A Beidou positioning data fusion method and system based on Hongmeng operating system

Abstract

The present invention discloses a Beidou positioning data fusion method and system based on Hongmeng operating system, the method comprising: obtaining coordinate measurement values ​​of measured position points of multiple Hongmeng terminals at multiple times, the coordinate measurement values ​​comprising: horizontal coordinate measurement value, vertical coordinate measurement value, historical average horizontal coordinate measurement value, historical average vertical coordinate measurement value, horizontal coordinate true value of the measured position point and vertical coordinate true value of the measured position point; setting a position fusion model, and fitting the position fusion model according to the coordinate measurement values ​​and through a gradient descent method or a genetic algorithm, thereby completing the training of the position fusion model, and fusing Beidou positioning data of the newly acquired coordinate measurement values ​​through the trained position fusion model, so that the horizontal and vertical coordinates in the fused Beidou positioning data are closest to the horizontal and vertical true values ​​of the measured position points.

Description

Technical Field

[0001] The present invention belongs to the technical field of Beidou positioning data fusion, and more specifically, to a Beidou positioning data fusion method and system based on Hongmeng operating system. Background Art

[0002] The BeiDou system is a global satellite navigation system independently developed and built by China, which aims to provide high-precision and high-reliability positioning, navigation and time services. The BeiDou system includes a series of satellites and ground facilities, through which positioning and navigation services can be provided to users around the world.

[0003] Beidou positioning data usually includes satellite information received by satellite signal receivers, such as the satellite's position, speed, time, etc., as well as the receiver's own position, time, etc. These data can be used in positioning, navigation, map making, navigation and other application fields.

[0004] The accuracy and reliability of Beidou positioning data depends on many factors, including receiver performance, surrounding environment, satellite distribution, etc. Generally speaking, Beidou positioning data can provide positioning accuracy from meters to centimeters, which is suitable for different application scenarios, such as vehicle navigation, ship positioning, logistics tracking, etc.

[0005] However, sometimes the Beidou positioning data from a single terminal is not accurate enough and requires multiple terminals to perform position correction. Currently, the accuracy of position correction is low and cannot meet the requirements for precise positioning. Summary of the invention

[0006] In order to solve the above technical problems, the present invention proposes a Beidou positioning data fusion method based on Hongmeng operating system, comprising:

[0007] Obtain coordinate measurement values ​​of measured position points of multiple Hongmeng terminals at multiple times, wherein the coordinate measurement values ​​include: abscissa measurement value, ordinate measurement value, historical average abscissa measurement value, historical average ordinate measurement value, true abscissa value of the measured position point, and true ordinate value of the measured position point;

[0008] A position fusion model is set, and according to the coordinate measurement values, the position fusion model is fitted by a gradient descent method or a genetic algorithm, so as to complete the training of the position fusion model, and the newly acquired coordinate measurement values ​​are fused with Beidou positioning data by the trained position fusion model, so that the horizontal and vertical coordinates in the fused Beidou positioning data are closest to the true value of the horizontal coordinate and the true value of the vertical coordinate of the measured position point.

[0009] Furthermore, the position fusion model f(X, Y) includes:

[0010]

[0011] Where N is the number of Hongmeng terminals, σ i is the error estimate of the i-th Hongmeng terminal, X is the true value of the horizontal coordinate of the measured position point, and x i is the horizontal coordinate measurement value of the measured position point provided by the i-th Hongmeng terminal, Y is the true value of the vertical coordinate of the measured position point, y i is the ordinate measurement value of the measured position point provided by the i-th Hongmeng terminal, ω i is the reliability weight of the i-th Hongmeng terminal, φ i is the environmental impact factor of the i-th Hongmeng terminal, γ i is the time impact factor of the i-th Hongmeng terminal.

[0012] Furthermore, the error estimate σ of the i-th Hongmeng terminal i include:

[0013]

[0014] Among them, x ij The j-th horizontal coordinate measurement value of the measured position point provided by the i-th Hongmeng terminal, is the historical average horizontal coordinate measurement value of the measured location point provided by the i-th Hongmeng terminal, y ij The j-th ordinate measurement value of the measured location point provided by the i-th Hongmeng terminal, is the historical average ordinate measurement value of the measured location point provided by the i-th Hongmeng terminal, α is the historical measurement accuracy weight, and E i is the historical measurement accuracy of the measured location point of the i-th Hongmeng terminal.

[0015] Furthermore, the environmental impact factor φ of the i-th Hongmeng terminal i include:

[0016]

[0017] Among them, α′ is the change speed adjustment parameter of the environmental factor, β1 is the current temperature weight, T i is the current temperature of the measured location of the i-th Hongmeng terminal, β2 is the visibility weight, W′ i is the visibility of the measured location of the i-th Hongmeng terminal, β3 is the terrain complexity weight, Terrain(x i ,y i ) is the terrain complexity of the measured location point of the i-th Hongmeng terminal, which is represented by the elevation data of the measured location point.

[0018] Furthermore, the reliability weight ω of the i-th Hongmeng terminal i include:

[0019]

[0020] Among them, α″ is the first weight adjustment factor, β″ is the second weight adjustment factor, S i is the signal strength of the measured location of the i-th Hongmeng terminal, U i is the battery power of the measured location of the i-th Hongmeng terminal. When the battery power is lower than the threshold, the Hongmeng terminal will reduce the measurement accuracy. γ″ is the third weight adjustment factor. E i is the historical measurement accuracy of the measured location point of the i-th Hongmeng terminal, and δ is the fourth weight adjustment factor.

[0021] Furthermore, the time impact factor γ of the i-th Hongmeng terminal i include:

[0022]

[0023] Where β″′ is the fifth weight adjustment factor, t is the current time, and t i is the timestamp of the measurement data of the measured location of the i-th Hongmeng terminal, δ′ i is the historical performance change trend of the i-th Hongmeng terminal. If the positioning accuracy of the i-th Hongmeng terminal continues to decrease in history, then δ′ i Take a negative value, otherwise, δ′ i Take a positive value.

[0024] The present invention also proposes a Beidou positioning data fusion system based on Hongmeng operating system, comprising:

[0025] A coordinate acquisition module is used to obtain coordinate measurement values ​​of measured position points of multiple Hongmeng terminals at multiple times, wherein the coordinate measurement values ​​include: abscissa measurement value, ordinate measurement value, historical average abscissa measurement value, historical average ordinate measurement value, true abscissa value of the measured position point, and true ordinate value of the measured position point;

[0026] The fusion module is used to set a position fusion model, and according to the coordinate measurement value, the position fusion model is fitted by a gradient descent method or a genetic algorithm, so as to complete the training of the position fusion model, and the newly acquired coordinate measurement value is fused with Beidou positioning data by the trained position fusion model, so that the horizontal and vertical coordinates in the fused Beidou positioning data are closest to the true value of the horizontal coordinate and the true value of the vertical coordinate of the measured position point.

[0027] Furthermore, the position fusion model f(X, Y) includes:

[0028]

[0029] Where N is the number of Hongmeng terminals, σ i is the error estimate of the i-th Hongmeng terminal, X is the true value of the horizontal coordinate of the measured position point, and x i is the horizontal coordinate measurement value of the measured position point provided by the i-th Hongmeng terminal, Y is the true value of the vertical coordinate of the measured position point, y i is the ordinate measurement value of the measured position point provided by the i-th Hongmeng terminal, ω i is the reliability weight of the i-th Hongmeng terminal, φ i is the environmental impact factor of the i-th Hongmeng terminal, γ i is the time impact factor of the i-th Hongmeng terminal.

[0030] Furthermore, the error estimate σ of the i-th Hongmeng terminal i include:

[0031]

[0032] Among them, x ij The j-th horizontal coordinate measurement value of the measured position point provided by the i-th Hongmeng terminal, is the historical average horizontal coordinate measurement value of the measured location point provided by the i-th Hongmeng terminal, y ij The j-th ordinate measurement value of the measured location point provided by the i-th Hongmeng terminal, is the historical average ordinate measurement value of the measured location point provided by the i-th Hongmeng terminal, α is the historical measurement accuracy weight, and E i is the historical measurement accuracy of the measured location point of the i-th Hongmeng terminal.

[0033] Furthermore, the environmental impact factor φ of the i-th Hongmeng terminal i include:

[0034]

[0035] Among them, α′ is the change speed adjustment parameter of the environmental factor, β1 is the current temperature weight, T i is the current temperature of the measured location of the i-th Hongmeng terminal, β2 is the visibility weight, W′ i is the visibility of the measured location of the i-th Hongmeng terminal, β3 is the terrain complexity weight, Terrain(x i ,y i ) is the terrain complexity of the measured location point of the i-th Hongmeng terminal, which is represented by the elevation data of the measured location point.

[0036] Furthermore, the time impact factor γ of the i-th Hongmeng terminal i include:

[0037]

[0038] Where β″′ is the fifth weight adjustment factor, t is the current time, and t i is the timestamp of the measurement data of the measured location of the i-th Hongmeng terminal, δ′ i is the historical performance change trend of the i-th Hongmeng terminal. If the positioning accuracy of the i-th Hongmeng terminal continues to decrease in history, then δ′ i Take a negative value, otherwise, δ′ i Take a positive value.

[0039] Compared with the prior art, the above technical solution conceived by the present invention has the following beneficial effects:

[0040] The present invention obtains the coordinate measurement values ​​of the measured position points of multiple Hongmeng terminals at multiple times, and the coordinate measurement values ​​include: horizontal coordinate measurement value, vertical coordinate measurement value, historical average horizontal coordinate measurement value, historical average vertical coordinate measurement value, horizontal coordinate true value of the measured position point and vertical coordinate true value of the measured position point; position fusion model, and according to the coordinate measurement value, and through gradient descent method or genetic algorithm, the position fusion model is used to find the final horizontal coordinate true value and vertical coordinate true value of the measured position point, so that the final horizontal coordinate true value and vertical coordinate true value are closest to the horizontal coordinate true value and vertical coordinate true value, and the Beidou positioning data fusion is completed. According to the above technical solution, the present invention can fuse the Beidou positioning data of multiple Hongmeng terminals, thereby completing the final position estimation, which greatly improves the accuracy of the positioning data. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 is a flow chart of the method of embodiment 1 of the present invention;

[0042] Figure 2 It is a system structure diagram of embodiment 2 of the present invention. DETAILED DESCRIPTION

[0043] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0044] The method provided by the present invention can be implemented in the following terminal environment, and the terminal may include one or more of the following components: a processor, a storage medium, and a display screen. The storage medium stores at least one instruction, and the instruction is loaded and executed by the processor to implement the method described in the following embodiment.

[0045] The processor may include one or more processing cores. The processor uses various interfaces and lines to connect various parts in the entire terminal, and executes various functions of the terminal and processes data by running or executing instructions, programs, code sets or instruction sets stored in the storage medium, and calling data stored in the storage medium.

[0046] The storage medium may include a random access memory (RAM) or a read-only memory (ROM). The storage medium may be used to store instructions, programs, codes, code sets or instructions.

[0047] The display is used to show the interactive cross-section of each application.

[0048] All subscripts in the formulas of the present invention are only used to distinguish parameters and have no actual meaning.

[0049] In addition, those skilled in the art can understand that the structure of the above terminal does not constitute a limitation on the terminal, and the terminal may include more or fewer components, or combine certain components, or arrange the components differently. For example, the terminal also includes components such as a radio frequency circuit, an input unit, a sensor, an audio circuit, and a power supply, which will not be described in detail here.

[0050] Example 1

[0051] like Figure 1 As shown, an embodiment of the present invention provides a Beidou positioning data fusion method based on Hongmeng operating system, including:

[0052] Step 101, obtaining coordinate measurement values ​​of measured position points of multiple Hongmeng terminals at multiple times, wherein the coordinate measurement values ​​include: abscissa measurement value, ordinate measurement value, historical average abscissa measurement value, historical average ordinate measurement value, true abscissa value of the measured position point, and true ordinate value of the measured position point;

[0053] Step 102, setting a position fusion model, and fitting the position fusion model according to the coordinate measurement values ​​through a gradient descent method or a genetic algorithm, thereby completing the training of the position fusion model, and fusing the newly acquired coordinate measurement values ​​with Beidou positioning data through the trained position fusion model, so that the horizontal and vertical coordinates in the fused Beidou positioning data are closest to the true values ​​of the horizontal coordinate and the vertical coordinate of the measured position point.

[0054] Specifically, the position fusion model f(X, Y) includes:

[0055]

[0056] Where N is the number of Hongmeng terminals, σi is the error estimate of the i-th Hongmeng terminal, X is the true value of the horizontal coordinate of the measured position point, and x i is the horizontal coordinate measurement value of the measured position point provided by the i-th Hongmeng terminal, Y is the true value of the vertical coordinate of the measured position point, y i is the ordinate measurement value of the measured position point provided by the i-th Hongmeng terminal, ω i is the reliability weight of the i-th Hongmeng terminal, φ i is the environmental impact factor of the i-th Hongmeng terminal, γ i is the time impact factor of the i-th Hongmeng terminal.

[0057] Specifically, the error estimate σ of the i-th Hongmeng terminal is i include:

[0058]

[0059] Among them, x ij The j-th horizontal coordinate measurement value of the measured position point provided by the i-th Hongmeng terminal, is the historical average horizontal coordinate measurement value of the measured location point provided by the i-th Hongmeng terminal, y ij The j-th ordinate measurement value of the measured location point provided by the i-th Hongmeng terminal, is the historical average ordinate measurement value of the measured location point provided by the i-th Hongmeng terminal, α is the historical measurement accuracy weight, and E i is the historical measurement accuracy of the measured location point of the i-th Hongmeng terminal.

[0060] Specifically, the environmental impact factor φ of the i-th Hongmeng terminal i include:

[0061]

[0062] Among them, α′ is the change speed adjustment parameter of the environmental factor, β1 is the current temperature weight, T i is the current temperature of the measured location of the i-th Hongmeng terminal, β2 is the visibility weight, W′ i is the visibility of the measured location of the i-th Hongmeng terminal, β3 is the terrain complexity weight, Terrain(x i ,y i ) is the terrain complexity of the measured location point of the i-th Hongmeng terminal, which is represented by the elevation data of the measured location point.

[0063] Specifically, the reliability weight ω of the i-th Hongmeng terminal i include:

[0064]

[0065] Among them, α″ is the first weight adjustment factor, β″ is the second weight adjustment factor, S i is the signal strength of the measured location of the i-th Hongmeng terminal, Ui is the battery power of the measured location of the i-th Hongmeng terminal, when the battery power is lower than the threshold, the Hongmeng terminal will reduce the measurement accuracy, γ″ is the third weight adjustment factor, E i is the historical measurement accuracy of the measured location point of the i-th Hongmeng terminal, and δ is the fourth weight adjustment factor.

[0066] Specifically, the time impact factor γ of the i-th Hongmeng terminal i include:

[0067]

[0068] Where β″′ is the fifth weight adjustment factor, t is the current time, and t i is the timestamp of the measurement data of the measured location of the i-th Hongmeng terminal, δ′ i is the historical performance change trend of the i-th Hongmeng terminal. If the positioning accuracy of the i-th Hongmeng terminal continues to decrease in history, then δ′ i Take a negative value, otherwise, δ′ i Take a positive value.

[0069] Step 103, obtain the Beidou positioning data of multiple Hongmeng terminals in real time, and obtain the final position estimate based on the position fusion model.

[0070] Example 2

[0071] like Figure 2 As shown, the embodiment of the present invention also proposes a Beidou positioning data fusion system based on the Hongmeng operating system, including:

[0072] A coordinate acquisition module is used to obtain coordinate measurement values ​​of measured position points of multiple Hongmeng terminals at multiple times, wherein the coordinate measurement values ​​include: abscissa measurement value, ordinate measurement value, historical average abscissa measurement value, historical average ordinate measurement value, true abscissa value of the measured position point, and true ordinate value of the measured position point;

[0073] The fusion module is used to set a position fusion model, and according to the coordinate measurement value, the position fusion model is fitted by a gradient descent method or a genetic algorithm, so as to complete the training of the position fusion model, and the newly acquired coordinate measurement value is fused with Beidou positioning data by the trained position fusion model, so that the horizontal and vertical coordinates in the fused Beidou positioning data are closest to the true value of the horizontal coordinate and the true value of the vertical coordinate of the measured position point.

[0074] Specifically, the position fusion model f(X, Y) includes:

[0075]

[0076] Where N is the number of Hongmeng terminals, σ i is the error estimate of the i-th Hongmeng terminal, X is the true value of the horizontal coordinate of the measured position point, and x i is the horizontal coordinate measurement value of the measured position point provided by the i-th Hongmeng terminal, Y is the true value of the vertical coordinate of the measured position point, y i is the ordinate measurement value of the measured position point provided by the i-th Hongmeng terminal, ω i is the reliability weight of the i-th Hongmeng terminal, φ i is the environmental impact factor of the i-th Hongmeng terminal, γ i is the time impact factor of the i-th Hongmeng terminal.

[0077] Specifically, the error estimate σ of the i-th Hongmeng terminal is i include:

[0078]

[0079] Among them, x ij The j-th horizontal coordinate measurement value of the measured position point provided by the i-th Hongmeng terminal, is the historical average horizontal coordinate measurement value of the measured location point provided by the i-th Hongmeng terminal, y ij The j-th ordinate measurement value of the measured location point provided by the i-th Hongmeng terminal, is the historical average ordinate measurement value of the measured location point provided by the i-th Hongmeng terminal, α is the historical measurement accuracy weight, and E i is the historical measurement accuracy of the measured location point of the i-th Hongmeng terminal.

[0080] Specifically, the environmental impact factor φ of the i-th Hongmeng terminal i include:

[0081]

[0082] Among them, α′ is the change speed adjustment parameter of the environmental factor, β1 is the current temperature weight, T i is the current temperature of the measured location of the i-th Hongmeng terminal, β2 is the visibility weight, W′ i is the visibility of the measured location of the i-th Hongmeng terminal, β3 is the terrain complexity weight, Terrain(x i ,y i ) is the terrain complexity of the measured location point of the i-th Hongmeng terminal, which is represented by the elevation data of the measured location point.

[0083] Specifically, the reliability weight ω of the i-th Hongmeng terminal i include:

[0084]

[0085] Among them, α″ is the first weight adjustment factor, β″ is the second weight adjustment factor, S i is the signal strength of the measured location of the i-th Hongmeng terminal, U i is the battery power of the measured location of the i-th Hongmeng terminal. When the battery power is lower than the threshold, the Hongmeng terminal will reduce the measurement accuracy. γ″ is the third weight adjustment factor. E i is the historical measurement accuracy of the measured location point of the i-th Hongmeng terminal, and δ is the fourth weight adjustment factor.

[0086] Specifically, the time impact factor γ of the i-th Hongmeng terminal i include:

[0087]

[0088] Where β″′ is the fifth weight adjustment factor, t is the current time, and t i is the timestamp of the measurement data of the measured location of the i-th Hongmeng terminal, σ′ i is the historical performance change trend of the i-th Hongmeng terminal. If the positioning accuracy of the i-th Hongmeng terminal continues to decrease in history, then δ′ i Take a negative value, otherwise, δ′ i Take a positive value.

[0089] The estimation module is used to obtain the Beidou positioning data of multiple Hongmeng terminals in real time, and obtain the final position estimation based on the position fusion model.

[0090] Example 3

[0091] An embodiment of the present invention also proposes a storage medium storing multiple instructions, wherein the instructions are used to implement the Beidou positioning data fusion method based on the Hongmeng operating system.

[0092] Optionally, in this embodiment, the above storage medium may be located in any computer terminal in a computer terminal group in a computer network, or in any mobile terminal in a mobile terminal group.

[0093] Optionally, in this embodiment, the storage medium is configured to store a program code for executing the following steps: Step 101, obtaining coordinate measurement values ​​of measured position points of multiple Hongmeng terminals at multiple times, the coordinate measurement values ​​including: abscissa measurement value, ordinate measurement value, historical average abscissa measurement value, historical average ordinate measurement value, abscissa true value of the measured position point, and ordinate true value of the measured position point;

[0094] Step 102, setting a position fusion model, and fitting the position fusion model according to the coordinate measurement values ​​through a gradient descent method or a genetic algorithm, thereby completing the training of the position fusion model, and fusing the newly acquired coordinate measurement values ​​with Beidou positioning data through the trained position fusion model, so that the horizontal and vertical coordinates in the fused Beidou positioning data are closest to the true values ​​of the horizontal coordinate and the vertical coordinate of the measured position point.

[0095] Specifically, the position fusion model f(X, Y) includes:

[0096]

[0097] Where N is the number of Hongmeng terminals, σ i is the error estimate of the i-th Hongmeng terminal, X is the true value of the horizontal coordinate of the measured position point, and x i is the horizontal coordinate measurement value of the measured position point provided by the i-th Hongmeng terminal, Y is the true value of the vertical coordinate of the measured position point, y i is the ordinate measurement value of the measured position point provided by the i-th Hongmeng terminal, ω i is the reliability weight of the i-th Hongmeng terminal, φ i is the environmental impact factor of the i-th Hongmeng terminal, γ i is the time impact factor of the i-th Hongmeng terminal.

[0098] Specifically, the error estimate σ of the i-th Hongmeng terminal is i include:

[0099]

[0100] Among them, x ij The j-th horizontal coordinate measurement value of the measured position point provided by the i-th Hongmeng terminal, is the historical average horizontal coordinate measurement value of the measured location point provided by the i-th Hongmeng terminal, y ij The j-th ordinate measurement value of the measured location point provided by the i-th Hongmeng terminal, is the historical average ordinate measurement value of the measured location point provided by the i-th Hongmeng terminal, α is the historical measurement accuracy weight, and E i is the historical measurement accuracy of the measured location point of the i-th Hongmeng terminal.

[0101] Specifically, the environmental impact factor φ of the i-th Hongmeng terminal i include:

[0102]

[0103] Among them, α′ is the change speed adjustment parameter of the environmental factor, β1 is the current temperature weight, T i is the current temperature of the measured location of the i-th Hongmeng terminal, β2 is the visibility weight, W′ i is the visibility of the measured location of the i-th Hongmeng terminal, β3 is the terrain complexity weight, Terrain(x i ,y i ) is the terrain complexity of the measured location point of the i-th Hongmeng terminal, which is represented by the elevation data of the measured location point.

[0104] Specifically, the reliability weight ω of the i-th Hongmeng terminal i include:

[0105]

[0106] Among them, α″ is the first weight adjustment factor, β″ is the second weight adjustment factor, S i is the signal strength of the measured location of the i-th Hongmeng terminal, U i is the battery power of the measured location of the i-th Hongmeng terminal. When the battery power is lower than the threshold, the Hongmeng terminal will reduce the measurement accuracy. γ″ is the third weight adjustment factor. E i is the historical measurement accuracy of the measured location point of the i-th Hongmeng terminal, and δ is the fourth weight adjustment factor.

[0107] Specifically, the time impact factor γ of the i-th Hongmeng terminal i include:

[0108]

[0109] Where β″′ is the fifth weight adjustment factor, t is the current time, and t i is the timestamp of the measurement data of the measured location of the i-th Hongmeng terminal, δ′ i is the historical performance change trend of the i-th Hongmeng terminal. If the positioning accuracy of the i-th Hongmeng terminal continues to decrease in history, then δ′ i Take a negative value, otherwise, δ′ i Take a positive value.

[0110] Step 103, obtain the Beidou positioning data of multiple Hongmeng terminals in real time, and obtain the final position estimate based on the position fusion model.

[0111] Example 4

[0112] An embodiment of the present invention also proposes an electronic device, comprising a processor and a storage medium connected to the processor, wherein the storage medium stores a plurality of instructions, and the instructions can be loaded and executed by the processor so that the processor can execute a Beidou positioning data fusion method based on the Hongmeng operating system.

[0113] Specifically, the electronic device of this embodiment may be a computer terminal, and the computer terminal may include: one or more processors, and a storage medium.

[0114] Among them, the storage medium can be used to store software programs and modules, such as a Beidou positioning data fusion method based on the Hongmeng operating system in an embodiment of the present invention, and the corresponding program instructions / modules. The processor executes various functional applications and data processing by running the software programs and modules stored in the storage medium, that is, realizing the above-mentioned Beidou positioning data fusion method based on the Hongmeng operating system. The storage medium may include a high-speed random storage medium, and may also include a non-volatile storage medium, such as one or more magnetic storage systems, flash memory, or other non-volatile solid-state storage media. In some instances, the storage medium may further include a storage medium remotely arranged relative to the processor, and these remote storage media can be connected to the terminal via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0115] The processor can call the information and application stored in the storage medium through the transmission system to execute the following steps: Step 101, obtaining coordinate measurement values ​​of the measured position points of multiple Hongmeng terminals at multiple times, wherein the coordinate measurement values ​​include: abscissa measurement value, ordinate measurement value, historical average abscissa measurement value, historical average ordinate measurement value, abscissa true value of the measured position point, and ordinate true value of the measured position point;

[0116] Step 102, setting a position fusion model, and fitting the position fusion model according to the coordinate measurement values ​​through a gradient descent method or a genetic algorithm, thereby completing the training of the position fusion model, and fusing the newly acquired coordinate measurement values ​​with Beidou positioning data through the trained position fusion model, so that the horizontal and vertical coordinates in the fused Beidou positioning data are closest to the true values ​​of the horizontal coordinate and the vertical coordinate of the measured position point.

[0117] Specifically, the position fusion model f(X, Y) includes:

[0118]

[0119] Where N is the number of Hongmeng terminals, σ iis the error estimate of the i-th Hongmeng terminal, X is the true value of the horizontal coordinate of the measured position point, and x i is the horizontal coordinate measurement value of the measured position point provided by the i-th Hongmeng terminal, Y is the true value of the vertical coordinate of the measured position point, y i is the ordinate measurement value of the measured position point provided by the i-th Hongmeng terminal, ω i is the reliability weight of the i-th Hongmeng terminal, φ i is the environmental impact factor of the i-th Hongmeng terminal, γ i is the time impact factor of the i-th Hongmeng terminal.

[0120] Specifically, the error estimate σ of the i-th Hongmeng terminal is i include:

[0121]

[0122] Among them, x ij The j-th horizontal coordinate measurement value of the measured position point provided by the i-th Hongmeng terminal, is the historical average horizontal coordinate measurement value of the measured location point provided by the i-th Hongmeng terminal, y ij The j-th ordinate measurement value of the measured location point provided by the i-th Hongmeng terminal, is the historical average ordinate measurement value of the measured location point provided by the i-th Hongmeng terminal, α is the historical measurement accuracy weight, and E i is the historical measurement accuracy of the measured location point of the i-th Hongmeng terminal.

[0123] Specifically, the environmental impact factor φ of the i-th Hongmeng terminal i include:

[0124]

[0125] Among them, α′ is the change speed adjustment parameter of the environmental factor, β1 is the current temperature weight, T i is the current temperature of the measured location of the i-th Hongmeng terminal, β2 is the visibility weight, W′ i is the visibility of the measured location of the i-th Hongmeng terminal, β3 is the terrain complexity weight, Terrain(x i ,y i ) is the terrain complexity of the measured location point of the i-th Hongmeng terminal, which is represented by the elevation data of the measured location point.

[0126] Specifically, the reliability weight ω of the i-th Hongmeng terminal i include:

[0127]

[0128] Among them, α″ is the first weight adjustment factor, β″ is the second weight adjustment factor, S i is the signal strength of the measured location of the i-th Hongmeng terminal, U i is the battery power of the measured location of the i-th Hongmeng terminal. When the battery power is lower than the threshold, the Hongmeng terminal will reduce the measurement accuracy. γ″ is the third weight adjustment factor. E i is the historical measurement accuracy of the measured location point of the i-th Hongmeng terminal, and δ is the fourth weight adjustment factor.

[0129] Specifically, the time impact factor γ of the i-th Hongmeng terminal i include:

[0130]

[0131] Where β″′ is the fifth weight adjustment factor, t is the current time, and t i is the timestamp of the measurement data of the measured location of the i-th Hongmeng terminal, δ′ i is the historical performance change trend of the i-th Hongmeng terminal. If the positioning accuracy of the i-th Hongmeng terminal continues to decrease in history, then δ′ i Take a negative value, otherwise, δ′ i Take a positive value.

[0132] Step 103, obtain the Beidou positioning data of multiple Hongmeng terminals in real time, and obtain the final position estimate based on the position fusion model.

[0133] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0134] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0135] In the several embodiments provided by the present invention, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the system embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0136] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0137] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0138] If the integrated unit is implemented in the form of 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, the technical solution of the present invention, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only storage medium (ROM, Read-Only Memory), random access storage medium (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

[0139] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention.

Claims

1. A Beidou positioning data fusion method based on Hongmeng operating system, characterized in that: include: Obtain coordinate measurement values ​​of measured position points of multiple Hongmeng terminals at multiple times, wherein the coordinate measurement values ​​include: abscissa measurement value, ordinate measurement value, historical average abscissa measurement value, historical average ordinate measurement value, true abscissa value of the measured position point, and true ordinate value of the measured position point; A position fusion model is set, and according to the coordinate measurement values, the position fusion model is fitted by a gradient descent method or a genetic algorithm, so as to complete the training of the position fusion model, and the newly acquired coordinate measurement values ​​are fused with Beidou positioning data by the trained position fusion model, so that the horizontal and vertical coordinates in the fused Beidou positioning data are closest to the true values ​​of the horizontal coordinates and the vertical coordinates of the measured position point; Location Fusion Model include: ， in, is the number of Hongmeng terminals, For the The error estimation of Hongmeng terminals, is the true value of the horizontal coordinate of the measured position point, For the The horizontal coordinate measurement value of the measured position point provided by the Hongmeng terminal, is the true value of the ordinate of the measured position point, For the The vertical coordinate measurement value of the measured location point provided by the Hongmeng terminal, For the The reliability weight of each Hongmeng terminal, For the Environmental impact factors of Hongmeng terminals, For the The time impact factor of each Hongmeng terminal; The said Error estimation of Hongmeng terminals include: ， in, For the The first of the measured location points provided by the Hongmeng terminal The horizontal axis measurement value, For the The historical average horizontal coordinate measurement value of the measured location point provided by the Hongmeng terminal, For the The first of the measured location points provided by the Hongmeng terminal The vertical axis measurement value, For the The historical average vertical coordinate measurement value of the measured location point provided by the Hongmeng terminal, is the historical measurement accuracy weight, For the The historical measurement accuracy of the measured location points of each Hongmeng terminal; No. Environmental impact factors of Hongmeng terminals include: ， in, Adjust the parameters for the speed of change of environmental factors, is the current temperature weight, For the The current temperature of the measured location of the Hongmeng terminal, is the visibility weight, For the The visibility of the measured location of each Hongmeng terminal, is the terrain complexity weight, For the The terrain complexity of the measured location of each Hongmeng terminal is represented by the elevation data of the measured location; The said Reliability weight of Hongmeng terminals include: ， in, is the first weight adjustment factor, is the second weight adjustment factor, For the The signal strength of the measured location of each Hongmeng terminal, For the The battery level of the measured location of each Hongmeng terminal. When the battery level is lower than the threshold, the Hongmeng terminal will reduce the measurement accuracy. is the third weight adjustment factor, For the The historical measurement accuracy of the measured location points of the Hongmeng terminal, is the fourth weight adjustment factor; The said Time impact factor of Hongmeng terminal include: ， in, is the fifth weight adjustment factor, is the current time, For the The timestamp of the measurement data of the measured location point of the Hongmeng terminal, For the The historical performance change trend of Hongmeng terminals. The positioning accuracy of Hongmeng terminals has continued to decline in history. Take a negative value, otherwise, Take a positive value.

2. A Beidou positioning data fusion system based on Hongmeng operating system, characterized in that: include: A coordinate acquisition module is used to obtain coordinate measurement values ​​of measured position points of multiple Hongmeng terminals at multiple times, wherein the coordinate measurement values ​​include: abscissa measurement value, ordinate measurement value, historical average abscissa measurement value, historical average ordinate measurement value, true abscissa value of the measured position point, and true ordinate value of the measured position point; A fusion module is used to set a position fusion model, and according to the coordinate measurement value, the position fusion model is fitted by a gradient descent method or a genetic algorithm, so as to complete the training of the position fusion model, and the newly acquired coordinate measurement value is fused with Beidou positioning data by the trained position fusion model, so that the horizontal and vertical coordinates in the fused Beidou positioning data are closest to the true value of the horizontal coordinate and the true value of the vertical coordinate of the measured position point; Location Fusion Model include: ， in, is the number of Hongmeng terminals, For the The error estimation of Hongmeng terminals, is the true value of the horizontal coordinate of the measured position point, For the The horizontal coordinate measurement value of the measured position point provided by the Hongmeng terminal, is the true value of the ordinate of the measured position point, For the The vertical coordinate measurement value of the measured location point provided by the Hongmeng terminal, For the The reliability weight of each Hongmeng terminal, For the Environmental impact factors of Hongmeng terminals, For the The time impact factor of each Hongmeng terminal; The said Error estimation of Hongmeng terminals include: ， in, For the The first of the measured location points provided by the Hongmeng terminal The horizontal axis measurement value, For the The historical average horizontal coordinate measurement value of the measured location point provided by the Hongmeng terminal, For the The first of the measured location points provided by the Hongmeng terminal The vertical axis measurement value, For the The historical average vertical coordinate measurement value of the measured location point provided by the Hongmeng terminal, is the historical measurement accuracy weight, For the The historical measurement accuracy of the measured location points of each Hongmeng terminal; No. Environmental impact factors of Hongmeng terminals include: ， in, Adjust the parameters for the speed of change of environmental factors, is the current temperature weight, For the The current temperature of the measured location of the Hongmeng terminal, is the visibility weight, For the The visibility of the measured location of each Hongmeng terminal, is the terrain complexity weight, For the The terrain complexity of the measured location of each Hongmeng terminal is represented by the elevation data of the measured location; The said Reliability weight of Hongmeng terminals include: ， in, is the first weight adjustment factor, is the second weight adjustment factor, For the The signal strength of the measured location of each Hongmeng terminal, For the The battery level of the measured location of each Hongmeng terminal. When the battery level is lower than the threshold, the Hongmeng terminal will reduce the measurement accuracy. is the third weight adjustment factor, For the The historical measurement accuracy of the measured location points of the Hongmeng terminal, is the fourth weight adjustment factor; The said Time impact factor of Hongmeng terminal include: ， in, is the fifth weight adjustment factor, is the current time, For the The timestamp of the measurement data of the measured location point of the Hongmeng terminal, For the The historical performance change trend of Hongmeng terminals. The positioning accuracy of Hongmeng terminals has continued to decline in history. Take a negative value, otherwise, Take a positive value.

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