Tracking and positioning control method, terminal and computer readable storage medium

Abstract

The invention provides a tracking and positioning control method, a terminal and a computer readable storage medium, and belongs to the technical field of Internet of Things. In order to solve the problem that Tracker positioning in the prior art cannot achieve better balance between positioning timeliness and power consumption, the method comprises the following steps of: controlling a positioner to be powered on, then controlling the positioner to be started and performing positioning under the condition that a positioning condition is met, and controlling the positioner to be powered off under the condition that the positioning is finished and then controlling the positioner to be shut down. Therefore, when positioning is needed, the positioner is controlled to be powered on and turned on, and when positioning is not needed and the positioner is turned off, the positioner is controlled to be powered off, so that the power consumption of bottom current and the power consumption of leakage current are saved, the positioning power consumption of the positioning module is reduced, the standby time is prolonged, and the positioning efficiency is improved. Therefore, the positioning timeliness and the power consumption are well balanced.

Description

Technical Field

[0001] The present invention relates to the technical field of Internet of Things, and in particular to a tracking and positioning control method, a terminal and a computer-readable storage medium. Background Art

[0002] With the development of Internet of Things (IoT) technology, the tracking and positioning needs involved in IoT are becoming more and more extensive. General tracking and positioning products are developed in opencpu and xMCU modes. Regardless of the development mode, the positioning module (Tracker) contained in the tracking and positioning product works directly after the battery is installed, that is, after the battery is installed, the positioning module will start to operate. Even when the positioning product is in idle or dormant state, there must be low current power consumption and leakage current power consumption during dormancy. Among them, the low current is the lowest current when the machine is fully asleep. The current power consumption is basically mA and A level. Due to the existence of low current power consumption and leakage current power consumption, the battery's energy resources are wasted.

[0003] Furthermore, Tracker is a terminal product that reports and obtains current GPS information, surrounding WiFi or base station information. Tracker has the following methods for the timing of data reporting: 1) periodic positioning; 2) triggered positioning (triggered by buttons, BLE, etc.). When Tracker uses periodic positioning, if the positioning time interval is small, the problem is that power consumption increases and the number of days of device standby is seriously reduced. If the time interval is large, the position of Tracker cannot be obtained in time, which reduces the accuracy of positioning. When Tracker uses triggered positioning, the user needs to trigger it all the time. In this way, when the device's motion trajectory has frequent position changes such as crossing obstacles, the user needs to trigger positioning in time according to the complexity of the motion trajectory. Not only does the user experience very bad due to frequent triggering of positioning, but the power consumption of the positioning module increases, and it is easy to fail to obtain the position of Tracker in time when the user does not trigger it in time, which reduces the accuracy of positioning. Therefore, the positioning method of the above Tracker cannot achieve a good balance between the timeliness of positioning and power consumption. Summary of the invention

[0004] The present invention provides a tracking and positioning control method, a terminal and a computer-readable storage medium, which can reduce the power consumption of positioning, extend the standby time of positioning products, and further achieve a better balance between improving the timeliness of positioning and reducing the power consumption of positioning.

[0005] In a first aspect, the present invention provides a tracking and positioning control method, comprising: when a positioning condition is met, after controlling the locator to be powered on, controlling the locator to be turned on; when the locator performs positioning, and when the positioning is completed, controlling the locator to be turned off, and controlling the locator to be powered off.

[0006] In a second aspect, the present invention further provides a terminal, comprising a processor, a memory, a computer program stored in the memory and executable by the processor, and a data bus for realizing connection and communication between the processor and the memory, wherein when the computer program is executed by the processor, the steps of any tracking and positioning control method provided in the specification of the present invention are implemented.

[0007] In a third aspect, the present invention further provides a storage medium for computer-readable storage, characterized in that the storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the steps of any terminal upgrade method provided in the specification of the present invention.

[0008] The present invention provides a tracking and positioning control method, terminal and storage medium. The method controls the locator to be powered on and turned on when the positioning condition is met, and the locator performs positioning. When the positioning is completed, the locator is powered off and powered off, so that when positioning is required, the locator is powered on and turned on, and when positioning is not required, the locator is powered off and powered off, so as to save the bottom current power consumption and leakage current power consumption, thereby reducing the positioning power consumption of the positioning module, extending the standby time, and achieving a better balance between the timeliness of positioning and power consumption. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0010] Figure 1 A schematic diagram of a flow chart of a tracking and positioning control method provided by an embodiment of the present invention;

[0011] Figure 2 A schematic diagram of a product structure to which the tracking and positioning control method provided by an embodiment of the present invention is applied;

[0012] Figure 3 A schematic diagram of the structure of a conventional product involved in the tracking and positioning control method provided by an embodiment of the present invention;

[0013] Figure 4 A schematic diagram of the control flow of turning on and off a locator in the tracking and positioning control method provided by an embodiment of the present invention;

[0014] Figure 5 A schematic diagram of a specific workflow of the tracking and positioning control method provided by an embodiment of the present invention;

[0015] Figure 6 A schematic diagram of a first sub-flow chart of a tracking and positioning control method provided by an embodiment of the present invention;

[0016] Figure 7 A schematic block diagram of the structure of a terminal provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0017] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. 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.

[0018] The flowcharts shown in the accompanying drawings are only examples and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may also be decomposed, combined or partially merged, so the actual execution order may change according to actual conditions.

[0019] It should be understood that the terms used in this specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in the specification of the present invention and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0020] The embodiment of the present invention provides a tracking and positioning control method, terminal and storage medium. The tracking and positioning control method can be applied to, but not limited to, tracking and positioning terminals in the Internet of Things, so as to reduce the power consumption of positioning while the terminal is positioning, and extend the standby time of the positioning product.

[0021] In view of the problem of waste of battery power resources due to the existence of low current power consumption and leakage current power consumption in traditional technologies, the inventor proposes a tracking and positioning control method of an embodiment of the present invention. The core idea of ​​the embodiment of the present invention is: when positioning is required, the locator is powered on and turned on; when positioning is not required, the locator is turned off and the power is cut off to save low current power consumption and leakage current power consumption, thereby reducing the positioning power consumption of the positioning module and extending the standby time.

[0022] Furthermore, the positioning frequency of the device is automatically adjusted according to the movement state of the device, thereby achieving a better balance between the timeliness of positioning and power consumption, and further reducing the positioning power consumption while ensuring that the movement trajectory of the device is not lost.

[0023] Some embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0024] See also Figures 1 to 4 , Figure 1 A flowchart of a tracking and positioning control method provided by an embodiment of the present invention is provided. Figure 2 A schematic diagram of a product structure used in the tracking and positioning control method provided in an embodiment of the present invention, Figure 3 A schematic diagram of a conventional product structure involved in the tracking and positioning control method provided in an embodiment of the present invention, Figure 4 The control flow diagram of the locator power on and off in the tracking and positioning control method provided by the embodiment of the present invention is as follows. Figure 1 As shown, the method includes but is not limited to the following steps S11 to S12:

[0025] S11. When the positioning condition is met, the positioner is powered on and then turned on.

[0026] Explanatory, see Figure 4 In the embodiment of the present invention, the positioner can be controlled by adding a control switch, but not limited to the control switch. The control switch can be used to control the positioner to be powered on (powered) or powered off (powered off), and the control switch can also be used to control the positioner to start up. The control switch can be, but not limited to, a control logic circuit GreenPAK. For example, please refer to Figure 2 and Figure 3 ,like Figure 2 and Figure 3As shown, the control switch GreenPAK is electrically connected to the power load switch, and the control switch GreenPAK is electrically connected to the locator Tracker. Based on the control switch, when the positioning condition is met, the locator needs to be positioned. For example, when the host device to which the locator belongs is powered on, or when the motion state of the locator changes, it can be determined that the positioning condition is met. In this case, the control switch can control the power-on of the locator through but not limited to the GRIO that controls the power on and off of the locator, and after the locator is powered on, the locator is powered on through but not limited to the GPIO that controls the power-on of the locator. Among them, GPIO (General Porpose Input Output) is the abbreviation of general input and output port, and its output and input can be controlled by software. In layman's terms, it is a commonly used pin, and the high and low levels of the pin can be controlled to read or write to it.

[0027] Furthermore, the achieving the positioning condition includes:

[0028] The timer's timing has been reached.

[0029] Explanatory, including but not limited to setting a timer based on a control switch, the timing time of the timer can be but not limited to a time interval of 3 minutes, 5 minutes or 10 minutes, etc., and when the control switch is a control logic circuit GreenPAK and the control switch is set with a timer, the timing time interval of the timer can also be modified through a serial port based on an MCU (microcontroller unit). When the locator is controlled based on the control switch and a timer is set on the control switch, the control switch controls positioning based on the timer, that is, when the timing time of the timer is reached, the locator is controlled to be positioned, the locator is powered on by the control switch, and after the locator is powered on, the locator is controlled to start up, that is, when positioning is not performed, the locator is powered off and turned off, so as to save the bottom current power consumption and leakage current power consumption when positioning is not performed, thereby reducing the positioning power consumption of the positioning module and extending the standby time.

[0030] Please continue reading Figure 2 and Figure 4 ,like Figure 2As shown, when no positioning is performed, the locator Tracker is in a shutdown state, and the power load switch is used to control the locator Tracker to be powered off, and only the rotation motion sensor and the control switch GreenPAK are kept in a power supply state through the LDO power supply, thereby saving the bottom current power consumption and the leakage current power consumption, so as to reduce the positioning power consumption of the positioning module and extend the standby time. When the timing time of the timer of the control switch GreenPAK is reached, the control switch GreenPAK turns on the power load switch by controlling the GPIO of the locator Tracker to power on and off, and starts to supply power to the locator Tracker, wherein the power load switch is electrically connected to the battery. At this time, the locator Tracker is not turned on. Therefore, after the locator Tracker is powered on, the control switch GreenPAK also controls the locator to be turned on by controlling the GPIO of the locator Tracker to be turned on, thereby realizing that the locator Tracker in the power-off and shutdown state is powered on and turned on by the control switch GreenPAK, thereby the locator Tracker enters the working state.

[0031] S12, the positioner performs positioning, and when the positioning is completed, the positioner is controlled to shut down and then powered off.

[0032] Explanatory, please continue to see Figure 4 , the process of the locator performing positioning and the timer performing positioning is no different from the traditional processing process. The main improvement is that when the positioning is completed, the locator is controlled to shut down, and after the locator is shut down, the locator is controlled to power off. In the case of powering off the locator based on the control switch, the locator informs the control switch that the positioning is completed, and controls the locator to shut down. The control switch cuts off the power to the locator after the locator is shut down based on the message that the locator positioning is completed. Among them, controlling the locator to shut down includes but is not limited to a soft shutdown operation inside the locator, that is, the locator automatically shuts down itself. This method can achieve efficient locator shutdown efficiency. As another implementation method, the locator shutdown can also be achieved by the control switch. For example, please continue to refer to Figure 2 ,like Figure 2As shown, the locator Tracker performs positioning, and when positioning is completed, the control switch is informed of the completion of positioning by means of notifications including but not limited to notifying the control switch GreenPAK to power off, shut down, and complete positioning, that is, the positioning completion information is notified to the control switch GreenPAK, and the control switch GreenPAK powers off the locator Tracker after the locator Tracker is shut down according to the received positioning completion information, that is, the control switch GreenPAK turns off the power load switch by controlling the GPIO of powering on and off the locator Tracker, thereby powering off the locator Tracker, and the locator Tracker can automatically shut down itself, that is, the locator Tracker performs a soft shutdown operation to automatically shut down itself, and the locator Tracker can also control the locator Tracker to shut down through the GPIO of the control switch GreenPAK to control the locator Tracker to shut down, so that the locator Tracker will be in a shutdown and power-off state.

[0033] Further, controlling the positioner to be powered off includes:

[0034] The control switch receives the positioning completion information of the locator, and controls the locator to be powered off after a preset time according to the positioning completion information.

[0035] Explanatory, after positioning is completed, the locator will send positioning completion information, including but not limited to power-off notification, power-off command, shutdown or positioning completion, indicating the end of positioning to the control switch. The control switch receives the positioning completion information sent by the locator and, based on the positioning completion information, controls the locator to be powered off after a preset time. The preset time can generally be a few seconds. The preset time can be determined based on the shutdown time of the specific locator, such as 7, 8, 10 or 12 seconds. It is mainly to give the locator time to complete the shutdown, so as to avoid forced shutdown due to forced power off, thereby causing locator failure. For example, please continue to refer to Figure 2 ,like Figure 2 As shown, the control switch GreenPAK receives the positioning end information sent by the locator Tracker. According to the positioning end information, after waiting for a preset time, that is, after the locator Tracker is turned off, the control switch GreenPAK turns off the power load switch by controlling the GPIO of the locator Tracker to power on and off, thereby powering off the locator Tracker, and the locator Tracker can take a soft shutdown operation to automatically shut down, so that the locator Tracker is in a shutdown and power-off state to save the bottom current power consumption and leakage current power consumption, thereby reducing the positioning power consumption of the positioning module and extending the standby time.

[0036] The embodiment of the present invention controls the locator to be powered on and turned on when the positioning condition is met, and the locator is powered on and positioned. When the positioning is completed, the locator is powered off and powered off. Thus, when positioning is required, the locator is powered on and turned on, and when positioning is not required, the locator is powered off after being powered off, so as to save the bottom current power consumption and the leakage current power consumption, thereby reducing the positioning power consumption of the positioning module and extending the standby time, thereby achieving a better balance between the timeliness of positioning and power consumption.

[0037] In one embodiment, when the positioning condition is met, after controlling the positioner to be powered on and before controlling the positioner to be turned on, the method further includes:

[0038] The motion state of the locator is obtained, and when the motion state changes, the timing of the timer is reset.

[0039] Explanatory, please continue to see Figure 2 ,like Figure 2As shown, in an embodiment of the present invention, a rotational motion sensor can be added, but is not limited to, which is a multifunctional position and motion measuring device. It can measure angles with precise resolution and detect the direction of motion, so as to detect the motion state of the locator. The motion state includes but is not limited to the motion speed and its changes, the motion direction and its changes, the motion trajectory and its changes of the locator. Since the locator is generally used as a component of a motion device including but not limited to a terminal, the motion state of the locator is the motion state of the motion device, and then the motion state of the timer is obtained. Then, according to the motion state, when the motion state changes, the timing time of the timer is reset. The timing time is the time interval of the timer, and positioning is performed while resetting the timer, that is, the locator is controlled to be powered on, and after the locator is powered on, the locator is controlled to start up, wherein the length of the timing time may be negatively correlated with the frequency of change of the motion state or the motion intensity, that is, when the frequency of change of the motion state is relatively large or the motion intensity is relatively large, the timing time is relatively short, and the frequency of change of the motion state is relatively small or the motion intensity is relatively large. When the speed is small, the timing time is relatively long, wherein the change frequency refers to the number of changes in the motion state within a certain period of time, and the motion intensity refers to the strength of the motion. For example, when the motion speed increases, the motion intensity is relatively large, and when the motion speed decreases, the motion intensity is relatively small. Therefore, positioning is performed according to the timing time interval adapted to the change of the motion state, so that the positioning frequency is adapted to the motion state. Generally, when the locator motion changes frequently or the motion intensity is large, the positioning frequency is increased, and when the locator motion changes infrequently or the motion intensity is small, the positioning frequency is reduced. Therefore, the positioning frequency of the device is automatically adjusted according to the motion state of the device, and when the timing time of the timer is reached, the locator is controlled to perform positioning, so as to achieve a better balance between the timeliness of positioning and power consumption. Under the condition of ensuring that the motion trajectory of the device is not lost, the positioning power consumption is reduced as much as possible. Compared with the positioning method in the traditional technology, the flexibility of positioning is increased, and the positioning frequency can be adjusted in time by dynamically resetting the timing time of the locator according to the positioning requirements, thereby adjusting the reporting frequency of the positioning data and avoiding the waste of positioning power consumption.

[0040] In one embodiment, obtaining the motion state of the locator and resetting the timing of the timer when the motion state changes includes:

[0041] The moving direction of the locator is obtained, and when the moving direction changes, the timing of the timer is reset.

[0042] Explanatoryly, based on but not limited to the rotating motion sensor, the direction angle of the locator can be detected, and the movement direction of the locator can be obtained by the change of the direction angle, and according to the movement direction, it is judged whether the movement direction of the locator has changed. For example, when the direction angle is less than or equal to the preset direction angle threshold ΔT, it is determined that the movement direction of the locator has not changed, that is, the locator moves in a straight line. When the direction angle is greater than ΔT, it is determined that the movement direction of the locator has changed, that is, the locator has performed non-linear movement. In the case of a change in the movement direction, the timing of the timer is reset. The timing time can be determined according to the specific positioning scenario, and the positioning is controlled while the timer is reset, that is, the positioner is controlled to be powered on while the timer is reset, and after the positioner is powered on, the positioner is controlled to be turned on for positioning. Among them, the preset direction angle threshold ΔT can be set according to specific positioning requirements. In a positioning scenario where higher accuracy is required, the preset direction angle threshold ΔT can be set smaller. For example, the preset direction angle threshold ΔT can be set to direction angles including but not limited to 30°, 20°, and 10°, so that when the direction angle change amplitude of the locator is relatively small, the locator is controlled to perform positioning in time. In a positioning scenario where lower accuracy is required, the preset direction angle threshold ΔT can be set larger. For example, the preset direction angle threshold ΔT can be set to direction angles including but not limited to 45°, 60°, and 70°, so that when the direction angle change amplitude of the locator is relatively large, the locator is controlled to perform positioning, so that the locator can be flexibly controlled to perform positioning according to positioning requirements, and a better balance can be achieved between improving the timeliness of positioning and reducing the power consumption of positioning.

[0043] Furthermore, when the direction of movement does not change, that is, when it is determined that the locator is traveling in a straight line, the default time interval of the timer or the original time interval is used to control the positioning of the locator. In other embodiments, whether the direction of movement of the locator has changed can also be determined by methods including but not limited to GPS positioning, which is not limited here, and the judgment method of whether the direction of movement has changed can be configured according to specific business needs and application scenarios.

[0044] The embodiment of the present invention obtains the movement direction of the locator and resets the timing of the timer when the movement direction changes. The positioning frequency of the locator is updated by resetting the timing of the locator. Therefore, when it is determined that the movement direction of the locator has changed, positioning is performed in time and the positioning frequency is adapted to the change of the movement direction. In a moving state, flexible and dynamic positioning can be performed in time while ensuring that the movement trajectory of the device is not lost, and the positioning power consumption can be further reduced as much as possible.

[0045] In one embodiment, obtaining the motion state of the locator and resetting the timing of the timer when the motion state changes includes:

[0046] The movement speed of the locator is obtained, and when the movement speed changes, the timing time of the timer is reset, wherein the length of the timing time is negatively correlated with the size of the movement speed.

[0047] Explanatoryly, based on but not limited to the rotating motion sensor, the motion speed of the locator is detected to obtain the motion speed of the locator, and it is determined whether the motion speed has changed. In the case of a change in the motion speed, the timing time of the timer is reset, and the length of the timing time is negatively correlated with the size of the motion speed, that is, when the motion speed is relatively larger, the timing time interval is relatively shorter, and when the motion speed is relatively smaller, the timing time interval is relatively longer. The timing time can be determined according to the specific positioning scenario, and the timer is controlled to perform positioning while resetting the timer, that is, when the timer is reset, the locator is controlled to power on, and after the locator is powered on, the locator is controlled to start up for positioning.

[0048] Furthermore, when the motion speed does not change, the default time interval or the original time interval of the timer is used for timing triggering.

[0049] The embodiment of the present invention obtains the movement speed of the locator and resets the timing of the timer when the movement speed changes. The positioning frequency of the locator is updated by resetting the timing of the locator, so that when the movement speed of the locator changes, positioning can be performed in time and the positioning frequency can be adapted to the movement speed. When the locator is in motion, flexible and dynamic positioning can be performed in time without losing the movement trajectory of the device, and the positioning power consumption can be further reduced as much as possible.

[0050] In one embodiment, see Figure 5 , Figure 5 A schematic diagram of a specific workflow of the tracking and positioning control method provided by an embodiment of the present invention is shown in FIG. Figure 5 As shown, in this embodiment, when the motion speed changes, resetting the timing time of the timer includes at least one of the following:

[0051] When the movement speed is less than or equal to the first speed threshold α and the positioner performs linear motion, resetting the timing time of the timer to N1;

[0052] When α<the movement speed<the second speed threshold β and the positioner performs linear motion, the timing time of the timer is reset to N2, wherein N2<N1;

[0053] When β≤the movement speed and the positioner performs a linear motion, the timing time of the timer is reset to N3, wherein N3<N2.

[0054] Explanatory, in a scenario where the positioner performs linear motion, and when the motion speed of the positioner is less than or equal to a preconfigured first speed threshold α, that is, the motion speed ≤ the first speed threshold α, and the positioner performs linear motion, the timing time of the reset timer is N1, and the first speed threshold α and N1 can be set separately according to specific application scenarios, and when the motion speed is greater than the first speed threshold α and less than a preconfigured second speed threshold β, that is, when α<motion speed<second speed threshold β, and the positioner performs linear motion, the timing time of the reset timer is N2, wherein N2<N1, that is, the faster the motion speed, the more frequently the motion state of the positioner changes, and the positioning frequency of the positioner is relatively increased by resetting the positioning time to be shorter. It is also possible to reset the timer to N3 when the motion speed is greater than or equal to the preconfigured second speed threshold β, that is, when β≤motion speed, and the positioner performs linear motion, wherein N3<N2, that is, when the motion speed is further increased and the motion state of the positioner changes more frequently, the positioning frequency of the positioner is further increased by resetting the positioning time to be shorter.

[0055] The embodiments of the present invention can timely update the positioning frequency by adaptively adjusting the frequency of the positioning data collected by the positioning device according to the movement speed when the positioning device is in a linear motion state, thereby configuring a corresponding positioning data collection frequency according to the movement speed of the positioning device, thereby making the positioning frequency adapt to the movement speed. When the positioning device is in a linear motion state, flexible and dynamic positioning can be performed in a timely manner while ensuring that the movement trajectory of the device is not lost, and the positioning power consumption can be further reduced as much as possible.

[0056] In one embodiment, see Figure 5 and Figure 6 , Figure 6 The third sub-flow diagram of the tracking and positioning control method provided by the embodiment of the present invention. Figure 6 As shown, in this embodiment, the method further includes:

[0057] S61, when the locator is in a moving state, obtaining a direction angle corresponding to the moving state of the locator;

[0058] S62: when the direction angle is less than or equal to the preset direction angle threshold, determining that the positioner is in linear motion;

[0059] S63, when the direction angle is greater than the preset direction angle threshold, determining that the positioner is in non-linear motion;

[0060] S64: When the positioner is in non-linear motion, reset the timing of the timer.

[0061] Explanatory, when the locator is in motion, the corresponding direction angle under the motion state of the locator is obtained, and when the direction angle is less than or equal to the preset direction angle threshold, the locator is determined to be in linear motion, that is, the direction of motion of the locator is determined to have not changed, wherein the preset direction angle threshold is the preset direction angle threshold ΔT shown in the above embodiment. Further, when the direction angle is greater than the preset direction angle threshold, the locator is determined to be in non-linear motion, that is, the direction of motion of the locator is changing. When the locator is in non-linear motion, the timing of the timer is reset, and the timing of the timer is reset as described in the above embodiment. Among them, the direction angle [direction angle] refers to the azimuth determined by using a certain coordinate axis direction as the standard direction. Among them, the direction angle is generally an angle less than ninety degrees formed from the due north or due south direction to the target direction. The direction angle generally refers to the angle (generally an acute angle) formed by rotating the due north or due south direction as the starting direction to the direction line of the target with the position of the observer as the center, usually expressed as north (south) east (west) ×× degrees, if it is exactly 45 degrees, it is expressed as due west (east) south (north).

[0062] According to an embodiment of the present invention, when the locator is in motion, the corresponding direction angle of the locator in the motion state is obtained, and when the direction angle is less than or equal to a preset direction angle threshold, the locator is determined to be in linear motion. Furthermore, when the direction angle is greater than the preset direction angle threshold, the locator is determined to be in non-linear motion. When the locator is in non-linear motion, the timing of the timer is reset, so that the positioning frequency of the locator can be updated according to the motion trajectory of the locator by resetting the timing of the locator, so that the positioning can be performed in time and the positioning frequency can be adapted to the change of the motion trajectory. In the motion state, flexible and dynamic positioning can be performed in time without losing the motion trajectory of the device, and the positioning power consumption can be further reduced as much as possible.

[0063] See also Figure 7 , Figure 7 A schematic block diagram of the structure of a terminal provided by an embodiment of the present invention. Figure 7 As shown, the terminal device 300 includes a processor 301 and a memory 302, and the processor 301 and the memory 302 are connected via a bus 303, such as an I2C (Inter-integrated Circuit) bus.

[0064] Specifically, the processor 301 is used to provide computing and control capabilities to support the operation of the entire terminal. The processor 301 can be a central processing unit (CPU), and the processor 301 can also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. Among them, the general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc.

[0065] Specifically, the memory 302 may be a Flash chip, a read-only memory (ROM) disk, an optical disk, a USB flash drive, or a mobile hard disk.

[0066] Those skilled in the art will understand that Figure 7 The structure shown in the figure is only a block diagram of a partial structure related to the embodiment of the present invention, and does not constitute a limitation on the terminal to which the embodiment of the present invention is applied. The specific server may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0067] The processor is used to run a computer program stored in a memory, and implement any one of the tracking and positioning control methods provided by the embodiments of the present invention when executing the computer program.

[0068] It should be noted that those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the terminal described above can refer to the corresponding process in the aforementioned tracking and positioning control method embodiment, and will not be repeated here.

[0069] An embodiment of the present invention further provides a computer-readable storage medium, which stores one or more programs. The one or more programs can be executed by one or more processors to implement the steps of any tracking and positioning control method provided in the description of the embodiment of the present invention.

[0070] The storage medium may be an internal storage unit of the terminal described in the foregoing embodiment, such as a memory of the terminal. The storage medium may also be an external storage device of the terminal, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc., equipped on the terminal.

[0071] It will be appreciated by those skilled in the art that all or some of the steps, systems, and functional modules / units in the methods disclosed above may be implemented as software, firmware, hardware, and appropriate combinations thereof. In a hardware embodiment, the division between the functional modules / units mentioned in the above description does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed by several physical components in cooperation. Some or all physical components may be implemented as software executed by a processor, such as a central processing unit, a digital signal processor, or a microprocessor, or implemented as hardware, or implemented as an integrated circuit, such as an application-specific integrated circuit. Such software may be distributed on a computer-readable medium, which may include a computer storage medium (or non-transitory medium) and a communication medium (or temporary medium). As known to those skilled in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and can be accessed by a computer. In addition, it is well known to those of ordinary skill in the art that communication media typically contain computer-readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

[0072] It should be understood that the term "and / or" used in the present specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, including these combinations. It should be noted that, in this article, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "including a..." does not exclude the presence of other identical elements in the process, method, article or system including the element.

[0073] The serial numbers of the embodiments of the present invention are only for description and do not represent the advantages and disadvantages of the embodiments. The above description is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A tracking and positioning control method, characterized in that: include: When the positioning condition is met, after the positioner is powered on, the positioner is controlled to start up; The positioner performs positioning, and when the positioning is completed, the positioner is controlled to shut down and then powered off.

2. The tracking and positioning control method according to claim 1, characterized in that: The positioning conditions include: The timer's timing has been reached.

3. The tracking and positioning control method according to claim 1 or 2, characterized in that: Controlling the positioner to power off includes: The control switch receives the positioning completion information of the locator, and controls the locator to be powered off after a preset time according to the positioning completion information.

4. The tracking and positioning control method according to claim 2, characterized in that: When the positioning condition is met, after the positioner is powered on, before the positioner is powered on, the method further includes: The motion state of the locator is obtained, and when the motion state changes, the timing of the timer is reset.

5. The tracking and positioning control method according to claim 4, characterized in that: Acquiring the motion state of the locator and resetting the timing of the timer when the motion state changes, including: The moving direction of the locator is obtained, and when the moving direction changes, the timing of the timer is reset.

6. The tracking and positioning control method according to claim 4 or 5, characterized in that: Acquiring the motion state of the locator and resetting the timing of the timer when the motion state changes, including: The movement speed of the locator is obtained, and when the movement speed changes, the timing time of the timer is reset, wherein the length of the timing time is negatively correlated with the size of the movement speed.

7. The tracking and positioning control method according to claim 6, characterized in that: When the motion speed changes, resetting the timing of the timer includes at least one of the following: When the movement speed is less than or equal to the first speed threshold α and the positioner performs linear motion, resetting the timing time of the timer to N1; When α<the movement speed<the second speed threshold β and the positioner performs linear motion, the timing time of the timer is reset to N2, wherein N2<N1; When β≤the movement speed and the positioner performs a linear motion, the timing time of the timer is reset to N3, wherein N3<N2.

8. The tracking and positioning control method according to claim 7, characterized in that: The method further comprises: When the locator is in motion, obtaining a direction angle corresponding to the motion state of the locator; When the direction angle is less than or equal to the preset direction angle threshold, it is determined that the locator is in linear motion.

9. The tracking and positioning control method according to claim 8, characterized in that: The method further comprises: When the direction angle is greater than the preset direction angle threshold, determining that the positioner is in non-linear motion; When the positioner is in non-linear motion, the timing time of the timer is reset.

10. A terminal comprising a processor, a memory, a computer program stored in the memory and executable by the processor, and a data bus for realizing connection and communication between the processor and the memory, characterized in that: When the computer program is executed by the processor, the tracking and positioning control method according to any one of claims 1 to 9 is implemented.

11. A computer-readable storage medium storing one or more programs, characterized in that: The one or more programs can be executed by one or more processors to implement the tracking and positioning control method according to any one of claims 1 to 9.

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