Multi - positioning method, device, electronic device and storage medium based on 4G module

Abstract

The present invention provides a multi-positioning method based on a 4G module, including: obtaining a satellite positioning signal, an inertial navigation signal, and a base station communication signal of the 4G module; respectively performing asynchronous resolution processing on the satellite positioning signal through a first resolution method and a second resolution method to obtain first satellite positioning data and second satellite positioning data of the 4G module, where the first resolution method is different from the second resolution method; if the error between the first satellite positioning data and the second satellite positioning data is greater than or equal to a preset error threshold, then re-position the 4G module based on the inertial navigation signal and the base station communication signal to obtain the final positioning data of the 4G module. The present invention can solve the problem that existing terminal positioning modules are basically based on satellite-based positioning modes such as Beidou and GPS, but in complex areas such as indoors, basements, or covered by urban buildings, there are satellite signal attenuation areas or blind areas, resulting in inaccurate positioning or positioning loss of satellite-based Beidou and GPS positioning systems.

Description

Technical Field

[0001] The present invention relates to the technical field of positioning, and in particular to a multi-positioning method, device, electronic device and storage medium based on a 4G module. Background Art

[0002] With the development of information technology, location-based services have become increasingly important, such as resource search, in-mine positioning, social positioning, etc. In the existing research on 4G positioning technology, it mainly focuses on outdoor positioning, while the research on indoor positioning, such as in shopping malls and office buildings, is still relatively weak. The existing terminal positioning modules are basically based on satellite-based positioning modes such as Beidou and GPS. However, in complex areas such as indoors, basements or covered by urban buildings, there are satellite signal attenuation areas or blind spots, resulting in inaccurate positioning or positioning loss of the satellite-based Beidou and GPS positioning systems. Summary of the Invention

[0003] An embodiment of the present invention provides a multi-positioning method based on a 4G module, aiming to improve the stability and accuracy of positioning. Through the satellite positioning signal, inertial navigation signal and base station communication signal of the 4G module, the stability and accuracy of positioning can be significantly improved, and the cost can be reduced at the same time, providing an efficient and reliable solution for the positioning method.

[0004] In a first aspect, an embodiment of the present invention provides a multi-positioning method based on a 4G module, and the multi-positioning based on the 4G module includes the following steps:

[0005] Obtain the satellite positioning signal, inertial navigation signal and base station communication signal of the 4G module;

[0006] Perform asynchronous resolution processing on the satellite positioning signal through a first resolution method and a second resolution method respectively to obtain the first satellite positioning data and the second satellite positioning data of the 4G module, and the first resolution method is different from the second resolution method;

[0007] If the error between the first satellite positioning data and the second satellite positioning data is greater than or equal to a preset error threshold, reposition the 4G module based on the inertial navigation signal and the base station communication signal to obtain the final positioning data of the 4G module.

[0008] Optionally, after the step of performing asynchronous resolution processing on the satellite positioning signal through a first resolution method and a second resolution method respectively to obtain the first satellite positioning data and the second satellite positioning data of the 4G module, the method further includes:

[0009] Perform a first calculation process on the satellite positioning signal through the first calculation method to obtain multiple first satellite positioning data of the 4G module;

[0010] And, perform an asynchronous second calculation process on the satellite positioning signal through the second calculation method to obtain multiple second satellite positioning data of the 4G module;

[0011] Determine the first geometric center position of multiple first satellite positioning data, and determine the second geometric center position of multiple second satellite positioning data;

[0012] Determine the error between the first satellite positioning data and the second satellite positioning data according to the first geometric center position and the error of the second geometric center position.

[0013] Optionally, the step of repositioning the 4G module based on the inertial navigation signal and the base station communication signal to obtain the final positioning data of the 4G module includes:

[0014] Based on the inertial navigation signal, determine the inertial positioning data of the 4G module;

[0015] Based on the base station communication signal, determine the communication positioning data of the 4G module;

[0016] Based on the inertial positioning data and the communication positioning data, determine the final positioning data of the 4G module.

[0017] Optionally, the step of determining the communication positioning data of the 4G module based on the base station communication signal includes:

[0018] In the base station communication signal, parse out the target base station identifier corresponding to the target base station, where the target base station is the base station corresponding to the base station communication signal;

[0019] In the base station database, match the position information corresponding to the target base station identifier to obtain the target base station position of the target base station. The base station database includes the corresponding relationship between the base station identifier and the position;

[0020] Based on the target base station position, determine the communication positioning data of the 4G module.

[0021] Optionally, the number of target base stations is multiple, and one target base station corresponds to one target base station position. The step of determining the communication positioning data of the 4G module based on the target base station position includes:

[0022] In the communication signal, determine the signal propagation time of each target base station during communication;

[0023] Based on the signal propagation time, determine a first communication distance from the 4G module to the positions of multiple target base stations;

[0024] Based on the first communication distance, determine communication positioning data of the 4G module.

[0025] Optionally, the base station communication signal is a multipath communication signal, and the multipath communication signal represents the communication signal received by the 4G module after passing through multiple target base stations. The step of determining the communication positioning data of the 4G module based on the positions of the target base stations includes:

[0026] Determine multiple target base stations in the multipath communication signal, and sort the multiple target base stations in the transmission order of the communication signal;

[0027] Based on the positions of two adjacent target base stations among the target base stations, determine a base station distance between the two adjacent target base stations;

[0028] Based on the multipath communication signal, determine a second communication distance between two adjacent target base stations;

[0029] Based on the base station distance and the second communication distance, determine a distance error distribution among the multiple target base stations;

[0030] According to the distance error distribution among the multiple target base stations, determine a third communication distance between the last target base station and the 4G module;

[0031] Based on the third communication distance, determine the communication positioning data of the 4G module.

[0032] Optionally, the step of determining the final positioning data of the 4G module based on the inertial positioning data and the communication positioning data includes:

[0033] Calculate the distance between the inertial positioning data and the communication positioning data;

[0034] If the distance between the inertial positioning data and the communication positioning data is less than the error threshold, calculate a first intermediate point position between the inertial positioning data and the communication positioning data, and determine the first intermediate point position as the final positioning data of the 4G module;

[0035] If the error between the inertial positioning data and the communication positioning data is greater than or equal to the error threshold, among the first satellite positioning data and the second satellite positioning data, determine the satellite positioning data with the smallest distance from the inertial positioning data and the communication positioning data as the target satellite positioning data;

[0036] Calculate the second intermediate point position of the inertial positioning data, the communication positioning data, and the target satellite positioning data, and determine the second intermediate point position as the final positioning data of the 4G module.

[0037] Second, an embodiment of the present invention further provides a multi-positioning device based on a 4G module. The multi-positioning device based on a 4G module includes:

[0038] An acquisition module, configured to acquire a satellite positioning signal, an inertial navigation signal, and a base station communication signal of the 4G module;

[0039] A processing module, configured to perform asynchronous resolution processing on the satellite positioning signal by a first resolution method and a second resolution method respectively to obtain first satellite positioning data and second satellite positioning data of the 4G module, where the first resolution method is different from the second resolution method;

[0040] A positioning module, configured to, if an error between the first satellite positioning data and the second satellite positioning data is greater than or equal to a preset error threshold, re-position the 4G module based on the inertial navigation signal and the base station communication signal to obtain the final positioning data of the 4G module.

[0041] Fourth, an embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps in the multi-positioning method based on a 4G module provided by the embodiment of the invention are implemented.

[0042] In an embodiment of the present invention, a satellite positioning signal, an inertial navigation signal, and a base station communication signal of the 4G module are acquired; asynchronous resolution processing is performed on the satellite positioning signal by a first resolution method and a second resolution method respectively to obtain first satellite positioning data and second satellite positioning data of the 4G module, where the first resolution method is different from the second resolution method; if an error between the first satellite positioning data and the second satellite positioning data is greater than or equal to a preset error threshold, the 4G module is re-positioned based on the inertial navigation signal and the base station communication signal to obtain the final positioning data of the 4G module. The present invention can solve the problem that existing terminal positioning modules are basically based on satellite-based positioning modes such as Beidou and GPS, but in complex areas such as indoors, basements, or covered by urban buildings, there are satellite signal attenuation areas or blind areas, resulting in inaccurate positioning or positioning loss of the satellite-based Beidou and GPS positioning systems. Description of the Drawings

[0043] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0044] Figure 1 is a flowchart of a multi - positioning method based on a 4G module provided by an embodiment of the present invention;

[0045] Figure 2 is a schematic structural diagram of a multi - positioning device based on a 4G module provided by an embodiment of the present invention;

[0046] Figure 3 is a schematic structural diagram of an electronic device provided by an embodiment of the present invention. Detailed implementation manners

[0047] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0048] As Figure 1 shown, Figure 1 is a flowchart of a multi - positioning method based on a 4G module provided by an embodiment of the present invention. The multi - positioning method based on a 4G module specifically includes the following steps:

[0049] 101. Obtain the satellite positioning signal, inertial navigation signal, and base station communication signal of the 4G module.

[0050] In the embodiments of the present invention, the above - mentioned 4G module refers to a general term for a product in which hardware is loaded into a specified frequency band, software supports the standard LTE protocol, and the software and hardware are highly integrated and modularized. The 4G module is used to achieve high - speed data transmission and communication. The 4G module is a hardware device with built - in fourth - generation mobile communication technology, mainly realizing high - speed data transmission and communication through a wireless network.

[0051] The above - mentioned satellite positioning signal can be understood as the signal of the navigation satellite system, which can be the signal of satellite systems such as GPS, GLONASS, and Beidou satellite (BDS).

[0052] The above inertial navigation is an autonomous navigation system that does not rely on external information and does not radiate energy to the outside. It is a technology that measures the acceleration of an aircraft and automatically performs integral operations to obtain the instantaneous velocity and instantaneous position data of the aircraft. The above inertial navigation signal can be understood as using devices such as accelerometers and gyroscopes based on an inertial navigation system (INS) to measure the acceleration and angular velocity of the 4G module, thereby calculating the displacement and direction change of the 4G module.

[0053] The above base station communication signal is transmitted through signals in the radio frequency band. As an interface device for mobile devices to access the Internet, the base station uses the radio coverage area to transmit information between the mobile communication switching center and the mobile phone terminal. The positioning service of the base station estimates the position of the device by analyzing the base station signal strength and the distance from the base station.

[0054] It should be noted that the specific position of the 4G module can be determined by receiving satellite signals through the navigation satellite system, and the angular motion parameters and linear motion parameters of the 4G module can be detected by using an inertial measurement unit (IMU) through the inertial navigation system, thereby obtaining the speed, position, attitude and heading of the 4G module; the position of the 4G module is estimated by analyzing the base station signal strength and the distance from the base station through the positioning service of the base station.

[0055] 102. The satellite positioning signals are respectively processed asynchronously by the first solution method and the second solution method to obtain the first satellite positioning data and the second satellite positioning data of the 4G module.

[0056] In the embodiment of the present invention, the above solution method can be understood as a method for calculating and processing satellite positioning signals. The solution method can be a Kepler parameter solution method, an ephemeris calculation method, a positioning equation solution, and other solution methods.

[0057] The above first solution method is different from the above second solution method.

[0058] The above asynchrony can be understood as that the two solution methods can be parallel or simultaneous, rather than waiting for the second method to start after the first method is completely completed. This means that the two solution methods can be carried out simultaneously without waiting for the other to complete, which can improve the processing efficiency and speed up the data acquisition speed.

[0059] The above solution processing can be understood as processing the received satellite positioning signals to extract useful information, such as the position of the satellite, the position of the receiver, etc.

[0060] The above satellite positioning data can be understood as respectively representing the position information calculated by a satellite positioning system (such as GPS, GLONASS, BDS, etc.), such as longitude, latitude, etc.

[0061] The above first satellite positioning data and second satellite positioning data respectively represent two different data of the position information calculated by the satellite positioning system, such as longitude, latitude, etc.

[0062] In the embodiments of the present invention, different calculation methods correspond to different satellite positioning data. The satellite positioning signals are asynchronously calculated by the first calculation method and the second calculation method respectively to obtain the first satellite positioning data and the second satellite positioning data of the 4G module.

[0063] It should be noted that different calculation methods perform asynchronous calculation processing on the satellite positioning signals to obtain different types of satellite positioning data.

[0064] 103. If the error between the first satellite positioning data and the second satellite positioning data is greater than or equal to a preset error threshold, the 4G module is repositioned based on the inertial navigation signal and the base station communication signal to obtain the final positioning data of the 4G module.

[0065] In the embodiments of the present invention, the above preset error threshold is an error threshold pre-set by the system and is set according to the actual application scenarios and requirements. The preset error threshold is used to determine whether the accuracy of the satellite positioning data meets the requirements. If the error between the positioning data exceeds this error threshold, repositioning is required.

[0066] In the embodiments of the present invention, an inertial navigation system (such as a gyroscope) can measure the acceleration and angular velocity of an object, thereby calculating the movement trajectory of the 4G module. The base station communication signal can be used to determine the distance between the 4G module and the base station. The 4G module is repositioned by combining the inertial navigation signal and the base station communication signal to obtain the final positioning data of the 4G module.

[0067] In the embodiments of the present invention, the satellite positioning signal, inertial navigation signal, and base station communication signal of the 4G module are obtained; the satellite positioning signal is asynchronously calculated by the first calculation method and the second calculation method respectively to obtain the first satellite positioning data and the second satellite positioning data of the 4G module, and the first calculation method is different from the second calculation method; if the error between the first satellite positioning data and the second satellite positioning data is greater than or equal to a preset error threshold, the 4G module is repositioned based on the inertial navigation signal and the base station communication signal to obtain the final positioning data of the 4G module. The present invention can solve the problem that existing terminal positioning modules are basically based on satellite-based positioning modes such as Beidou and GPS, but in complex areas such as indoors, basements, or covered by urban buildings, there are satellite signal attenuation areas or blind areas, resulting in inaccurate positioning or lost positioning of the satellite-based Beidou and GPS positioning systems.

[0068] It should be noted that the multi - positioning method based on the 4G module provided in the embodiments of the present invention can be applied to devices such as computers, edge devices, servers, and cloud platforms that can perform the multi - positioning method based on the 4G module.

[0069] Optionally, after the steps of respectively performing asynchronous resolution processing on the satellite positioning signals through the first resolution method and the second resolution method to obtain the first satellite positioning data and the second satellite positioning data of the 4G module, the following steps are further included: performing a first resolution process on the satellite positioning signals through the first resolution method to obtain multiple first satellite positioning data of the 4G module; and performing an asynchronous second resolution process on the satellite positioning signals through the second resolution method to obtain multiple second satellite positioning data of the 4G module; determining the first geometric center position of the multiple first satellite positioning data, and determining the second geometric center position of the multiple second satellite positioning data; and determining the error between the first satellite positioning data and the second satellite positioning data according to the first geometric center position and the error of the second geometric center position.

[0070] In the embodiments of the present invention, the above - mentioned resolution method can be understood as a method for calculating and processing satellite positioning signals. The resolution method can be a Kepler parameter resolution method, an ephemeris calculation method, a positioning equation resolution method, etc. The above - mentioned first resolution method is different from the above - mentioned second resolution method.

[0071] The above - mentioned geometric center position is the most central position of an object with a certain symmetry. When the object undergoes a symmetry change that can coincide with itself, its rotation axis, symmetry axis, rotation base point, etc. must pass through this position.

[0072] It should be noted that the smaller the error between the first satellite positioning data and the second satellite positioning data, the higher the accuracy of the first satellite positioning data and the second satellite positioning data; conversely, the larger the error between the first satellite positioning data and the second satellite positioning data, the more necessary it is to re - resolve or correct.

[0073] Optionally, in the step of re - positioning the 4G module based on the inertial navigation signal and the base station communication signal to obtain the final positioning data of the 4G module, the inertial positioning data of the 4G module can be determined based on the inertial navigation signal; the communication positioning data of the 4G module can be determined based on the base station communication signal; and the final positioning data of the 4G module can be determined based on the inertial positioning data and the communication positioning data.

[0074] In the embodiments of the present invention, the above - mentioned inertial navigation is an autonomous navigation system that does not rely on external information and does not radiate energy to the outside. Inertial navigation mainly uses the acceleration and angular velocity data output by the IMU (Inertial Measurement Unit), and through calculation, information such as the speed and displacement of the device is obtained, so as to achieve three - dimensional positioning and orientation of the device.

[0075] Furthermore, inertial positioning data of the 4G module can be determined based on inertial navigation signals.

[0076] The above communication positioning data includes the motion state and position information of the device.

[0077] The above base station, as an interface device for the mobile device to access the Internet, uses the radio coverage area to transmit information between the mobile communication switching center and the mobile phone terminal. Based on the positioning service of the base station, the positioning service of the base station estimates the position of the device by analyzing the base station signal strength and the distance from the base station.

[0078] Furthermore, communication positioning data of the 4G module can be determined based on the base station communication signal.

[0079] The above communication positioning data includes the position information of the 4G module.

[0080] It should be noted that based on the inertial positioning data and the communication positioning data, the positioning accuracy and stability of the 4G module can be effectively improved. For example, when the device is in an indoor environment, since the GPS signal may be blocked, the inertial positioning data can be used for positioning at this time; while in an outdoor open area, the communication positioning data can be used for more accurate positioning.

[0081] Optionally, in the step of determining the communication positioning data of the 4G module based on the base station communication signal, the target base station identifier corresponding to the target base station can be parsed from the base station communication signal, and the target base station is the base station corresponding to the base station communication signal; in the base station database, the position information corresponding to the target base station identifier is matched to obtain the target base station position of the target base station, and the corresponding relationship between the base station identifier and the position information is included in the base station database; based on the target base station position, the communication positioning data of the 4G module is determined.

[0082] In the embodiment of the present invention, each base station has a unique identifier, and the corresponding position information can be found in the database through the unique base station identifier.

[0083] The above base station database contains the corresponding relationship between the base station identifier and the position information.

[0084] It should be noted that through the position of the target base station, the position information of the 4G module relative to the base station can be calculated, so as to determine the communication positioning data of the 4G module.

[0085] Optionally, the number of target base stations is multiple, and each target base station corresponds to a target base station location. In the step of determining the communication positioning data of the 4G module based on the target base station location, the signal propagation time of each target base station during communication can be determined in the communication signal; based on the signal propagation time, the first communication distance from the 4G module to the locations of multiple target base stations can be determined; based on the first communication distance, the communication positioning data of the 4G module can be determined.

[0086] In the embodiments of the present invention, in the communication signal, by measuring the time for the signal to be emitted from the 4G module to each target base station and return, the signal propagation time of each target base station can be obtained. The distance from the tag to the base station can be calculated by measuring the time difference of arrival at different base stations.

[0087] The above-mentioned communication distance can be understood as the distance at which the 4G module and the target base station can receive and send information to each other.

[0088] The above-mentioned signal propagation time can be understood as the time for the signal to depart from the 4G module and reach the target base station.

[0089] The above-mentioned communication positioning data includes the location information of the 4G module.

[0090] It should be noted that by measuring the propagation time of the positioning signal emitted by the 4G module to multiple target base stations, the signal propagation time of each target base station during communication can be obtained; and based on the signal propagation time of each target base station during communication, the communication distance from the 4G module to the location of each target base station can be determined; finally, based on the communication distance from the 4G module to the location of each target base station, the communication positioning data of the 4G module can be determined.

[0091] Optionally, the base station communication signal is a multipath communication signal. The multipath communication signal represents the communication signal received by the 4G module after passing through multiple target base stations. In the step of determining the communication positioning data of the 4G module based on the target base station location, multiple target base stations can be determined in the multipath communication signal, and the multiple target base stations are sorted according to the transmission order of the communication signal; based on the target base station locations of two adjacent target base stations, the base station distance between the two adjacent target base stations can be determined; based on the multipath communication signal, the second communication distance between the two adjacent target base stations can be determined; based on the base station distance and the second communication distance, the distance error distribution between the multiple target base stations can be determined; according to the distance error distribution between the multiple target base stations, the third communication distance between the last target base station and the 4G module can be determined; based on the third communication distance, the communication positioning data of the 4G module can be determined.

[0092] In an embodiment of the present invention, the above-mentioned multipath communication signals can be understood as signals sent by a 4G module during wireless communication, which will be transmitted to a base station through multiple paths and form multiple communication signals of the received signal. The multipath communication signals represent the communication signals received by the 4G module after passing through multiple target base stations.

[0093] The above transmission order is usually determined according to factors such as signal strength and signal-to-noise ratio.

[0094] It should be noted that multiple target base stations can be identified in the multipath communication signals; the identified target base stations can be sorted according to the transmission order of the communication signals; and the distance between adjacent two target base stations can be calculated according to the position information of adjacent two target base stations; the communication distance between adjacent two target base stations can be calculated according to the multipath communication signals; the distance error between multiple target base stations can be calculated according to the base station distance and the second communication distance, and the distance error can be used to evaluate the accuracy of base station positioning; the communication distance between the last target base station and the 4G module can be calculated according to the distance error distribution; and the communication positioning data of the 4G module can be determined according to the communication distance between the last target base station and the 4G module.

[0095] Optionally, in the step of determining the final positioning data of the 4G module based on the inertial positioning data and the communication positioning data, the distance between the inertial positioning data and the communication positioning data can be calculated; if the distance between the inertial positioning data and the communication positioning data is less than the error threshold, the first midpoint position of the inertial positioning data and the communication positioning data can be calculated, and the first midpoint position can be determined as the final positioning data of the 4G module; if the error between the inertial positioning data and the communication positioning data is greater than or equal to the error threshold, among the first satellite positioning data and the second satellite positioning data, the satellite positioning data with the smallest distance from the inertial positioning data and the communication positioning data can be determined as the target satellite positioning data; the second midpoint position of the inertial positioning data, the communication positioning data and the target satellite positioning data can be calculated, and the second midpoint position can be determined as the final positioning data of the 4G module.

[0096] In an embodiment of the present invention, the above-mentioned error threshold is a pre-set error threshold of the system, and the error threshold is a standard for judging the accuracy of positioning data. The error threshold refers to the allowable minimum range of positioning data error. If the distance between the positioning data and the actual position is less than this error threshold, then the positioning data is considered credible, otherwise it is considered unreliable.

[0097] By calculating the distance between the inertial positioning data and the communication positioning data, if the distance between the inertial positioning data and the communication positioning data is less than the error threshold, the first midpoint position of the inertial positioning data and the communication positioning data can be calculated, and this position can be used as the final positioning data of the 4G module.

[0098] When the error between the inertial positioning data and the communication positioning data is greater than or equal to the error threshold, by selecting the positioning data with the smallest error from the errors between the inertial positioning data and the communication positioning data as the target satellite positioning data, the problem of inaccurate positioning caused by data errors can be minimized as much as possible.

[0099] By calculating the distances between the inertial positioning data, the communication positioning data, the target satellite positioning data and the size of the error threshold, the final positioning data of the 4G module can be determined, thereby improving the accuracy and reliability of positioning.

[0100] In the embodiment of the present invention, by using satellite signals, inertial signals, and base station communication signals to position the 4G module, the accuracy and reliability of the 4G module positioning can be improved. Through the inertial positioning data, the communication positioning data, and the target satellite positioning data, a more accurate target position can be obtained, thereby providing more reliable support for various applications.

[0101] As Figure 2 shown, the embodiment of the present invention provides a multi-positioning device based on a 4G module. The multi-positioning device based on the 4G module includes:

[0102] An acquisition module 201, configured to acquire satellite positioning signals, inertial navigation signals, and base station communication signals of the 4G module;

[0103] A processing module 202, configured to perform asynchronous resolution processing on the satellite positioning signals respectively by a first resolution method and a second resolution method to obtain first satellite positioning data and second satellite positioning data of the 4G module, where the first resolution method is different from the second resolution method;

[0104] A positioning module 203, configured to, if the error between the first satellite positioning data and the second satellite positioning data is greater than or equal to a preset error threshold, re-position the 4G module based on the inertial navigation signal and the base station communication signal to obtain the final positioning data of the 4G module.

[0105] Optionally, the device is further configured to perform a first resolution process on the satellite positioning signal by the first resolution method to obtain multiple first satellite positioning data of the 4G module; and perform an asynchronous second resolution process on the satellite positioning signal by the second resolution method to obtain multiple second satellite positioning data of the 4G module; determine a first geometric center position of the multiple first satellite positioning data, and determine a second geometric center position of the multiple second satellite positioning data; and determine the error between the first satellite positioning data and the second satellite positioning data according to the error between the first geometric center position and the second geometric center position.

[0106] Optionally, the positioning module 203 is further configured to: determine the inertial positioning data of the 4G module based on the inertial navigation signal; determine the communication positioning data of the 4G module based on the base station communication signal; and determine the final positioning data of the 4G module based on the inertial positioning data and the communication positioning data.

[0107] Optionally, the positioning module 203 is further configured to: parse out the target base station identifier corresponding to the target base station in the base station communication signal, where the target base station is the base station corresponding to the base station communication signal; match the position information corresponding to the target base station identifier in the base station database to obtain the target base station position of the target base station, and the base station database includes the correspondence between the base station identifier and the position information; and determine the communication positioning data of the 4G module based on the target base station position.

[0108] Optionally, the number of the target base stations is multiple, and one target base station corresponds to one target base station position. The positioning module 203 is further configured to: determine the signal propagation time of each target base station during communication in the communication signal; determine the first communication distance from the 4G module to the multiple target base station positions based on the signal propagation time; and determine the communication positioning data of the 4G module based on the first communication distance.

[0109] Optionally, the base station communication signal is a multipath communication signal, and the multipath communication signal represents the communication signal received by the 4G module after passing through multiple target base stations. The positioning module 203 is further configured to: determine multiple target base stations in the multipath communication signal, and the multiple target base stations are sorted according to the transmission order of the communication signal; determine the base station distance between two adjacent target base stations based on the target base station positions of the two adjacent target base stations; determine the second communication distance between two adjacent target base stations based on the multipath communication signal; determine the distance error distribution between the multiple target base stations based on the base station distance and the second communication distance; determine the third communication distance between the last target base station and the 4G module according to the distance error distribution between the multiple target base stations; and determine the communication positioning data of the 4G module based on the third communication distance.

[0110] Optionally, the positioning module 203 is further configured to: calculate the distance between the inertial positioning data and the communication positioning data; if the distance between the inertial positioning data and the communication positioning data is less than the error threshold, calculate the first intermediate point position of the inertial positioning data and the communication positioning data, and determine the first intermediate point position as the final positioning data of the 4G module; if the error between the inertial positioning data and the communication positioning data is greater than or equal to the error threshold, among the first satellite positioning data and the second satellite positioning data, determine the satellite positioning data with the smallest distance from the inertial positioning data and the communication positioning data as the target satellite positioning data; calculate the second intermediate point position of the inertial positioning data, the communication positioning data, and the target satellite positioning data, and determine the second intermediate point position as the final positioning data of the 4G module.

[0111] It should be noted that the multi-location device based on the 4G module provided in the embodiments of the present invention can be applied to devices such as computers, edge devices, servers, and cloud platforms that can perform the multi-location method based on the 4G module.

[0112] The multi-location device based on the 4G module provided in the embodiments of the present invention can implement each process implemented by the multi-location method based on the 4G module in the above method embodiments, and can achieve the same beneficial effects. To avoid repetition, it will not be elaborated here.

[0113] See Figure 3 , Figure 3 is a schematic structural diagram of an electronic device provided in the embodiments of the present invention. As Figure 3 shown, it includes: a memory 302, a processor 301, and a computer program of the multi-location method based on the 4G module stored on the memory 302 and executable on the processor 301, where:

[0114] The processor 301 is configured to call the computer program stored in the memory 302 and execute the following steps:

[0115] Obtain the satellite positioning signal, inertial navigation signal, and base station communication signal of the 4G module;

[0116] Perform asynchronous resolution processing on the satellite positioning signal through a first resolution method and a second resolution method respectively to obtain the first satellite positioning data and the second satellite positioning data of the 4G module, where the first resolution method is different from the second resolution method;

[0117] If the error between the first satellite positioning data and the second satellite positioning data is greater than or equal to a preset error threshold, reposition the 4G module based on the inertial navigation signal and the base station communication signal to obtain the final positioning data of the 4G module.

[0118] Optionally, after the step of separately performing asynchronous resolution processing on the satellite positioning signal by the first resolution method and the second resolution method to obtain the first satellite positioning data and the second satellite positioning data of the 4G module, the method further includes that the processor 301 executes:

[0119] Performing first resolution processing on the satellite positioning signal by the first resolution method to obtain a plurality of first satellite positioning data of the 4G module;

[0120] And performing asynchronous second resolution processing on the satellite positioning signal by the second resolution method to obtain a plurality of second satellite positioning data of the 4G module;

[0121] Determining a first geometric center position of the plurality of first satellite positioning data, and determining a second geometric center position of the plurality of second satellite positioning data;

[0122] Determining an error between the first satellite positioning data and the second satellite positioning data according to the first geometric center position and the second geometric center position error.

[0123] Optionally, the step that the processor 301 executes to reposition the 4G module based on the inertial navigation signal and the base station communication signal to obtain the final positioning data of the 4G module includes:

[0124] Determining inertial positioning data of the 4G module based on the inertial navigation signal;

[0125] Determining communication positioning data of the 4G module based on the base station communication signal;

[0126] Determining the final positioning data of the 4G module based on the inertial positioning data and the communication positioning data.

[0127] Optionally, the step that the processor 301 executes to determine the communication positioning data of the 4G module based on the base station communication signal includes:

[0128] Parsing a target base station identifier corresponding to a target base station in the base station communication signal, where the target base station is the base station corresponding to the base station communication signal;

[0129] Matching position information corresponding to the target base station identifier in a base station database to obtain the target base station position of the target base station, where the base station database includes the corresponding relationship between the base station identifier and the position;

[0130] Determining the communication positioning data of the 4G module based on the target base station position.

[0131] Optionally, the number of the target base stations is multiple, and one target base station corresponds to one target base station location. The step of determining the communication positioning data of the 4G module based on the target base station location executed by the processor 301 includes:

[0132] Determine the signal propagation time of each target base station during communication in the communication signal;

[0133] Determine the first communication distance from the 4G module to the locations of multiple target base stations based on the signal propagation time;

[0134] Determine the communication positioning data of the 4G module based on the first communication distance.

[0135] Optionally, the base station communication signal is a multipath communication signal, and the multipath communication signal represents the communication signal received by the 4G module after passing through multiple target base stations. The step of determining the communication positioning data of the 4G module based on the target base station location executed by the processor 301 includes:

[0136] Determine multiple target base stations in the multipath communication signal, and sort the multiple target base stations in the transmission order of the communication signal;

[0137] Determine the base station distance between two adjacent target base stations based on the target base station locations of the two adjacent target base stations;

[0138] Determine the second communication distance between two adjacent target base stations based on the multipath communication signal;

[0139] Determine the distance error distribution among multiple target base stations based on the base station distance and the second communication distance;

[0140] Determine the third communication distance between the last target base station and the 4G module according to the distance error distribution among multiple target base stations;

[0141] Determine the communication positioning data of the 4G module based on the third communication distance.

[0142] Optionally, the step of determining the final positioning data of the 4G module based on the inertial positioning data and the communication positioning data executed by the processor 301 includes:

[0143] Calculate the distance between the inertial positioning data and the communication positioning data;

[0144] If the distance between the inertial positioning data and the communication positioning data is less than the error threshold, calculate the first intermediate point position of the inertial positioning data and the communication positioning data, and determine the first intermediate point position as the final positioning data of the 4G module;

[0145] If the error between the inertial positioning data and the communication positioning data is greater than or equal to the error threshold, among the first satellite positioning data and the second satellite positioning data, determine the satellite positioning data with the smallest distance from the inertial positioning data and the communication positioning data as the target satellite positioning data;

[0146] Calculate the second intermediate point position of the inertial positioning data, the communication positioning data, and the target satellite positioning data, and determine the second intermediate point position as the final positioning data of the 4G module.

[0147] It should be noted that the electronic device provided in the embodiments of the present invention can be applied to devices such as computers, edge devices, servers, and cloud platforms that can perform the multi-location method based on the 4G module, that is, the above-mentioned electronic device can be a computer, an edge device, a server, a cloud platform, etc.

[0148] The electronic device provided in the embodiments of the present invention can implement each process implemented by the multi-location method based on the 4G module in the above method embodiments, and can achieve the same beneficial effects. To avoid repetition, it will not be elaborated here.

[0149] The embodiments of the present invention also provide a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it implements each process of the multi-location method based on the 4G module provided in the embodiments of the present invention, and can achieve the same technical effects. To avoid repetition, it will not be elaborated here.

[0150] Those of ordinary skill in the art can understand that all or part of the processes of implementing the above method embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the above method embodiments. Among them, the computer-readable storage medium can be a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM), etc.

[0151] The above-disclosed are only the preferred embodiments of the present invention. Of course, the scope of the rights of the present invention cannot be limited by this. Therefore, equivalent changes made according to the claims of the present invention still fall within the scope covered by the present invention.

Claims

1. A multiple positioning method based on a 4G module, characterized in that, The method includes the following steps: Obtain the satellite positioning signal, inertial navigation signal, and base station communication signal of the 4G module; the base station communication signal is a multipath communication signal, and the multipath communication signal represents the communication signal received by the 4G module after passing through multiple target base stations; Perform asynchronous resolution processing on the satellite positioning signal through a first resolution method and a second resolution method respectively to obtain the first satellite positioning data and the second satellite positioning data of the 4G module, where the first resolution method is different from the second resolution method; specifically, perform a first resolution process on the satellite positioning signal through the first resolution method to obtain multiple first satellite positioning data of the 4G module; and perform an asynchronous second resolution process on the satellite positioning signal through the second resolution method to obtain multiple second satellite positioning data of the 4G module; determine the first geometric center position of the multiple first satellite positioning data, and determine the second geometric center position of the multiple second satellite positioning data; determine the error between the first satellite positioning data and the second satellite positioning data according to the first geometric center position and the error of the second geometric center position; If the error between the first satellite positioning data and the second satellite positioning data is greater than or equal to a preset error threshold, reposition the 4G module based on the inertial navigation signal and the base station communication signal to obtain the final positioning data of the 4G module. Specifically, based on the inertial navigation signal, determine the inertial positioning data of the 4G module; based on the base station communication signal, determine the communication positioning data of the 4G module; calculate the distance between the inertial positioning data and the communication positioning data; if the distance between the inertial positioning data and the communication positioning data is less than the error threshold, calculate the first midpoint position of the inertial positioning data and the communication positioning data, and determine the first midpoint position as the final positioning data of the 4G module; if the error between the inertial positioning data and the communication positioning data is greater than or equal to the error threshold, among the first satellite positioning data and the second satellite positioning data, determine the satellite positioning data with the smallest distance from the inertial positioning data and the communication positioning data as the target satellite positioning data; calculate the second midpoint position of the inertial positioning data, the communication positioning data, and the target satellite positioning data, and determine the second midpoint position as the final positioning data of the 4G module; wherein, the step of determining the communication positioning data of the 4G module based on the base station communication signal includes: in the base station communication signal, parse out the target base station identifier corresponding to the target base station, and the target base station is the base station corresponding to the base station communication signal; in the base station database, match the position information corresponding to the target base station identifier to obtain the target base station position of the target base station, and the base station database includes the corresponding relationship between the base station identifier and the position information; determine multiple target base stations in the multipath communication signal, and sort the multiple target base stations in the transmission order of the communication signal; based on the target base station positions of two adjacent target base stations, determine the base station distance between the two adjacent target base stations; based on the multipath communication signal, determine the second communication distance between two adjacent target base stations; based on the base station distance and the second communication distance, determine the distance error distribution among the multiple target base stations; according to the distance error distribution among the multiple target base stations, determine the third communication distance between the last target base station and the 4G module; based on the third communication distance, determine the communication positioning data of the 4G module.

2. The multi-positioning method based on a 4G module according to claim 1, wherein The number of the target base stations is multiple, and one target base station corresponds to one target base station position. The step of determining the communication positioning data of the 4G module based on the target base station position includes: In the communication signal, determine the signal propagation time of each target base station during the communication process; Based on the signal propagation time, determine the first communication distance from the 4G module to the positions of multiple target base stations; Based on the first communication distance, determine the communication positioning data of the 4G module.

3. A multiple positioning device based on a 4G module, characterized in that, The multi-location device based on a 4G module includes: An acquisition module, configured to acquire the satellite positioning signal, inertial navigation signal, and base station communication signal of the 4G module; the base station communication signal is a multipath communication signal, and the multipath communication signal represents the communication signal received by the 4G module after passing through multiple target base stations; A processing module, configured to perform asynchronous resolution processing on the satellite positioning signal through a first resolution method and a second resolution method respectively to obtain first satellite positioning data and second satellite positioning data of the 4G module, where the first resolution method is different from the second resolution method; specifically, perform first resolution processing on the satellite positioning signal through the first resolution method to obtain multiple first satellite positioning data of the 4G module; and perform asynchronous second resolution processing on the satellite positioning signal through the second resolution method to obtain multiple second satellite positioning data of the 4G module; determine a first geometric center position of the multiple first satellite positioning data, and determine a second geometric center position of the multiple second satellite positioning data; determine the error between the first satellite positioning data and the second satellite positioning data according to the first geometric center position and the error of the second geometric center position; A positioning module, configured to, if the error between the first satellite positioning data and the second satellite positioning data is greater than or equal to a preset error threshold, re-position the 4G module based on the inertial navigation signal and the base station communication signal to obtain the final positioning data of the 4G module. Specifically, based on the inertial navigation signal, the inertial positioning data of the 4G module is determined; based on the base station communication signal, the communication positioning data of the 4G module is determined; the distance between the inertial positioning data and the communication positioning data is calculated; if the distance between the inertial positioning data and the communication positioning data is less than the error threshold, the first intermediate point position between the inertial positioning data and the communication positioning data is calculated, and the first intermediate point position is determined as the final positioning data of the 4G module; if the error between the inertial positioning data and the communication positioning data is greater than or equal to the error threshold, among the first satellite positioning data and the second satellite positioning data, the satellite positioning data with the smallest distance from the inertial positioning data and the communication positioning data is determined as the target satellite positioning data; the second intermediate point position of the inertial positioning data, the communication positioning data, and the target satellite positioning data is calculated, and the second intermediate point position is determined as the final positioning data of the 4G module. Wherein, the step of determining the communication positioning data of the 4G module based on the base station communication signal includes: parsing out the target base station identifier corresponding to the target base station in the base station communication signal, where the target base station is the base station corresponding to the base station communication signal; in the base station database, matching the position information corresponding to the target base station identifier to obtain the target base station position of the target base station, and the base station database includes the corresponding relationship between the base station identifier and the position information; determining multiple target base stations in the multipath communication signal, and sorting the multiple target base stations in the transmission order of the communication signal; based on the target base station positions of two adjacent target base stations, determining the base station distance between the two adjacent target base stations; based on the multipath communication signal, determining the second communication distance between two adjacent target base stations; based on the base station distance and the second communication distance, determining the distance error distribution between the multiple target base stations; according to the distance error distribution between the multiple target base stations, determining the third communication distance between the last target base station and the 4G module; based on the third communication distance, determining the communication positioning data of the 4G module.

4. An electronic device, characterized in that, Including: A memory, a processor, and a computer program stored on the memory and executable on the processor, and when the processor executes the computer program, the steps in the multi-location method based on the 4G module according to any one of claims 1 and 2 are implemented.

5. A computer-readable storage medium, characterized in that, A computer program is stored on the computer-readable storage medium, and when the computer program is executed by the processor, the steps in the multi-location method based on the 4G module according to any one of claims 1 and 2 are implemented.

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