Positioning optimization system and positioning method for semi-shielding scene

Abstract

The invention relates to the field of positioning, in particular to a positioning optimization system and a positioning method for a semi-shielded scene, and the system comprises a positioning module, a cross blocking module, a clustering point finding module, a path point finding module and a positioning output module. The clustering point finding module finds out an optimal positioning point in the positioning precision difference points by using a clustering algorithm and an averaging method, and finds out an accurate positioning point on a path between the positioning point with high positioning precision and the optimal positioning point according to the distance between the points through the path point finding module, so that the presentation of a track is perfected; therefore, the problem that the positioning point and the track deviate due to the semi-shielding phenomenon is solved.

Description

Technical Field

[0001] The present invention relates to the field of positioning, and in particular to a positioning optimization system and a positioning method for a semi-occluded scene. Background Art

[0002] With the development of science and technology, position positioning has become more and more widely used, and is widely used in aerospace, military, transportation, geographic information and other fields. With the continuous improvement of positioning needs, the accuracy of position positioning is also getting higher and higher. In the existing technology, most of the positioning is achieved by combining satellites with positioning devices. For example, the satellite positioning method and satellite positioning device with application number: CN201410225110.8, but the positions that need to be positioned are various, that is, the positions of the positioning devices are various. When the positioning device is near a large obstruction, semi-obstruction will occur, and some positioning satellites will be obstructed, resulting in a decrease in positioning accuracy and a final positioning offset. Therefore, it is very necessary to propose a positioning optimization system and positioning method for semi-obstruction scenes. Summary of the invention

[0003] The purpose of the present invention is to provide a positioning optimization system and positioning method for semi-occluded scenes, which can improve the accuracy of positioning points caused by semi-occlusion and the problem of trajectory deviation when the positioning device is in a semi-occluded state, so as to solve the existing technical defects and unmet technical requirements.

[0004] To achieve the above object, the present invention provides the following technical solution: a positioning optimization system for a semi-occluded scene, comprising:

[0005] A positioning module is used to obtain an initial positioning point and send the initial positioning point to the cross-blocking module;

[0006] The cross-blocking module is used to receive the initial positioning points sent by the positioning module, and then send the initial positioning points with high positioning accuracy to the path finding module, and cross-block the initial positioning points with poor positioning accuracy and send them to the clustering finding module and the path finding module;

[0007] The clustering point finding module is used to receive the cross-blocks with poor positioning accuracy sent by the cross-block module, find the optimal initial positioning point in the cross-block, and then send the optimal initial positioning point to the path finding module;

[0008] The path finding module is used to receive the cross-blocks with poor positioning accuracy and the initial positioning points with high positioning accuracy sent by the cross-block module, and receive the optimal initial positioning points sent by the cluster finding module, and then find the positioning points on the path from the cross-blocks with poor positioning accuracy based on the initial positioning points with high positioning accuracy and the optimal initial positioning points, which are also called precise positioning points, and send the precise positioning points to the positioning output module;

[0009] The positioning output module is used to receive the precise positioning points sent by the path finding module and output the precise positioning points as output positioning points.

[0010] A positioning optimization method for a semi-occluded scene comprises the following steps:

[0011] 1) The positioning module receives the signal of the positioning satellite, generates an initial positioning point, and the initial positioning point information includes the latitude and longitude coordinates and the positioning accuracy, and sends the initial positioning point to the cross-blocking module;

[0012] Second, the cross-blocking module receives the initial positioning point sent by the positioning module, and compares the positioning accuracy of the initial positioning point with the positioning accuracy threshold to distinguish the initial positioning point with low positioning accuracy and the initial positioning point with high positioning accuracy, and then sends the initial positioning point with high positioning accuracy to the path finding module, and cross-blocks the initial positioning point with poor positioning accuracy and sends it to the clustering finding module and the path finding module;

[0013] 3. After the clustering point finding module receives the positioning accuracy difference sent by the cross-blocking module and cross-blocks it, it uses the K-Means clustering method to find the optimal initial positioning point in the cross-blocking, and then sends the optimal initial positioning point to the path finding module;

[0014] 4) The path finding module receives the cross-blocks with poor positioning accuracy and the initial positioning points with high positioning accuracy sent by the cross-block module, and receives the optimal initial positioning points sent by the cluster finding module, and then matches the positioning points in the cross-blocks with poor positioning accuracy on the path according to the initial positioning points with high positioning accuracy and the optimal initial positioning points to obtain precise positioning points, and sends the precise positioning points to the positioning output module;

[0015] 5) Positioning output module, used to receive the precise positioning points sent by the path finding module, and output the precise positioning points as output positioning points for trajectory presentation.

[0016] Preferably, in step 1), the positioning module receives signals from at least four positioning satellites.

[0017] Preferably, in step 1), the positioning module calculates the distance between the receiver and each satellite and uses triangulation to determine the precise position of the receiver on the earth as the initial positioning point.

[0018] Preferably, in the step 2), the method by which the cross-block module determines that the positioning accuracy is low is:

[0019] The positioning accuracy of the initial positioning point is compared with the positioning accuracy threshold. The initial positioning point whose positioning accuracy is not less than the positioning accuracy threshold is an initial positioning point with low positioning accuracy, and the initial positioning point whose positioning accuracy is less than the positioning accuracy threshold is an initial positioning point with high positioning accuracy.

[0020] Preferably, in step 2), the cross-blocking method is:

[0021] The cross-block module divides the initial positioning points with low positioning accuracy into fixed 2L blocks, and merges the L number of positioning points in the previous block with the L number of positioning points in the next block for each block, and finally generates a maximum of 4L cross-blocks.

[0022] It should be explained that L in this application does not have a specific meaning and is only used as an auxiliary expression. Therefore, the above content of this application means that a slice is combined with half of the previous slice and half of the next slice to form a large slice, that is, the slice length is 2L, L is half of the slice length, and then the slice with a length of 2L is combined with half of the previous slice - L 上一个 and half of the next slice L 下一个 , forming a 4L large shard is equivalent to 2L+L 上一个 +L 下一个 , and finally get 4L fragments, L 上一个 and L 上一个 Both refer to the half of the shard adjacent to the 2L shard.

[0023] Preferably, in step 3), the clustering point finding module searches for the optimal positioning point in the cross-block by:

[0024] The clustering point finding module uses the K-Means clustering method to divide the initial positioning points of the cross-block into three clusters according to the longitude and latitude coordinates, so that the initial positioning points with high similarity in longitude and latitude coordinates are in the same cluster, while the initial positioning points with low similarity in longitude and latitude coordinates are in different clusters;

[0025] The clustering point finding module selects the cluster with the largest number as the optimal positioning point cluster, and calculates the mean of the longitude and latitude coordinates of the optimal positioning point cluster to obtain the average longitude and latitude coordinates of the optimal positioning point cluster. The optimal positioning point cluster is traversed to find the initial positioning point with the closest average longitude and latitude coordinates. This initial positioning point is the optimal positioning point.

[0026] Preferably, in step 4), the method by which the path finding module determines the precise positioning point is:

[0027] The path finding module takes the initial positioning point and the optimal positioning point with high positioning accuracy as the basic positioning points. For each pair of adjacent basic positioning points, the path finding module traverses the positioning points in the cross-block with poor positioning accuracy between the two basic positioning points in the cross-block. The path finding module traverses the positioning points between two adjacent basic positioning points in the cross-block. The path finding module calculates the distance d0 between the two basic positioning points, and calculates the distance d1 and d2 from the positioning point to the two basic positioning points respectively. If the sum of d1 and d2 is less than d0*1.3, and d1 and d2 are both less than d0, it is considered that the positioning point is on the path of the two basic positioning points, and the positioning point is a precise positioning point on the path.

[0028] Compared with the prior art, the present invention has the following beneficial effects:

[0029] 1. This application divides the positioning points with poor positioning accuracy into blocks according to time through the cross-blocking module, and then the clustering point finding module uses the clustering algorithm and the mean method to find the optimal positioning point among the positioning points with poor positioning accuracy. The path finding module finds the points on the path between the positioning points with high positioning accuracy and the optimal positioning points according to the distance between the points, and improves the presentation of the trajectory to improve the problem of positioning point and trajectory offset due to semi-occlusion. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a schematic diagram of the overall process of the present invention;

[0031] In the figure: 1. Positioning module; 2. Cross-blocking module; 3. Clustering point finding module; 4. Path point finding module; 5. Positioning output module. DETAILED DESCRIPTION

[0032] The following will be combined with the attached embodiment of the present invention Figure 1 , the technical solutions in the embodiments of the present invention are clearly and completely described. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] See also Figure 1 , embodiments of the present invention:

[0034] Example:

[0035] Positioning accuracy reflects the reliability of positioning results, and is affected by the geometric distribution of satellites and multipath effects. When the positioning device is close to a building, some satellites are blocked and the distribution of satellites is uneven, resulting in reduced positioning accuracy. At the same time, some satellite signals are reflected by the building, resulting in multipath effects, which reduces positioning accuracy.

[0036] like Figure 1As shown: A positioning optimization system for a semi-occluded scene, comprising:

[0037] Positioning module 1, used to obtain the initial positioning point and send the initial positioning point to the cross-blocking module 2;

[0038] The cross-blocking module 2 is used to receive the initial positioning points sent by the positioning module 1, and then send the initial positioning points with high positioning accuracy to the path finding module 4, and cross-block the initial positioning points with poor positioning accuracy and send them to the clustering finding module 3 and the path finding module 4;

[0039] The clustering point finding module 3 is used to receive the cross-blocks with poor positioning accuracy sent by the cross-blocking module 2, find the optimal initial positioning point in the cross-blocks, and then send the optimal initial positioning point to the path finding module 4;

[0040] The path finding module 4 is used to receive the cross-blocks with poor positioning accuracy and the initial positioning points with high positioning accuracy sent by the cross-block module 2, and receive the optimal initial positioning points sent by the clustering finding module 3, and then find the positioning points on the path from the cross-blocks with poor positioning accuracy based on the initial positioning points with high positioning accuracy and the optimal initial positioning points, which are also called precise positioning points, and send the precise positioning points to the positioning output module 5;

[0041] The positioning output module 5 is used to receive the precise positioning point sent by the path finding module 4, and output the precise positioning point as an output positioning point.

[0042] A positioning optimization method for a semi-occluded scene comprises the following steps:

[0043] 1) The positioning module 1 receives the signal from the positioning satellite, generates an initial positioning point, and the initial positioning point information includes the latitude and longitude coordinates and the positioning accuracy, and sends the initial positioning point to the cross-blocking module 2;

[0044] The positioning module 1 receives signals from four positioning satellites.

[0045] The positioning module 1 calculates the distance between the receiver and each satellite and uses triangulation to determine the precise position of the receiver on the earth as the initial positioning point.

[0046] 2) The cross-blocking module 2 receives the initial positioning point sent by the positioning module 1, and compares the positioning accuracy of the initial positioning point with the positioning accuracy threshold to distinguish the initial positioning point with low positioning accuracy and the initial positioning point with high positioning accuracy, and then sends the initial positioning point with high positioning accuracy to the path finding module 4, and cross-blocks the initial positioning point with poor positioning accuracy and sends it to the clustering point finding module 3 and the path finding module 4;

[0047] Specifically: the method for the cross-blocking module 2 to determine whether the positioning accuracy is low is:

[0048] The positioning accuracy of the initial positioning point is compared with the positioning accuracy threshold. The initial positioning point whose positioning accuracy is not less than the positioning accuracy threshold is an initial positioning point with low positioning accuracy, and the initial positioning point whose positioning accuracy is less than the positioning accuracy threshold is an initial positioning point with high positioning accuracy.

[0049] And the cross-blocking method is:

[0050] The cross-block module 2 blocks the initial positioning points with low positioning accuracy according to a fixed 2L number, and merges the L number of positioning points of the previous block with the L number of positioning points of the next block for each block, and finally generates a maximum of 4L cross-blocks.

[0051] 3) After the clustering point finding module 3 receives the positioning accuracy difference cross-block sent by the cross-blocking module 2, it uses the K-Means clustering method to find the optimal initial positioning point in the cross-block, and then sends the optimal initial positioning point to the path finding module 4; in this embodiment, the optimal positioning point to be found by the clustering point finding module 3 may be at the edge of the block of the positioning point, and all the positioning points have enough left and right points for calculation through the cross method.

[0052] The clustering point finding module 3 searches for the optimal positioning point in the cross-blocking by:

[0053] The clustering point finding module 3 uses the K-Means clustering method to divide the initial positioning points of the cross-block into three clusters according to the longitude and latitude coordinates, so that the initial positioning points with high similarity in longitude and latitude coordinates are in the same cluster, while the initial positioning points with low similarity in longitude and latitude coordinates are in different clusters; in this embodiment, the clustering point finding module 3 selects the cluster with the largest number as the optimal positioning point cluster, and can exclude trajectory points with large errors.

[0054] The clustering point finding module 3 selects the cluster with the largest number as the optimal positioning point cluster, and calculates the mean of the longitude and latitude coordinates of the optimal positioning point cluster to obtain the average longitude and latitude coordinates of the optimal positioning point cluster, and traverses the optimal positioning point cluster to find the initial positioning point with the closest average longitude and latitude coordinates. The initial positioning point is the optimal positioning point.

[0055] This embodiment operates in this way because the positioning deviation is affected by the geometric distribution of satellites and the multipath effect, and the positioning deviation conforms to the normal distribution. The clustering point finding module 3 searches for the optimal positioning point and eliminates the positioning deviation by calculating the mean of the optimal positioning point cluster, thereby improving the actual positioning accuracy.

[0056] Fourth, the path finding module 4 receives the cross-block with poor positioning accuracy and the initial positioning point with high positioning accuracy sent by the cross-block module 2, and receives the optimal initial positioning point sent by the clustering finding module 3, and then matches the positioning point in the cross-block with poor positioning accuracy on the path according to the initial positioning point with high positioning accuracy and the optimal initial positioning point, and sends the precise positioning point to the positioning output module 5;

[0057] The method for the path finding module 4 to determine the positioning point in the cross block with poor positioning accuracy as the precise positioning point is:

[0058] The path finding module 4 takes the initial positioning point and the optimal positioning point with high positioning accuracy as the basic positioning points. For each pair of adjacent basic positioning points, the path finding module 4 traverses the positioning points in the intersection block with poor positioning accuracy between the two basic positioning points in the intersection block. The path finding module 4 traverses the positioning points between two adjacent basic positioning points in the intersection block. The path finding module 4 calculates the distance d0 between the two basic positioning points, and calculates the distances d1 and d2 from the positioning point to the two basic positioning points respectively. If the sum of d1 and d2 is less than d0*1.3, and d1 and d2 are both less than d0, it is considered that the positioning point is on the path of the two basic positioning points, and the positioning point is a precise positioning point on the path.

[0059] V) The positioning output module 5 is used to receive the precise positioning points sent by the path finding module 4, and output the precise positioning points as output positioning points for trajectory presentation.

[0060] This embodiment uses a cross-blocking module to block the positioning points with poor positioning accuracy according to time, and then uses a clustering algorithm and a mean method to find the optimal positioning point among the positioning points with poor positioning accuracy. The path finding module finds the points on the path between the positioning points with high positioning accuracy and the optimal positioning point according to the distance between the points, and improves the presentation of the trajectory to improve the problem of positioning point and trajectory offset due to semi-occlusion.

[0061] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic features of the present invention. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is defined by the attached claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention. Any figure mark in the claims should not be regarded as limiting the claims involved.

[0062] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation modes that those skilled in the art can understand.

Claims

1. A positioning optimization system for semi-occluded scenes, It is characterized in that include: A positioning module (1), used for obtaining an initial positioning point and sending the initial positioning point to a cross-blocking module (2); The cross-blocking module (2) is used to receive the initial positioning points sent by the positioning module (1), and then send the initial positioning points with high positioning accuracy to the path finding module (4), and cross-block the initial positioning points with poor positioning accuracy and send them to the clustering point finding module (3) and the path finding module (4); The clustering point finding module (3) is used to receive the cross-blocks with poor positioning accuracy sent by the cross-block module (2), find the optimal initial positioning point in the cross-blocks, and then send the optimal initial positioning point to the path finding module (4); The path finding module (4) is used to receive the cross-blocks with poor positioning accuracy and the initial positioning points with high positioning accuracy sent by the cross-block module (2), and receive the optimal initial positioning points sent by the cluster finding module (3), and then find the positioning points on the path from the cross-blocks with poor positioning accuracy based on the initial positioning points with high positioning accuracy and the optimal initial positioning points, which are also called precise positioning points, and send the precise positioning points to the positioning output module (5); The positioning output module (5) is used to receive the precise positioning point sent by the path finding module (4) and output the precise positioning point as an output positioning point.

2. A positioning optimization method for semi-occluded scenes, It is characterized in that The following steps are involved: 1) The positioning module (1) receives the signal from the positioning satellite, generates an initial positioning point, and the initial positioning point information includes the latitude and longitude coordinates and the positioning accuracy, and sends the initial positioning point to the cross-blocking module (2); 2) The cross-blocking module (2) receives the initial positioning point sent by the positioning module (1), and compares the positioning accuracy of the initial positioning point with the positioning accuracy threshold to distinguish the initial positioning point with low positioning accuracy and the initial positioning point with high positioning accuracy, and then sends the initial positioning point with high positioning accuracy to the path finding module (4), and cross-blocks the initial positioning point with poor positioning accuracy and sends it to the clustering point finding module (3) and the path finding module (4); 3) After receiving the positioning accuracy difference cross-block sent by the cross-block module (2), the clustering point finding module (3) uses the K-Means clustering method to find the optimal initial positioning point in the cross-block, and then sends the optimal initial positioning point to the path finding module (4); 4) The path finding module (4) receives the cross-blocks with poor positioning accuracy and the initial positioning points with high positioning accuracy sent by the cross-blocking module (2), and receives the optimal initial positioning points sent by the clustering finding module (3), and then matches the positioning points in the cross-blocks with poor positioning accuracy on the path according to the initial positioning points with high positioning accuracy and the optimal initial positioning points to obtain precise positioning points, and sends the precise positioning points to the positioning output module (5); V) A positioning output module (5) is used to receive the precise positioning point sent by the path finding module (4), and output the precise positioning point as an output positioning point for trajectory presentation.

3. According to claim 2, a positioning optimization method for a semi-occluded scene, It is characterized in that In the step 1), the positioning module (1) receives signals from at least four positioning satellites.

4. According to claim 3, a positioning optimization method for a semi-occluded scene, It is characterized in that In the step 1), the positioning module (1) calculates the distance between the receiver and each satellite and uses triangulation to determine the precise position of the receiver on the earth as an initial positioning point.

5. According to the positioning optimization method of a semi-occluded scene according to claim 4, It is characterized in that In the step 2), the method by which the cross-blocking module (2) determines that the positioning accuracy is low is: The positioning accuracy of the initial positioning point is compared with the positioning accuracy threshold. The initial positioning point whose positioning accuracy is not less than the positioning accuracy threshold is an initial positioning point with low positioning accuracy, and the initial positioning point whose positioning accuracy is less than the positioning accuracy threshold is an initial positioning point with high positioning accuracy.

6. The positioning optimization method for a semi-occluded scene according to claim 5, It is characterized in that In the step 2), the cross-blocking method is: The cross-blocking module (2) divides the initial positioning points with low positioning accuracy into blocks according to a fixed number of 2L, and merges the L number of positioning points of the previous block with the L number of positioning points of the next block for each block, and finally generates a maximum number of 4L cross-blocks.

7. The positioning optimization method for a semi-occluded scene according to claim 5, It is characterized in that In the step 3), the clustering point finding module (3) searches for the optimal positioning point in the cross-block by: The clustering point finding module (3) uses the K-Means clustering method to divide the initial positioning points of the cross-block into three clusters according to the longitude and latitude coordinates; The clustering point finding module (3) selects the cluster with the largest number as the optimal positioning point cluster, and calculates the mean of the longitude and latitude coordinates of the optimal positioning point cluster to obtain the average longitude and latitude coordinates of the optimal positioning point cluster, and traverses the optimal positioning point cluster to find the initial positioning point with the closest average longitude and latitude coordinates, which is the optimal positioning point.

8. The positioning optimization method for a semi-occluded scene according to claim 7, It is characterized in that The clustering point finding module (3) uses the K-Means clustering method to divide the initial positioning points of the cross-block into three clusters according to the latitude and longitude coordinates. The standard is: the initial positioning points with high similarity in longitude and latitude coordinates are in the same cluster, while the initial positioning points with low similarity in longitude and latitude coordinates are in different clusters.

9. The positioning optimization method for a semi-occluded scene according to claim 5, It is characterized in that In the step 4), the method in which the path finding module (4) determines the positioning point in the cross-block with poor positioning accuracy as the precise positioning point is: The path finding module (4) takes the initial positioning point and the optimal positioning point with high positioning accuracy as basic positioning points. For each pair of adjacent basic positioning points, the path finding module (4) traverses the positioning points in the cross-blocks with poor positioning accuracy between the two basic positioning points. The path finding module (4) calculates the distance d0 between the two basic positioning points, and then calculates the distances d1 and d2 from the positioning point to the two basic positioning points respectively. By comparing d1 and d2 with d0, the precise positioning point is determined.

10. The positioning optimization method for a semi-occluded scene according to claim 9, It is characterized in that The standard for comparing d1 and d2 with d0 is: if the sum of d1 and d2 is less than d0*1.3, and both d1 and d2 are less than d0, then it is considered that the positioning point is on the path of the two basic positioning points, and the positioning point is a precise positioning point on the path.

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