Electric bicycle positioning methods, devices, equipment and storage media

Abstract

This application provides a method, apparatus, device, and storage medium for locating electric bicycles. The electric bicycle includes a satellite positioning module and an inertial navigation module. The electric bicycle positioning method includes, during the current positioning cycle, acquiring first location information collected by the satellite positioning module, the signal strength of the satellite positioning module, and second location information collected by the inertial navigation module; determining a target weight based on the signal strength; and performing a weighted calculation on the first and second location information based on the target weight to obtain the target location information of the electric bicycle. This application embodiment can obtain relatively accurate positioning information for electric bicycles, thereby eliminating the need for external positioning devices, such as user mobile terminals, and greatly facilitating the positioning, maintenance, or retrieval of electric bicycles.

Description

Technical Field

[0001] This application relates to the field of navigation and positioning technology, and in particular to a method, device, equipment and storage medium for positioning electric bicycles. Background Technology

[0002] Currently, shared electric bikes have greatly facilitated users' daily travel. However, shared electric bikes typically require location tracking, which is currently mostly achieved indirectly through the user's mobile device. However, users may engage in irregular behaviors when using shared electric bikes, such as forgetting to lock them or abandoning them and walking to the designated parking area before locking them. This leads to inaccurate location tracking, causing inconvenience for the operation and management of shared electric bikes. Similarly, existing technology also presents the problem of difficulty in recovering lost personal electric bicycles due to the inability to locate them. Summary of the Invention

[0003] This application provides an electric bicycle positioning method, device, equipment, and storage medium to solve the problem of inaccurate positioning of electric bicycles in related technologies.

[0004] To solve the above-mentioned technical problems, this application is implemented as follows:

[0005] In a first aspect, embodiments of this application provide a positioning method for an electric bicycle, the electric bicycle including a satellite positioning module and an inertial navigation module, the method comprising:

[0006] During the current positioning cycle, acquire the first position information collected by the satellite positioning module, the signal strength of the satellite positioning module, and the second position information collected by the inertial navigation module;

[0007] Determine the target weight based on signal strength;

[0008] Based on the target weight, the first location information and the second location information are weighted and calculated to obtain the target positioning information of the electric bicycle.

[0009] Secondly, embodiments of this application also provide an electric bicycle positioning device. The electric bicycle includes a satellite positioning module and an inertial navigation module. The device includes:

[0010] The acquisition module is used to acquire, during the current positioning cycle, the first position information collected by the satellite positioning module, the signal strength of the satellite positioning module, and the second position information collected by the inertial navigation module;

[0011] The determination module is used to determine the target weight based on the signal strength.

[0012] The positioning module is used to perform weighted calculations on the first and second location information according to the target weight to obtain the target positioning information of the electric bicycle.

[0013] Thirdly, embodiments of this application also provide an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the above-described method.

[0014] Fourthly, embodiments of this application also provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described method.

[0015] The electric bicycle positioning method provided in this application acquires first location information collected by a satellite positioning module, the signal strength of the satellite positioning module, and second location information collected by an inertial navigation module during the current positioning cycle. A target weight is determined based on the signal strength. The first and second location information are then weighted and calculated according to the target weight to obtain the target positioning information of the electric bicycle. The electric bicycle's own satellite positioning module and inertial navigation module can each collect location information. By combining the target weight determined based on the signal strength of the satellite positioning module and weighting the above location information, relatively accurate positioning information of the electric bicycle can be obtained. This eliminates the need for external positioning devices, such as user mobile terminals, greatly facilitating the positioning, maintenance, and retrieval of electric bicycles. Attached Figure Description

[0016] Figure 1 This is a structural example diagram of an electric bicycle to which the electric bicycle positioning method provided in the embodiments of this application can be applied;

[0017] Figure 2 A flowchart illustrating the electric bicycle positioning method provided in this application embodiment;

[0018] Figure 3 This is a schematic diagram of the electric bicycle positioning device provided in an embodiment of this application. Detailed Implementation

[0019] To make the technical problems, technical solutions, and advantages of this application clearer, a detailed description will be provided below in conjunction with the accompanying drawings and specific embodiments. In the following description, specific details such as particular configurations and components are provided merely to aid in a comprehensive understanding of the embodiments of this application. Therefore, those skilled in the art should understand that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of this application. Furthermore, for clarity and brevity, descriptions of known functions and structures have been omitted.

[0020] Unless otherwise defined, the technical or scientific terms used in this application shall have the ordinary meaning understood by one of ordinary skill in the art to which this application pertains. The terms "first," "second," and similar terms used in this application do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Similarly, the terms "an" or "a," and similar terms, do not indicate a quantity limitation, but rather indicate the presence of at least one.

[0021] like Figure 1 As shown, Figure 1 This is a structural example diagram of an electric bicycle to which the electric bicycle positioning method provided in the embodiments of this application can be applied. The electric bicycle can be a shared electric bicycle, a personal electric bicycle, etc., and is not specifically limited here. The electric bicycle may include a satellite positioning module 101, an inertial navigation module 102, and a controller 103.

[0022] Among them, the satellite positioning module 101 can be a positioning module based on the Global Navigation Satellite System (GNSS), where GNSS can be the Global Positioning System (GPS) or the BeiDou Navigation Satellite System, etc.

[0023] The inertial navigation module 102 can be an inertial measurement unit (IMU), or it can be composed of one or more types of sensors such as wheel speed sensors, gyroscopes, acceleration sensors, attitude sensors, and angle sensors.

[0024] The controller 103 can be a central processing unit, a microprocessor, or other components with data processing or computation capabilities.

[0025] The controller 103 can be electrically connected to the satellite positioning module 101 and the inertial navigation module 102. Both the satellite positioning module 101 and the inertial navigation module 102 can be used to collect the location information of the electric bicycle and transmit the collected location information to the controller 103. Furthermore, in practical applications, the signal strength of the satellite positioning module 101 is usually affected by factors such as the geographical environment. This signal strength can be obtained by the satellite positioning module 101 and can also be transmitted to the controller 103. The controller 103 receives the location information collected by the satellite positioning module 101 and the inertial navigation module 102, as well as the signal strength of the satellite positioning module 101, and can process this data to obtain the location information of the electric bicycle, thus achieving the positioning of the electric bicycle.

[0026] This application provides a method for locating an electric bicycle, which can be applied to, for example... Figure 1 Among the electric bicycles shown, such as Figure 2 As shown, the method includes:

[0027] Step 201: In the current positioning cycle, acquire the first position information collected by the satellite positioning module, the signal strength of the satellite positioning module, and the second position information collected by the inertial navigation module;

[0028] Step 202: Determine the target weight based on the signal strength;

[0029] Step 203: Based on the target weight, the first location information and the second location information are weighted and calculated to obtain the target positioning information of the electric bicycle.

[0030] The method provided in this application can be executed by an electric bicycle. Specifically, within an electric bicycle, the executing entity can be the aforementioned controller, or it can be a chip, electronic device, etc., integrated into the electric bicycle. The electric bicycle, controller, chip, or electronic device mentioned above can be considered as a definition of the executing entity from different perspectives. In the following embodiments, the definition of the executing entity can be interchanged within the scope of understanding.

[0031] It is easy to understand that electric bicycles can locate themselves at preset time intervals, such as 50ms, 100ms, etc. This time interval corresponds to the positioning cycle, and in this embodiment of the application, the specific value of the time interval is not limited.

[0032] The current positioning cycle is relative to the historical positioning cycle. It can be considered as the positioning cycle at the current moment, or it can be understood as any positioning cycle. The limitation of the current position cycle is to more clearly explain the loop in the electric bicycle positioning method.

[0033] exist Figure 1 As shown in the structural description of the electric bicycle, both the satellite positioning module and the inertial navigation module can be used to collect the bicycle's position information. For distinction, the position information collected by the satellite positioning module can be referred to as the first position information, and the position information collected by the inertial navigation module can be referred to as the second position information. The accuracy of the first position information collected by the satellite positioning module is usually affected by the signal strength, which is generally obtainable by the satellite positioning module.

[0034] Accordingly, in step 201, the controller can acquire first location information, second location information, and signal strength in the current positioning cycle.

[0035] In step 202, the controller can determine the target weight based on the signal strength.

[0036] The satellite positioning module can acquire its own signal strength while collecting the initial location information.

[0037] In one example, the signal strength is divided into three levels: "strong", "medium" and "weak". When the signal strength is "strong", the target weight can be set to 1; when the signal strength is "medium", the target weight can be set to 0.6; and when the signal strength is "weak", the target weight can be set to 0.2.

[0038] Of course, in practical applications, signal strength can be divided into more levels, such as including a "no signal" signal strength, in which case the target weight can be set to 0. Alternatively, signal strength can be classified in other ways, or represented numerically. Furthermore, the target weight corresponding to each signal strength can be set as needed; no specific limitations are made here.

[0039] In step 203, the controller can combine the target weights to perform a weighted calculation on the first position information and the second position information to obtain the target positioning information of the electric bicycle.

[0040] In some examples, the first and second location information can be represented by coordinates in a geodetic or map coordinate system. Combined with the target weight, these coordinates can be weighted and calculated. For example, the first location information can be represented as L1, the second location information as L2, and the target weight as x. The target positioning information L... k It can be represented as L k = x*L1+(1-x)*L2.

[0041] Of course, in other examples, the first and second position information can also be position increments relative to the target position information in the previous positioning cycle. The first position information can be represented as ΔL1, the second position information can be represented as ΔL2, and the target position information in the previous positioning cycle is denoted as L. k-1 Then the target positioning information for the current positioning period can be represented as L. k =L k-1 +x*ΔL1+(1-x)*ΔL2.

[0042] Of course, the above are some examples of how to obtain target positioning information by weighting the first location information and the second location information. In practical applications, the above weighting calculation process can also be adjusted according to the relevant parameters as needed, which will not be listed here.

[0043] The electric bicycle positioning method provided in this application acquires first location information collected by a satellite positioning module, the signal strength of the satellite positioning module, and second location information collected by an inertial navigation module during the current positioning cycle. A target weight is determined based on the signal strength. The first and second location information are then weighted and calculated according to the target weight to obtain the target positioning information of the electric bicycle. The electric bicycle's own satellite positioning module and inertial navigation module can each collect location information. By combining the target weight determined based on the signal strength of the satellite positioning module and weighting the above location information, relatively accurate positioning information of the electric bicycle can be obtained. This eliminates the need for external positioning devices, such as user mobile terminals, greatly facilitating the positioning, maintenance, and retrieval of electric bicycles.

[0044] Optionally, the target weight is determined based on the signal strength, including:

[0045] Obtain the third location information, which is the location information collected by the satellite positioning module in the previous positioning cycle;

[0046] The target weight is determined based on the difference between the first and third location information, as well as the signal strength.

[0047] In practical applications, satellite positioning modules typically have some degree of error; that is, there may be a positioning error between the initial location information and the actual location of the electric bicycle. This error is larger in areas with weak signals, and usually exists even in areas with strong signals. In this embodiment, the impact of positioning error on the positioning accuracy of the electric bicycle can be further considered.

[0048] If the current positioning period is defined as the k-th positioning period, then the previous positioning period can be denoted as the (k-1)-th positioning period. The position information collected by the satellite positioning module in the (k-1)-th positioning period can be represented by L3. The first position information collected by the satellite positioning module in the k-th positioning period can be denoted as L1. The difference between the first position information and the third position information can be represented as ΔL. 1-3 ΔL 1-3 This can be converted into a distance (for simplicity, this distance is also expressed as ΔL). 1-3 (This can be represented as, for example, the straight-line distance between the first and third position information.) For an electric bicycle, its maximum speed v max Generally, the time interval ΔT between two location information acquisitions by the satellite positioning module is known and usually fixed (e.g., it can be equal to the positioning period). When ΔL 1-3 Less than or equal to v max When ΔT, it indicates ΔL 1-3Within a reasonable range, the target weight is determined based on signal strength. And when ΔL... 1-3 Greater than v max When ΔT occurs, it indicates that the satellite positioning module currently has an unreasonable positioning error. At this time, an initial weight can be determined by the signal strength, and then the initial weight can be multiplied by a preset coefficient less than 1, or subtracted by a preset value, to obtain the target weight.

[0049] Of course, the above are some examples of feasible calculation methods for determining target weights based on the differences between the first and third location information and signal strength. However, for a more comprehensive approach, if the signal strength is denoted as I... s Let the target weight be denoted as x. In this embodiment, x can be obtained by the following function: x = f(ΔL) 1-3 ,I s The specific expression of this function can be preset or calibrated based on experimental results, and will not be explained in detail here.

[0050] From another perspective, this embodiment can use the first position information in two positioning cycles for supervision. If the jump between the two first position information is relatively large, the weight determined based on the signal strength can be corrected to reduce the contribution of the first position information to the target positioning information calculation process, thereby further improving the positioning accuracy of the electric bicycle.

[0051] Optionally, the target weight is determined based on the signal strength, including:

[0052] The first location information is mapped to map data to obtain the geographic environment type corresponding to the first location information;

[0053] Target weights are determined based on geographical environment type and signal strength.

[0054] In some examples, map data can be pre-stored in the electric bicycle or obtained by communicating with a map server. Generally, map data can include coordinates and geographic environment types, such as a road, house, lawn, mountain, forest, or river at a given coordinate location. The initial location information collected by the satellite positioning module can be transformed into the coordinate system corresponding to the map data, thereby further obtaining the geographic environment type corresponding to the initial location information. This coordinate system transformation process can be understood as mapping the initial location information onto the map data.

[0055] It's easy to understand that in practical applications, electric bicycles are most likely to travel on roads or within a preset distance around roads. They are generally likely to pass through built-up areas or lawns, but are extremely unlikely to travel through mountains, forests, or rivers. Therefore, if the geographical environment type indicated by the first location information is a road, it means that the satellite positioning module is basically working correctly. However, if the geographical environment type indicated by the first location information is a river or a mountain, it is highly likely that the positioning is due to a positioning error of the satellite positioning module.

[0056] Based on the above considerations, in this embodiment, the target weight can be determined by combining the geographical environment type and signal strength. This target weight can also be expressed by a function, for example, x = f(Ty, I s In this context, Ty represents the geographic environment type, and the specific expression of the function can be set according to actual needs. Generally speaking, when signal strength is equal, the more reasonable the geographic environment type corresponding to the first location information, the greater the target weight. It's easy to understand that for electric bicycles, the reasonableness of the geographic environment type could be road > built-up area > river. Of course, this classification of geographic environment types and the order of reasonableness can also be preset as needed.

[0057] Therefore, in this embodiment, considering geographical environment type and signal strength to determine target weight can further improve the accuracy of target positioning information.

[0058] It is readily understood that, without conflict, the solutions of different embodiments in this application can be arbitrarily combined. For example, the determination of the target weight can simultaneously consider signal strength, geographical environment type, and the difference between the first location information and the third location information. In this case, the functional expression of the target weight can be written as x = f(Ty, ΔL). 1-3 ,I s ).

[0059] Determining target weights based on signal strength includes:

[0060] Obtain N historical weights, which are weights determined in the previous N historical positioning periods of the current positioning period, where N is a positive integer;

[0061] The initial weights are determined based on the signal strength.

[0062] The target weight is determined based on N historical weights and the initial weight.

[0063] As shown above, the current positioning period can be the kth positioning period. In this embodiment, the kth positioning period includes the step of determining the initial weight and the target weight. Similarly, in the (k-1), (k-2), ..., (kN)th positioning periods, there can also be the step of determining the initial weight and the target weight. The (k-1), (k-2), ..., (kN)th positioning periods can correspond to N historical positioning periods, and the historical weight can be the initial weight or the target weight obtained in the corresponding historical positioning period. No specific limitation is required here.

[0064] In this embodiment, the initial weights can be considered as weights obtained without considering N historical weights; for example, they can be weights that only consider the signal strength I. s The obtained weights, or, alternatively, the geographical environment type Ty mentioned in the above embodiments, or the difference ΔL between the first location information and the third location information, can be further considered. 1-3 The obtained weights.

[0065] In one example, if N is greater than 1, the changing trend of the reliability of the location information collected by the satellite positioning module can be roughly obtained based on the N historical weights. When the N historical weights increase sequentially, it indicates that the location information collected by the satellite positioning module is gradually becoming more reliable. At this time, a positive incentive can be given to the initial weight to obtain the target weight. This positive incentive can be multiplied by a preset value greater than 1 based on the initial weight, or a positive preset value can be added, etc., without going into specific examples here. Conversely, if the N historical weights decrease sequentially, a negative penalty can be given to the initial weight to obtain the target weight. In this way, a more reasonable target weight can be determined based on the changing trend of the reliability of the satellite positioning module over a period of time, thereby improving the positioning accuracy of the electric bicycle in the current positioning cycle.

[0066] Of course, in other examples, the average of N historical weights can be calculated, and then the positive incentive or negative penalty for the initial weights can be determined, etc.

[0067] In some other examples, N can be equal to 1. In this case, the target weight can be obtained by combining the historical weights with the initial weights.

[0068] In one embodiment, determining the target weight based on N historical weights and an initial weight may include:

[0069] Based on the distance between each historical positioning period and the current positioning period, determine the weight of each historical weight and the weight of the initial weight;

[0070] The target weight is obtained by calculating a weighted average based on the historical weights and their values, as well as the initial weights and their values.

[0071] For example, the N historical weights can be divided into groups denoted as y. k-N y k-N+1 ... y k-1 The initial weights obtained in the current positioning cycle can be denoted as y. k , targeting y k-N y k-N+1 ... y k-1 y k Weights q can be assigned to them respectively. k-N q k-N+1 , ..., q k-1 q k The q is easy to understand. k-N q k-N+1 , ..., q k-1 The corresponding historical positioning periods are progressively closer in distance to the current positioning period. Based on this distance change relationship, we can let q k-N q k-N+1 , ..., q k-1 q k The values ​​of increase sequentially.

[0072] Based on the above definition, the calculation method for the target weight x can be expressed as:

[0073] x = q k-N *y k-N +q k-N+1 *q k-N+1 +…+q k-1 *q k-1 +q k *q k

[0074] In some implementations, {q k-N q k-N+1 , ..., q k-1 q k The sequence q can be pre-stored in the electric bicycle. When calculating the target weight, the controller can call this sequence and perform matrix operations using this sequence and the resulting sequence of weights (i.e., the sequence formed by N historical weights and the initial weight) to obtain the target weight. In some examples, q k-N q k-N+1 , ..., q k-1 q k The sum of these values ​​can be equal to 1, thus achieving the goal of obtaining the target weight through weighted average calculation.

[0075] In this embodiment, the target weight of the current positioning cycle is calculated based on the weights obtained in multiple positioning cycles. This can effectively eliminate the influence of sudden changes in signal strength or accidental interference factors on the determination process of target positioning information, thereby improving the positioning accuracy and stability of electric bicycles.

[0076] In some feasible implementations, when k is less than or equal to N, the initial weight can be directly determined as the target weight to avoid errors in the weighted average calculation due to the lack of a sufficient number of historical weights.

[0077] Optionally, the first location information and the second location information are weighted according to the target weight to obtain the target positioning information of the electric bicycle, including:

[0078] The historical positioning error is the error between the position information collected by the satellite positioning module in the previous positioning cycle and the target positioning information obtained in the previous positioning cycle.

[0079] The first location information is corrected based on historical positioning errors;

[0080] Based on the target weight, the corrected first location information and the second location information are weighted and calculated to obtain the target positioning information of the electric bicycle.

[0081] In this embodiment, the target positioning information obtained in the previous positioning cycle (i.e., the (k-1)th cycle) can be considered as the true value, while the historical positioning error can be regarded as the error of the position information collected by the satellite positioning module relative to the true value. This embodiment applies the historical positioning error to the current positioning cycle, which can be regarded as passing the historical positioning error to the current positioning cycle.

[0082] Since the time interval between adjacent positioning cycles is short, it can be roughly assumed that the error between the measured position and the true value of the satellite positioning module in two adjacent cycles is equal, such as the direction and distance corresponding to the error. Therefore, the historical positioning error of the previous positioning cycle is passed to the current positioning cycle to correct the first position information obtained in the current positioning cycle. This can make the corrected first position information closer to the ideal true value of the current positioning cycle, thereby improving the accuracy of the target positioning information obtained by weighted calculation.

[0083] Furthermore, considering the randomness of the positioning information acquired by the satellite positioning module—for example, it might randomly locate itself in any direction relative to the actual position—and given that positioning an electric bicycle is typically a long-term, continuous process, the errors from different directions can largely cancel each other out through continuous error propagation. Therefore, from this perspective, the continuous propagation of historical positioning errors generally prevents the corrected initial position information from deviating excessively from the true value due to error accumulation. Thus, from this perspective, this embodiment can guarantee the stability of the final target positioning information.

[0084] In some examples, the correction of the first location information based on the historical positioning error can be achieved by directly superimposing the historical positioning error onto the first location information, or by multiplying the historical positioning error by a preset weight and then superimposing it onto the first location information, etc. Examples will not be given here.

[0085] Optionally, after acquiring the first position information collected by the satellite positioning module, the signal strength of the satellite positioning module, and the second position information collected by the inertial navigation module during the current positioning cycle, the method further includes:

[0086] In M consecutive positioning cycles, if the difference between the first location information and the second location information is within a preset threshold range, the second location information is corrected based on the first location information obtained in the current positioning cycle. The M positioning cycles include the current positioning cycle and the previous M-1 historical positioning cycles, where M is a positive integer.

[0087] As mentioned in the previous embodiment, the errors generated by the satellite positioning module have a certain degree of randomness, and the first position information acquired each time is relatively independent. Through continuous error propagation, the errors can be largely canceled out. However, unlike the satellite positioning module, the errors of the inertial navigation module are usually caused by the accuracy of the sensor itself, and the resulting errors may be relatively fixed. Furthermore, the second position information acquired by the inertial navigation module is usually incremental. In this case, the errors generated by the inertial navigation module will continuously accumulate, leading to increasingly inaccurate second position information.

[0088] Considering the above, in this embodiment, when the difference between the first location information and the second location information is within a preset threshold range in M ​​consecutive positioning cycles, the second location information can be corrected based on the first location information obtained in the current positioning cycle.

[0089] For example, the satellite positioning module can be a GPS positioning module, and the first location information it acquires can be GPS data. If the GPS data and the second location information obtained by the inertial navigation module match, then the obtained GPS data can be used as a reference to reset or update the second location information obtained by the inertial navigation module, thereby eliminating the accumulated error from long-term calculations. In this example, the criterion for determining whether the GPS data and the second location information match is whether the difference between the first and second location information is within a preset threshold range in M ​​consecutive positioning cycles. If it is within the preset threshold range, it means that the GPS data and the second location information match. The preset threshold range can be set as needed, for example, it can be set to a distance < 0.5m, etc., without specific limitations here. The resetting or updating process can be used to correct the second location information.

[0090] This embodiment corrects the second position information under specific conditions, which can eliminate or reduce the accumulated error of the inertial navigation module and improve the positioning accuracy of the electric bicycle.

[0091] like Figure 3 As shown in the figure, this application embodiment also provides an electric bicycle positioning device, including:

[0092] The acquisition module 301 is used to acquire, during the current positioning cycle, the first position information collected by the satellite positioning module, the signal strength of the satellite positioning module, and the second position information collected by the inertial navigation module;

[0093] The determination module 302 is used to determine the target weight based on the signal strength;

[0094] The positioning module 303 is used to perform weighted calculations on the first position information and the second position information according to the target weight to obtain the target positioning information of the electric bicycle.

[0095] Optionally, the determining module 302 may include:

[0096] The first acquisition unit is used to acquire the third location information, which is the location information collected by the satellite positioning module in the previous positioning cycle;

[0097] The second determining unit is used to determine the target weight based on the difference between the first location information and the third location information, as well as the signal strength.

[0098] Optionally, the determining module 302 may include:

[0099] The mapping acquisition unit is used to map the first location information onto map data in order to obtain the geographic environment type corresponding to the first location information;

[0100] The second determining unit is used to determine the target weight based on the geographical environment type and signal strength.

[0101] Optionally, the determining module 302 may include:

[0102] The second acquisition unit is used to acquire N historical weights, which are weights determined in the previous N historical positioning periods of the current positioning period, where N is a positive integer.

[0103] The third determining unit is used to determine the initial weights based on the signal strength;

[0104] The fourth determining unit is used to determine the target weight based on N historical weights and the initial weight.

[0105] Optionally, the fourth determining unit may include:

[0106] The sub-unit is determined based on the distance between each historical positioning cycle and the current positioning cycle to determine the weight of each historical weight and the weight of the initial weight.

[0107] The calculation sub-unit is used to calculate the target weight by performing a weighted average based on each historical weight and its value, as well as the initial weight and its value.

[0108] Optionally, the positioning module 303 may include:

[0109] The third acquisition unit is used to acquire historical positioning error, which is the error between the position information collected by the satellite positioning module in the previous positioning cycle and the target positioning information obtained in the previous positioning cycle.

[0110] The correction unit is used to correct the first position information based on historical positioning errors;

[0111] The positioning unit is used to perform weighted calculations on the corrected first position information and the second position information according to the target weight to obtain the target positioning information of the electric bicycle.

[0112] Optionally, the electric bicycle positioning device may also include:

[0113] The correction module is used to correct the second location information based on the first location information obtained in the current positioning cycle when the difference between the first location information and the second location information is within a preset threshold range in M ​​consecutive positioning cycles. The M positioning cycles include the current positioning cycle and the previous M-1 historical positioning cycles, where M is a positive integer.

[0114] The electric bicycle positioning device provided in this application is a device corresponding to the electric bicycle positioning method in the above embodiment. The method embodiment can be applied to the device embodiment and achieve the same technical effect, which will not be repeated here.

[0115] This application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the above-described electric bicycle positioning method.

[0116] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described electric bicycle positioning method.

[0117] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0118] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0119] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0120] In the embodiments provided in this application, it should be understood that the disclosed apparatus / terminal devices and methods can be implemented in other ways. For example, the apparatus / terminal device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0121] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0122] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0123] If an integrated module / unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc.

[0124] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. An electric bicycle positioning method, characterized by, The electric bicycle comprises a satellite positioning module and an inertial navigation module, and the method comprises: In a current positioning period, first position information collected by the satellite positioning module, signal strength of the satellite positioning module, and second position information collected by the inertial navigation module are acquired; A target weight is determined according to the signal strength; The first position information and the second position information are calculated by weighting according to the target weight, to obtain target positioning information of the electric bicycle; The target positioning information of the electric bicycle is obtained by calculating the first position information and the second position information by weighting according to the target weight, and the target positioning information of the electric bicycle comprises: A historical positioning error is acquired, which is an error between position information collected by the satellite positioning module in a previous positioning period and target positioning information obtained in the previous positioning period; The first position information is corrected based on the historical positioning error; The first position information after correction and the second position information are calculated by weighting according to the target weight, to obtain target positioning information of the electric bicycle; After the first position information, the signal strength of the satellite positioning module, and the second position information collected by the inertial navigation module are acquired in the current positioning period, the method further comprises: When differences between the first position information and the second position information in consecutive M positioning periods are within a preset threshold range, the second position information is corrected based on the first position information acquired in the current positioning period, the M positioning periods comprise the current positioning period and M-1 previous historical positioning periods, and M is a positive integer.

2. The method of claim 1, wherein, The target weight is determined according to the signal strength, and the target weight comprises: Third position information collected by the satellite positioning module in a previous positioning period is acquired; The target weight is determined according to differences between the first position information and the third position information and the signal strength.

3. The method of claim 1, wherein, The target weight is determined according to the signal strength, and the target weight comprises: The first position information is mapped to map data to acquire a geographical environment type corresponding to the first position information; The target weight is determined according to the geographical environment type and the signal strength.

4. The method of claim 1, wherein, The target weight is determined according to the signal strength, and the target weight comprises: N historical weights are acquired, the N historical weights are weights determined in N previous historical positioning periods of the current positioning period, and N is a positive integer; An initial weight is determined according to the signal strength; The target weight is determined according to the N historical weights and the initial weight.

5. The method of claim 4, wherein, The target weight is determined according to the N historical weights and the initial weight, and the target weight comprises: According to distances between each historical positioning period and the current positioning period, a weight value of each historical weight and a weight value of the initial weight are determined; The target weight is obtained by weighted average calculation according to each historical weight and the weight value thereof and the initial weight and the weight value thereof.

6. An electric bicycle positioning device, characterized by, The electric bicycle comprises a satellite positioning module and an inertial navigation module, and the device comprises: The acquisition module is configured to acquire, in a current positioning period, first position information collected by the satellite positioning module, signal strength of the satellite positioning module, and second position information collected by the inertial navigation module; The determination module is configured to determine a target weight according to the signal strength; The positioning module is configured to perform weighted calculation on the first position information and the second position information according to the target weight, to obtain target positioning information of the electric bicycle; The positioning module comprises: The third acquisition unit is configured to acquire a historical positioning error, which is an error between position information collected by the satellite positioning module in a previous positioning period and target positioning information obtained in the previous positioning period; The correction unit is configured to correct the first position information based on the historical positioning error; The positioning unit is configured to perform weighted calculation on the corrected first position information and the second position information according to the target weight, to obtain target positioning information of the electric bicycle; The electric bicycle positioning device further comprises: The correction module is configured to correct the second position information based on the first position information acquired in the current positioning period when differences between the first position information and the second position information in consecutive M positioning periods are within a preset threshold range, the M positioning periods including the current positioning period and M-1 previous historical positioning periods, and M being a positive integer.

7. An electronic device, comprising: The computer readable storage medium stores a computer program, and the computer program is executed by the processor to implement the method in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer program, and the computer program is executed by the processor to implement the method in any one of claims 1 to 5.

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