehicle and the fault point, if yes, a positioning signal compensation strategy is executed, if not, a real-time compensation strategy is executed; the execution of the real-time compensation strategy includes: judging whether a second preset signal compensation condition is met by the current positioning information, if yes, the positioning signal compensation strategy is executed;

[0069] If not, the real-time compensation strategy is executed;

[0070] The positioning signal compensation strategy includes: compensating the positioning signal of the target vehicle according to the driving information of the target vehicle and the driving route.

[0071] In this way, the positioning signal compensation method provided by the present application can switch different compensation strategies in real time in the entire driving process of the target vehicle by comparing the driving route with the fault point information library and according to different comparison results and current positioning information, so as to ensure that the target vehicle can obtain a positioning compensation result in a place without signal or with weak signal in the driving route, thereby avoiding the problem of positioning failure of the target vehicle in the driving process. Further, the positioning signal compensation method provided by the present application does not need to increase additional positioning devices or base stations, so that the positioning accuracy of the vehicle is improved while the high positioning device manufacturing cost and the time for positioning device calibration and calibration are avoided, thereby enabling rapid development and iterative upgrading, thus having a good input-output ratio.

[0072] Preferably, the driving route of the target vehicle is obtained by:

[0073] Judging whether a navigation route of the target vehicle can be obtained;

[0074] If yes, the navigation route is taken as the driving route;

[0075] If not, judging whether a habitual driving route of the target vehicle can be obtained, if yes, the habitual driving route is taken as the driving route, and if not, the predictive compensation strategy is not executed.

[0076] In this way, the target vehicle always has a driving route in the driving process, so that when the target vehicle fails to be positioned in a place without signal or with weak signal, a driving route matching the starting position and the driving distance of the vehicle can be obtained to output a positioning compensation result.

[0077] Please refer to the accompanying drawings Figure 2 , Figure 2 The fault point information library acquisition flowchart provided by the present embodiment is schematically shown fromFigure 2 It can be seen that, before judging whether there is a fault point on the driving route according to the pre-constructed fault point information library, the following steps are further included to construct the fault point information library:

[0078] Obtain historical driving data of all verification vehicles;

[0079] According to the historical driving data, the driving cycle of the verification vehicle is divided to obtain a historical positioning information sequence; wherein the historical positioning information sequence includes a plurality of GPS position information and a timestamp corresponding to each GPS position information;

[0080] According to the historical positioning information sequence and a first preset fault point confirmation rule, all candidate fault points are determined;

[0081] According to the position information of all candidate fault points, a candidate fault point information database is constructed; wherein the position information of the candidate fault point includes the longitude, latitude of the candidate fault point, the road name where the candidate fault point is located, and the POI name corresponding to the candidate fault point;

[0082] According to a second preset fault point confirmation rule, the candidate fault points in the candidate fault point information database are screened to determine all fault points for constructing the fault point information library;

[0083] According to all the fault points, the fault point information library is obtained.

[0084] Therefore, by obtaining all candidate fault points passed by all verification vehicles and screening all candidate fault points to obtain the fault point information library, the possibility of missing fault points is reduced, ensuring that the fault point information library covers a wide range of fault points. At the same time, when comparing the driving route of the target vehicle with the fault point information library, the fault point information library can provide sufficient fault point related information support.

[0085] Please refer to the attached Figure 3 , Figure 3 The flowchart of obtaining candidate fault points provided by the present embodiment is schematically shown, from Figure 3 It can be seen that, according to the historical positioning information sequence and a first preset fault point confirmation rule, all candidate fault points are determined, including:

[0086] The following steps are performed for each verification vehicle:

[0087] According to the historical driving data of the verification vehicle, a first time interval and a first distance interval of the verification vehicle from an initial GPS positioning location to a next GPS positioning location are calculated, and when the first time interval is greater than a first time preset threshold or the first distance interval is greater than a first distance preset threshold, the initial GPS positioning location is determined as the candidate fault point; and the next GPS positioning location is taken as a new initial GPS positioning location, and the iteration is performed until all the GPS position information of the verification vehicle is calculated.

[0088] Since any one of the first time interval being greater than a first time preset threshold or the first distance interval being greater than a first distance preset threshold satisfies the condition, the initial positioning location will be taken as the candidate fault point, and the next positioning location will be taken as a new initial GPS positioning location for re-comparison and calculation. Therefore, all candidate fault points passed by the verification vehicle in the respective driving process can be found, and the completeness of the fault point information in the fault point information library is further improved.

[0089] Please refer to the attached Figure 4 , Figure 4 The flowchart of the fault point information library screening provided by the embodiment is schematically shown, and the screening of the candidate fault point information database is performed from Figure 4 It can be seen that the screening of the candidate fault points in the candidate fault point information database according to the second preset fault point confirmation rule to determine the fault points for constructing the fault point information library comprises:

[0090] All the candidate fault points obtained are divided into several fault groups according to the road names where the candidate fault points are located or the POI names corresponding to the candidate fault points, and each fault group is executed, comprising:

[0091] The average distance between each candidate fault point in the fault group and the remaining candidate fault points in the same group is calculated, and all first candidate fault points are removed and all second candidate fault points are retained according to the average distance; wherein the first candidate fault point is a candidate fault point with an average distance greater than a preset judgment distance threshold, and the second candidate fault point is a candidate fault point with an average distance less than or equal to the preset judgment distance threshold;

[0092] The average value of the longitude and latitude of all the second candidate fault points in the fault group is calculated to obtain a center fault point of the fault group, and the number of the second candidate fault points in the fault group is taken as the frequency of the center fault point;

[0093] determining whether the frequency of the center failure point is greater than a preset frequency determination threshold; if yes, taking the center failure point as a failure point of the failure group and entering the failure point information library; if no, not entering.

[0094] Thus, by discharging the first failure point, the problem of positioning failure in individual positioning position caused by accidental reasons such as magnetic field or weather is discharged. At the same time, by comparing the frequency of the center failure point and only entering the center failure point with a frequency greater than the preset frequency determination threshold into the failure point information library, the few candidate failure points with positioning failure caused by the verification vehicle itself are avoided to be entered, so as to ensure that the failure points finally entered are real and effective failure points verified by a large number of verification vehicles.

[0095] Preferably, if there is a failure point in the driving route of the target vehicle, when the predictive compensation strategy is running, it further comprises:

[0096] determining whether the current GPS position information is the same as the road name or POI name of all the failure points matched in the driving route;

[0097] if not, the predictive compensation strategy is closed;

[0098] if yes, the predictive compensation strategy is run.

[0099] Thus, when the current positioning position of the target vehicle has not reached any failure point matched in the driving route, the predictive compensation strategy is closed to reduce the running load of the device running the positioning signal compensation method provided by the present application.

[0100] Preferably, the determination of whether there is a failure point on the driving route according to the driving route and the pre-acquired failure point information library comprises:

[0101] acquiring a GPS sequence corresponding to the driving route, the GPS sequence comprising all driving information in the driving route;

[0102] comparing the driving route with the failure point information library, comprising comparing the GPS sequence with the failure point information library.

[0103] Since the GPS sequence comprises all driving information in the driving route, when the GPS sequence is compared with the failure point information library, the positioning signal compensation method provided by the present embodiment can quickly find whether there is a failure point on the driving route, so as to quickly match and output the positioning compensation result after positioning failure.

[0104] Please refer to the accompanying drawings Figure 5 , Figure 5A flowchart of running the predictive compensation strategy is provided schematically, from Figure 5 As can be seen, the judging whether the first preset signal compensation condition is met between the current positioning information of the target vehicle and the fault point comprises:

[0105] According to the current positioning information of the target vehicle, a second distance interval between the current positioning position of the target vehicle and the next fault point is calculated, and if the second distance interval is less than a second distance preset threshold, it is determined that the current positioning information of the target vehicle meets the first preset signal compensation condition.

[0106] Thus, by comparing the second distance interval with the second distance preset threshold, it is determined whether the target vehicle has entered the position where the fault point is located, so that the positioning signal compensation of the target vehicle is performed in time.

[0107] Please refer to the accompanying drawings Figure 6 , Figure 6 A flowchart of running the real-time compensation strategy is provided schematically, from Figure 6 As can be seen, the judging whether the current positioning information meets the second preset signal compensation condition comprises:

[0108] According to the current positioning information of the target vehicle, a second time interval and a third distance interval between the current positioning position of the target vehicle and the previous positioning position receiving the positioning information are calculated, and if the second time interval is greater than a second time preset threshold or the third distance interval is greater than a third distance preset threshold, it is determined that the current positioning information of the target vehicle meets the second preset signal compensation condition.

[0109] Thus, by comparing the second time interval with the second time preset threshold or comparing the third distance interval with the third distance preset threshold, it is determined whether the current positioning position of the target vehicle has failed, so that the positioning signal compensation of the target vehicle is performed in time.

[0110] Preferably, the compensating the positioning signal of the target vehicle according to the driving information of the target vehicle and the driving route comprises:

[0111] Taking the current positioning position as a starting position, and according to the driving speed of the target vehicle and the driving time of the target vehicle, the driving distance of the target vehicle is obtained, the starting position and the driving distance of the target vehicle are matched with the driving route, and a positioning compensation result is output.

[0112] Thus, by matching the starting position and the driving distance of the target vehicle with the driving route, the position information of the target vehicle in a place where there is no signal or the signal is weak can be obtained in time.

[0113] It should be noted that the vehicle travel distance understood by those skilled in the art can be obtained by integrating real-time vehicle speed in various electronic control units of the target vehicle, including but not limited to EMS, instrument and ESP, and transmitted through communication methods such as CAN or LIN. Therefore, the positioning signal compensation method provided by the present application comprehensively utilizes positioning information and the electronic control unit of the target vehicle itself, thereby making up for the problem of inaccurate positioning in a signal-free or weak signal environment caused by only the driving route of the target vehicle.

[0114] Embodiment two

[0115] The present embodiment provides a positioning signal compensation system, which runs in devices such as ECU or remote control terminal, etc. Specifically, please refer to the accompanying drawings Figure 7 , Figure 7 The structural diagram of the positioning signal compensation system is schematically provided, from Figure 7 It can be seen that the positioning signal compensation system comprises a data acquisition module, a data judgment module, a predictive compensation module, a real-time compensation module and a positioning data recovery module.

[0116] The data acquisition module is configured to acquire the driving route of the target vehicle.

[0117] The data judgment module is configured to judge whether there is a fault point in the driving route according to the driving route and the pre-acquired fault point information library.

[0118] The predictive compensation module is configured to judge whether the first preset signal compensation condition is met between the current positioning information of the target vehicle and the fault point, if yes, execute the positioning signal compensation strategy, if not, execute the real-time compensation strategy.

[0119] The real-time compensation module is configured to judge whether the second preset signal compensation condition is met, if yes, execute the positioning signal compensation strategy.

[0120] The positioning data recovery module is configured to compensate the positioning signal of the target vehicle according to the driving information of the target vehicle and the driving route.

[0121] Since the positioning signal compensation system provided by the present application and the positioning signal compensation method provided by the present application belong to the same inventive concept, they at least have the same technical effects, which will not be described one by one here.

[0122] Embodiment three

[0123] The embodiment provides an electronic device, comprising a processor and a memory, wherein the memory stores a computer program, and the computer program is executed by the processor to implement the positioning signal compensation method in any of the foregoing embodiments.

[0124] The electronic device provided by the embodiment and the positioning signal compensation method provided by the embodiment belong to the same inventive concept, and at least have the same technical effects, which will not be repeated here.

[0125] Embodiment four

[0126] The embodiment provides a readable storage medium, wherein the readable storage medium stores a computer program, and the computer program is executed by a processor to implement the positioning signal compensation method in any of the foregoing embodiments.

[0127] The readable storage medium of the embodiment can adopt any combination of one or more computer-readable media. The readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium may, for example, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared or semiconductor system, device or component, or any combination thereof. More specific examples (non-exhaustive list) of the computer-readable storage medium include: an electrical connection having one or more wires, a portable computer hard disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In this document, the computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, device or component.

[0128] The computer-readable signal medium can include a data signal propagating in a baseband or as a part of a carrier wave propagating in a baseband, wherein the computer-readable program code is carried. Such a propagating data signal can take various forms, including but not limited to an electromagnetic signal, an optical signal or any suitable combination thereof. The computer-readable signal medium can also be any computer-readable medium other than the computer-readable storage medium, which can send, propagate or transmit a program for use by or in combination with an instruction execution system, device or component.

[0129] Computer program code for performing the operations of this invention can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as "C" or similar languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0130] Furthermore, the systems and methods disclosed in the embodiments herein can also be implemented in other ways. The apparatus embodiments described above are merely illustrative; for example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments herein. In this regard, each block in a flowchart or block diagram may represent a module, program, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the figures. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system to perform the specified function or action, or can be implemented using a combination of dedicated hardware and computer instructions. In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

[0131] To sum up, the positioning signal compensation method provided by the present application compares the driving route with the fault point information library, and switches different compensation strategies in real time according to different comparison results and current positioning information in the whole driving process of the target vehicle, so as to ensure that the target vehicle can obtain a positioning compensation result in a place without signal or with weak signal, regardless of whether there is a fault point in the driving route, thereby avoiding the problem of positioning failure of the target vehicle in the driving process. Further, the positioning signal compensation method provided by the present application does not need to increase additional positioning equipment or base stations, so that the positioning accuracy of the vehicle is improved while avoiding high positioning equipment manufacturing cost and positioning equipment calibration and calibration time, thereby enabling rapid development and iterative upgrading, and thus having a good input-output ratio.

[0132] The above is only the preferred embodiment of the present application, and does not limit the present application in any way. Any person skilled in the art can make any form of equivalent replacement, modification or change to the technical solutions and technical contents disclosed by the present application without departing from the scope of the technical solutions of the present application, and still belongs to the protection scope of the present application.

Claims

1. A positioning signal compensation method, characterized by, The method comprises the following steps: acquiring a driving route of a target vehicle; judging whether there is a fault point in the driving route according to the driving route and a pre-acquired fault point information library; if yes, executing a predictive compensation strategy; the predictive compensation strategy comprises the following steps: according to current positioning information of the target vehicle, calculating a second distance interval between a current positioning position of the target vehicle and a next fault point, judging whether the second distance interval is less than a second distance preset threshold, if yes, executing a positioning signal compensation strategy, if no, executing a real-time compensation strategy; the execution of the real-time compensation strategy comprises the following step: judging whether the current positioning information satisfies a second preset signal compensation condition, if yes, executing the positioning signal compensation strategy; if no, executing the real-time compensation strategy; wherein the positioning signal compensation strategy comprises the following steps: taking the current positioning position as a starting position, acquiring a driving distance of the target vehicle according to a driving speed of the target vehicle and a driving time of the target vehicle, matching the starting position and the driving distance of the target vehicle with the driving route, and outputting a positioning compensation result.

2. The positioning signal compensation method of claim 1, wherein, The acquisition of the driving route of the target vehicle comprises the following steps: judging whether a navigation route of the target vehicle can be acquired; if yes, taking the navigation route as the driving route; if no, judging whether a habitual driving route of the target vehicle can be acquired, if yes, taking the habitual driving route as the driving route; if no, not executing the predictive compensation strategy.

3. The positioning signal compensation method of claim 1, wherein, Before the judgment of whether there is a fault point on the driving route according to the pre-acquired fault point information library, the method further comprises the following steps of constructing the fault point information library: acquiring historical driving data of all verification vehicles; according to the historical driving data, dividing a driving cycle of the verification vehicle to acquire a historical positioning information sequence; wherein the historical positioning information sequence comprises a plurality of GPS position information and a time stamp corresponding to each GPS position information; according to the historical positioning information sequence and a first preset fault point confirmation rule, determining all candidate fault points; according to position information of all the candidate fault points, constructing a candidate fault point information database; wherein the position information of the candidate fault point comprises longitude, latitude of the candidate fault point, a road name where the candidate fault point is located and a POI name corresponding to the candidate fault point; according to a second preset fault point confirmation rule, screening the candidate fault points in the candidate fault point information database to determine all the fault points for constructing the fault point information library; according to all the fault points, obtaining the fault point information library.

4. The positioning signal compensation method of claim 3, wherein, The determination of all the candidate fault points according to the historical positioning information sequence and the first preset fault point confirmation rule comprises the following steps: performing the following steps on each verification vehicle: According to the historical driving data of the verification vehicle, a first time interval and a first distance interval of the verification vehicle receiving the GPS position information at an initial GPS positioning position and a next GPS positioning position are calculated, and when the first time interval is greater than a first time preset threshold or the first distance interval is greater than a first distance preset threshold, the initial GPS positioning position is determined as the candidate fault point; and the next GPS positioning position is taken as a new initial GPS positioning position, and the iteration is continued until all the GPS position information of the verification vehicle is calculated.

5. The positioning signal compensation method of claim 3, wherein, According to the second preset fault point confirmation rule, the candidate fault points in the candidate fault point information database are screened to determine the fault points for constructing the fault point information library, including: All the obtained candidate fault points are divided into several fault groups according to the road names where the candidate fault points are located or the POI names corresponding to the candidate fault points, and each fault group is executed, including: The average distance between each candidate fault point in the fault group and the remaining candidate fault points in the same group is calculated, and all first candidate fault points and all second candidate fault points are removed or retained according to the average distance; wherein the first candidate fault point is a candidate fault point with an average distance greater than a preset judgment distance threshold, and the second candidate fault point is a candidate fault point with an average distance less than or equal to the preset judgment distance threshold; The average value of the longitude and latitude of all the second candidate fault points in the fault group is calculated to obtain a center fault point of the fault group, and the number of the second candidate fault points in the fault group is taken as the frequency of the center fault point; It is judged whether the frequency of the center fault point is greater than a preset frequency judgment threshold; if yes, the center fault point is taken as the fault point of the fault group and is recorded in the fault point information library; if not, it is not recorded.

6. The positioning signal compensation method of claim 3, wherein, If yes, when the predictive compensation strategy is run, it further includes: It is judged whether the current GPS position information and the road names or POI names of all the fault points matched in the driving route are the same; If not, the predictive compensation strategy is closed; If yes, the predictive compensation strategy is run.

7. The positioning signal compensation method of claim 1, wherein, According to the driving route and the pre-obtained fault point information library, it is judged whether there is a fault point on the driving route, including: The GPS sequence corresponding to the driving route is obtained, and the GPS sequence includes all the driving information in the driving route; The driving route is compared with the fault point information library, including: the GPS sequence is compared with the fault point information library.

8. The positioning signal compensation method of claim 1, wherein, It is judged whether the current positioning information satisfies the second preset signal compensation condition, including: According to the current positioning information of the target vehicle, a second time interval and a third distance interval of the current positioning position of the target vehicle and the previous positioning position receiving positioning information are calculated, and if the second time interval is greater than a second time preset threshold or the third distance interval is greater than a third distance preset threshold, it is determined that the current positioning information of the target vehicle satisfies the second preset signal compensation condition.

9. A positioning signal compensation system, characterized by Comprising: a data acquisition module, a data judgment module, a predictive compensation module, a real-time compensation module, and a positioning data recovery module; The data acquisition module is configured to acquire a driving route of a target vehicle. The data judgment module is configured to determine whether there is a fault point in the driving route according to the driving route and a pre-acquired fault point information library. The predictive compensation module is configured to calculate a second distance interval between a current positioning position of the target vehicle and a next fault point according to current positioning information of the target vehicle, determine whether the second distance interval is less than a second distance preset threshold, and if so, execute a positioning signal compensation strategy, and if not, execute a real-time compensation strategy. The predictive compensation module is configured to determine whether the current positioning information satisfies a second preset signal compensation condition, and if so, execute the positioning signal compensation strategy. The positioning data recovery module is configured to take the current positioning position as a starting position, acquire a driving distance of the target vehicle according to a driving speed of the target vehicle and a driving time of the target vehicle, match the starting position and the driving distance of the target vehicle with the driving route, and output a positioning compensation result.

10. An electronic device, comprising: The readable storage medium stores a computer program, and the computer program is executed by the processor to implement the positioning signal compensation method in any one of claims 1-8.

11. A readable storage medium, characterized by, The readable storage medium stores a computer program, and the computer program is executed by the processor to implement the positioning signal compensation method in any one of claims 1-8.

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