Positioning method and apparatus, computer device, readable storage medium, and program product

Abstract

The application relates to a positioning method and device, computer equipment, a readable storage medium and a program product. The method comprises the following steps: obtaining initial position information of a terminal, determining auxiliary position information of a target subject at each time within a preset time period according to the initial position information, and performing global optimization processing according to the auxiliary position information and the initial position information to determine target position information of the terminal at each time. According to the above method, the initial position information of the terminal is obtained, the global optimization processing is combined with the auxiliary position information of the target subject, the initial position information and the auxiliary position information are complementarily enhanced, and therefore the accuracy or precision of the terminal positioning result, i.e. the target position information, is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the positioning technical field, and in particular to a positioning method and device, a computer device, a readable storage medium and a program product. BACKGROUND

[0002] With the rapid development of mobile Internet, the application range of positioning technology is becoming wider and wider, for example, applied to metaverse, intelligent driving and other business scenarios.

[0003] Taking the enhanced cell-ID (E-CID) positioning technology as an example, the positioning using the related technology will have the problem of low positioning accuracy. SUMMARY

[0004] Therefore, it is necessary to provide a positioning method, device, computer device, readable storage medium and program product to improve the positioning accuracy.

[0005] In a first aspect, an embodiment of the present application provides a positioning method, which comprises:

[0006] obtaining initial position information of a terminal;

[0007] determining auxiliary position information of a target subject at each time within a preset time period according to the initial position information;

[0008] performing global optimization processing according to the auxiliary position information and the initial position information to determine target position information of the terminal at each time.

[0009] In one of the embodiments, the global optimization processing according to the auxiliary position information and the initial position information to determine the target position information of the terminal at each time comprises:

[0010] substituting the auxiliary position information and the initial position information into a positioning function to solve the positioning function and obtain the target position information; the positioning function comprises an association relationship between a position variable of the subject and a position variable of the terminal.

[0011] In one of the embodiments, the global optimization processing according to the auxiliary position information and the initial position information to determine the target position information of the terminal at each time comprises:

[0012] substituting the auxiliary position information and the initial position information into the positioning function to solve the minimum value of the positioning function, and obtain candidate position information of the terminal at each time and the minimum value of the positioning function;

[0013] determining the target position information according to the candidate position information and the minimum value of the positioning function.

[0014] In one of the embodiments, the target position information is determined according to the minimum value of the candidate position information and the positioning function, comprising:

[0015] If the minimum value of the positioning function is less than or equal to a preset threshold, the candidate position information is determined as the target position information.

[0016] If the minimum value of the positioning function is greater than the preset threshold, the positioning function is updated to obtain an updated positioning function, and the steps of substituting the auxiliary position information and the initial position information into the updated positioning function and solving the minimum value of the updated positioning function are repeatedly executed until the minimum value of the updated positioning function is less than or equal to the preset threshold, and the target position information is obtained.

[0017] In one of the embodiments, the method further comprises:

[0018] The graph structure is determined according to the auxiliary position information and the initial position information; the graph structure represents the moving track of the target subject.

[0019] The positioning function is constructed according to the graph structure.

[0020] In one of the embodiments, the graph structure is determined according to the auxiliary position information and the initial position information, comprising:

[0021] The vertex attribute information of the graph structure is determined according to the initial position information, and the edge attribute information of the graph structure is determined according to the auxiliary position information.

[0022] The graph structure is constructed according to the vertex attribute information and the edge attribute information.

[0023] In one of the embodiments, the positioning function is constructed according to the graph structure, comprising:

[0024] The error information of each time point is determined according to the vertex attribute information and the edge attribute information in the graph structure.

[0025] The positioning function is constructed according to the error information.

[0026] In one of the embodiments, the initial position information of the terminal is obtained, and the auxiliary position information of the target subject at each time point in a preset time period is determined according to the initial position information, comprising:

[0027] The initial position information of the terminal is obtained by using an enhanced cell identification positioning method.

[0028] The auxiliary position information is determined according to the initial position information by using a pedestrian dead reckoning method.

[0029] In a second aspect, the embodiments of the present application provide a positioning device, comprising:

[0030] The information acquisition module is configured to acquire initial position information of the terminal.

[0031] The information determination module is configured to determine auxiliary position information of the target subject at each time within a preset time period according to the initial position information.

[0032] The optimization processing module is configured to perform global optimization processing according to the auxiliary position information and the initial position information, and determine target position information of the terminal at each time.

[0033] In a third aspect, an embodiment of the present application further provides a computer device, which comprises a memory and a processor. The memory stores a computer program. When the processor executes the computer program, the steps of the method in any of the embodiments of the first aspect are implemented.

[0034] In a fourth aspect, an embodiment of the present application further provides a computer readable storage medium, which stores a computer program. When the computer program is executed by a processor, the steps of the method in any of the embodiments of the first aspect are implemented.

[0035] In a fifth aspect, an embodiment of the present application further provides a computer program product, which comprises a computer program. When the computer program is executed by a processor, the steps of the method in any of the embodiments of the first aspect are implemented.

[0036] The positioning method, device, computer device, readable storage medium and program product provided by the embodiments of the present application comprise the following steps: acquiring initial position information of a terminal, determining auxiliary position information of a target subject at each time within a preset time period according to the initial position information, and performing global optimization processing according to the auxiliary position information and the initial position information, and determining target position information of the terminal at each time. The method can complement and enhance the initial position information and the auxiliary position information by performing global optimization processing on the basis of the acquired initial position information of the terminal in combination with the auxiliary position information of the target subject, thereby improving the accuracy or precision of the terminal positioning result, i.e., the target position information. BRIEF DESCRIPTION OF DRAWINGS

[0037] Figure 1 FIG. 1 is a diagram of an application environment of the positioning method in an embodiment;

[0038] Figure 2 FIG. 2 is a flowchart of the positioning method in an embodiment;

[0039] Figure 3 FIG. 3 is a flowchart of the positioning method in another embodiment;

[0040] Figure 4 FIG. 4 is a flowchart of the positioning method in another embodiment;

[0041] Figure 5Flowchart of positioning method in another embodiment;

[0042] Figure 6 Flowchart of positioning method in another embodiment;

[0043] Figure 7 Schematic diagram of pedestrian moving track in an embodiment;

[0044] Figure 8 Flowchart of positioning method in another embodiment;

[0045] Figure 9 Structural block diagram of positioning device in an embodiment;

[0046] Figure 10 Internal structural diagram of computer device in an embodiment. DETAILED DESCRIPTION

[0047] In order to make the purposes, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and not to limit the present application.

[0048] In the field of position positioning, due to the advantages of network-side positioning function, fast positioning speed and terminal non-sensing of E-CID positioning technology, the E-CID positioning technology is usually used for positioning in the related art. However, the related art has the problem of low positioning accuracy. Based on this, the embodiments of the present application provide a positioning method which can improve the positioning accuracy.

[0049] The positioning method provided by the embodiments of the present application can be applied to the positioning system as shown in Figure 1 The positioning system includes a terminal and a base station. Optionally, the terminal and the base station are in communication connection, and the communication mode can be Bluetooth, Wi-Fi, mobile network connection, etc. The above-mentioned base station can be a base station with computing capability, but is not limited to a 2G base station, a 3G base station, a 4G base station, a 5G base station, a distributed base station, etc. The above-mentioned terminal can be but is not limited to various notebook computers, smart phones and tablet computers, and the specific form of the terminal is not limited in the embodiments, Figure 1 The positioning system is illustrated by taking the terminal as a smart phone. The specific process of the positioning method will be specifically introduced in the following embodiments, and the specific process of the positioning method is introduced by taking the execution subject as a base station.

[0050] As shown in Figure 2 The flowchart of the positioning method provided by the embodiments of the present application is shown in the figure, and the method is illustrated by taking the execution subject as a base station. The method can include the following steps:

[0051] S100, acquire initial position information of the terminal.

[0052] The positioning system of the terminal can detect the position information of the terminal and store the detected position information in a local device, a cloud device, or a third-party device, or the like. Alternatively, the initial position information of the terminal can include position information of the terminal at each time point in a preset time period. In this embodiment of this application, the initial position information can be understood as data corresponding to a position variable of the terminal.

[0053] Correspondingly, the base station can acquire the initial position information of the terminal from a local device, a cloud device, or a third-party device, or the like. In addition, the base station can also receive the position information of the terminal at each time point in real time to obtain the initial position information of the terminal.

[0054] S200, determine auxiliary position information of a target subject at each time point in a preset time period according to the initial position information.

[0055] Alternatively, the preset time period can include a historical time period or a time period including the current time point.

[0056] In actual application, the target subject can be a subject assisting the terminal to move, for example, a pedestrian, a vehicle, or an animal, or the like. Alternatively, the auxiliary position information of the target subject can be understood as predicted position information or attitude information of the target subject at each time point. In this embodiment of this application, the auxiliary position information can be understood as data corresponding to a position variable of the target subject.

[0057] The auxiliary position information of the target subject at each time point in the preset time period can represent position change information of the target subject in the preset time period.

[0058] In one implementation manner, the base station can acquire relative position information between the target subject and the terminal collected by a detection device, and then perform a prediction process according to the initial position information and the relative position information to obtain the auxiliary position information of the target subject at each time point in the preset time period. Alternatively, the relative position information between the target subject and the terminal can include a deviation angle of the target subject relative to the terminal and distance information between the target subject and the terminal, or the like.

[0059] In another implementation manner, the base station can acquire position information of the target subject at an initial time point, and then predict position information of the target subject at a current time point according to the initial position information and the position information of the target subject at the initial time point. Alternatively, the base station can also predict the position information of the target subject at the current time point according to position information of the terminal at a plurality of historical time points. Of course, the base station can also predict the position information of the target subject at the current time point according to the initial position information and a moving track of the target subject.

[0060] The position information of the target subject at each time point refers to the auxiliary position information of the target subject at each time point in the preset time period.

[0061] S300, performing global optimization processing according to the auxiliary position information and the initial position information to determine the target position information of the terminal at each time point.

[0062] The global optimization processing can be understood as collectively correcting the initial position information of the terminal at each time point according to the auxiliary position information of the target subject at each time point in the preset time period, so as to accurately position the terminal and improve the accuracy of the terminal positioning result.

[0063] In an embodiment, the base station can pre-train a global optimization algorithm model, and then input the auxiliary position information and the initial position information into the global optimization algorithm model, and the global optimization algorithm model outputs the target position information of the terminal at each time point.

[0064] Alternatively, the global optimization algorithm model can be at least one combination of a convolutional neural network model, a fully connected neural network model, a recurrent neural network model, a deep belief network model, a deep autoencoder, and a generative adversarial network model, and the embodiments of the present application are not limited thereto.

[0065] In another embodiment, the base station can also use genetic algorithm, simulated annealing algorithm, tabu search algorithm, particle swarm algorithm or ant colony algorithm, etc., to perform global optimization processing according to the auxiliary position information and the initial position information to obtain the target position information of the terminal.

[0066] The technical solution in the embodiments of the present application acquires the initial position information of the terminal, determines the auxiliary position information of the target subject at each time point in the preset time period according to the initial position information, and performs global optimization processing according to the auxiliary position information and the initial position information to determine the target position information of the terminal at each time point. Based on the acquired initial position information of the terminal, the method combines the auxiliary position information of the target subject to perform global optimization processing, which can complement and enhance the initial position information and the auxiliary position information, thereby improving the accuracy or precision of the terminal positioning result, i.e., the target position information.

[0067] The process of performing global optimization processing according to the auxiliary position information and the initial position information to determine the target position information of the terminal at each time point will be described below. In an embodiment, the steps in S300 can include: substituting the auxiliary position information and the initial position information into a positioning function to solve the positioning function and obtain the target position information; the positioning function includes the correlation between the position variable of the subject and the position variable of the terminal.

[0068] The positioning function can be understood as an index of an optimization target, and the target can be the initial position information of the terminal.

[0069] Specifically, the position variable of the subject and the position variable of the terminal can be processed according to the preset correlation to obtain the positioning function. Optionally, the processing process can include mean square error calculation method, weighted summation method, logarithmic operation method, and average value method, etc.

[0070] Specifically, based on the positioning function constructed according to the graph structure in the foregoing step, the auxiliary position information and the initial position information can be substituted into the positioning function to solve the positioning function to obtain the target position information.

[0071] In an implementation manner, solving the positioning function can be understood as a process of solving the maximum value or constant value of the positioning function.

[0072] The construction process of the positioning function is described below. In an embodiment, before performing the steps in S300 described above, the method can further include: Figure 3 as shown, the method can further include:

[0073] S400, determining a graph structure according to the auxiliary position information and the initial position information. The graph structure represents the movement trajectory of the target subject.

[0074] Optionally, the graph structure can include a plurality of nodes and attribute information of each node. Optionally, the attribute information of each node includes auxiliary position information of the target subject at a corresponding time and initial position information of the terminal at a corresponding time.

[0075] In actual application, according to the auxiliary position information of the target subject at each time and the initial position information of the terminal at each time, a graph structure corresponding to the movement trajectory of the target subject in a preset time period can be constructed in chronological order.

[0076] S500, constructing a positioning function according to the graph structure.

[0077] Specifically, the base station can call a nonlinear optimization library and construct the positioning function according to the graph structure through the nonlinear optimization library. Optionally, the nonlinear optimization library can be Ceres library, and in the embodiment of the present application, the nonlinear optimization library can be g2o library.

[0078] The determination process of the graph structure is described below. In an embodiment, as shown in Figure 4 the step of determining the graph structure according to the auxiliary position information and the initial position information in S400 described above can include:

[0079] S410, determining vertex attribute information of the graph structure according to the initial position information, and determining edge attribute information of the graph structure according to the auxiliary position information.

[0080] In the embodiment of the present application, the graph structure can include a plurality of vertices and a plurality of edges. Wherein, each vertex attribute information can respectively represent initial position information of the terminal at different time instants, and each edge attribute information can respectively represent auxiliary position information of the target subject at different time instants.

[0081] Optionally, the total number of vertices in the graph structure can be equal to the total number of all time instants corresponding to the initial position information, can be equal to the total number of all time instants corresponding to the auxiliary position information, and can also be equal to the total number of edges in the graph structure.

[0082] In actual application, the initial position information at each time instant can be determined as the vertex attribute information, and the auxiliary position information at each time instant can be determined as the edge attribute information.

[0083] S420, constructing a graph structure according to the vertex attribute information and the edge attribute information.

[0084] Based on the vertex attribute information and the edge attribute information obtained in the above steps, the graph structure is constructed in chronological order.

[0085] In another embodiment, as shown in Figure 5 The step of constructing a positioning function according to the graph structure in S500 can include:

[0086] S510, determining error information at each time instant according to the vertex attribute information and the edge attribute information in the graph structure.

[0087] It should be noted that, in an ideal state, the position information of the subject moved by the auxiliary terminal and the position information of the terminal are the same, but due to the existence of errors, there will be a certain error between the position information of the subject moved by the auxiliary terminal and the position information of the terminal at any time instant. Naturally, the vertex attribute information and the edge attribute information at each time instant are not equal, and there can be a certain error between them. Therefore, in actual application, the error information between the vertex attribute information and the edge attribute information at each time instant can be calculated.

[0088] Specifically, for each time instant, the vertex attribute information and the edge attribute information at the current time instant in the graph structure can be subjected to arithmetic operation processing to obtain error information corresponding to the current time instant, and then to obtain error information at each time instant.

[0089] The current time instant can be any time instant within a preset time period. Optionally, the above arithmetic operation can be subtraction operation, mean square error operation, variance or error sum of squares operation, etc.

[0090] In the embodiment of the present application, for each time instant, the error information corresponding to the current time instant can be obtained by subtracting the vertex attribute information from the edge attribute information at the current time instant in the graph structure. For example, the vertex attribute information xk and edge attribute information z k , the corresponding error information e k Can be equal to z k -x k .

[0091] S520: Construct a positioning function based on the error information.

[0092] In practical applications, vertex attribute information can be used as optimization variables, and a positioning function can be constructed based on the error information at each moment.

[0093] Specifically, the base station may perform summation processing, cumulative multiplication processing, or weighted summation processing on the error information at each moment to obtain a positioning function.

[0094] In the embodiment of the present application, the positioning function constructed based on the error information can be expressed by formula (1):

[0095]

[0096] Wherein, Ω in formula (1) represents the covariance matrix, k represents any moment in the preset time period, the preset time period is [1, n], and T represents the transposition. It should be noted that the above formula (1) can also be equal to min x ‖e k ‖.

[0097] The technical solution in the embodiment of the present application substitutes the auxiliary position information and the initial position information into the positioning function, and solves the positioning function to obtain the target position information; the method can optimize the terminal position information through the positioning function to obtain the target position information, and the process uses mathematical optimization to improve the solution speed, calculation efficiency and convergence accuracy; in addition, the method can be applied to time periods with longer positioning time. In this case, the initial position information and auxiliary position information obtained are richer, making the effect of the global optimization processing more obvious, and the positioning error will gradually decrease, thereby improving the positioning accuracy.

[0098] In one embodiment, Figure 6 As shown, the above steps of substituting the auxiliary position information and the initial position information into the positioning function, solving the positioning function, and obtaining the target position information can be achieved by the following methods:

[0099] S310: Substitute the auxiliary position information and the initial position information into the positioning function, solve the minimum value of the positioning function, and obtain the candidate position information of the terminal at each moment and the minimum value of the positioning function.

[0100] It should be noted that the optimization processing can be understood as a process of optimizing the initial position information of the terminal to obtain the target position information by calculating the minimum value of the positioning function.

[0101] In the embodiment of the present application, the base station can substitute the auxiliary position information and the initial position information into the positioning function, and solve the minimum value of the positioning function by using an optimization algorithm to obtain the candidate position information of the terminal at each time and the minimum value of the positioning function.

[0102] Optionally, the optimization algorithm can be a gradient descent method, a Newton method and a quasi-Newton method, a conjugate gradient method, or a heuristic optimization method, etc. In the embodiment of the present application, the optimization algorithm can be a Gauss-Newton iteration method or a nonlinear least squares method.

[0103] In actual application, the target position information can be obtained by one-time minimum value solving, but in some cases, the target position information can be obtained by multiple-time minimum value solving.

[0104] S320, determining the target position information according to the candidate position information and the minimum value of the positioning function.

[0105] Based on the minimum value of the positioning function obtained in the foregoing steps, it can be determined whether the minimum value of the positioning function is located in a preset numerical range. If yes, the obtained candidate position information is determined as the target position information. If no, the candidate position information and the initial position information can be transformed to obtain the target position information.

[0106] Optionally, the preset numerical range can be a numerical interval defined by a user, or a numerical interval determined according to historical experience values. Optionally, the transformation processing can be an average method or a weighted summation method, etc.

[0107] The technical solution in the embodiment of the present application substitutes the auxiliary position information and the initial position information into the positioning function, solves the minimum value of the positioning function, and determines the target position information according to the candidate position information and the minimum value of the positioning function. The method can solve the minimum value of the positioning function to optimize the terminal position information to obtain the target position information. The process uses a mathematical optimization method to improve the solving speed, the operation efficiency and the convergence accuracy. At the same time, the method can be implemented only by using a simple mathematical algorithm without the participation of a complex algorithm, which can not only reduce the complexity of the positioning process, but also reduce the data amount processed in the positioning process, thereby improving the positioning speed.

[0108] In some scenarios, in order to obtain target position information with higher precision, a preset threshold can be set, when the minimum value of the obtained positioning function and the preset threshold satisfy a certain relationship, it is determined that the candidate position information obtained at present is the position information with the highest precision, and the candidate position information is determined as the target position information. The process of determining the target position information according to the candidate position information and the minimum value of the positioning function is described below. In an embodiment, the steps in S320 described above can include:

[0109] If the minimum value of the positioning function is less than or equal to the preset threshold, the candidate position information is determined as the target position information; if the minimum value of the positioning function is greater than the preset threshold, the positioning function is updated to obtain an updated positioning function, and the steps of substituting the auxiliary position information and the initial position information into the updated positioning function and solving the minimum value of the updated positioning function are repeatedly executed until the minimum value of the updated positioning function is less than or equal to the preset threshold, and the target position information is obtained.

[0110] It should be noted here that updating the positioning function can be understood as a process of updating the expression form of the error information in the positioning function, but in the embodiments of the present application, updating the positioning function can be a process of adjusting the covariance matrix in the positioning function.

[0111] In the embodiments of the present application, the base station can determine whether the minimum value of the positioning function is less than or equal to the preset threshold. If yes, it indicates that the candidate position information is position information with higher precision, and at this time, the candidate position information can be determined as the target position information.

[0112] In addition, if it is determined that the minimum value of the positioning function is greater than the preset threshold, it indicates that the candidate position information is not the position information with the highest precision, at this time, the positioning function can be updated to obtain an updated positioning function, the auxiliary position information and the initial position information are substituted into the updated positioning function, the minimum value of the updated positioning function is solved, and the updated candidate position information and the minimum value of the updated positioning function are obtained. If the minimum value of the updated positioning function is less than or equal to the preset threshold, the updated candidate position information is determined as the target position information; otherwise, the updated positioning function is continuously updated, and the steps of substituting the auxiliary position information and the initial position information into the updated positioning function and solving the minimum value of the updated positioning function are repeatedly executed until the minimum value of the updated positioning function is less than or equal to the preset threshold, and the target position information is obtained.

[0113] The technical solution in the embodiments of the present application determines the candidate position information as the target position information when the minimum value of the positioning function is less than or equal to the preset threshold, and updates the positioning function to obtain an updated positioning function when the minimum value of the positioning function is greater than the preset threshold, repeatedly performs the steps of substituting the auxiliary position information and the initial position information into the updated positioning function, and solving the minimum value of the updated positioning function until the minimum value of the updated positioning function is less than or equal to the preset threshold, to obtain the target position information. The method measures the accuracy of the position information optimization result according to the size relationship between the minimum value of the positioning function and the preset threshold, to obtain the target position information with high precision, and the processing process is relatively simple, and the processing speed can be further improved.

[0114] In one embodiment, the step of obtaining the initial position information of the terminal in S100 can include: obtaining the initial position information of the terminal by using an enhanced cell identification positioning method.

[0115] In actual application, when a base station serves a terminal, it can collect the round trip time of a waveform signal sent to the terminal, angle information relative to the terminal, and signal quality of a serving cell, and use an enhanced cell identification positioning method to perform positioning processing on the terminal according to its geographic coordinates, the round trip time of the signal sent to the terminal, the angle information relative to the terminal, and the signal quality of the serving cell, to obtain the initial position information of the terminal.

[0116] Optionally, the enhanced cell identification positioning method can be an enhanced cell identification positioning method of 2G, 3G, 4G, etc. In the embodiments of the present application, the enhanced cell identification positioning method can be an enhanced cell identification positioning method of 5G technology.

[0117] It should be noted that the enhanced cell identification positioning method can be a positioning method based on cell identification and round trip time, or a positioning method based on cell identification, round trip time, and angle of arrival, and of course, it can also be other positioning methods, which are not limited in the embodiments of the present application.

[0118] Meanwhile, the step of determining the auxiliary position information of the target subject at each time in a preset time period according to the initial position information in S200 can include: determining the auxiliary position information according to the initial position information by using a pedestrian dead reckoning method.

[0119] Specifically, the base station can acquire positioning information of the target subject at an initial time, then predict position information of the target subject at the initial time according to the positioning information of the target subject at the initial time, then determine auxiliary position information of the target subject at a first time according to initial position information of the terminal at the first time and the position information of the target subject at the initial time by using a pedestrian dead reckoning algorithm, then determine auxiliary position information of the target subject at a second time according to initial position information of the terminal at the second time and the auxiliary position information of the target subject at the first time by using the pedestrian dead reckoning algorithm, and so on, to obtain auxiliary position information of the target subject at each time within a preset time period.

[0120] wherein the first time is a next time after the initial time, and the second time is a next time after the first time.

[0121] For example, the auxiliary position information z k of the target subject at the k th time can be equal to h (x k-1, x k), where h represents a correlation between the position variables of the target subject from the (k-1) th time to the k th time. k k h represents a correlation between the position variables of the target subject from the (k-1) th time to the k th time.

[0122] Optionally, the positioning information can include relative displacement information and attitude information of the terminal. In actual application, when the auxiliary position information is determined by using the pedestrian dead reckoning algorithm, no additional hardware device needs to be deployed, and the relative displacement information and the attitude information of the terminal can be acquired by using the inertial sensor of the terminal.

[0123] It should be noted that, since the position information of the terminal acquired by using the enhanced cell identification positioning method has low accuracy, in the embodiments of the present application, the initial position information of the terminal and the auxiliary position information of the target subject acquired can be further subjected to global optimization processing to accurately position the terminal, which not only improves the practicability of the enhanced cell identification positioning method, but also acquires the accurate position of the terminal.

[0124] For example, taking the target subject as a pedestrian, Figure 7 a schematic diagram of a moving track of the target subject, Figure 7 the thick solid line in the schematic diagram represents the initial position information of the terminal at each time determined by using the enhanced cell identification positioning method (i.e., the E-CID positioning method), and the curved line between the pedestrians represents the auxiliary position information of the pedestrians at different times determined by using the pedestrian dead reckoning algorithm.

[0125] The technical solution in the embodiments of the present application can acquire the initial position information of the terminal by using the enhanced cell identification positioning method, and acquire the auxiliary position information of the target subject by using the pedestrian dead reckoning algorithm, and the acquisition process does not need to deploy additional hardware devices, thereby being capable of reducing the acquisition cost of the position information.

[0126] ​In one embodiment, the application also provides a positioning method, as shown in the accompanying drawings, which comprises the following steps: Figure 8

[0127] S01, using an enhanced cell identification positioning method, obtaining initial position information of the terminal at each time in a preset time period.

[0128] S02, using a Pedestrian Dead Reckoning method, determining auxiliary position information of the target subject at each time in the preset time period according to the initial position information.

[0129] S03, determining vertex attribute information of the graph structure according to the initial position information, and determining edge attribute information of the graph structure according to the auxiliary position information.

[0130] S04, constructing the graph structure according to the vertex attribute information and the edge attribute information; the graph structure represents the moving track of the target subject.

[0131] S05, determining error information at each time according to the vertex attribute information and the edge attribute information in the graph structure.

[0132] S06, constructing a positioning function according to the error information; the positioning function comprises the correlation between the position variable of the subject and the position variable of the terminal.

[0133] S07, substituting the auxiliary position information and the initial position information into the positioning function to solve the minimum value of the positioning function, obtaining candidate position information of the terminal at each time and the minimum value of the positioning function.

[0134] S08, if the minimum value of the positioning function is less than or equal to a preset threshold, determining the candidate position information as target position information; if the minimum value of the positioning function is greater than the preset threshold, updating the positioning function to obtain an updated positioning function, repeating the step of substituting the auxiliary position information and the initial position information into the updated positioning function to solve the minimum value of the updated positioning function until the minimum value of the updated positioning function is less than or equal to the preset threshold, obtaining the target position information.

[0135] The execution process of the above steps S01 to S08 can refer to the description of the above embodiments, and the implementation principle and technical effects are similar, which will not be repeated here.

[0136] ​It should be understood that although the steps in the flowcharts involved in the above embodiments are shown in sequence according to the arrows, the steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, the execution of the steps is not strictly limited in sequence, and the steps can be executed in other orders. Moreover, at least some of the steps in the flowcharts involved in the above embodiments can include multiple steps or multiple stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution order of the steps or stages is not necessarily sequential, but can be executed alternately or alternately with at least part of other steps or steps or stages in other steps.

[0137] Based on the same inventive concept, the embodiments of the present application also provide a positioning device for implementing the positioning method described above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme described in the above method, so the specific limitations in one or more positioning device embodiments provided below can refer to the limitations of the positioning method in the above text, and will not be repeated here.

[0138] In one embodiment, Figure 9 For the structural schematic diagram of the positioning device in an embodiment of the present application, the positioning device provided by the embodiments of the present application can be applied to a base station. As shown in Figure 9 The positioning device of the embodiments of the present application can include: an information acquisition module 11, an information determination module 12, and an optimization processing module 13, wherein:

[0139] The information acquisition module 11 is configured to acquire initial position information of a terminal;

[0140] The information determination module 12 is configured to determine auxiliary position information of a target subject at each time within a preset time period according to the initial position information;

[0141] The optimization processing module 13 is configured to perform global optimization processing according to the auxiliary position information and the initial position information to determine target position information of the terminal at each time.

[0142] The positioning device provided by the embodiments of the present application can be used to execute the technical solutions in the positioning method embodiments of the present application, and the implementation principles and technical effects are similar, which will not be repeated here.

[0143] In one embodiment, the optimization processing module 13 includes a function solving unit, wherein:

[0144] The function solving unit is configured to substitute the auxiliary position information and the initial position information into a positioning function to solve the positioning function and obtain the target position information; the positioning function includes an association relationship between a position variable of the subject and a position variable of the terminal.

[0145] The positioning device provided by the embodiments of the present application can be used to execute the technical solutions in the positioning method embodiments of the present application, and the implementation principles and technical effects are similar, which will not be repeated here.

[0146] In one of the embodiments, the function solving unit comprises an optimization subunit and an information determining subunit, wherein:

[0147] The optimization subunit is configured to substitute the auxiliary position information and the initial position information into the positioning function, solve the minimum value of the positioning function, and obtain the candidate position information of the terminal at each time and the minimum value of the positioning function.

[0148] The information determining subunit is configured to determine the target position information according to the candidate position information and the minimum value of the positioning function.

[0149] The positioning device provided by the embodiments of the present application can be used to execute the technical solutions in the positioning method embodiments of the present application, and the implementation principles and technical effects are similar, which will not be repeated here.

[0150] In one of the embodiments, the information determining subunit is specifically configured to:

[0151] If the minimum value of the positioning function is less than or equal to the preset threshold value, the candidate position information is determined as the target position information.

[0152] If the minimum value of the positioning function is greater than the preset threshold value, the positioning function is updated to obtain an updated positioning function, and the step of substituting the auxiliary position information and the initial position information into the updated positioning function and solving the minimum value of the updated positioning function is repeatedly executed until the minimum value of the updated positioning function is less than or equal to the preset threshold value, and the target position information is obtained.

[0153] The positioning device provided by the embodiments of the present application can be used to execute the technical solutions in the positioning method embodiments of the present application, and the implementation principles and technical effects are similar, which will not be repeated here.

[0154] In one of the embodiments, the positioning device further comprises a graph structure determining module and a function constructing module, wherein:

[0155] The graph structure determining module is configured to determine a graph structure according to the auxiliary position information and the initial position information; the graph structure represents the moving track of the target subject.

[0156] The function constructing module is configured to construct a positioning function according to the graph structure.

[0157] The positioning device provided by the embodiments of the present application can be used to execute the technical solutions in the positioning method embodiments of the present application, and the implementation principles and technical effects are similar, which will not be repeated here.

[0158] In one of the embodiments, the graph structure determining module comprises an information determining unit and a graph structure determining unit, wherein:

[0159] The information determining unit is configured to determine vertex attribute information of the graph structure according to the initial position information, and determine edge attribute information of the graph structure according to the auxiliary position information.

[0160] The graph structure determining unit is configured to construct the graph structure according to the vertex attribute information and the edge attribute information.

[0161] The positioning apparatus provided by the embodiments of the present application can be used to execute the technical solutions in the positioning method embodiments of the present application, and the implementation principles and technical effects are similar, which will not be repeated here.

[0162] In one of the embodiments, the function constructing module is specifically configured to:

[0163] determine error information of each time according to the vertex attribute information and the edge attribute information in the graph structure;

[0164] construct the positioning function according to the error information.

[0165] The positioning apparatus provided by the embodiments of the present application can be used to execute the technical solutions in the positioning method embodiments of the present application, and the implementation principles and technical effects are similar, which will not be repeated here.

[0166] In one of the embodiments, the information obtaining module 11 is specifically configured to obtain the initial position information of the terminal by using an enhanced cell identification positioning method, and the information determining module 12 is specifically configured to determine the auxiliary position information according to the initial position information by using a Pedestrian Dead Reckoning method.

[0167] The positioning apparatus provided by the embodiments of the present application can be used to execute the technical solutions in the positioning method embodiments of the present application, and the implementation principles and technical effects are similar, which will not be repeated here.

[0168] The specific limitations of the positioning apparatus can be referred to the limitations of the positioning method in the above, which will not be repeated here. The modules in the above positioning apparatus can be realized by software, hardware and combinations thereof in whole or in part. The modules in the above can be embedded in or independent of the processor in the computer device in hardware form, or stored in the memory in the computer device in software form, so as to be called and executed by the processor to perform the operations corresponding to the modules.

[0169] In one embodiment, a computer device is provided, and an internal structure diagram of the computer device can be as shown in Figure 10The computer device includes a processor, a memory and a network interface connected through a system bus. The processor of the computer device is configured to provide processing capability. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and an information base. The internal memory provides an environment for running the operating system and the computer program in the non-volatile storage medium. The information base of the computer device is configured to store initial position information and target position information of the terminal. The network interface of the computer device is configured to communicate with an external terminal through a network connection. The computer program is configured to be executed by the processor to implement a positioning method.

[0170] Those skilled in the art can understand that, Figure 10 The structure shown in the figure is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the computer device to which the scheme of the present application is applied. The specific computer device can include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0171] In one embodiment, a computer device is also provided, including a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the following steps:

[0172] Obtaining initial position information of a terminal;

[0173] According to the initial position information, determining auxiliary position information of a target subject at each time within a preset time period;

[0174] According to the auxiliary position information and the initial position information, performing global optimization processing to determine target position information of the terminal at each time.

[0175] In one embodiment, a computer readable storage medium is also provided, storing a computer program, and the computer program being executed by a processor to implement the following steps:

[0176] Obtaining initial position information of a terminal;

[0177] According to the initial position information, determining auxiliary position information of a target subject at each time within a preset time period;

[0178] According to the auxiliary position information and the initial position information, performing global optimization processing to determine target position information of the terminal at each time.

[0179] In one embodiment, a computer program product is also provided, including a computer program, and the computer program being executed by a processor to implement the following steps:

[0180] Obtaining initial position information of a terminal; Obtaining initial position information of a terminal;

[0181] Determine the auxiliary position information of the target subject at each moment within a preset time period based on the initial position information;

[0182] A global optimization process is performed based on the auxiliary position information and the initial position information to determine the target position information of the terminal at each moment.

[0183] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, information library or other media used in the embodiments provided in this application may include at least one of non-volatile and volatile memory. Non-volatile memory may include read-only memory (ROM), magnetic tape, floppy disk, flash memory or optical memory, etc. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0184] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0185] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art could make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A positioning method, characterized by, The method comprises: acquiring initial position information of a terminal at each time in a preset time period; determining auxiliary position information of a target subject at each time in the preset time period according to the initial position information; the preset time period comprises a historical time period and a time period of a current time; wherein the auxiliary position information is used to represent position change information of the target subject in the preset time period; determining vertex attribute information of a graph structure according to the initial position information, and determining edge attribute information of the graph structure according to the auxiliary position information; constructing the graph structure according to the vertex attribute information and the edge attribute information; determining error information of the each time according to the vertex attribute information and the edge attribute information in the graph structure; constructing a positioning function according to the error information; substituting the auxiliary position information and the initial position information into the positioning function to solve the positioning function, and obtaining target position information; the positioning function comprises a correlation between a position variable of a subject and a position variable of the terminal, and the graph structure represents a moving track of the target subject.

2. The method of claim 1, wherein, The step of substituting the auxiliary position information and the initial position information into the positioning function to solve the positioning function, and obtaining the target position information, comprises: substituting the auxiliary position information and the initial position information into the positioning function to solve a minimum value of the positioning function, and obtaining candidate position information of the terminal at each time and the minimum value of the positioning function; determining the target position information according to the candidate position information and the minimum value of the positioning function.

3. The method of claim 2, wherein, The step of determining the target position information according to the candidate position information and the minimum value of the positioning function, comprises: if the minimum value of the positioning function is less than or equal to a preset threshold, determining the candidate position information as the target position information; if the minimum value of the positioning function is greater than the preset threshold, updating the positioning function to obtain an updated positioning function, and repeatedly performing the step of substituting the auxiliary position information and the initial position information into the updated positioning function to solve a minimum value of the updated positioning function until the minimum value of the updated positioning function is less than or equal to the preset threshold, and obtaining the target position information.

4. The method according to any one of claims 1-3, characterized in that, The step of acquiring initial position information of a terminal, and determining auxiliary position information of a target subject at each time in a preset time period according to the initial position information, comprises: acquiring the initial position information of the terminal by using an enhanced cell identification positioning method; determining the auxiliary position information according to the initial position information by using a pedestrian dead reckoning method.

5. A positioning device, characterized in that The device comprises: an information acquisition module, configured to acquire initial position information of a terminal at each time in a preset time period; an information determination module, configured to determine auxiliary position information of a target subject at each time in the preset time period according to the initial position information; the preset time period comprises a historical time period and a time period of a current time; wherein the auxiliary position information is used to represent position change information of the target subject in the preset time period; The optimization processing module is configured to determine vertex attribute information of a graph structure according to the initial position information, determine edge attribute information of the graph structure according to the auxiliary position information, construct the graph structure according to the vertex attribute information and the edge attribute information, determine error information of each time according to the vertex attribute information and the edge attribute information in the graph structure, construct a positioning function according to the error information, substitute the auxiliary position information and the initial position information into the positioning function, solve the positioning function, and obtain target position information; the positioning function comprises a correlation between a position variable of a subject and a position variable of the terminal, and the graph structure represents a moving track of the target subject.

6. The apparatus of claim 5, wherein, The optimization processing module comprises a function solving unit. The function solving unit is configured to substitute the auxiliary position information and the initial position information into the positioning function, solve the positioning function, and obtain the target position information; the positioning function comprises a correlation between a position variable of a subject and a position variable of the terminal.

7. The apparatus of claim 6, wherein, The function solving unit comprises an optimization subunit and an information determining subunit. The optimization subunit is configured to substitute the auxiliary position information and the initial position information into the positioning function, solve the positioning function for a minimum value, and obtain candidate position information of the terminal at each time and a minimum value of the positioning function. The information determining subunit is configured to determine the target position information according to the candidate position information and the minimum value of the positioning function. 8.A computer device, comprising a memory and a processor, wherein the memory stores a computer program, and the computer device is configured to perform the method according to any one of claims 1-7. The processor executes the computer program to implement the steps of the method in any one of claims 1-4.

9. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the steps of the method in any one of claims 1-4.

10. A computer program product comprising a computer program, characterized in that, The computer program is executed by the processor to implement the steps of the method in any one of claims 1-4.

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