Method, apparatus and electronic device for determining precise position

Abstract

The method comprises: acquiring coarse positioning information of a vehicle; detecting a target height of a target ground feature element through a vehicle-mounted sensor; determining, from map data, a height range corresponding to at least one ground feature element matched with the coarse positioning information, wherein a range of the height range corresponding to each ground feature element is greater than preset accuracy corresponding to the ground feature element, and the preset accuracy is accuracy set based on height confidentiality requirements of the ground feature element; determining, from the height range corresponding to the at least one ground feature element, a target height range in which the target height falls; and determining, according to the target height range, a precise position of the vehicle in the map data. The method can achieve precise positioning of the vehicle and determine the precise position of the vehicle in the map data.

Claims

1. A method for determining a precise location, applied to a vehicle-mounted device, comprising: Obtain coarse location information for the vehicle; The target height of target ground features is detected using vehicle-mounted sensors; From the map data, determine the height range corresponding to at least one feature that matches the coarse positioning information, wherein the range of the height range corresponding to each feature is greater than the preset accuracy corresponding to the feature, and the preset accuracy is the accuracy set based on the height confidentiality requirements of the feature. From the height range corresponding to the at least one ground feature, determine the target height range into which the target height falls; Based on the target height range, the precise location of the vehicle in the map data is determined.

2. The method according to claim 1, wherein, Determining the height range corresponding to at least one land feature matching the coarse positioning information from the map data includes: The coarse positioning information is sent to the map server so that the map server can obtain the graded values ​​of the at least one feature matching the coarse positioning information from the map data, and the map server can determine the height range corresponding to the at least one feature based on the stored correspondence between different graded values ​​and different height ranges, and the graded values ​​of the at least one feature. Receive the height range corresponding to the at least one geographic feature sent by the map server.

3. The method according to claim 1, wherein, The vehicle-mounted device stores the correspondence between different gradations and different height ranges. Determining the height range corresponding to at least one ground feature matching the coarse positioning information from the map data includes: The coarse positioning information is sent to the map server so that the map server can obtain the graded values ​​of at least one land feature that matches the coarse positioning information from the map data. Obtain the grading values ​​of the at least one geographic feature sent by the map server; Based on the grading values ​​of the at least one land feature and the corresponding relationship, the height range corresponding to the at least one land feature is determined.

4. The method according to claim 3, wherein, Before determining the height range corresponding to the at least one land feature based on the grading values ​​of the at least one land feature and the correspondence, the method further includes: Determine the total height range of the target type of land features; The corresponding preset accuracy is determined based on the total height range of the target type of land feature; Based on the preset precision and preset multiplier, the variable resolution precision is determined, wherein the preset multiplier is greater than or equal to 1; Based on the variable resolution accuracy, the total height range of the target type land feature is divided to obtain multiple different height ranges; Different grading values ​​are set for different height ranges to store the correspondence between different grading values ​​and different height ranges.

5. The method according to claim 1, wherein, Determining the precise location of the vehicle in the map data based on the target height range includes: Based on the target height range, determine the position coordinates of the target feature in the map data; Obtain the coarse positioning coordinates of the target ground features detected by the vehicle sensors; Based on the location coordinates and coarse positioning coordinates of the target feature, the coarse positioning information of the vehicle is corrected to determine the precise location of the vehicle in the map data.

6. A method for determining precise locations in map data, applied to a map server, comprising: The map server stores the correspondence between different tier values ​​and different altitude ranges; Receive coarse positioning information sent by the vehicle-mounted device; Obtain the graded values ​​of at least one geographic feature that matches the coarse positioning information from the map data; Based on the grading values ​​of the at least one land feature and the corresponding relationship, the height range corresponding to the at least one land feature is determined. The range of the height range corresponding to each land feature is greater than the preset precision corresponding to each land feature. The preset precision is the precision set based on the height confidentiality requirements of the land feature. The height range corresponding to the at least one ground feature is sent to the vehicle-mounted device.

7. The method according to claim 6, wherein, Before determining the height range corresponding to the at least one land feature based on the grading values ​​of the at least one land feature and the correspondence, the method further includes: Determine the total height range of the target type of land features; The corresponding preset accuracy is determined based on the total height range of the target type of land feature; Based on the preset precision and preset multiplier, the variable resolution precision is determined, wherein the preset multiplier is greater than or equal to 1; Based on the variable resolution accuracy, the total height range of the target type land feature is divided to obtain multiple different height ranges; Different grading values ​​are set for different height ranges to store the correspondence between different grading values ​​and different height ranges.

8. A vehicle-mounted device, comprising: The positioning module is used to obtain coarse positioning information of the vehicle. The detection module is used to detect the target height of target ground features through vehicle-mounted sensors; The matching module is used to determine, from the map data, the height range corresponding to at least one ground feature that matches the coarse positioning information, wherein the range of the height range corresponding to each ground feature is greater than the preset accuracy corresponding to the ground feature, the preset accuracy being an accuracy set based on the height confidentiality requirements of the ground feature; and to determine, from the height range corresponding to the at least one ground feature, the target height range into which the target height falls. The location determination module is used to determine the precise location of the vehicle in the map data based on the target height range.

9. An electronic device, the electronic device comprising: processor; Memory for storing processor-executable instructions; The processor is configured to read the executable instructions from the memory and execute the executable instructions to implement the method for determining a precise location as described in any one of claims 1 to 5, or the method for determining a precise location as described in claim 6 or 7.

10. A computer-readable storage medium storing a computer program for performing the method for determining a precise location as described in any one of claims 1 to 5, or the method for determining a precise location as described in claim 6 or 7.

11. A computer program product for performing the method for determining a precise location as described in any one of claims 1 to 5, or the method for determining a precise location as described in claim 6 or 7.

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