Positioning method, apparatus, processing device, and storage medium

Abstract

Embodiments of the present disclosure disclose a positioning method, apparatus, processing device and storage medium. The method comprises: determining a positioning area based on a positioning position of a terminal at the nth moment; constructing a K-ary tree based on the positioning area; searching a target node from nodes in the K-ary tree based on first information; wherein the first information comprises a deviation value between a first positioning position determined from a positioning sub-area represented by the node under a constraint condition and an expected value; the first information is used at least for determining a search order corresponding to child nodes of the node when searching the target node; and determining a positioning position of the terminal at the n+1th moment based on a first positioning position corresponding to the target node. In the embodiments of the present disclosure, the target node can be accurately obtained from the K-ary tree, so that the accuracy and timeliness of positioning the terminal can be ensured in the process of determining the position of the terminal at the nth moment based on the first positioning position of the target node.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of positioning and is not only limited to the field of positioning, and particularly relates to a positioning method, apparatus, processing device and storage medium. BACKGROUND

[0002] In the process of positioning a terminal, the position of the terminal can be determined by observed data used for positioning the terminal. However, in the related art, there can be a large noise in the process of observing the data used for positioning the terminal, which can result in a large calculation error in the process of calculating the position of the terminal according to the observed data, and the result of calculation is easy to diverge, and it is difficult to accurately determine the position of the terminal from the divergent result in the related art. Therefore, there is a technical problem of being difficult to accurately position the terminal in the related art. SUMMARY

[0003] Therefore, the embodiments of the present disclosure disclose a positioning method, apparatus, processing device and storage medium, in which a target node can be selected from a K-ary tree in a timely and accurate manner based on first information, so as to accurately and quickly determine the position of a terminal according to a first positioning position corresponding to the target node, and the technical problem of how to ensure the accuracy and timeliness of positioning a terminal can be solved by the technical solutions disclosed in the embodiments of the present disclosure.

[0004] According to a first aspect of the embodiments of the present disclosure, a positioning method is provided, and the method comprises:

[0005] determining a positioning area based on a positioning position of a terminal at an nth moment; wherein the distance between a position in the positioning area and the positioning position of the terminal at the nth moment is less than or equal to a first distance; n is a positive integer;

[0006] constructing a K-ary tree based on the positioning area; wherein a node of the K-ary tree is used to represent a positioning sub-area in the positioning area; the node of the K-ary tree comprises a parent node and a child node; the parent node in the K-ary tree corresponds to K child nodes, and the positioning sub-area corresponding to the parent node is the same as the sum of the positioning sub-areas corresponding to the K child nodes;

[0007] searching a target node from nodes in the K-ary tree based on first information; wherein the first information comprises a deviation value between a first positioning position determined in the positioning sub-region represented by the nodes under a constraint condition and an expected value; the first information is used at least for determining a search order of child nodes of the nodes when searching the target node; the constraint condition is used for constraining a relationship between the first positioning position and second information; the second information comprises a signal measurement result of measuring a reference signal transmitted between the terminal and a transmitting module; the reference signal is used for positioning the terminal; the target node corresponds to a deviation value less than or equal to a first threshold value;

[0008] determining a positioning position of the terminal at the n+1 moment based on the first positioning position corresponding to the target node.

[0009] In one embodiment, the searching the target node from the nodes in the K-ary tree based on the first information comprises:

[0010] searching the target node from the nodes in the K-ary tree based on the first information until a predetermined condition is met, to obtain the target node.

[0011] wherein the predetermined condition comprises a first sub-condition and / or a second sub-condition, the first sub-condition is that all leaf nodes in the K-ary tree are traversed, and the second sub-condition is that the deviation value corresponding to the first node of the K-ary tree is less than a second threshold value.

[0012] In one embodiment, when the first sub-condition is met, the target node is a node determined from the leaf nodes of the K-ary tree; and / or, when the second sub-condition is met, the target node is the first node.

[0013] In one embodiment, the method further comprises:

[0014] in response to the predetermined condition not being met, determining whether the deviation value corresponding to the nodes in the K-ary tree is greater than or equal to a third threshold value based on the first information, to obtain a determination result; wherein the third threshold value is greater than the second threshold value.

[0015] the searching the target node from the nodes in the K-ary tree until the predetermined condition is met comprises:

[0016] searching the target node from the nodes in the K-ary tree until the predetermined condition is met based on the determination result.

[0017] In one embodiment, the searching the target node from the nodes in the K-ary tree until the predetermined condition is met based on the determination result comprises:

[0018] in response to a result of the determination being a result of determining that the deviation value is greater than or equal to the third threshold value, deleting the node and / or a child node of the node;

[0019] searching the target node from the K-ary tree of deleted nodes until the predetermined condition is met.

[0020] In an embodiment, the searching the target node from the nodes in the K-ary tree based on the result of the determination until the predetermined condition is met comprises:

[0021] in response to a result of the determination being a result of determining that the deviation value is less than the third threshold value, searching the target node from the nodes in the K-ary tree based on the search order until the predetermined condition is met; wherein the deviation value corresponding to a node in the K-ary tree and the search order corresponding to a child node of the node are positively correlated.

[0022] In an embodiment, the method is applied to a first device, and the method further comprises:

[0023] determining a value of the K based on a performance parameter of the first device;

[0024] wherein the value of the performance parameter and the value of the K are positively correlated; the performance parameter comprises at least one of the following: a running memory of the first device, a total amount of computing power resources of the first device, and a remaining amount of computing power resources of the first device.

[0025] In an embodiment, the number of the transmitting modules is a first number, different transmitting modules correspond to different reference signals, and the signal measurement result comprises at least one of the following:

[0026] a first measurement result, which is a change value of a carrier phase corresponding to the reference signal;

[0027] a second measurement result, which is a pseudo-range between the terminal and the transmitting module;

[0028] a third measurement result, which is an integer ambiguity corresponding to the transmitting module, the integer ambiguity being an integer number corresponding to the reference signal transmitted by the transmitting module at the n+1 time point.

[0029] In an embodiment, the second information further comprises at least one of the following:

[0030] a propagation speed of the reference signal;

[0031] a carrier wavelength corresponding to the reference signal;

[0032] a direction of the transmitting module relative to the terminal;

[0033] position information of a first quantity of the transmitting modules;

[0034] a clock difference corresponding to the terminal, the clock difference being a difference between a time of the terminal and a reference time.

[0035] In an embodiment, the determining the positioning area based on the positioning position of the terminal at the n th moment comprises:

[0036] determining the positioning area based on the positioning position of the terminal at the n th moment and a positioning error value.

[0037] The positioning error value is used to correct the positioning position of the terminal at the n th moment, and a distance between a position within the positioning area and the corrected positioning position of the terminal at the n th moment is less than or equal to the first distance.

[0038] According to a third aspect of the embodiments of the present disclosure, a positioning device is provided, which comprises:

[0039] a determining module configured to determine a positioning area based on a positioning position of a terminal at an n th moment; wherein a distance between a position within the positioning area and the positioning position of the terminal at the n th moment is less than or equal to a first distance; n is a positive integer;

[0040] a processing module configured to construct a K-ary tree based on the positioning area; wherein a node of the K-ary tree is used to represent a positioning sub-area within the positioning area; the node of the K-ary tree comprises a parent node and a child node, a parent node in the K-ary tree corresponds to K child nodes, and a positioning sub-area corresponding to the parent node is the same as a sum of positioning sub-areas corresponding to the K child nodes.

[0041] a searching module configured to search a target node from the node in the K-ary tree based on first information; wherein the first information comprises a deviation value between a first positioning position determined from the positioning sub-area represented by the node under a constraint condition and an expected value; the first information is used at least to determine a search order of child nodes of the node when searching the target node; the constraint condition is used to constrain a relationship between the first positioning position and second information; the second information comprises a signal measurement result of measuring a reference signal transmitted between the terminal and a transmitting module; the reference signal is used to position the terminal; and the deviation value corresponding to the target node is less than or equal to a first threshold value.

[0042] The determining module is further configured to determine a positioning position of the terminal at an (n+1) th moment based on a first positioning position corresponding to the target node.

[0043] According to a third aspect of embodiments of the present disclosure, a positioning apparatus is provided for implementing the method according to any of the embodiments of the present disclosure, the positioning apparatus comprising a signal transmission module, a first calculation module, a second calculation module, a search module and a communication module;

[0044] The signal transmission module is configured to receive a reference signal and perform digital processing on the reference signal, wherein the reference signal is used for positioning a terminal.

[0045] The first calculation module is configured to determine a positioning position of the terminal at an nth time based on the reference signal after the digital processing.

[0046] The search module is configured to construct a K-ary tree based on the positioning position of the terminal at the nth time, wherein the K-ary tree is used to represent a positioning area within a first distance from the positioning position.

[0047] The second calculation module is configured to search a target node from nodes in the K-ary tree based on first information, wherein the first information comprises a deviation value between a first positioning position determined from the nodes within a positioning sub-area represented by the nodes under a constraint condition and an expected value, the first information is used to determine at least a search order of child nodes of the nodes when searching the target node, the constraint condition is used to constrain a relationship between the first positioning position and second information, the second information comprises a signal measurement result of measuring a reference signal transmitted between the terminal and a transmission module, the reference signal is used for positioning the terminal, a deviation value between the first positioning position corresponding to the target node and an expected value is less than or equal to a first threshold value, and a positioning position of the terminal at an (n+1)th time is determined based on the first positioning position corresponding to the target node.

[0048] The communication module is configured to broadcast the positioning position of the terminal at the (n+1)th time.

[0049] According to a fourth aspect of embodiments of the present disclosure, a processing device is provided, which comprises:

[0050] A memory is configured to store an executable program.

[0051] A processor is configured to implement the method according to any of the embodiments of the present disclosure when executing the executable program stored in the memory.

[0052] According to a fifth aspect of embodiments of the present disclosure, a computer storage medium is provided, which stores an executable program, and the executable program is executed by a processor to implement the method according to any of the embodiments of the present disclosure.

[0053] In the embodiments of the present disclosure, since the first information can be used to determine the search order of the child nodes of the node when searching for the target node, and the first information includes the deviation value between the first positioning position of the node under the constraint condition and the expected value, the positioning sub-area corresponding to the parent node in the K-ary tree is the same as the sum of the positioning sub-areas corresponding to the K child nodes, therefore, in the process of searching for the target node with a smaller deviation value from the nodes of the K-ary tree based on the deviation value in the first information, and positioning the terminal based on the first positioning position of the target node, the deviation value of the node in the K-ary tree can be accurately adapted, and the child nodes on the branch where each parent node is located are searched in a suitable search order. At this time, the search range can be reduced from the positioning sub-area corresponding to the parent node to the positioning sub-area corresponding to the child node, so that the target node with a smaller deviation value is quickly and accurately searched based on the reduced positioning sub-area, and the position of the terminal is quickly and accurately determined based on the first positioning position of the target node corresponding to the quickly and accurately determined target node. Compared with the positioning method in the related art, which is difficult to accurately position the terminal, in the embodiments of the present disclosure, the deviation value of the node is used to iteratively search the target node in the K-ary tree in a suitable search order, so that the target node with a smaller deviation value is quickly and accurately searched in a suitable search order. Therefore, in the process of determining the position of the terminal at the nth moment based on the first positioning position of the target node, the accuracy and timeliness of positioning the terminal can be ensured. BRIEF DESCRIPTION OF DRAWINGS

[0054] Figure 1 Flowchart of a positioning method according to an exemplary embodiment Figure One ;

[0055] Figure 2 Schematic diagram of a positioning area according to an exemplary embodiment Figure One ;

[0056] Figure 3 Flowchart of a positioning method according to an exemplary embodiment Figure Two ;

[0057] Figure 4 Flowchart of a positioning method according to an exemplary embodiment Figure Three ;

[0058] Figure 5 Flowchart of a positioning method according to an exemplary embodiment Figure Four ;

[0059] Figure 6 Flowchart of a positioning method according to an exemplary embodiment Figure Five ;

[0060] Figure 7 Flowchart of a positioning method according to an exemplary embodiment Figure Six ;

[0061] Figure 8 Schematic diagram of a positioning area according to an exemplary embodiment Figure Two ;

[0062] Figure 9 Flowchart of a positioning method according to an exemplary embodiment Figure Seven ;

[0063] Figure 10 Structural schematic diagram of a positioning device according to an exemplary embodiment Figure One ;

[0064] Figure 11 Structural schematic diagram of a positioning device according to an exemplary embodiment Figure Two . DETAILED DESCRIPTION

[0065] In order to make the objects, technical solutions and advantages of the present application clearer, the following will further describe the present application with reference to the accompanying drawings, and the described embodiments should not be regarded as limiting the present application. All other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0066] In the following description, "some embodiments" are described, which describe a subset of all possible embodiments, but it can be understood that "some embodiments" can be the same subset or different subsets of all possible embodiments, and can be combined with each other without conflict.

[0067] In the following description, the terms "first\second\third" are only to distinguish similar objects, and do not represent a specific order of the objects. It can be understood that "first\second\third" can be interchanged in a specific order or sequence as allowed, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0068] In the following description, "greater than" and "less than" are described. It should be noted that in the present disclosure, "greater than" can be used to indicate "greater than" or "equal to"; "less than" can be used to indicate "less than" or "equal to".

[0069] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs. The terms used herein are only for the purpose of describing the embodiments of the present application, and are not intended to limit the present application.

[0070] As Figure 1 illustrated, the embodiment of the present disclosure provides a positioning method, which comprises:

[0071] In step S110, a positioning area is determined based on the positioning position of the terminal at the nth moment; wherein the distance between the position in the positioning area and the positioning position of the terminal at the nth moment is less than or equal to a first distance; n is a positive integer;

[0072] In one embodiment, the value of the positioning area and / or the first distance can be determined according to the performance parameter of the first device, wherein the value of the performance parameter is positively correlated with the value of the positioning area, and / or the value of the performance parameter is positively correlated with the value of the first distance. The performance parameter includes at least one of the following: the running memory of the first device, the total amount of computing power resources of the first device, and the remaining amount of computing power resources of the first device. Here, the appropriate positioning area and / or the first distance can be accurately determined according to the performance parameter of the first device.

[0073] In one embodiment, the first distance can be determined according to the moving speed of the terminal. The value of the first distance can be positively correlated with the moving speed of the terminal. The moving speed can be the real-time moving speed of the terminal, or the moving speed can be the average moving speed of the terminal within a predetermined period of time. Here, the appropriate first distance can be accurately determined according to the moving speed of the terminal.

[0074] Here, the positioning area can be used to estimate the positioning position of the terminal at the (n+1)th moment in the horizontal direction.

[0075] In step S120, a K-ary tree is constructed based on the positioning area; wherein the nodes of the K-ary tree are used to represent the positioning sub-area within the positioning area; the nodes of the K-ary tree include parent nodes and child nodes; the parent node in the K-ary tree corresponds to K child nodes, and the positioning sub-area corresponding to the parent node is the same as the sum of the positioning sub-areas corresponding to the K child nodes.

[0076] Here, in the case where the position of the terminal at the (n+1)th moment needs to be determined, the K-ary tree for searching the position of the terminal at the (n+1)th moment can be constructed in real time based on the positioning position of the terminal at the last moment (i.e., the nth moment). Compared with the way of constructing the K-ary tree offline in advance to position the terminal, the corresponding application scenario in the embodiment of the present disclosure has strong generalization.

[0077] In one embodiment, the K-ary tree can be used to represent the positioning area.

[0078] In an embodiment, the constructing the K-ary tree based on the positioning area comprises: dividing the positioning area into K positioning sub-areas; determining K nodes of the K-ary tree at a first layer based on the K positioning sub-areas; wherein the K-ary tree is used to represent the positioning area, and a node of the K-ary tree is used to represent a positioning sub-area within the positioning area; dividing a positioning sub-area corresponding to a parent node at an m-th layer in the K-ary tree into K positioning sub-areas; m is a positive integer; determining K child nodes corresponding to the parent node at an (m+1)-th layer of the K-ary tree based on the K positioning sub-areas corresponding to the parent node at the m-th layer, until all parent nodes at the m-th layer are traversed and m+1 equals a preset layer number. m can be 1.

[0079] Exemplarily, the preset layer number can be 2, and the K-ary tree can be a quadtree. As shown in Figure 2 For the quadtree, the positioning area can be divided into 4 positioning sub-areas, which include positioning sub-area a, positioning sub-area b, positioning sub-area c and positioning sub-area d. At this time, the nodes at the first layer of the quadtree can include parent node A, parent node B, parent node C and parent node D. Parent node A is used to represent positioning sub-area a, parent node B is used to represent positioning sub-area b, parent node C is used to represent positioning sub-area c, and parent node D is used to represent positioning sub-area d. For parent node A, positioning sub-area a can be divided into 4 positioning sub-areas, which can be positioning sub-area a1, positioning sub-area a2, positioning sub-area a3 and positioning sub-area a4 respectively. At this time, at the second layer of the quadtree, parent node A can correspond to 4 child nodes, which are child node A1, child node A2, child node A3 and child node A4 respectively. Child node A1 is used to represent positioning sub-area a1, child node A2 is used to represent positioning sub-area a2, child node A3 is used to represent positioning sub-area a3, and child node A4 is used to represent positioning sub-area a4. In the same way, the parent nodes of the quadtree are traversed and 4 child nodes corresponding to each parent node are determined, until all parent nodes of the quadtree are traversed and the layer number of the child nodes corresponding to the parent nodes is 2 (i.e., the layer number of the child nodes corresponding to the parent nodes is equal to the preset layer number).

[0080] The positioning area can be a square area (as shown in Figure 2 The positioning sub-area represented by the node of the quadtree can also be a square area. Exemplarily, the positioning sub-area corresponding to the parent node at the first layer of the quadtree can be a square area with a length of 2m and a width of 2m. The positioning sub-area corresponding to the child node at the second layer of the quadtree can be a square area with a length of 1m and a width of 1m.

[0081] In one embodiment, the positioning area can be a square area determined according to the position of the terminal at the nth moment. Alternatively, the positioning area can also be a circular area determined according to the position of the terminal at the nth moment. Here, the specific shape of the positioning area can not be limited, as long as the distance between the position in the positioning area and the position of the terminal at the nth moment is less than the first distance.

[0082] In step S130, a target node is searched from the nodes in the K-ary tree based on first information. The first information includes a deviation value between a first positioning position determined in the positioning sub-area represented by the node under a constraint condition and an expected value. The first information is used at least to determine a search order of child nodes of the node when searching for the target node. The constraint condition is used to constrain the relationship between the first positioning position and second information. The second information includes a signal measurement result of measuring a reference signal transmitted between the terminal and a transmitting module. The reference signal is used to position the terminal. The deviation value corresponding to the target node is less than or equal to a first threshold value.

[0083] In one embodiment, the target node can be searched from the nodes in the K-ary tree based on a branch and bound algorithm.

[0084] In one embodiment, the expected value can be a value of an expected position of the terminal at the (n+1)th moment.

[0085] In one embodiment, the constraint condition can be a set of equations established according to the first positioning position and the second information. The set of equations can include multiple equations. The deviation value in any of the embodiments of the present disclosure can refer to a residual sum of squares of the set of equations when the first variable is the first positioning position. The first variable is a variable in the equation used to represent the positioning position of the terminal at the (n+1)th moment. The residual sum of squares can be a sum of squares of residuals corresponding to each equation. The residual corresponding to the equation is an error between an actual value and a theoretical value calculated when the first variable in the equation is the first positioning position. The theoretical value can be a constant. For example, one equation in the constraint condition can be y1=f x+z; where x is the first variable, y1 is the theoretical value, f and z can be predetermined constants or matrices; when the first variable x is the first positioning position, fx+z=y2, y2 is the actual value; at this time, the residual corresponding to the equation can be the difference between y1 and y2.

[0086] In an embodiment, the first positioning position can be determined from the positioning sub-region by using the constraint condition. Here, the first positioning position can also be determined from the positioning sub-region by using the constraint condition, which can be understood as that the first positioning position is calculated from the positioning sub-region by using the constraint condition in an iterative manner. The bias value corresponding to the first positioning position can be smaller than the bias value corresponding to other positions in the positioning sub-region represented by the node. Here, the bias value corresponding to the first positioning position can be smaller than the bias value corresponding to other positions in the positioning sub-region represented by the node. Alternatively, the residual sum of squares corresponding to the first positioning position can be smaller than the residual sum of squares corresponding to other positions in the positioning sub-region represented by the node. It can be understood that only one first positioning position can be determined for the positioning sub-region represented by one node.

[0087] In an embodiment, the second information can be an observation value of the transmitting module and / or a reference signal transmitted by the transmitting module observed by the positioning system. For example, the positioning system can be a global navigation satellite system (GNSS). The GNSS can include, but is not limited to, at least one of the following: a global positioning system (GPS), a Beidou satellite navigation system (BDS), a Galileo satellite navigation system (GSNS), and a Global Navigation Satellite System (GLONASS). It should be noted that the observation value of the reference signal can be any signal measurement result described in any embodiment of the present disclosure.

[0088] In an embodiment, the reference signal can be a positioning request signal for positioning the terminal. For example, the reference signal can be a GNSS signal. The terminal can receive the reference signal transmitted by the transmitting module through a receiving module arranged on the terminal. The transmitting module can be a radio signal transmitting device, for example, the transmitting module can be a pseudo-satellite (PL). The PL can be compatible with the GNSS signal, and no additional positioning device is needed to achieve indoor positioning, which solves the problem that the GNSS signal is severely attenuated in the urban valley and cannot be positioned. The present application can use the pseudo-satellite to implement any positioning method described in any embodiment of the present disclosure, improve the success rate of indoor pseudo-satellite positioning, and have a wide application prospect in indoor venues, subway stations, airports, and shopping malls and hospitals that have positioning needs.

[0089] In one embodiment, the target node corresponds to a bias value less than or equal to a first threshold, which can mean that the target node corresponds to a bias value less than bias values corresponding to other nodes in the K-ary tree.

[0090] In one embodiment, in searching for the target node from the nodes in the K-ary tree, a search order of searching child nodes of each node can be determined based on first information corresponding to the nodes in the K-ary tree. The first information includes a bias value between a first positioning position determined within the positioning sub-region represented by the node under a constraint condition and an expected value, and the bias value corresponding to the node and the search order of the child nodes of the node are positively correlated.

[0091] For example, the K-ary tree includes a node A and a node B, the child nodes of the node A include a child node a1 and a child node a2, the child nodes of the node B include a child node b1 and a child node b2, if the bias value corresponding to the node A is less than the bias value corresponding to the node B, the search order of the child nodes of the node A is less than the search order of the child nodes of the node B. That is, in searching for the target node from the nodes in the K-ary tree, the child nodes a1 and a2 corresponding to the node A are searched first, and then the child nodes b1 and b2 corresponding to the node B are searched.

[0092] In one embodiment, the K-ary tree has M layers of nodes, and the search order of searching child nodes of each parent node based on the first information corresponding to the parent nodes in the K-ary tree can mean that the search order of searching child nodes in the m+1 layer based on the first information corresponding to the parent nodes in the m layer.

[0093] In one embodiment, the target node can be searched from the nodes in the first layer to the M layer in the search order.

[0094] For example, after the nodes in the first layer are searched in the search order corresponding to the nodes in the first layer, the nodes in the second layer can be searched in the search order corresponding to the nodes in the second layer, until the target node is searched or the nodes in the M layer are searched.

[0095] In one embodiment, the nodes on the branch where the node is located can be searched based on the search order corresponding to the node.

[0096] For example, for the nodes A and B in the first layer, if the search order corresponding to the node A is earlier than the search order corresponding to the node B, the nodes on the branch where the node A is located can be searched first, and then the nodes on the branch where the node B is located are searched until the target node is searched or the nodes on the branch where the node A is located are searched.

[0097] In an embodiment, the branch where the node of the mth layer is located can include: nodes having a connection relationship with the node of the mth layer in the (m+1)th to Mth layers.

[0098] In an embodiment, in response to searching out the target node from the nodes in the K-ary tree, the searching of the K-ary tree is stopped.

[0099] In step S140, based on the first positioning position corresponding to the target node, a positioning position of the terminal at the (n+1)th moment is determined.

[0100] In an embodiment, the positioning method described in any of the embodiments of the present disclosure can be performed by a first device, and the first device can establish a communication connection with the terminal. After the first device determines the positioning position of the terminal at the (n+1)th moment, the first device can send the positioning position of the terminal at the (n+1)th moment to the terminal.

[0101] In the embodiments of the present disclosure, since the first information can be used to determine the search order of the child nodes of the node when searching for the target node, and the first information includes the deviation value between the first positioning position of the node under the constraint condition and the expected value, the positioning sub-region corresponding to the parent node in the K-ary tree is the same as the sum of the positioning sub-regions corresponding to the K child nodes, therefore, in the process of searching for the target node with a smaller deviation value from the nodes in the K-ary tree based on the deviation value in the first information, and positioning the terminal based on the first positioning position of the target node, the deviation value of the node in the K-ary tree can be accurately adapted, the child nodes on the branch where the parent node is located are searched in a suitable search order, the search range is reduced from the positioning sub-region corresponding to the parent node to the positioning sub-region corresponding to the child node, so that the target node with a smaller deviation value is quickly and accurately searched based on the reduced positioning sub-region, and the position of the terminal is quickly and accurately determined based on the first positioning position of the target node which is quickly and accurately determined. Compared with the positioning method in the related art which is difficult to accurately position the terminal, in the embodiments of the present disclosure, the target node is iteratively searched in the K-ary tree by using the deviation value of the node and in a suitable search order, so as to quickly and accurately search the target node with a smaller deviation value by using the suitable search order. Thus, in the process of determining the position of the terminal at the nth moment based on the first positioning position of the target node, the accuracy and timeliness of positioning the terminal can be ensured.

[0102] In an embodiment, as shown in FIG. 13, the searching of the target node from the nodes in the K-ary tree based on the first information includes: Figure 3

[0103] In step S1301, the target node is searched from the nodes in the K-ary tree based on the first information until a predetermined condition is met, and the target node is obtained.​

[0104] The predetermined condition comprises a first sub-condition and / or a second sub-condition, the first sub-condition is that all leaf nodes in the K-ary tree are traversed, and the second sub-condition is that the deviation value corresponding to the first node of the K-ary tree is less than a second threshold value.

[0105] Here, the second threshold value can also refer to a pre-set convergence threshold value.

[0106] In an embodiment, based on the first information, the target node is searched from the nodes of the K-ary tree; in response to the predetermined condition being met, the search for the target node from the nodes of the K-ary tree is stopped, and a search result of the target node is obtained; and in response to the search for the target node from the nodes of the K-ary tree being stopped, the target node is determined based on the search result. The search result can comprise a first search result and / or a second search result, the first search result comprises a searched leaf node of the K-ary tree, and the second search result comprises a searched first node of the K-ary tree.

[0107] In an embodiment, based on the first information, the target node is searched from the nodes of the K-ary tree; in response to the first sub-condition being met, the search for the target node from the nodes of the K-ary tree is stopped and a search result of the target node is obtained; the first sub-condition is that all leaf nodes in the K-ary tree are traversed; and in response to the search for the target node from the nodes of the K-ary tree being stopped, the target node is determined based on the first search result.

[0108] Here, in the case that all leaf nodes of the K-ary tree are traversed, that is, in the case that all nodes of the K-ary tree are searched, the search for the target node is stopped. In this way, in the process of searching for the target node, it can be ensured that the search for the K-ary tree is stopped in time after the nodes of the K-ary tree are searched comprehensively, and the resource waste caused by continuously searching the K-ary tree is reduced on the premise of ensuring the comprehensiveness of the search.

[0109] In an embodiment, based on the first information, the target node is searched from the nodes of the K-ary tree; in response to the second sub-condition being met, the search for the target node from the nodes of the K-ary tree is stopped and a search result of the target node is obtained; the second sub-condition is that the deviation value between the first positioning position corresponding to the first node of the K-ary tree and the expected value is less than a second threshold value; and in response to the search for the target node from the nodes of the K-ary tree being stopped, the target node is determined based on the second search result.

[0110] Here, since the search of the nodes of the K-ary tree is stopped in the case that the deviation value between the first positioning position corresponding to the first node of the K-ary tree and the expected value is less than the second threshold, i.e., in the case that the error corresponding to the searched first node is small, the appropriate target node can be accurately determined according to the first node with a smaller error, and the search of the nodes of the K-ary tree is stopped in time. In this way, the waste of resources and the time delay caused by the continuous search of the K-ary tree can be reduced while ensuring that the appropriate target node can be accurately determined.

[0111] In one embodiment, when the first sub-condition is satisfied, the target node is a node determined from the leaf nodes of the K-ary tree; and / or, when the second sub-condition is satisfied, the target node is the first node.

[0112] In one embodiment, in response to the first sub-condition being satisfied, the target node is determined from the leaf nodes of the K-ary tree based on the deviation values corresponding to the leaf nodes of the K-ary tree. For example, the target node is the node with the smallest deviation value among all the leaf nodes of the K-ary tree. It should be noted that for each branch of the K-ary tree, the leaf node in the branch is the node with the smallest deviation value corresponding to the branch, and at this time, the target node is the node with the smallest deviation value among all the leaf nodes of the K-ary tree, which can also be understood as the node with the smallest deviation value among all the leaf nodes of the K-ary tree. Here, the node with the smallest deviation value corresponding to the K-ary tree can be determined as the target node based on the first search result. In this way, in the case of determining the position of the terminal at the n+1 time based on the target node, the position of the terminal at the n+1 time can be accurately determined based on the target node with the smallest error in the K-ary tree.

[0113] In one embodiment, in response to the first sub-condition being satisfied and the deviation values corresponding to the leaf nodes of the K-ary tree all being greater than the first threshold, the position of the terminal at the n+1 time can be determined based on the position of the terminal at the n time, the moving speed and the moving direction of the terminal.

[0114] In one embodiment, the target node is searched from the nodes of the K-ary tree based on the first information; and in response to a second sub-condition being satisfied, the first node is determined as the target node; wherein the second sub-condition is that the deviation value between the first positioning position corresponding to the first node of the K-ary tree and the expected value is less than a second threshold.

[0115] Here, in a case where the deviation value between the first positioning position corresponding to the first node of the K-ary tree and the expected value is less than the second threshold value, i.e., in a case where the error corresponding to the searched first node is small, it is determined that the first node is the target node. In this way, the target node can be accurately and quickly determined according to the first node corresponding to a small error, without continuing to search for the target node. In this way, in a case where the position of the terminal at the n+1 time is determined based on the target node, the position of the terminal at the n+1 time can be accurately positioned based on the accurately determined target node, and the efficiency of determining the target node can be improved, i.e., the efficiency of positioning the terminal can be improved.

[0116] In one embodiment, as shown in FIG. 13, the method further includes: Figure 4

[0117] Step S410, in response to the predetermined condition not being met, determining, based on the first information, whether a deviation value corresponding to a node in the K-ary tree is greater than or equal to a third threshold value, to obtain a determination result; wherein the third threshold value is greater than the second threshold value.

[0118] The searching for the target node from the nodes in the K-ary tree until the predetermined condition is met includes:

[0119] Step S420, based on the determination result, searching for the target node from the nodes in the K-ary tree until the predetermined condition is met.

[0120] Here, since in a case where the predetermined condition is not met, the target node is also searched from the nodes in the K-ary tree based on the determination result until the predetermined condition is met, the determination result is the result of determining whether the deviation value corresponding to the node in the K-ary tree is greater than or equal to the third threshold value, therefore, in a case where the predetermined condition is not met, the target node is not directly continued to be searched, but a determination result of whether the deviation value corresponding to the node is too large is also obtained, so that in a case where the deviation value corresponding to the node is too large, the search order can be flexibly adjusted to quickly and accurately search for the target node from the nodes in the K-ary tree. It should be noted that the third threshold value here can also refer to a preset gross error threshold value.

[0121] In one embodiment, as shown in FIG. 13, the method further includes: Figure 5

[0122] Step S4201, in response to the determination result being the result of determining that the deviation value is greater than or equal to the third threshold value, deleting the node and / or child nodes of the node.

[0123] ​​Step S4202: searching the target node from the K-ary tree of which the node is deleted until a predetermined condition is met.

[0124] Here, in the case that the bias value corresponding to the node is greater than or equal to the third threshold value, it is highly probable that the target node with a smaller bias value cannot be searched from the node with a larger bias value and the branch in which the node is located. In the embodiment of the present disclosure, in response to determining that the bias value corresponding to the node in the K-ary tree is greater than or equal to the third threshold value, the node and / or the child node of the node are deleted, so that the search for the target node with a smaller bias value in the branch in which the node with a larger bias value is located can be stopped. In this way, the number of nodes to be searched can be reduced, and the search efficiency can be improved.

[0125] In one embodiment, as shown in Figure 5 searching the target node from the nodes in the K-ary tree until a predetermined condition is met based on the determination result, includes:

[0126] Step S4203: in response to the determination result being the result of determining that the bias value is less than the third threshold value, searching the target node from the nodes in the K-ary tree based on the search order until the predetermined condition is met; wherein the bias value corresponding to the node in the K-ary tree and the search order corresponding to the child node of the node are positively correlated.

[0127] Here, on the one hand, since in the case that the bias value corresponding to the node in the K-ary tree is determined to be less than the third threshold value, the target node will be searched from the nodes in the K-ary tree until a predetermined condition is met, therefore, the search for the nodes in the branch in which the node is located can be continued only in the case that the error of the first positioning position corresponding to the node is small. In this way, the appropriate target node can be quickly searched from the branch in which the node with a small error is located, and the search efficiency can be improved. On the other hand, since the target node will be searched from the nodes in the K-ary tree until a predetermined condition is met based on the first information and the search order, the bias value corresponding to the node in the K-ary tree and the search order corresponding to the child node of the node are positively correlated, therefore, the target node corresponding to the bias value meeting the condition can be quickly searched in the order of the bias value from small to large. In this way, the search efficiency can be improved.

[0128] In one embodiment, as shown in Figure 6 The method is applied to a first device, and the method further includes:

[0129] In step S610, the value of K is determined based on a performance parameter of the first device, wherein the value of the performance parameter is positively correlated with the value of K, and the performance parameter includes at least one of the following: the running memory of the first device, the total amount of computing power resources of the first device, and the remaining amount of computing power resources of the first device.

[0130] Here, since the value of K in the K-ary tree can be determined based on the performance parameter of the first device, the performance parameter of the first device includes at least one of the following: the running memory of the first device, the total amount of computing power resources of the first device, and the remaining amount of computing power resources of the first device, when searching for the target node from the nodes of the K-ary tree to determine the position of the terminal at the n+1 moment according to the position corresponding to the target node, the value of K in the K-ary tree can be accurately determined according to the performance parameter of the first device, thereby accurately determining the number of nodes in the K-ary tree, and accurately controlling the size of the running memory and / or computing power resources required when searching for the target node from the nodes of the K-ary tree. In this way, the K-ary tree can be accurately constructed according to the performance of the first device, the target node can be searched from the nodes of the K-ary tree to determine the position of the terminal at the n+1 moment according to the position corresponding to the target node, the situation that it is difficult to quickly search the K-ary tree due to excessive running memory and / or computing power resources used by the first device is reduced, and the situation that the search accuracy is too low due to insufficient running memory and / or computing power resources used by the first device is reduced.

[0131] In one embodiment, the number of the transmitting modules is a first number, different transmitting modules correspond to different reference signals, and the signal measurement result includes at least one of the following:

[0132] The first measurement result is the change value of the carrier phase corresponding to the reference signal;

[0133] The second measurement result is the pseudo-range between the terminal and the transmitting module;

[0134] The third measurement result is the integer ambiguity corresponding to the transmitting module, and the integer ambiguity is the integer number corresponding to the reference signal transmitted by the transmitting module at the n moment.

[0135] In one embodiment, a positioning area is determined based on a positioning position of a terminal at an nth moment. A K-ary tree is constructed based on the positioning area. A target node is searched from nodes in the K-ary tree based on first information; wherein the first information comprises a deviation value between a first positioning position determined in the positioning sub-area represented by the node under a constraint condition and an expected value; the first information is used at least for determining a search order of child nodes of the node when searching the target node; the constraint condition is used for constraining a relationship between the first positioning position and second information; the second information comprises a signal measurement result of measuring a reference signal transmitted between the terminal and a transmitting module; the signal measurement result comprises at least one of: a first measurement result, a change value of a carrier phase corresponding to the reference signal; a second measurement result, a pseudo-range between the terminal and the transmitting module; and a third measurement result, an integer ambiguity of the transmitting module, the integer ambiguity being an integer number corresponding to the reference signal transmitted by the transmitting module at the nth moment. The reference signal is used for positioning the terminal; a deviation value corresponding to the target node is less than or equal to a first threshold value. A positioning position of the terminal at an (n+1)th moment is determined based on a first positioning position corresponding to the target node.

[0136] Here, since the positioning position of the terminal at the (n+1)th moment can be determined in combination with the first measurement result, the second measurement result and the third measurement result, and the first measurement result is the change value of the carrier phase corresponding to the reference signal, the second measurement result is the pseudo-range between the terminal and the transmitting module, and the third measurement result is the integer ambiguity of the transmitting module, in the process of determining the positioning position of the terminal at the (n+1)th moment, the change value of the carrier phase (i.e., the carrier phase observation value) corresponding to the reference signal, the pseudo-range and the integer ambiguity observed can be fully utilized to accurately determine the positioning position of the terminal at the (n+1)th moment. In this way, the accuracy of positioning the terminal can be ensured.

[0137] In one embodiment, the second information further comprises at least one of:

[0138] a propagation speed of the reference signal;

[0139] a carrier wavelength corresponding to the reference signal;

[0140] a direction of the transmitting module relative to the terminal;

[0141] a first number of position information of the transmitting module;

[0142] a clock difference corresponding to the terminal, the clock difference being a difference between a time of the terminal and a reference time.

[0143] In an embodiment, based on the first information, a target node is searched from nodes in the K-ary tree; wherein the first information comprises a deviation value between a first positioning position determined in a positioning sub-region represented by the node under a constraint condition and an expected value; the first information is used at least for determining a search order corresponding to child nodes of the node when searching the target node; the constraint condition is used for constraining a relationship between the first positioning position and second information; the second information comprises a signal measurement result of measuring a reference signal transmitted between the terminal and a transmitting module. The signal measurement result comprises at least one of the following: a first measurement result, a change value of a carrier phase corresponding to the reference signal; a second measurement result, a pseudo-range between the terminal and the transmitting module; a third measurement result, an integer ambiguity corresponding to the transmitting module, the integer ambiguity being an integer number corresponding to the reference signal transmitted by the transmitting module at the n th moment. The number of the transmitting modules is a first number, different transmitting modules correspond to different reference signals, and the second information further comprises at least one of the following: a propagation speed of the reference signal; a carrier wavelength corresponding to the reference signal; a direction of the transmitting module relative to the terminal; position information of the first number of the transmitting modules; a clock difference corresponding to the terminal, the clock difference being a difference value between a time of the terminal and a reference time.

[0144] In an embodiment, in the process of determining the position of the terminal at the n+1 th moment, based on the determined integer ambiguity corresponding to the n th moment, an integer ambiguity corresponding to the n+1 th moment can be determined.

[0145] In an embodiment, the integer ambiguity can be updated based on a predetermined period. The predetermined period can be determined according to the moving speed of the terminal and a transmission distance of the reference signal within a transmission time length of an integer number. It can be understood that when the moving distance of the terminal is short, the integer ambiguity corresponding to the reference signal observed by the terminal before moving and the integer ambiguity corresponding to the reference signal observed by the terminal after moving are the same. Only when the moving distance of the terminal is greater than the transmission distance of the reference signal within the transmission time length of the integer number, the integer ambiguity corresponding to the reference signal of the same transmitting module will change. In the embodiments of the present disclosure, the predetermined period can be accurately determined according to the moving speed of the terminal and the transmission distance of the reference signal within the transmission time length of the integer number, and the integer ambiguity is updated in time based on the predetermined period, so that in the process of determining the position of the terminal at the n+1 th moment based on the integer ambiguity, the position of the terminal can be accurately determined. In this way, the accuracy of positioning the terminal can be ensured.

[0146] In one embodiment, the first positioning position is determined from the positioning sub-region by using a constraint condition, which can be the following formula:

[0147]

[0148] wherein, for the current observable s transmitting modules, and are the second measurement result and the first measurement result corresponding to the i th transmitting module respectively, (x * , y * , z * ) is the position information of the i th transmitting module, i = 1, 2, … s, is used to indicate the direction of the i th transmitting module relative to the terminal; X0 = (x0, y0, z0), X0 is the initial value of iteration for solving the first positioning position in the positioning sub-region; and are the integer ambiguity of the i th transmitting module at the n th moment and at the n+1 th moment respectively; λ is the carrier wavelength corresponding to the reference signal;

[0149] s, o = [0 0 0]. is used to indicate the distance between the terminal and the i th transmitting module. c is the propagation speed of the reference signal, dt r is the clock difference of the terminal to be solved, Δx r = [Δx Δy Δz] T is the position change amount of the terminal to be solved relative to X0. c can be the speed of light.

[0150] In one embodiment, the initial value of iteration can be determined based on the third information; the initial value of iteration is the initial value used to determine the first positioning position from the positioning sub-region under the constraint of the constraint condition; the third information includes the signal-to-noise ratio of the transmitting module corresponding to the signal transmitted between the transmitting module and the terminal. Based on the initial value of iteration and the first information, the first positioning position is determined from the positioning sub-region corresponding to the node of the K-ary tree. The first information includes the deviation value between the first positioning position determined from the positioning sub-region represented by the node under the constraint of the constraint condition and the expected value; the constraint condition is used to constrain the relationship between the first positioning position and the second information; the second information includes the signal measurement result of measuring the reference signal transmitted between the terminal and the transmitting module. It can be understood that the value of the signal-to-noise ratio of the transmitting module and the second distance are positively correlated, and the second distance is the distance between the transmitting module and the terminal.

[0151] In one embodiment, the target transmitting module can be selected from the first number of transmitting modules based on the third information; and an iteration initial value can be determined based on the position information of the target transmitting module; the iteration initial value being an initial value used for determining the first positioning position from the positioning sub-region under the constraint of the constraint condition. Exemplarily, the signal-to-noise ratio corresponding to the target transmitting module can be minimum in the first number of transmitting modules.

[0152] In one embodiment, the iteration initial value can be determined based on the center position of the positioning region and / or the positioning sub-region.

[0153] In one embodiment, the integer ambiguity corresponding to the n-th moment can be determined in the process of determining the position of the terminal at the n-th moment. Here, the position of the terminal at the n-th moment can be determined based on a method similar to that of determining the terminal at the n+1-th moment.

[0154] Exemplarily, a positioning area can be determined based on a positioning position of the terminal at the (n-1)th moment; wherein a distance between a position in the positioning area and the positioning position of the terminal at the (n-1)th moment is less than or equal to a first distance; n is a positive integer; a K-ary tree is constructed based on the positioning area; wherein a node of the K-ary tree is used to represent a positioning sub-area in the positioning area; a parent node in the K-ary tree corresponds to K child nodes, and a positioning sub-area corresponding to the parent node is the same as a sum of positioning sub-areas corresponding to the K child nodes; a target node is searched out from the nodes in the K-ary tree based on first information; wherein the first information includes a deviation value between a first positioning position determined from the positioning sub-area represented by the node under a constraint condition and an expected value; the first information is used at least to determine a search order of child nodes of the node when searching for the target node; the constraint condition is used to constrain a relationship between the first positioning position and second information; the second information includes a signal measurement result of measuring a reference signal transmitted between the terminal and a transmitting module; the signal measurement result includes at least one of the following: a first measurement result, a change value of a carrier phase corresponding to the reference signal; a second measurement result, a pseudo-range between the terminal and the transmitting module; a third measurement result, an integer ambiguity corresponding to the transmitting module, the integer ambiguity being an integer ambiguity corresponding to the reference signal transmitted by the transmitting module at the nth moment; a number of the transmitting modules is a first number, and reference signals corresponding to different transmitting modules are different; the second information further includes at least one of the following: a propagation speed of the reference signal; a carrier wavelength corresponding to the reference signal; a direction of the transmitting module relative to the terminal; position information of the first number of the transmitting modules; a clock difference corresponding to the terminal, the clock difference being a difference between a time of the terminal and a reference time. The reference signal is used to position the terminal; the deviation value corresponding to the target node is less than or equal to a first threshold; a positioning position of the terminal at the nth moment is determined based on the first positioning position corresponding to the target node.

[0155] In one embodiment, in response to an integer ambiguity to be updated at the nth moment, an integer ambiguity corresponding to the nth moment and a position of the terminal at the nth moment can be calculated simultaneously based on the following constraint condition:

[0156]

[0157] wherein, for the s transmitting modules currently observable, and are the second measurement result and the first measurement result corresponding to the i th transmitting module, respectively, (x * , y * , z *) is the position information of the s-th transmitting module, taking 1, 2, …, s, is used to indicate the direction of the s-th transmitting module relative to the terminal; X0=(x0, y0, z0) is an iterative initial value used to solve the first positioning position in the positioning sub-region; λ is the carrier wavelength corresponding to the reference signal, N * is the integer ambiguity corresponding to the s-th transmitting module at the n-th moment to be solved;

[0158] O=[0 0 0]. is used to indicate the distance between the terminal and the s-th transmitting module. c is the propagation speed of the reference signal, dt r is the clock error corresponding to the terminal to be solved, Δx r =[Δx Δy Δz] T is the position change amount of the terminal relative to X0 to be solved. c can be the speed of light.

[0159] In one embodiment, please refer to Figure 7 , the positioning area is determined based on the positioning position of the terminal at the n-th moment, comprising:

[0160] Step S1101, based on the positioning position of the terminal at the n-th moment and the positioning error value, the positioning area is determined; wherein the positioning error value is used to correct the positioning position of the terminal at the n-th moment, the distance between the position in the positioning area and the corrected positioning position of the terminal at the n-th moment is less than or equal to the first distance.

[0161] Here, the positioning area can be accurately determined according to the corrected positioning position, compared with the way of directly determining the positioning area based on the uncorrected positioning position of the terminal at the n-th moment in the related art, the accuracy of the positioning area determined in the embodiment of the present disclosure is high. In this way, it is ensured that the position of the terminal at the n+1-th moment can be accurately positioned in the appropriate positioning area.

[0162] In one embodiment, the positioning error value can be a deviation value corresponding to the positioning position of the terminal at the n-th moment.

[0163] In one embodiment, the center position of the positioning area can be the corrected positioning position. For example, please refer to the point A in FIG. 8, Figure 8 , which is used to represent the positioning position of the terminal at the n-th moment, Figure 8 , which is used to represent the corrected positioning position.

[0164] In one embodiment, a positioning area can be determined based on the positioning position of the terminal at the (n-1)th moment; a K-ary tree can be constructed based on the positioning area; wherein the nodes of the K-ary tree are used to represent positioning sub-areas within the positioning area; a target node is searched out from the nodes in the K-ary tree based on first information; wherein the first information includes a deviation value between a first positioning position determined from the positioning sub-area represented by the node under the constraint of a constraint condition and an expected value; the deviation value corresponding to the target node is less than or equal to a first threshold value; and a positioning position of the terminal at the nth moment is determined based on the first positioning position corresponding to the target node. At this time, the deviation value corresponding to the first positioning position is the deviation value corresponding to the positioning position of the terminal at the nth moment.

[0165] In one embodiment, in order to better understand the embodiments of the present disclosure, please refer to Figure 9 , Figure 9 An exemplary positioning method is shown, which comprises:

[0166] Step S901, determining a positioning position of a terminal at an nth moment and an integer ambiguity corresponding to a reference signal transmitted by a transmitting module at the nth moment;

[0167] It can be understood that in the process of positioning the terminal, the moment corresponding to the data used for positioning the terminal is also called an epoch. Here, the data used for positioning the terminal can refer to any of the second information described in the embodiments of the present disclosure. It should be noted that any of the moments described in the embodiments of the present disclosure can refer to an epoch, wherein the nth moment can refer to the nth epoch, and the (n+1)th moment can refer to the (n+1)th epoch.

[0168] Step S902, constructing a K-ary tree based on the positioning position of the terminal at the nth moment;

[0169] Wherein, the nodes of the K-ary tree are used to represent positioning sub-areas within the positioning area; and the distance between the positions within the positioning area and the positioning position of the terminal at the nth moment is less than or equal to a first distance;

[0170] Step S903, calculating the first positioning position and the deviation value corresponding to the nodes for the k child nodes corresponding to the second node of the mth layer in the K-ary tree;

[0171] Step S904, determining the relationship between the deviation value corresponding to the node and a preset threshold value; wherein the preset threshold value includes a second threshold value and / or a third threshold value;

[0172] Here, the second threshold value can be a preset convergence threshold value, and the third threshold value can be a preset gross error threshold value.

[0173] The relationship between the deviation value corresponding to a node and the second threshold can be determined first. If it is necessary to further determine the relationship between the deviation value corresponding to a node and a preset threshold, then the relationship between the deviation value corresponding to a node and the third threshold can be determined. It should be noted that in any embodiment of this disclosure, the second threshold is less than the third threshold.

[0174] Here, determining the relationship between the deviation value corresponding to the node and the second threshold can also refer to determining whether the second sub-condition described in any of the embodiments of this disclosure is satisfied; the second sub-condition is that the deviation value between the first positioning position and the expected value of the deviation value corresponding to the first node of the K-ary tree is less than the second threshold.

[0175] Step S905: In response to the sum of squared residuals corresponding to a node being less than or equal to a second threshold, stop searching for nodes in the K-ary tree and determine the first positioning position corresponding to the node as the position of the terminal at time n+1.

[0176] Step S906: In response to the sum of squared residuals corresponding to a node being greater than or equal to a third threshold, delete the node and its child nodes in the K-ary tree.

[0177] Step S907: In response to the residual sum of squares corresponding to a node being greater than the second threshold and the residual sum of squares being less than the third threshold, the k child nodes are traversed in ascending order of the residual sum of squares.

[0178] Traversing k child nodes can refer to performing one of the steps S903 to S904 and S905 to S907 for traversing k child nodes.

[0179] After steps S903 to S907 have been executed for all child nodes corresponding to the nodes at the m-th level in the K-ary tree, steps S903 to S904 and one of steps S905 to S907 can be executed for the child nodes corresponding to the nodes at the (m+1)-th level in the K-ary tree.

[0180] Step S908: In response to the first sub-condition being met, stop traversing the nodes of the K-ary tree and determine the position of the terminal in the (n+1)th epoch based on the first positioning position of the target node; the first sub-condition is that all leaf nodes in the K-ary tree have been traversed; the residual sum of squares corresponding to the target node is less than the residual sum of squares corresponding to other leaf nodes.

[0181] like Figure 10 As shown, this disclosure provides a positioning device, the positioning device comprising:

[0182] The determining module 101 is configured to determine a positioning area based on the positioning position of the terminal at the nth moment; wherein the distance between the position in the positioning area and the positioning position of the terminal at the nth moment is less than or equal to a first distance; n is a positive integer;

[0183] The processing module 102 is configured to construct a K-ary tree based on the positioning area; wherein the node of the K-ary tree is used to represent a positioning sub-area in the positioning area; the parent node in the K-ary tree corresponds to K child nodes, and the positioning sub-area corresponding to the parent node is the same as the sum of the positioning sub-areas corresponding to the K child nodes.

[0184] The searching module 103 is configured to search a target node from the nodes in the K-ary tree based on first information; wherein the first information includes a deviation value between a first positioning position determined from the positioning sub-area represented by the node under a constraint condition and an expected value; the first information is used at least to determine the search order of the child nodes of the node when searching the target node; the constraint condition is used to constrain the relationship between the first positioning position and second information; the second information includes a signal measurement result of measuring a reference signal transmitted between the terminal and a transmitting module; the reference signal is used to position the terminal; the deviation value between the first positioning position corresponding to the target node and the expected value is less than or equal to a first threshold value.

[0185] The determining module 101 is further configured to determine the positioning position of the terminal at the (n+1)th moment based on the first positioning position corresponding to the target node.

[0186] As shown in Figure 11 The positioning device provided by the embodiment of the present disclosure is used to implement the method according to any one of the embodiments of the present disclosure, and the positioning device comprises a signal transmission module 111, a first calculation module 112, a second calculation module 113, a searching module 114 and a communication module 115.

[0187] The signal transmission module 111 is configured to receive a reference signal and perform digital processing on the reference signal; the reference signal is used to position a terminal.

[0188] The first calculation module 112 is configured to determine the positioning position of the terminal at the nth moment based on the reference signal after digital processing.

[0189] The searching module 113 is configured to construct a K-ary tree based on the positioning position of the terminal at the nth moment; wherein the K-ary tree is used to represent a positioning area within a first distance from the positioning position.

[0190] The second calculation module 114 is configured to search a target node from the nodes in the K-ary tree based on first information, wherein the first information comprises a deviation value between a first positioning position determined in the positioning sub-region represented by the node under a constraint condition and an expected value; the first information is used at least for determining a search order corresponding to child nodes of the node when searching the target node; the constraint condition is used for constraining a relationship between the first positioning position and second information; the second information comprises a signal measurement result of measuring a reference signal transmitted between the terminal and a transmitting module; the reference signal is used for positioning the terminal; a deviation value between the first positioning position corresponding to the target node and the expected value is less than or equal to a first threshold value; and a positioning position of the terminal at an (n+1)th moment is determined based on the first positioning position corresponding to the target node.

[0191] The communication module 115 is configured to broadcast the positioning position of the terminal at the (n+1)th moment.

[0192] The disclosure embodiment provides a processing device, which comprises:

[0193] A memory is configured to store an executable program.

[0194] A processor is configured to execute the executable program stored in the memory, and implement the method according to any one of the disclosure embodiments.

[0195] It can be understood that the memory can be a volatile memory or a non-volatile memory, and can also include both volatile and non-volatile memories. Among them, the non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a ferromagnetic random access memory (FRAM), a flash memory, a magnetic surface memory, an optical disc, or a compact disc read-only memory (CD-ROM). The magnetic surface memory can be a disk memory or a tape memory. The volatile memory can be a random access memory (RAM) used as an external cache. By way of example but not limitation, many forms of RAM can be used, such as static random access memory (SRAM), synchronous static random access memory (SSRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), sync link dynamic random access memory (SLDRAM), and direct rambus random access memory (DRRAM).The memory described in the embodiments of the present application is intended to include, but not limited to, these and any other suitable types of memory.

[0196] The positioning method disclosed in the present application can be applied to or implemented by the processor. The processor can be an integrated circuit chip with processing capability. In the implementation process, the steps of the positioning method can be completed by the integrated logic circuit or the instruction of the software form in the processor. The processor mentioned above can be a general processor, a digital signal processor (DSP), or other programmable logic device, discrete gate or transistor logic device, discrete hardware component, etc. The processor can implement or execute the disclosed methods, steps and logic block diagrams in the present application. The general processor can be a microprocessor or any conventional processor, etc. In combination with the steps of the disclosed method, the hardware decoding processor can be directly embodied to complete the execution, or the combination of the hardware and software modules in the decoding processor can be used to complete the execution. The software module can be located in the storage medium, which is located in the memory. The processor reads the information in the memory and combines the hardware to complete the steps of the positioning method provided in the embodiments of the present application.

[0197] The present application further provides a computer storage medium, which stores an executable program. When the executable program is executed by a processor, the positioning method according to any one of the embodiments of the present application is implemented. Specifically, the computer storage medium can be a computer readable storage medium, such as a memory for storing a computer program, which can be executed by a processor of a processing device to complete the steps of the embodiments of the present application. The computer readable storage medium can be a ROM, a PROM, an EPROM, an EEPROM, a flash memory, a magnetic surface memory, an optical disc, or a CD-ROM, etc.

[0198] The above description is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical range disclosed in the present application, which should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A positioning method, characterized by, The method includes: Based on the terminal's location at time n, a positioning area is determined; wherein, the distance between the location within the positioning area and the terminal's location at time n is less than or equal to a first distance; n is a positive integer; Based on the positioning region, a K-ary tree is constructed; wherein, the nodes of the K-ary tree are used to represent the positioning sub-regions within the positioning region; the nodes of the K-ary tree include parent nodes and child nodes; the parent node in the K-ary tree corresponds to K child nodes, and the positioning sub-region corresponding to the parent node is the same as the sum of the positioning sub-regions corresponding to the K child nodes; Based on the first information, a target node is searched from the nodes in the K-ary tree; wherein, the first information includes the deviation value between a first positioning position determined from the positioning sub-region represented by the node and an expected value under the constraints of the constraints; the first information is used at least to determine the search order corresponding to the child nodes of the node when searching for the target node; the constraints are used to constrain the relationship between the first positioning position and the second information; the second information includes the signal measurement result of measuring the reference signal transmitted between the terminal and the transmitting module; the reference signal is used to locate the terminal; the deviation value corresponding to the target node is less than or equal to a first threshold; Based on the first positioning position corresponding to the target node, the positioning position of the terminal at time n+1 is determined.

2. The method according to claim 1, characterized in that, The step of searching for the target node from the nodes in the K-ary tree based on the first information includes: Based on the first information, the target node is searched from the nodes in the K-ary tree until the predetermined conditions are met, and the target node is obtained; The predetermined conditions include a first sub-condition and / or a second sub-condition. The first sub-condition is to traverse all leaf nodes in the K-ary tree, and the second sub-condition is to determine that the deviation value corresponding to the first node of the K-ary tree is less than a second threshold.

3. The method according to claim 2, characterized in that, When the first sub-condition is satisfied, the target node is the node determined from the leaf nodes of the K-ary tree; And / or, When the second sub-condition is met, the target node is the first node.

4. The method according to claim 2, characterized in that, The method further includes: In response to the failure to meet the predetermined condition, based on the first information, it is determined whether the deviation value corresponding to the node in the K-ary tree is greater than or equal to a third threshold, and a determination result is obtained; wherein, the third threshold is greater than the second threshold; The step of searching for the target node from the nodes in the K-ary tree until a predetermined condition is met includes: Based on the determination result, the target node is searched from the nodes in the K-ary tree until the predetermined condition is met.

5. The method according to claim 4, characterized in that, The step of searching for the target node from the nodes in the K-ary tree based on the determined result until the predetermined condition is met includes: In response to the determination result being that the deviation value is greater than or equal to the third threshold, the node and / or the node's child nodes are deleted; Search for the target node in the K-ary tree of the node to be deleted until the predetermined condition is met.

6. The method according to claim 4, characterized in that, The step of searching for the target node from the nodes in the K-ary tree based on the determined result until the predetermined condition is met includes: In response to the determination result being that the deviation value is less than the third threshold, the target node is searched from the nodes in the K-ary tree based on the search order until the predetermined condition is met; wherein, the deviation value corresponding to the node in the K-ary tree is positively correlated with the search order corresponding to the child nodes of the node.

7. The method according to claim 1, characterized in that, The method is applied to a first device, and the method further includes: The value of K is determined based on the performance parameters of the first device; The value of the performance parameter is positively correlated with the value of K; the performance parameter includes at least one of the following: the running memory of the first device, the total computing power resources of the first device, and the remaining computing power resources of the first device.

8. The method according to claim 1, characterized in that, The number of transmitting modules is a first number, and different transmitting modules correspond to different reference signals. The signal measurement results include at least one of the following: The first measurement result is the change in the carrier phase corresponding to the reference signal; The second measurement result is the pseudorange between the terminal and the transmitting module; The third measurement result is the integer ambiguity corresponding to the transmitting module, whereby the integer ambiguity is the number of integer cycles corresponding to the reference signal transmitted by the transmitting module at the (n+1)th time.

9. The method according to claim 8, characterized in that, The second information also includes at least one of the following: The propagation speed of the reference signal; The carrier wavelength corresponding to the reference signal; The direction of the transmitting module relative to the terminal; Location information of the first number of the transmitting modules; The clock difference corresponding to the terminal is the difference between the time of the terminal and the reference time.

10. The method according to claim 1, characterized in that, The determination of the positioning area based on the terminal's location at time n includes: The positioning area is determined based on the terminal's positioning location and positioning error value at the nth time. The positioning error value is used to correct the positioning position of the terminal at the nth time, and the distance between the position within the positioning area and the corrected positioning position of the terminal at the nth time is less than or equal to the first distance.

11. A positioning device, characterized in that, The positioning device includes: The determination module is used to determine a positioning area based on the positioning location of the terminal at time n; wherein the distance between the location within the positioning area and the positioning location of the terminal at time n is less than or equal to a first distance; n is a positive integer; The processing module is used to construct a K-ary tree based on the positioning area; wherein, the nodes of the K-ary tree are used to represent the positioning sub-regions within the positioning area; the nodes of the K-ary tree include parent nodes and child nodes, the parent node in the K-ary tree corresponds to K child nodes, and the positioning sub-regions corresponding to the parent node are the same as the sum of the positioning sub-regions corresponding to the K child nodes. A search module is configured to search for a target node from the nodes in the K-ary tree based on first information; wherein the first information includes a deviation value between a first positioning position determined from the positioning sub-region represented by the node and an expected value under constraints; the first information is used at least to determine the search order corresponding to the child nodes of the node when searching for the target node; the constraints are used to constrain the relationship between the first positioning position and the second information; the second information includes a signal measurement result of measuring a reference signal transmitted between the terminal and the transmitting module; the reference signal is used to locate the terminal; and the deviation value corresponding to the target node is less than or equal to a first threshold. The determining module is further configured to determine the location of the terminal at time n+1 based on the first positioning location corresponding to the target node.

12. A positioning device, characterized in that, The positioning device is used to implement the method as described in any one of claims 1 to 10, and the positioning device includes a signal transmission module, a first calculation module, a second calculation module, a search module, and a communication module; The signal transmission module is used to receive a reference signal and digitize the reference signal; the reference signal is used to locate the terminal. The first calculation module is used to determine the location of the terminal at time n based on the digitally processed reference signal; The search module is used to construct a K-ary tree based on the location of the terminal at the nth time; wherein the K-ary tree is used to represent the location area within a first distance of the location; The second calculation module is used to search for a target node from the nodes in the K-ary tree based on first information; wherein, the first information includes a deviation value between a first positioning position determined from the positioning sub-region represented by the node under constraints and an expected value; the first information is used at least to determine the search order of the child nodes of the node when searching for the target node; the constraints are used to constrain the relationship between the first positioning position and the second information; the second information includes a signal measurement result of measuring a reference signal transmitted between the terminal and the transmitting module; the reference signal is used to locate the terminal; the deviation value corresponding to the target node is less than or equal to a first threshold; and the positioning position of the terminal at time n+1 is determined based on the first positioning position corresponding to the target node. The communication module is used to broadcast the location of the terminal at the (n+1)th time.

13. A processing apparatus, characterized in that, The processing equipment includes: Memory, used to store executable programs; A processor, when executing an executable program stored in the memory, implements the method as described in any one of claims 1 to 10.

14. A computer storage medium, characterized in that, The computer storage medium stores an executable program, which, when executed by a processor, implements the method as described in any one of claims 1 to 10.

Images