A positioning method, apparatus, device and computer readable storage medium

Abstract

This application discloses a positioning method, apparatus, device, and computer-readable storage medium, comprising: determining the current positioning environment of an object to be positioned; if the positioning environment is a single-signal positioning environment, determining the position of the object to be positioned using a first target positioning technology corresponding to the positioning environment; if the positioning environment is a multi-source signal positioning environment, determining the number of positioning signals acquired by the object to be positioned and the signal strength of the signal at the reference position acquired by the object to be positioned, and determining a second target positioning technology based on the number and the signal strength; and determining the position of the object to be positioned using the second target positioning technology.

Description

Technical Field

[0001] This application relates to positioning technology in the field of communications, and more particularly to a positioning method, apparatus, device, and computer-readable storage medium. Background Technology

[0002] With the improvement of positioning technology accuracy, location services provide highly accurate location information data for vertical fields such as smart industry, smart logistics, smart transportation, and public safety, becoming an important foundation for the Internet of Things era. In outdoor scenarios, positioning technologies such as BeiDou and Global Positioning System (GPS) are constantly evolving, with increasingly higher accuracy and wider applications. However, in complex indoor environments, factors such as signal blockage and multipath effects can cause satellite positioning signals to weaken, resulting in poor positioning performance or even malfunction. As the demand for indoor positioning increases, more positioning technologies have emerged, including Radio Frequency Identification (RFID), Wireless Fidelity (Wi-Fi), ultrasonic positioning, visual positioning, inertial navigation, 5G, Ultra Wide Band (UWB), and pseudosatellites. Among these, 5G positioning, inertial navigation, UWB positioning, and pseudosatellites have received the most attention in recent years.

[0003] Most current positioning solutions are only applicable to specific indoor or outdoor positioning environments. With the continuous development and updating of positioning technologies and applications, indoor-outdoor integrated positioning will become an inevitable trend. However, indoor positioning and outdoor positioning are relatively independent. In the complex environment of the indoor-outdoor boundary area, there is a time delay during the switching process, and frequent switching will affect the accuracy and precision of positioning. Summary of the Invention

[0004] To address the aforementioned technical problems, embodiments of this application provide a positioning method, apparatus, device, and computer-readable storage medium, which solves the problems of time delay and poor positioning accuracy and precision in related technologies during indoor-outdoor switching.

[0005] To achieve the above objectives, the technical solution of this application embodiment is implemented as follows:

[0006] A positioning method, the method comprising:

[0007] Determine the current location environment of the object to be located;

[0008] If the positioning environment is a single-signal positioning environment, the location of the object to be located is determined by a first target positioning technology corresponding to the positioning environment.

[0009] If the positioning environment is a multi-source signal positioning environment, determine the number of positioning signals obtained by the object to be positioned and the signal strength of the signal at the reference position obtained by the object to be positioned, and determine the second target positioning technology based on the number and the signal strength.

[0010] The location of the object to be located is determined using the second target localization technique.

[0011] In the above scheme, determining the current location environment of the object to be located includes:

[0012] Determine a first number of first positioning signals and a second number of second positioning signals obtained at the location of the object to be located; wherein the first positioning signal and the second positioning signal correspond to different positioning environments;

[0013] If the first quantity meets the first target quantity, it is determined that the object to be located is currently in the first location environment;

[0014] If the second quantity meets the second target quantity, it is determined that the object to be located is currently in a second positioning environment; wherein, the first positioning environment and the second positioning environment are single-signal positioning environments;

[0015] If the first quantity does not meet the first target quantity, and the second quantity does not meet the second target quantity, it is determined that the object to be located is currently in a third positioning environment; wherein, the third positioning environment is a multi-source signal positioning environment.

[0016] In the above scheme, if the positioning environment is a single positioning environment, determining the location of the object to be located using a first target positioning technology corresponding to the positioning environment includes:

[0017] If the positioning environment is a first positioning environment, the first target positioning technology is determined to be a first positioning technology, and the first positioning technology is used to determine the position of the object to be located;

[0018] If the positioning environment is a second positioning environment, the first target positioning technology is determined to be the second positioning technology, and the second positioning technology is used to determine the position of the object to be located; wherein the positioning environments applicable to the first positioning technology and the second positioning technology are different.

[0019] In the above scheme, determining the number of positioning signals acquired by the object to be located and the signal strength of the signal at the reference position acquired by the object to be located, and determining the second target positioning technology based on the number and the signal strength, includes:

[0020] Determine the signal strength of the signal at the reference position obtained by the object to be located;

[0021] If the signal strength meets the target signal strength, the target object is counted during its movement, and the number of acquired positioning signals is determined. Based on the number of positioning signals and the counting result, the second target positioning technology is determined.

[0022] In the above scheme, the step of counting the number of positioning signals acquired during the movement of the object to be located, and determining the number of positioning signals, and determining the second target positioning technology based on the number of positioning signals and the counting result, includes:

[0023] During the movement of the object to be located, a third number of the first positioning signals acquired by the object to be located is continuously determined;

[0024] If the third quantity satisfies the first target quantity, the second target positioning technology is determined to be the first positioning technology and the counting operation is started.

[0025] If the third quantity does not meet the first target quantity, the fourth quantity of the second positioning signal obtained by the object to be located is continuously determined;

[0026] If the fourth quantity satisfies the second target quantity, the second target positioning technology is determined to be the second positioning technology.

[0027] In the above scheme, if the fourth quantity does not meet the second target quantity, the count value is incremented by 1. And if the third quantity does not meet the first target quantity and the fourth quantity does not meet the second target quantity, the count value is continuously incremented to obtain the count result.

[0028] If the counting result indicates that the count value meets the target switching threshold, the second target positioning technology is determined to be a target autonomous navigation and positioning technology.

[0029] In the above scheme, determining the location of the object to be located using the second target localization technology includes:

[0030] The reference position of the object to be located is determined by using the positioning technology corresponding to the positioning environment in which the object was located at the previous moment, and the reference position is determined as the initial position corresponding to the target autonomous navigation and positioning technology;

[0031] The target autonomous navigation and positioning technology is used to determine the location of the object to be located based on the initial location.

[0032] The method in the above scheme further includes:

[0033] Update the number of second positioning signals acquired by the object to be located;

[0034] If the number of updated second positioning signals meets the second target number, the second positioning technology is used to determine the location of the object to be located.

[0035] A positioning device, the device comprising:

[0036] The first determining module is used to determine the current positioning environment of the object to be located;

[0037] The first processing module is further configured to determine the location of the object to be located by using a first target positioning technology corresponding to the positioning environment if the positioning environment is a single signal positioning environment;

[0038] The second determining module is used to determine the number of positioning signals acquired by the object to be located and the signal strength of the signal at the reference position acquired by the object to be located if the positioning environment is a multi-source signal positioning environment, and to determine a second target positioning technology based on the number and the signal strength.

[0039] The second processing module is used to determine the location of the object to be located using the second target positioning technology.

[0040] A positioning device, the device comprising: a processor, a memory, and a communication bus;

[0041] The communication bus is used to realize the communication connection between the processor and the memory;

[0042] The processor is used to execute the positioning program in the memory to implement the steps of the positioning method described above.

[0043] A computer-readable storage medium storing one or more programs that can be executed by one or more processors to implement the steps of the above-described positioning method.

[0044] The positioning method, apparatus, device, and computer-readable storage medium provided in the embodiments of this application can determine the current positioning environment of the object to be positioned. If the positioning environment is a single-signal positioning environment, a first target positioning technology corresponding to the positioning environment is used to determine the position of the object to be positioned. If the positioning environment is a multi-source signal positioning environment, the number of positioning signals acquired by the object to be positioned and the signal strength of the signal at the reference position acquired by the object to be positioned are determined. Then, a second target positioning technology is determined based on the number and signal strength, and the position of the object to be positioned is determined using the second target positioning technology. In this way, regardless of the current positioning environment of the object to be positioned, the corresponding positioning technology can be determined in real time and the positioning technology can be used to locate the object to be positioned, without having to implement one positioning technology and then switch to another. This solves the problem of time delay in the switching process between indoor and outdoor positioning technologies in related technologies, and improves positioning accuracy and precision. Attached Figure Description

[0045] Figure 1 A schematic flowchart illustrating a positioning method provided for an embodiment of this application;

[0046] Figure 2 A flowchart illustrating another positioning method provided for an embodiment of this application;

[0047] Figure 3 A schematic diagram of the positioning environment in a positioning method provided for an embodiment of this application;

[0048] Figure 4 A flowchart illustrating yet another positioning method provided for an embodiment of this application;

[0049] Figure 5 A schematic diagram of a positioning device provided for an embodiment of this application;

[0050] Figure 6 This is a schematic diagram of the structure of a positioning device provided for an embodiment of this application. Detailed Implementation

[0051] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings.

[0052] It should be understood that the phrases "embodiments of this application" or "foreign embodiments" throughout the specification mean that a specific feature, structure, or characteristic related to an embodiment is included in at least one embodiment of this application. Therefore, "embodiments of this application" or "in the foreign embodiments" appearing throughout the specification do not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. In the various embodiments of this application, the sequence numbers of the above-described processes do not imply a sequential order of execution; the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application. The sequence numbers of the above-described embodiments are merely descriptive and do not represent the superiority or inferiority of the embodiments.

[0053] Unless otherwise specified, any step in the embodiments of this application performed by the electronic device may be executed by the processor of the electronic device. It is also worth noting that the embodiments of this application do not limit the order in which the electronic device performs the following steps. Furthermore, the methods used to process data in different embodiments may be the same or different methods. It should also be noted that any step in the embodiments of this application can be executed independently by the electronic device; that is, when the electronic device performs any step in the following embodiments, it may not depend on the execution of other steps.

[0054] It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of this application.

[0055] This application provides a positioning method that can be applied to positioning devices. (Refer to...) Figure 1 As shown, the method may include the following steps:

[0056] Step 101: Determine the current location environment of the object to be located.

[0057] In the embodiments of this application, the object to be located can refer to the object that needs to be located. In one feasible implementation, the object to be located can refer to the mobile terminal that needs to be located, the holder of the mobile terminal, the device, the item, etc.

[0058] The positioning environment refers to the environmental conditions of the location of the object to be located. In one feasible implementation, the positioning environment can include various types such as indoor positioning environment, outdoor positioning environment, and indoor-outdoor boundary positioning environment. Specifically, the positioning environment of the object's current location can be determined based on the positioning signals that the object can obtain.

[0059] Step 102: If the positioning environment is a single-signal positioning environment, the location of the object to be located is determined by the first target positioning technology corresponding to the positioning environment.

[0060] In this embodiment, a single-signal positioning environment refers to a situation where the positioning signal received by the object to be located in the current environment is of a single type, i.e., the object to be located receives a single signal source. In one feasible implementation, the single positioning signal corresponding to the single-signal positioning environment may include a single outdoor positioning signal or a single indoor positioning signal. The first target positioning technology corresponding to the positioning environment may include positioning technology for indoor positioning or positioning technology for outdoor positioning.

[0061] Step 103: If the positioning environment is a multi-source signal positioning environment, determine the number of positioning signals acquired by the object to be positioned and the signal strength of the signal at the reference position acquired by the object to be positioned, and determine the second target positioning technology based on the number and signal strength.

[0062] In this embodiment, the reference location can be a pre-set beacon location used to determine the movement trend of the object to be located. Specifically, beacon mode can be enabled, and radio frequency identification devices (RFID), ultrasonic, or Bluetooth beacons can be pre-deployed in the indoor / outdoor boundary area, and the beacon locations can be known. The signal strength of the signal at the reference location obtained by the object to be located can refer to the signal strength of the signal transmitted from the reference location and received by the object to be located.

[0063] In other embodiments of this application, a multi-source signal positioning environment can refer to a situation where the object to be positioned can receive multiple types of positioning signals within the current environment, i.e., the object receives signals from multiple signal sources. In one feasible implementation, the multi-source positioning signals within the multi-source signal positioning environment can include indoor positioning signals and outdoor positioning signals. It should be noted that the number of positioning signals acquired by the object to be positioned can refer to the number of indoor positioning signals and the number of outdoor positioning signals acquired; that is, the positioning device can combine the number of indoor positioning signals, the number of outdoor positioning signals, and the signal strength to determine a positioning technology suitable for the current multi-source signal positioning environment.

[0064] Step 104: Use the second target positioning technology to determine the location of the object to be located.

[0065] In this embodiment, the positioning device can directly use the determined final second target positioning technology to determine the location of the object to be located. It should be noted that, because the second target positioning technology is the most suitable positioning technology for the current positioning environment, the location of the object to be located determined using this second target positioning technology is more accurate and has higher positioning precision.

[0066] The positioning method provided by the embodiments of this application can determine the corresponding positioning technology in real time and use the positioning technology to locate the object to be located, regardless of the current positioning environment of the object to be located. It does not require implementing one positioning technology and then switching to another positioning technology, thereby solving the problem of time delay in the indoor-outdoor switching process of positioning technology in related technologies, and improving positioning accuracy and precision.

[0067] Based on the foregoing embodiments, embodiments of this application provide a positioning method, referring to... Figure 2 As shown, the method may include the following steps:

[0068] Step 201: The positioning device determines the first number of first positioning signals and the second number of second positioning signals obtained by the object to be positioned at its location.

[0069] The first positioning signal and the second positioning signal correspond to different positioning environments.

[0070] In this embodiment of the application, when the object to be located switches from an outdoor environment to an indoor environment, the first positioning signal is the outdoor positioning signal corresponding to positioning outdoors, and the second positioning signal is the indoor positioning signal corresponding to positioning indoors; when the object to be located switches from an indoor environment to an outdoor environment, the first positioning signal is the indoor positioning signal corresponding to positioning indoors, and the second positioning signal is the outdoor positioning signal corresponding to positioning outdoors.

[0071] In one feasible implementation, outdoor positioning signals can refer to positioning signals transmitted by satellites; that is, the number of outdoor positioning signals can refer to the number of satellite signals that the object to be positioned can receive at its current location, or it can represent the number of satellites that the object to be positioned can receive. Indoor positioning signals can refer to positioning signals transmitted by base stations corresponding to 5G, UWB, inertial navigation, or pico remote radio units (pRRU); that is, the number of indoor positioning signals can refer to the number of signals transmitted by base stations corresponding to 5G, UWB, inertial navigation, or pRRU that the object to be positioned can receive at its current location.

[0072] It should be noted that after step 201, you can choose to execute steps 202-203, steps 204-205, or steps 206-209.

[0073] Step 202: If the first quantity meets the first target quantity, the positioning device determines that the object to be positioned is currently in the first positioning environment.

[0074] In this embodiment, the first target quantity can be a pre-set value based on historical usage data and the actual application scenario; wherein, the first target quantity can be a value that can characterize a strong positioning signal; in one feasible implementation, if the first positioning environment is an outdoor positioning environment, the first target quantity can be 4. It should be noted that if the number of first positioning signals that the device to be positioned can obtain is greater than or equal to 4, it indicates that the signal error rate is low and the packet loss rate is less than a pre-set threshold. At this time, it can be determined that the device to be positioned is currently in an outdoor positioning environment; that is, the device to be positioned can receive signals from 4 or more satellites, and the device to be positioned is currently outdoors.

[0075] Step 203: If the positioning environment is the first positioning environment, the positioning device determines the first target positioning technology as the first positioning technology and uses the first positioning technology to determine the position of the object to be positioned.

[0076] In this embodiment, the positioning device can directly employ a first positioning technology to perform positioning operations on the object to be positioned, thereby determining the location of the object. Specifically, when the object switches from an outdoor environment to an indoor environment, the first positioning environment is an outdoor positioning environment, and the first positioning technology is an outdoor positioning technology used for outdoor positioning; conversely, when the object switches from an indoor environment to an outdoor environment, the first positioning environment is an indoor positioning environment, and the first positioning technology is an indoor positioning technology used for indoor positioning. In one feasible implementation, if the first positioning technology is an outdoor positioning technology, then a Real-Time Kinematic (RTK) positioning mode can be used to perform positioning operations on the object to be positioned, thereby determining its location.

[0077] Step 204: If the second quantity meets the second target quantity, the positioning device determines that the object to be positioned is currently in the second positioning environment.

[0078] Among them, the first positioning environment and the second positioning environment are single-signal positioning environments.

[0079] In this embodiment, the second target quantity can be a pre-set value based on historical usage data and the actual application scenario; wherein, the second target quantity can be a value that can characterize a strong positioning signal; in one feasible implementation, if the second positioning environment is an indoor positioning environment, the second target quantity can be 3. It should be noted that if the number of second positioning signals that the device to be positioned can obtain is greater than or equal to 3, it indicates that the signal error rate is low and the packet loss rate is less than a pre-set threshold. At this time, it can be determined that the device to be positioned is currently in an indoor positioning environment; that is, the device to be positioned can receive signals from 3 or more pRRUs at this time, and the device to be positioned is currently indoors.

[0080] Step 205: If the positioning environment is the second positioning environment, the positioning device determines the first target positioning technology as the second positioning technology, and uses the second positioning technology to determine the location of the object to be positioned.

[0081] The first and second positioning technologies are applicable to different positioning environments.

[0082] In this embodiment, the positioning device can directly employ a second positioning technology to perform positioning operations on the object to be positioned, thereby determining the location of the object. Specifically, when the object switches from an outdoor environment to an indoor environment, the second positioning environment is an indoor positioning environment, and the second positioning technology is an indoor positioning technology used for indoor positioning; conversely, when the object switches from an indoor environment to an outdoor environment, the second positioning environment is an outdoor positioning environment, and the second positioning technology is an outdoor positioning technology used for outdoor positioning. In one feasible implementation, if the second positioning technology is an indoor positioning technology, then a 5G positioning mode can be used to perform positioning operations on the object to be positioned, thereby determining its location.

[0083] Step 206: If the first quantity does not meet the first target quantity, and the second quantity does not meet the second target quantity, the positioning device determines that the object to be positioned is currently in the third positioning environment.

[0084] The third positioning environment is a multi-source signal positioning environment.

[0085] In this embodiment, if the first number of first positioning signals that the device to be located can acquire is less than the first target number, and the second number of second positioning signals that it can acquire is less than the second target number, then it indicates that the signal error rate is high, the packet loss rate reaches a preset threshold, and the signal is unstable. At this time, it can be determined that the device to be located is currently in a positioning environment at the boundary between indoor and outdoor environments; that is, the device to be located can receive signals from 4 or fewer satellites, and the device to be located is currently in an area at the boundary between indoor and outdoor environments. In other words, the third positioning environment refers to the positioning environment at the boundary between indoor and outdoor environments.

[0086] It should be noted that the current location environment of the object to be located can be determined through the location environment determination module, such as... Figure 3 As shown, the positioning environment can include three types: indoor positioning environment, indoor-outdoor boundary positioning environment, and outdoor positioning environment.

[0087] Step 207: If the positioning environment is a multi-source signal positioning environment, the positioning device determines the signal strength of the signal at the reference position obtained by the object to be positioned.

[0088] In this embodiment of the application, if the positioning environment is a third positioning environment, then the positioning mode switching judgment module will be entered, which can enable the beacon mode and determine the signal strength of the signal at the acquired beacon location.

[0089] Step 208: If the signal strength meets the target signal strength, the positioning device counts the target object during its movement and determines the number of positioning signals acquired. Based on the number of positioning signals and the counting results, a second target positioning technology is determined.

[0090] The target signal strength can be a pre-set strength threshold. The signal strength meeting the target signal strength means that the signal strength is greater than or equal to the target signal strength. It should be noted that when the signal strength is greater than or equal to the target signal strength, it can be confirmed that the object to be located is near the entrance / exit (i.e., the boundary between indoor and outdoor areas). At this time, the counting threshold positioning algorithm (counting for the object to be located) can be started during the movement of the object to be located. At the same time, the number of positioning signals (first positioning signal and second positioning signal) subsequently acquired by the object to be located is further determined. Then, the second target positioning technology applicable to the current environment is determined by combining the counting result and the number of positioning signals.

[0091] Step 209: The positioning device uses second target positioning technology to determine the location of the object to be located.

[0092] It should be noted that the descriptions of the same steps and contents as in other embodiments in this embodiment can be found in the descriptions in other embodiments, and will not be repeated here.

[0093] The positioning method provided by the embodiments of this application can determine the corresponding positioning technology in real time and use the positioning technology to locate the object to be located, regardless of the current positioning environment of the object to be located. It does not require implementing one positioning technology and then switching to another positioning technology, thereby solving the problem of time delay in the indoor-outdoor switching process of positioning technology in related technologies, and improving positioning accuracy and precision.

[0094] Based on the foregoing embodiments, embodiments of this application provide a positioning method, referring to... Figure 4 As shown, the method may include the following steps:

[0095] Step 301: The positioning device determines the first number of first positioning signals and the second number of second positioning signals obtained by the object to be positioned at its location.

[0096] The first positioning signal and the second positioning signal correspond to different positioning environments.

[0097] It should be noted that after step 301, you can choose to execute steps 302-303, steps 304-305, or steps 306-309.

[0098] Step 302: If the first quantity meets the first target quantity, the positioning device determines that the object to be positioned is currently in the first positioning environment.

[0099] Step 303: If the positioning environment is the first positioning environment, the positioning device determines the first target positioning technology as the first positioning technology and uses the first positioning technology to determine the position of the object to be positioned.

[0100] Step 304: If the second quantity meets the second target quantity, the positioning device determines that the object to be positioned is currently in the second positioning environment.

[0101] Among them, the first positioning environment and the second positioning environment are single-signal positioning environments.

[0102] Step 305: If the positioning environment is the second positioning environment, the positioning device determines the first target positioning technology as the second positioning technology, and uses the second positioning technology to determine the location of the object to be positioned.

[0103] The first and second positioning technologies are applicable to different positioning environments.

[0104] Step 306: If the first quantity does not meet the first target quantity, and the second quantity does not meet the second target quantity, the positioning device determines that the object to be positioned is currently in the third positioning environment.

[0105] Step 307: If the positioning environment is a multi-source signal positioning environment, the positioning device determines the signal strength of the signal at the reference position obtained by the object to be positioned.

[0106] Step 308: If the signal strength meets the target signal strength, the positioning device continuously determines the third number of the first positioning signals acquired by the object to be positioned during the movement of the object to be positioned.

[0107] In this embodiment of the application, if the signal strength is greater than or equal to the target signal strength, the positioning device needs to continuously determine the third number of first positioning signals that the object to be positioned can obtain during the movement of the object to be positioned.

[0108] It should be noted that after step 308, you can choose to execute either step 309 or step 310.

[0109] Step 309: If the third quantity meets the first target quantity, the positioning device determines the second target positioning technology as the first positioning technology.

[0110] In this embodiment of the application, if the third quantity is greater than or equal to the first target quantity, the positioning device can determine that the current positioning environment of the object to be located is the first positioning environment; therefore, the positioning technology applicable to the current object to be located can be determined as the first positioning technology, that is, the second target positioning technology is determined as the first positioning technology.

[0111] Step 310: If the third quantity does not meet the first target quantity, the positioning device continues to determine the fourth quantity of the second positioning signal obtained by the object to be positioned.

[0112] In this embodiment of the application, if the third quantity is less than the first target quantity, the positioning device needs to determine the fourth quantity of the second positioning signal that the object to be positioned can obtain.

[0113] It should be noted that after step 310, you can choose to execute step 311 or steps 313 to 316.

[0114] Step 311: If the fourth quantity satisfies the second target quantity, the positioning device determines the second target positioning technology as the second positioning technology.

[0115] In this embodiment of the application, if the fourth quantity is greater than or equal to the second target quantity, the positioning device can determine that the current positioning environment of the object to be located is the second positioning environment; therefore, the positioning technology applicable to the current object to be located can be determined as the second positioning technology, that is, the second target positioning technology is determined as the second positioning technology.

[0116] It should be noted that step 312 can be executed after steps 309 and 311.

[0117] Step 312: The positioning device uses second target positioning technology to determine the location of the object to be located.

[0118] At this point, after step 309, the positioning device can use a defined first positioning technique to locate the object to be located, thereby determining the position of the object. Alternatively, after step 311, the positioning device can use a defined second positioning technique to locate the object to be located, thereby determining the position of the object.

[0119] Step 313: If the fourth quantity does not meet the second target quantity, the positioning device counts and increments the count value by 1. If the third quantity does not meet the first target quantity and the fourth quantity does not meet the second target quantity, the positioning device continues to accumulate the count value to obtain the counting result.

[0120] In this embodiment, if the fourth quantity is less than the second target quantity, then it is considered that the current fourth quantity is less than the second target quantity, and the third quantity is less than the first target quantity. The positioning device will then use a counting threshold positioning algorithm for the object to be located to increment the count value (i.e., the count value) by 1. Simultaneously, the positioning device continues to continuously determine the relationship between the third quantity and the first target quantity, and between the fourth quantity and the second target quantity. As long as the third quantity is less than the first target quantity and the fourth quantity is less than the second target quantity during this process, the count value will be incremented by 1. This process is repeated to accumulate the count value and obtain the counting result. In one feasible implementation, a counter can be used to perform the counting operation.

[0121] Step 314: If the counting result indicates that the count value meets the target switching threshold, the positioning device determines that the second target positioning technology is the target autonomous navigation and positioning technology.

[0122] The target switching threshold can be a preset number of times N based on historical data. In this embodiment, when the count result, representing the Counter's count value, reaches the set target switching threshold N, the positioning mode is about to switch, entering the positioning mode switching execution module. At this time, the Counter value is cleared to zero, and the positioning algorithm switching execution module switches the positioning mode to target autonomous navigation positioning technology. It should be noted that the target autonomous navigation positioning technology can be inertial navigation positioning technology.

[0123] Step 315: The positioning device uses the positioning technology corresponding to the positioning environment where the object to be positioned was at the previous moment to determine the reference position of the object to be positioned, and determines the reference position as the initial position corresponding to the target autonomous navigation positioning technology.

[0124] In this embodiment of the application, the reference position of the object to be located can be determined based on the positioning technology of the positioning environment in which the object was located at the previous moment. Then, the reference position can be used as the initial position when the inertial navigation positioning technology is used for positioning.

[0125] Step 316: The positioning device uses target autonomous navigation and positioning technology to determine the location of the object to be located based on the initial position.

[0126] In this embodiment of the application, the current position of the object to be located can be determined by using inertial navigation positioning technology, starting from the initial position.

[0127] In other embodiments of this application, various switching scenarios can occur during the switching of the second target positioning technology and the use of the switched target autonomous navigation positioning technology for positioning. Specifically, the process of moving from outdoors to indoors is as follows: Assuming the target to be positioned is currently in an outdoor environment, the current positioning source is GNSS, and the counter is set to 0. The positioning target moves continuously. If the beacon mode determines that the beacon received signal strength reaches a preset threshold, then the target is confirmed to be near the entrance / exit. At this time, the satellite RTK positioning data from the previous moment is provided to the inertial navigation positioning technology as the initial position of the inertial navigation positioning technology, and the positioning system starts the counting threshold positioning algorithm. When the target to be positioned is in the boundary area between indoors and outdoors, the satellite signal received by the target to be positioned gradually weakens, the number of satellites decreases, and the target to be positioned begins to receive 5G positioning signal sources. The positioning system will receive both satellite and 5G signals simultaneously. The positioning system first determines the number of received satellites. If the number of satellites is greater than or equal to 4, the counter Counter is reset to zero. If the number of satellites is less than 4, the system determines the number of pRRUs. If the number of pRRUs is greater than or equal to 3, the system switches to 5G positioning mode. If the number of pRRUs is less than 3, the counter value Counter is incremented by 1. The target continues to receive positioning source signals, and the number of satellites and pRRUs changes continuously. As long as the number of received satellites is less than 4 (0, 1, 2, or 3 satellites) and the number of received pRRUs is less than 3 (0, 1, or 2 pRRUs), the counter value Counter is incremented. Each time the condition is met, Counter is incremented by 1. When the counter reaches the set switching threshold N, the positioning mode is about to switch, and the system enters the positioning mode switching execution module. At this time, the counter Counter is reset to zero. Furthermore, when the indoor / outdoor switching judgment module confirms that the object to be located is near an entrance / exit, and the counter reaches the set switching threshold N, the positioning algorithm switching execution module switches the satellite positioning mode to the inertial navigation positioning technology mode. The inertial navigation positioning technology can directly start working from a pre-set initial position and return the target position information. II. The process of moving from indoors to outdoors is as follows: Assuming the object to be located is currently in an indoor environment, the current positioning source is 5G, and the counter is set to 0. As the object to be located moves, if the beacon mode determines that the beacon received signal strength reaches a pre-set threshold, then the target is confirmed to be near an entrance / exit. At this time, the inertial navigation positioning technology is provided with the previous 5G positioning data as its initial position, and the positioning system starts the counting threshold positioning algorithm. When the object to be located is in the boundary area between indoors and outdoors, the 5G signal received by the object gradually weakens, the pRRU count decreases, and the object begins to receive GNSS positioning signals. The positioning system will simultaneously receive both satellite and 5G signals.The positioning system first determines the number of received pRRUs. If the number of pRRUs is greater than or equal to 3, the counter is reset to zero. If the number of pRRUs is less than 3, the system determines the number of satellites. If the number of satellites is greater than or equal to 4, the system switches to satellite RTK positioning mode. If the number of satellites is less than 4, the counter value is incremented by 1. The target continues to receive positioning source signals, and the number of satellites and pRRUs changes continuously. As long as the number of received satellites is less than 4 (0, 1, 2, or 3 satellites) and the number of received pRRUs is less than 3 (0, 1, or 2 pRRUs), the counter value is incremented. Each time the condition is met, the counter is incremented by 1. When the counter reaches the set switching threshold N, the positioning mode is about to switch, and the system enters the positioning mode switching execution module. At this time, the counter is reset to zero. Furthermore, when the positioning mode switching judgment module confirms that the object to be located is near the entrance or exit, and the counter reaches the set switching critical threshold N, the positioning algorithm switching execution module switches the 5G positioning mode to the inertial navigation positioning technology positioning mode. The inertial navigation positioning technology can start working directly from the preset initial position and return the target position information.

[0128] In other embodiments of this application, the method may further include the following steps:

[0129] Step 317: The positioning device updates the number of second positioning signals acquired by the object to be located.

[0130] It should be noted that during the positioning process using inertial navigation and positioning technology, the object to be positioned is constantly moving. Therefore, it is necessary to update the number of second positioning signals that the object can acquire in real time and obtain the updated number of second positioning signals.

[0131] Step 318: If the number of updated second positioning signals meets the number of second targets, the positioning device uses the second positioning technology to determine the location of the object to be positioned.

[0132] If the number of updated second positioning signals is greater than or equal to the number of second targets, it means that the object to be located is currently in the second positioning environment. At this time, the second positioning technology corresponding to the second positioning environment can be used to locate the object to be located.

[0133] It should be noted that if you move from outdoors to indoors, and the number of pRRUs received is greater than or equal to 3, you will switch to 5G positioning mode. If you move from indoors to outdoors, and the number of satellites received is greater than or equal to 4, you will switch to satellite positioning mode.

[0134] Furthermore, during the switching between indoor and outdoor positioning modes, based on activation counting and threshold mechanisms, the continuity and smoothness of positioning information at the boundary between indoor and outdoor areas are further ensured. This reduces fluctuations and the possibility of misjudgments during positioning technology switching in intermediate areas, improving the accuracy of system judgment. Additionally, beacon technology (beacons can be Bluetooth, UWB, RFID, ultrasound, etc.) is incorporated to further confirm whether the target is near entrances / exits, improving the accuracy of system judgment.

[0135] It should be noted that the descriptions of the same steps and contents as in other embodiments in this embodiment can be found in the descriptions in other embodiments, and will not be repeated here.

[0136] The positioning method provided by the embodiments of this application can determine the corresponding positioning technology in real time and use the positioning technology to locate the object to be located, regardless of the current positioning environment of the object to be located. It does not require implementing one positioning technology and then switching to another positioning technology, thereby solving the problem of time delay in the indoor-outdoor switching process of positioning technology in related technologies, and improving positioning accuracy and precision.

[0137] Based on the foregoing embodiments, embodiments of this application provide a positioning device that can be applied to... Figure 1 , 2 In the positioning method shown in Figure 4, refer to Figure 5 As shown, the positioning device 4 may include: a first determining module 41, a first processing module 42, a second determining module 43, and a second processing module 44, wherein:

[0138] The first determining module 41 is used to determine the current positioning environment of the object to be located;

[0139] The first processing module 42 is also used to determine the position of the object to be located by using a first target positioning technology corresponding to the positioning environment if the positioning environment is a single signal positioning environment.

[0140] The second determining module 43 is used to determine the number of positioning signals acquired by the object to be located and the signal strength of the signal at the reference position acquired by the object to be located if the positioning environment is a multi-source signal positioning environment, and to determine the second target positioning technology based on the number and signal strength.

[0141] The second processing module 44 is used to determine the position of the object to be located using the second target positioning technology.

[0142] In other embodiments of this application, the first determining module 41 is further configured to perform the following steps:

[0143] Determine the first number of first positioning signals and the second number of second positioning signals obtained at the location of the object to be located; wherein the first positioning signal and the second positioning signal correspond to different positioning environments;

[0144] If the first quantity meets the first target quantity, it is determined that the object to be located is currently in the first location environment;

[0145] If the second quantity meets the second target quantity, it is determined that the object to be located is currently in the second positioning environment; wherein, the first positioning environment and the second positioning environment are single signal positioning environments;

[0146] If the first quantity does not meet the first target quantity, and the second quantity does not meet the second target quantity, it is determined that the object to be located is currently in the third positioning environment; wherein, the third positioning environment is a multi-source signal positioning environment.

[0147] In other embodiments of this application, the first processing module 42 is further configured to perform the following steps:

[0148] If the positioning environment is the first positioning environment, the first target positioning technology is determined as the first positioning technology, and the first positioning technology is used to determine the position of the object to be positioned;

[0149] If the positioning environment is a second positioning environment, the first target positioning technology is determined to be the second positioning technology, and the second positioning technology is used to determine the location of the object to be positioned; wherein, the positioning environments applicable to the first positioning technology and the second positioning technology are different.

[0150] In other embodiments of this application, the second determining module 43 is further configured to perform the following steps:

[0151] Determine the signal strength of the signal at the reference position obtained from the object to be located;

[0152] If the signal strength meets the target signal strength, the target object is counted during its movement, and the number of acquired positioning signals is determined. Based on the number of positioning signals and the counting results, a second target positioning technique is determined.

[0153] In other embodiments of this application, the second determining module 43 is further configured to perform the following steps:

[0154] During the movement of the object to be located, the third number of the first positioning signals acquired by the object to be located is continuously determined;

[0155] If the third quantity meets the first target quantity, determine the second target positioning technology as the first positioning technology and start the counting operation;

[0156] If the third quantity does not meet the first target quantity, continue to determine the fourth quantity of the second positioning signal obtained by the object to be located;

[0157] If the fourth quantity satisfies the second target quantity, the second target positioning technology is determined to be the second positioning technology.

[0158] In other embodiments of this application, the second determining module 43 is further configured to perform the following steps:

[0159] If the fourth quantity does not meet the second target quantity, increment the count value by 1. If the third quantity does not meet the first target quantity and the fourth quantity does not meet the second target quantity, continue to increment the count value to obtain the count result.

[0160] If the counting results indicate that the count value meets the target switching threshold, the second target positioning technology is determined to be the target autonomous navigation and positioning technology.

[0161] In other embodiments of this application, the second processing module 44 is further configured to perform the following steps:

[0162] The reference position of the object to be located is determined by using the positioning technology corresponding to the positioning environment in which the object was located at the previous moment, and the reference position is determined as the initial position corresponding to the target autonomous navigation and positioning technology.

[0163] The target autonomous navigation and positioning technology is used to determine the location of the object to be located based on the initial position.

[0164] In other embodiments of this application, the second processing module 44 is further configured to perform the following steps:

[0165] Update the number of second positioning signals acquired by the object to be located;

[0166] If the number of updated second positioning signals meets the number of second targets, the second positioning technology is used to determine the location of the object to be located.

[0167] It should be noted that a detailed explanation of the steps performed by each module can be found in [reference needed]. Figure 1 , 2 The positioning method provided in the embodiment corresponding to 4 will not be described again here.

[0168] The positioning device provided in the embodiments of this application can determine the corresponding positioning technology in real time and use the positioning technology to locate the object to be located, regardless of the current positioning environment of the object to be located. It does not require implementing one positioning technology and then switching to another positioning technology, thereby solving the problem of time delay in the indoor-outdoor switching process of positioning technology in related technologies, and improving positioning accuracy and precision.

[0169] Based on the foregoing embodiments, embodiments of this application provide a positioning device that can be applied to... Figure 1 ,2 In the positioning method provided in the embodiment corresponding to 4, refer to Figure 6 As shown, the positioning device 5 may include: a processor 51, a memory 52, and a communication bus 53, wherein:

[0170] Communication bus 53 is used to realize the communication connection between processor 51 and memory 52;

[0171] The processor 51 is used to execute the location program in the memory 52 to perform the following steps:

[0172] Determine the current location environment of the object to be located;

[0173] If the positioning environment is a single-signal positioning environment, the location of the object to be located is determined by the first target positioning technology corresponding to the positioning environment.

[0174] If the positioning environment is a multi-source signal positioning environment, determine the number of positioning signals acquired by the object to be positioned and the signal strength of the signal at the reference position acquired by the object to be positioned, and determine the second target positioning technology based on the number and signal strength.

[0175] The location of the object to be located is determined using a second target localization technique.

[0176] In other embodiments of this application, the processor 51 is used to execute the positioning program in the memory 52 to determine the current positioning environment of the object to be located, so as to implement the following steps:

[0177] Determine the first number of first positioning signals and the second number of second positioning signals obtained at the location of the object to be located; wherein the first positioning signal and the second positioning signal correspond to different positioning environments;

[0178] If the first quantity meets the first target quantity, it is determined that the object to be located is currently in the first location environment;

[0179] If the second quantity meets the second target quantity, it is determined that the object to be located is currently in the second positioning environment; wherein, the first positioning environment and the second positioning environment are single signal positioning environments;

[0180] If the first quantity does not meet the first target quantity, and the second quantity does not meet the second target quantity, it is determined that the object to be located is currently in the third positioning environment; wherein, the third positioning environment is a multi-source signal positioning environment.

[0181] In other embodiments of this application, the processor 51 is used to execute the positioning program in the memory 52. ​​If the positioning environment is a single-signal positioning environment, the processor 51 uses a first target positioning technology corresponding to the positioning environment to determine the position of the object to be located, so as to achieve the following steps:

[0182] If the positioning environment is the first positioning environment, the first target positioning technology is determined as the first positioning technology, and the first positioning technology is used to determine the position of the object to be positioned;

[0183] If the positioning environment is a second positioning environment, the first target positioning technology is determined to be the second positioning technology, and the second positioning technology is used to determine the location of the object to be positioned; wherein, the positioning environments applicable to the first positioning technology and the second positioning technology are different.

[0184] In other embodiments of this application, the processor 51 is used to execute the positioning program in the memory 52 to determine the number of positioning signals obtained by the object to be positioned and the signal strength of the signal at the reference position obtained by the object to be positioned, and to determine a second target positioning technique based on the number and signal strength, so as to implement the following steps:

[0185] Determine the signal strength of the signal at the reference position obtained from the object to be located;

[0186] If the signal strength meets the target signal strength, the target object is counted during its movement, and the number of acquired positioning signals is determined. Based on the number of positioning signals and the counting results, a second target positioning technique is determined.

[0187] In other embodiments of this application, the processor 51 is configured to execute the positioning program in the memory 52 to count the number of positioning signals acquired during the movement of the object to be located, and determine a second target positioning technique based on the number of positioning signals and the counting result, in order to implement the following steps:

[0188] During the movement of the object to be located, the third number of the first positioning signals acquired by the object to be located is continuously determined;

[0189] If the third quantity meets the first target quantity, determine the second target positioning technology as the first positioning technology and start the counting operation;

[0190] If the third quantity does not meet the first target quantity, continue to determine the fourth quantity of the second positioning signal obtained by the object to be located;

[0191] If the fourth quantity satisfies the second target quantity, the second target positioning technology is determined to be the second positioning technology.

[0192] In other embodiments of this application, the processor 51 is used to execute the positioning program in the memory 52, and may also perform the following steps:

[0193] If the fourth quantity does not meet the second target quantity, increment the count value by 1. If the third quantity does not meet the first target quantity and the fourth quantity does not meet the second target quantity, continue to increment the count value to obtain the count result.

[0194] If the counting results indicate that the count value meets the target switching threshold, the second target positioning technology is determined to be the target autonomous navigation and positioning technology.

[0195] In other embodiments of this application, the processor 51 is used to execute the positioning program in the memory 52 to determine the position of the object to be located using a second target positioning technique, in order to implement the following steps:

[0196] The reference position of the object to be located is determined by using the positioning technology corresponding to the positioning environment in which the object was located at the previous moment, and the reference position is determined as the initial position corresponding to the target autonomous navigation and positioning technology.

[0197] The target autonomous navigation and positioning technology is used to determine the location of the object to be located based on the initial position.

[0198] In other embodiments of this application, the processor 51 is used to execute the positioning program in the memory 52, and may also perform the following steps:

[0199] Update the number of second positioning signals acquired by the object to be located;

[0200] If the number of updated second positioning signals meets the number of second targets, the second positioning technology is used to determine the location of the object to be located.

[0201] It should be noted that a detailed description of the steps performed by the processor can be found in [reference needed]. Figure 1 , 2 The positioning method provided in the embodiment corresponding to 4 will not be described again here.

[0202] The positioning device provided in this application embodiment can determine the corresponding positioning technology in real time and use the positioning technology to locate the object to be located, regardless of the current positioning environment of the object to be located. It does not require implementing one positioning technology and then switching to another positioning technology, thereby solving the problem of time delay in the indoor-outdoor switching process of positioning technology in related technologies, and improving positioning accuracy and precision.

[0203] Based on the foregoing embodiments, embodiments of this application provide a computer-readable storage medium storing one or more programs, which can be executed by one or more processors to implement... Figure 1 , 2 The steps of the positioning method provided in the embodiment corresponding to 4.

[0204] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of hardware embodiments, software embodiments, or embodiments combining software and hardware aspects. Furthermore, this application can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage and optical storage) containing computer-usable program code.

[0205] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0206] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0207] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0208] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A positioning method, characterized in that, The method includes: Determine the current location environment of the object to be located; If the positioning environment is a single-signal positioning environment, the location of the object to be located is determined by a first target positioning technology corresponding to the positioning environment. If the positioning environment is a multi-source signal positioning environment, determine the number of positioning signals acquired by the object to be positioned and the signal strength of the signal at the reference position acquired by the object to be positioned, and determine a second target positioning technology based on the number and the signal strength; wherein, the number of positioning signals includes the number of indoor positioning signals and the number of outdoor positioning signals; the reference position is a pre-set beacon position used to calibrate the movement trend of the object to be positioned; The location of the object to be located is determined using the second target localization technique.

2. The method according to claim 1, characterized in that, Determining the current location environment of the object to be located includes: Determine a first number of first positioning signals and a second number of second positioning signals obtained at the location of the object to be located; wherein the first positioning signal and the second positioning signal correspond to different positioning environments; If the first quantity meets the first target quantity, it is determined that the object to be located is currently in the first location environment; If the second quantity meets the second target quantity, it is determined that the object to be located is currently in a second positioning environment; wherein, the first positioning environment and the second positioning environment are single-signal positioning environments; If the first quantity does not meet the first target quantity, and the second quantity does not meet the second target quantity, it is determined that the object to be located is currently in a third positioning environment; wherein, the third positioning environment is a multi-source signal positioning environment.

3. The method according to claim 2, characterized in that, If the positioning environment is a single positioning environment, the method of determining the location of the object to be located using a first target positioning technology corresponding to the positioning environment includes: If the positioning environment is a first positioning environment, the first target positioning technology is determined to be a first positioning technology, and the first positioning technology is used to determine the position of the object to be located; If the positioning environment is a second positioning environment, the first target positioning technology is determined to be the second positioning technology, and the second positioning technology is used to determine the position of the object to be located; wherein the positioning environments applicable to the first positioning technology and the second positioning technology are different.

4. The method according to claim 2, characterized in that, The step of determining the number of positioning signals acquired by the target object and the signal strength of the signal at the reference position acquired by the target object, and determining the second target positioning technology based on the number and the signal strength, includes: Determine the signal strength of the signal at the reference position obtained by the object to be located; If the signal strength meets the target signal strength, the target object is counted during its movement, and the number of acquired positioning signals is determined. Based on the number of positioning signals and the counting result, the second target positioning technology is determined.

5. The method according to claim 4, characterized in that, The step of counting the number of positioning signals acquired during the movement of the object to be located, and determining the number of positioning signals acquired, and determining the second target positioning technology based on the number of positioning signals and the counting result, includes: During the movement of the object to be located, a third number of the first positioning signals acquired by the object to be located is continuously determined; If the third quantity meets the first target quantity, the second target positioning technology is determined to be the first positioning technology and the counting operation is started; if the third quantity does not meet the first target quantity, the fourth quantity of the second positioning signal obtained by the object to be positioned is continuously determined. If the fourth quantity satisfies the second target quantity, the second target positioning technology is determined to be the second positioning technology.

6. The method according to claim 5, characterized in that, The method further includes: If the fourth quantity does not meet the second target quantity, increment the count value by 1. If the third quantity does not meet the first target quantity and the fourth quantity does not meet the second target quantity, continue to increment the count value to obtain the counting result. If the counting result indicates that the count value meets the target switching threshold, the second target positioning technology is determined to be a target autonomous navigation and positioning technology.

7. The method according to claim 6, characterized in that, Determining the location of the object to be located using the second target localization technology includes: The reference position of the object to be located is determined by using the positioning technology corresponding to the positioning environment in which the object was located at the previous moment, and the reference position is determined as the initial position corresponding to the target autonomous navigation and positioning technology; The target autonomous navigation and positioning technology is used to determine the location of the object to be located based on the initial location.

8. The method according to claim 7, characterized in that, The method further includes: Update the number of second positioning signals acquired by the object to be located; If the number of updated second positioning signals meets the second target number, the second positioning technology is used to determine the location of the object to be located.

9. A positioning device, characterized in that, The device includes: The first determining module is used to determine the current positioning environment of the object to be located; The first processing module is further configured to determine the location of the object to be located by using a first target positioning technology corresponding to the positioning environment if the positioning environment is a single signal positioning environment; The second determining module is used to determine, if the positioning environment is a multi-source signal positioning environment, the number of positioning signals acquired by the object to be positioned and the signal strength of the signal at the reference position acquired by the object to be positioned, and to determine a second target positioning technology based on the number and the signal strength; wherein, the number of positioning signals includes the number of indoor positioning signals and the number of outdoor positioning signals; the reference position is a pre-set beacon position used to calibrate the movement trend of the object to be positioned; The second processing module is used to determine the location of the object to be located using the second target positioning technology.

10. A positioning device, characterized in that, The device includes: a processor, a memory, and a communication bus; The communication bus is used to realize the communication connection between the processor and the memory; The processor is used to execute a positioning program in the memory to implement the steps of the positioning method as described in any one of claims 1 to 8.

11. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores one or more programs, which can be executed by one or more processors to implement the steps of the positioning method as described in any one of claims 1 to 8.

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