Fusion positioning method and device

Abstract

The invention provides a fusion positioning method and device. The fusion positioning method comprises the following steps: acquiring at least one group of network positioning data of a target terminal under a network positioning dimension and at least one group of reference positioning data under a reference positioning dimension; obtaining a network positioning result of each group of network positioning data according to the at least one group of network positioning data, and obtaining a reference positioning result of each group of reference positioning data according to the at least one group of reference positioning data; determining a network positioning weight corresponding to each network positioning result and a reference positioning weight corresponding to each reference positioning result; and generating a fusion positioning result of the target terminal based on each network positioning result, each network positioning weight, each reference positioning result and each reference positioning weight. Different positioning technologies are fused, and the accuracy of a single positioning technology is improved; the network positioning technology is fused with other positioning technologies for fusion positioning, so that the positioning cost of fusion positioning can be reduced.

Description

Technical Field

[0001] The present application relates to the field of computer technology, and in particular to a fusion positioning method, a fusion positioning device, a fusion positioning system, a computing device, and a computer-readable storage medium. Background Art

[0002] With the rapid development of positioning technology, in current practical applications, whether in indoor or outdoor environments, the demand for positioning is no longer limited to rough location positioning, trajectory navigation, etc. Positioning application scenarios are diverse, and a single positioning technology can no longer meet the positioning needs of multiple positioning scenarios. With the continuous improvement and popularization of positioning technology, more and more high-precision fusion positioning technologies have emerged.

[0003] Since each positioning method has its own corresponding characteristics, the logic of location positioning and data collection is different, and the way each positioning platform accesses data is also different. Therefore, it takes a lot of time to complete data docking and data synchronization. In this process, data docking may be incomplete and untimely, the data reuse rate may be low, the user experience may be reduced, and the positioning cost is high. Summary of the invention

[0004] In view of this, the embodiment of the present application provides a fusion positioning method. The present application also relates to a fusion positioning device, a fusion positioning system, a computing device, and a computer-readable storage medium to solve the above problems existing in the prior art.

[0005] According to a first aspect of an embodiment of the present application, a fusion positioning method is provided, including:

[0006] Acquire at least one set of network positioning data of the target terminal in a network positioning dimension and at least one set of reference positioning data in a reference positioning dimension;

[0007] Obtaining a network positioning result of each set of network positioning data according to the at least one set of network positioning data, and obtaining a reference positioning result of each set of reference positioning data according to the at least one set of reference positioning data;

[0008] Determine a network positioning weight corresponding to each network positioning result and a reference positioning weight corresponding to each reference positioning result;

[0009] Based on each network positioning result and each network positioning weight, as well as each reference positioning result and each reference positioning weight, a fused positioning result of the target terminal is generated.

[0010] According to a second aspect of an embodiment of the present application, a fusion positioning device is provided, including:

[0011] An acquisition module is configured to acquire at least one set of network positioning data of the target terminal in a network positioning dimension and at least one set of reference positioning data in a reference positioning dimension;

[0012] an obtaining module, configured to obtain a network positioning result of each group of network positioning data according to the at least one group of network positioning data, and to obtain a reference positioning result of each group of reference positioning data according to the at least one group of reference positioning data;

[0013] A determination module is configured to determine a network positioning weight corresponding to each network positioning result and a reference positioning weight corresponding to each reference positioning result;

[0014] The generation module is configured to generate a fused positioning result of the target terminal based on each network positioning result and each network positioning weight, as well as each reference positioning result and each reference positioning weight.

[0015] According to a third aspect of an embodiment of the present application, a fusion positioning system is provided, the system comprising a service end and a target terminal;

[0016] The target terminal is configured to obtain, in response to the target positioning instruction, at least one set of network positioning data of the target terminal in a network positioning dimension and at least one set of reference positioning data in a reference positioning dimension, and send each set of network positioning data and each set of reference positioning data to the server;

[0017] The server is configured to obtain at least one set of network positioning data of the target terminal in a network positioning dimension and at least one set of reference positioning data in a reference positioning dimension, obtain a network positioning result of each set of network positioning data according to the at least one set of network positioning data, obtain a reference positioning result of each set of reference positioning data according to the at least one set of reference positioning data, determine a network positioning weight corresponding to each network positioning result and a reference positioning weight corresponding to each reference positioning result, generate a fused positioning result of the target terminal based on each network positioning result and each network positioning weight, and each reference positioning result and each reference positioning weight, and send the fused positioning result to the target terminal;

[0018] The target terminal is further configured to receive the fused positioning result.

[0019] According to a fourth aspect of an embodiment of the present application, a computing device is provided, comprising a memory, a processor, and computer instructions stored in the memory and executable on the processor, wherein the processor implements the steps of the fusion positioning method when executing the computer instructions.

[0020] According to a fifth aspect of an embodiment of the present application, a computer-readable storage medium is provided, which stores computer instructions, and when the computer instructions are executed by a processor, the steps of the fusion positioning method are implemented.

[0021] The fusion positioning method provided by the present application includes: obtaining at least one set of network positioning data of a target terminal in a network positioning dimension, and at least one set of reference positioning data in a reference positioning dimension; obtaining a network positioning result of each set of network positioning data according to the at least one set of network positioning data, and obtaining a reference positioning result of each set of reference positioning data according to the at least one set of reference positioning data; determining a network positioning weight corresponding to each network positioning result and a reference positioning weight corresponding to each reference positioning result; and generating a fusion positioning result of the target terminal based on each network positioning result and each network positioning weight, and each reference positioning result and each reference positioning weight.

[0022] An embodiment of the present application realizes the fusion of different positioning technologies, realizes the fusion positioning of the target terminal, and improves the accuracy of a single positioning technology; the fusion positioning is performed by integrating network positioning technology with other positioning technologies, which can reduce the positioning cost of fusion positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the architecture of a fusion positioning system provided by an embodiment of the present application;

[0024] Figure 2 is a flow chart of a fusion positioning method provided by an embodiment of the present application;

[0025] Figure 3 This is a processing flow chart of a fusion positioning method applied to a warehousing scenario provided by an embodiment of the present application;

[0026] Figure 4 It is a structural schematic diagram of a fusion positioning device provided in one embodiment of the present application;

[0027] Figure 5 It is a structural block diagram of a computing device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0028] Many specific details are described in the following description to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways than those described herein, and those skilled in the art can make similar generalizations without violating the connotation of the present application, so the present application is not limited by the specific implementation disclosed below.

[0029] The terms used in one or more embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit one or more embodiments of the present application. The singular forms of "a", "said" and "the" used in one or more embodiments of the present application and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used in one or more embodiments of the present application refers to and includes any or all possible combinations of one or more associated listed items.

[0030] It should be understood that, although the terms first, second, etc. may be used to describe various information in one or more embodiments of the present application, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of one or more embodiments of the present application, the first may also be referred to as the second, and similarly, the second may also be referred to as the first. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0031] First, the terms involved in one or more embodiments of the present application are explained.

[0032] Wi-Fi (Wireless Fidelity): Wireless network, also known as "mobile hotspot".

[0033] 5G (5th Generation Mobile Communication Technology): The fifth generation of mobile communication technology is a new generation of broadband mobile communication technology with the characteristics of high speed, low latency and large connection. It is the network infrastructure for realizing the interconnection between man, machine and things.

[0034] UWB (Ultra Wide Band): Ultra-wideband technology is a wireless carrier communication technology that does not use a sinusoidal carrier but uses nanosecond non-sinusoidal narrow pulses to transmit data, so it occupies a wide spectrum range. UWB technology has the advantages of low system complexity, low power spectrum density of transmitted signals, insensitivity to channel fading, low interception capability, and high positioning accuracy. It is especially suitable for high-speed wireless access in dense multipath places such as indoors.

[0035] RFID (Radio Frequency Identification): Radio Frequency Identification technology, the principle of which is contactless data communication between the reader and the tag to achieve the purpose of identifying the target. RFID is widely used, and currently typical applications include animal chips, car chip anti-theft devices, access control, parking lot control, production line automation, material management, etc.

[0036] Satellite positioning: is a technology that uses satellites to locate something.

[0037] At present, whether we are in indoor or outdoor environments, our demand for positioning is no longer just rough trajectory and navigation. In this era of the Internet of Everything, we urgently need to be able to quickly and accurately obtain the location information of mobile interruptions. With the improvement and popularization of communication technologies such as Bluetooth, WiFi, 5G, and UWB, high-precision positioning is no longer an empty talk, but just as no communication technology can adapt to all IoT application environments, no positioning technology can meet all positioning scenarios. The diversity of positioning application scenarios makes it impossible for a single technology to meet the needs of the scenario. At the same time, due to different positioning service providers, different positioning devices, and different positioning coordinate systems, information islands and barriers will be caused; this has also given rise to the industry demand for integrated positioning of different categories of positioning technologies. In pursuit of better performance and better cost-effectiveness, integrated positioning technology solutions have gradually become an industry trend.

[0038] In the present application, a fusion positioning method is provided. The present application also relates to a fusion positioning device, a fusion positioning system, a computing device, and a computer-readable storage medium, which are described in detail one by one in the following embodiments.

[0039] Figure 1 A schematic diagram of the architecture of a fusion positioning system provided according to an embodiment of the present application is shown.

[0040] The embodiments of the fusion positioning system provided in this application are as follows:

[0041] The fusion positioning system provided in this application includes a server and a target terminal;

[0042] The target terminal is configured to obtain, in response to the target positioning instruction, at least one set of network positioning data of the target terminal in a network positioning dimension and at least one set of reference positioning data in a reference positioning dimension, and send each set of network positioning data and each set of reference positioning data to the server;

[0043] The server is configured to obtain at least one set of network positioning data of the target terminal in a network positioning dimension and at least one set of reference positioning data in a reference positioning dimension, obtain a network positioning result of each set of network positioning data according to the at least one set of network positioning data, obtain a reference positioning result of each set of reference positioning data according to the at least one set of reference positioning data, determine a network positioning weight corresponding to each network positioning result and a reference positioning weight corresponding to each reference positioning result, generate a fused positioning result of the target terminal based on each network positioning result and each network positioning weight, and each reference positioning result and each reference positioning weight, and send the fused positioning result to the target terminal;

[0044] The target terminal is further configured to receive the fused positioning result.

[0045] Specifically, the fusion positioning system provided in the present application includes a server and a target terminal, the target terminal can be referred to as a terminal-side device, and the server can be referred to as a cloud-side device. Multiple positioning units are deployed in the target terminal, and the positioning units can be used to obtain positioning data in multiple dimensions. In one embodiment provided in the present application, the positioning unit includes a network positioning unit, a broadband positioning unit, a radio frequency positioning unit, and a satellite positioning unit, wherein the network positioning unit can be used to obtain the network positioning data of the target terminal, the broadband positioning unit can be used to obtain the broadband positioning data of the target terminal, the radio frequency positioning unit can be used to obtain the radio frequency positioning data of the target terminal, and the satellite positioning unit can be used to obtain the satellite positioning data of the target terminal. After the target terminal obtains the corresponding positioning data based on each positioning unit, it can send the obtained positioning data to the server, and the server performs fusion positioning processing for the target terminal based on the positioning data, and generates a fusion positioning result for the target terminal.

[0046] Furthermore, after obtaining the positioning data in different dimensions sent by the target terminal, the server can obtain the corresponding positioning results, that is, the location information of the target terminal, based on the positioning data in different dimensions. Then, the server can determine the positioning weights corresponding to the different positioning results based on the positioning results of the target terminal in different dimensions. Finally, based on the different positioning results and the positioning weights corresponding to each positioning result, the positioning results are fused to generate a fused positioning result of the target terminal.

[0047] The fusion positioning system provided in the present application can integrate different positioning technologies to achieve fusion positioning of the target terminal and improve the accuracy of a single positioning technology. By integrating network positioning technology with other positioning technologies for fusion positioning, the positioning cost of fusion positioning can be reduced.

[0048] Figure 2 A flowchart of a fusion positioning method provided according to an embodiment of the present application is shown, which specifically includes the following steps:

[0049] Step 202: Acquire at least one set of network positioning data of the target terminal in the network positioning dimension and at least one set of reference positioning data in the reference positioning dimension.

[0050] The target terminal refers to any terminal that needs to be integrated and positioned. The target terminal can be a smart mobile phone, a smart mobile device in a factory, such as a mobile robot, or a vehicle. The target terminal is deployed with a network positioning unit, a broadband positioning unit, a radio frequency positioning unit, and a satellite positioning unit. The network positioning unit can be understood as a chip deployed with Wi-Fi or 5G positioning technology, the broadband positioning unit can be understood as a chip deployed with UWB positioning technology, the radio frequency positioning unit can be understood as a chip deployed with RFID positioning technology, and the satellite positioning unit can be understood as a chip deployed with satellite positioning technology.

[0051] Network positioning data refers to the positioning data of the target terminal obtained based on the network positioning unit, that is, the positioning data of the target terminal obtained based on Wi-Fi or 5G positioning technology; reference positioning data refers to the positioning data of the target terminal obtained based on any one of the broadband positioning unit, radio frequency positioning unit and satellite positioning unit, that is, the positioning data of the target terminal obtained based on UWB positioning technology, RFID positioning technology or satellite positioning technology.

[0052] In a specific implementation provided in the present application, the network positioning data includes wireless positioning data and traffic positioning data;

[0053] Obtaining at least one set of network positioning data of the target terminal in the network positioning dimension, including:

[0054] Acquiring wireless positioning data of a target terminal; and / or,

[0055] Get the traffic location data of the target terminal.

[0056] Among them, wireless positioning data refers to the positioning data of the target terminal obtained based on Wi-Fi positioning technology; traffic positioning data refers to the positioning data of the target terminal obtained based on 5G positioning technology.

[0057] Specifically, at least one set of network positioning data of the target terminal in the network dimension is obtained, that is, wireless positioning data of the target terminal obtained based on Wi-Fi positioning technology, or traffic positioning data of the target terminal obtained based on 5G positioning technology, or wireless positioning data of the target terminal obtained based on Wi-Fi positioning technology and traffic positioning data of the target terminal obtained based on 5G positioning technology. It should be noted that the specific network positioning data obtained is determined according to the actual application situation.

[0058] For example, if the target terminal is currently in an environment where there is only a 5G network signal but no Wi-Fi network signal, the wireless positioning data cannot be obtained and only the traffic positioning data can be obtained.

[0059] Further, in a specific implementation provided in the present application, the reference positioning data includes broadband positioning data, radio frequency positioning data and satellite positioning data;

[0060] Acquiring at least one set of reference positioning data of the target terminal in a reference positioning dimension includes:

[0061] Acquiring broadband positioning data of a target terminal; and / or,

[0062] Acquiring radio frequency positioning data of a target terminal; and / or,

[0063] Obtain the satellite positioning data of the target terminal.

[0064] Among them, broadband positioning data refers to the positioning data of the target terminal obtained based on UWB positioning technology; radio frequency positioning data refers to the positioning data of the target terminal obtained based on RFID positioning technology; satellite positioning data refers to the positioning data of the target terminal obtained based on satellite positioning technology.

[0065] Specifically, at least one set of reference positioning data of the target terminal in the reference positioning dimension is obtained, that is, broadband positioning data of the target terminal obtained based on UWB positioning technology, or radio frequency positioning data of the target terminal obtained based on RFID positioning technology, or satellite positioning data of the target terminal obtained based on satellite positioning technology, or any two or three positioning data of broadband positioning data of the target terminal obtained based on UWB positioning technology, radio frequency positioning data of the target terminal obtained based on RFID positioning technology, and satellite positioning data of the target terminal obtained based on satellite positioning technology. It should be noted that the specific reference positioning data obtained is determined according to the actual application situation.

[0066] For example, if the target terminal is positioned at a medium or short distance, broadband positioning data based on UWB positioning technology can be obtained; if the target terminal needs to be positioned outdoors, satellite positioning data based on satellite positioning technology can be obtained.

[0067] The fusion positioning method provided in the present application can obtain the positioning data of the target terminal in different dimensions based on different positioning technologies according to different actual application situations, thereby realizing the diversity of obtaining positioning data; each positioning unit is deployed on the same target terminal, and there is no need to consider the access and access of various positioning technologies, thereby improving the timeliness of data acquisition.

[0068] Step 204: obtaining a network positioning result for each set of network positioning data based on the at least one set of network positioning data, and obtaining a reference positioning result for each set of reference positioning data based on the at least one set of reference positioning data.

[0069] Among them, the network positioning result refers to the positioning result obtained after positioning according to the network positioning data, which can be specifically understood as the location information of the target terminal obtained based on the network positioning technology; the reference positioning result refers to the positioning result obtained after positioning according to the reference positioning data, which can be specifically understood as the location information of the target terminal obtained based on any one of the positioning technologies including UWB positioning technology, RFID positioning technology and satellite positioning technology.

[0070] After obtaining positioning data in different dimensions based on various positioning technologies, the positioning results of each group of positioning data can be obtained according to the obtained positioning data and the corresponding positioning technology.

[0071] Taking the acquisition of 5G traffic positioning data and UWB broadband positioning data as an example, after obtaining the traffic positioning data, the obtained traffic positioning data is calculated and processed based on the 5G positioning technology to obtain the 5G positioning result; after obtaining the broadband positioning data, the obtained broadband positioning data is calculated and processed based on the UWB positioning technology to obtain the UWB positioning result.

[0072] Step 206: Determine the network positioning weight corresponding to each network positioning result and the reference positioning weight corresponding to each reference positioning result.

[0073] Among them, the network positioning weight refers to the weight corresponding to the network positioning result, which is used to characterize the importance of the network positioning result in the fusion positioning; the reference positioning weight refers to the weight corresponding to the reference positioning result, which is used to characterize the importance of the reference positioning result in the fusion positioning.

[0074] Specifically, after obtaining positioning results based on different positioning technologies, in order to achieve fusion positioning more accurately, positioning weights corresponding to different positioning results may be set respectively.

[0075] In a specific implementation provided in the present application, determining a network positioning weight corresponding to each network positioning result and a reference positioning weight corresponding to each reference positioning result includes:

[0076] Acquire current environment information of the target terminal;

[0077] Based on the current environment information, each network positioning weight and each reference positioning weight are determined.

[0078] Since the target terminal is located in different environments, different environments may have different impacts on the positioning result of the target terminal. Therefore, the positioning weight corresponding to each positioning result may be determined according to the current environment information of the target terminal.

[0079] The current environment information is information corresponding to the environment in which the target terminal is currently located.

[0080] Furthermore, different environmental areas correspond to different regional signals, and the strength of the regional signal will affect the accuracy of the positioning result. Therefore, the positioning weight of each positioning result can be further determined according to the state of the regional signal in the current environment where the target terminal is located.

[0081] In a specific implementation provided in the present application, the network positioning data includes a network positioning signal, and the reference positioning data includes a reference positioning signal;

[0082] Based on the current environment information, determining each network positioning weight and each reference positioning weight includes:

[0083] Based on the current environment information, determining a signal state of each network positioning signal and a signal state of each reference positioning signal;

[0084] The network positioning weight of each network positioning result is determined according to the signal status of each network positioning signal, and the reference positioning weight of each reference positioning result is determined according to the signal status of each reference positioning signal.

[0085] Among them, the network positioning signal refers to the network signal in the current environment where the target terminal is located, specifically the Wi-Fi or 5G network signal; the reference positioning signal refers to the reference signal in the current environment where the target terminal is located, specifically the regional signal of UWB positioning technology, RFID positioning technology or satellite positioning technology.

[0086] Signal status refers specifically to the strength of each positioning signal.

[0087] Specifically, the current environment information of the target terminal is obtained, and the signal strength status of each network positioning signal and the signal strength status of each reference positioning signal are determined according to the current environment information; based on the signal strength status of each network positioning signal, the network positioning weight of each network positioning result is determined; based on the signal strength status of each reference positioning signal, the reference positioning weight of each reference positioning result is determined.

[0088] Since the strength of the positioning signal will affect the accuracy of the fusion positioning of the target terminal, the positioning weight corresponding to the positioning result with a stronger positioning signal can be set higher, and the positioning weight corresponding to the positioning result with a weaker positioning signal can be set lower.

[0089] For example, the target terminal is currently in environment A, and the 5G positioning signal in environment A is strong and the satellite positioning signal is weak. In this case, the network positioning weight of the 5G positioning result can be set higher, and the reference positioning weight of the satellite positioning result can be set lower.

[0090] In practical applications, different target terminals have different requirements for fusion positioning. For example, there may be a requirement for accuracy of the fusion positioning result of the target terminal, or there may be a requirement for the fusion positioning cost of the target terminal.

[0091] Based on this, in a specific implementation manner provided in the present application, determining the network positioning weight corresponding to each network positioning result and the reference positioning weight corresponding to each reference positioning result includes:

[0092] Acquire device attribute information of the target terminal;

[0093] Based on the device attribute information, each network positioning weight and each reference positioning weight are determined.

[0094] The device attribute information refers to the attribute information of the target terminal, such as whether the target terminal can move autonomously, the importance of the target terminal in the business scenario, etc.

[0095] Specifically, the device attribute information of the target terminal is obtained, and each network positioning weight and each reference positioning weight are determined according to the device attribute information of the target terminal.

[0096] For example, if the device attribute information of the target terminal is obtained, and it is known that the target terminal can move autonomously, then in the process of fusion positioning of the target terminal, it is necessary to improve the accuracy of fusion positioning of the target terminal. Take the network positioning result of the target terminal as the 5G positioning result, and the reference positioning results as the UWB positioning result and the RFID positioning result as an example. In order to improve the accuracy of fusion positioning of the target terminal, the network positioning weight corresponding to the 5G positioning result can be set higher. Since the accuracy of the RFID positioning result itself is low, the reference positioning weight corresponding to the UWB positioning result can be set higher than the reference positioning weight corresponding to the RFID positioning result. Thus, the positioning weights determined are, from high to low, the network positioning weight of the 5G positioning result, the reference positioning weight of the UWB positioning result, and the reference positioning weight of the RFID positioning result.

[0097] The fusion positioning method provided in the present application can set corresponding positioning weights for different positioning results according to the signal strength of each positioning technology, and can also set corresponding positioning weights for different positioning results based on the device attribute information of the target terminal according to the actual application situation, thereby improving the flexibility of setting positioning weights.

[0098] Step 208: Generate a fused positioning result of the target terminal based on each network positioning result and each network positioning weight, as well as each reference positioning result and each reference positioning weight.

[0099] The fused positioning result refers to the positioning result obtained by fusion positioning calculation based on the network positioning result and the reference positioning result.

[0100] For example, if the network positioning result is a 5G positioning result, and the reference positioning results are the UWB positioning result and the satellite positioning result, then the fused positioning result is obtained by performing fusion positioning calculation on the 5G positioning result, UWB positioning result and satellite positioning result based on the positioning weights corresponding to the 5G positioning result, the UWB positioning result and the satellite positioning result respectively.

[0101] Specifically, after determining the positioning weights corresponding to each network positioning result and each reference positioning result, respectively, the fused positioning calculation can be performed based on each network positioning result, the network positioning weight corresponding to each network positioning result, each reference positioning result and the reference positioning weight corresponding to each reference positioning result, thereby generating a fused positioning result of the target terminal.

[0102] The fusion positioning method provided by the present application includes: obtaining at least one set of network positioning data of a target terminal in a network positioning dimension, and at least one set of reference positioning data in a reference positioning dimension; obtaining a network positioning result of each set of network positioning data according to the at least one set of network positioning data, and obtaining a reference positioning result of each set of reference positioning data according to the at least one set of reference positioning data; determining a network positioning weight corresponding to each network positioning result and a reference positioning weight corresponding to each reference positioning result; and generating a fusion positioning result of the target terminal based on each network positioning result and each network positioning weight, and each reference positioning result and each reference positioning weight.

[0103] An embodiment of the present application realizes the fusion of different positioning technologies, realizes the fusion positioning of the target terminal, and improves the accuracy of a single positioning technology; the fusion positioning is performed by integrating network positioning technology with other positioning technologies, which can reduce the positioning cost of fusion positioning.

[0104] The following combination Figure 3 Taking the application of the fusion positioning method provided by this application in a warehousing scenario as an example, the fusion positioning method is further described. Figure 3 A processing flow chart of a fusion positioning method applied to a warehousing scenario provided by an embodiment of the present application is shown, which specifically includes the following steps:

[0105] Step 302: Acquire wireless positioning data and broadband positioning data of the mobile robot.

[0106] Step 304: Obtain a wireless positioning result of the wireless positioning data according to the wireless positioning data, and obtain a broadband positioning result of the broadband positioning data according to the broadband positioning data.

[0107] Step 306: Acquire current environment information of the mobile robot.

[0108] Step 308: Based on the current environment information, determine the signal status of the wireless positioning signal and the signal status of the broadband positioning signal.

[0109] Step 310: Determine the network positioning weight of the wireless positioning result according to the signal state of the wireless positioning signal, and determine the reference positioning weight of the broadband positioning result according to the signal state of the broadband positioning signal.

[0110] Step 312: Generate a fused positioning result of the mobile robot based on the wireless positioning result and the network positioning weight, as well as the broadband positioning result and the reference positioning weight.

[0111] An embodiment of the present application realizes the fusion of different positioning technologies, realizes the fusion positioning of the mobile robot, and improves the accuracy of a single positioning technology; using network positioning technology to fuse other positioning technologies for fusion positioning can reduce the positioning cost of fusion positioning.

[0112] Corresponding to the above method embodiment, the present application also provides a fusion positioning device embodiment, Figure 4 FIG. 1 shows a schematic diagram of the structure of a fusion positioning device provided in an embodiment of the present application. Figure 4 As shown, the device comprises:

[0113] The acquisition module 402 is configured to acquire at least one set of network positioning data of the target terminal in a network positioning dimension and at least one set of reference positioning data in a reference positioning dimension;

[0114] The obtaining module 404 is configured to obtain a network positioning result of each group of network positioning data according to the at least one group of network positioning data, and obtain a reference positioning result of each group of reference positioning data according to the at least one group of reference positioning data;

[0115] A determination module 406 is configured to determine a network positioning weight corresponding to each network positioning result and a reference positioning weight corresponding to each reference positioning result;

[0116] The generating module 408 is configured to generate a fused positioning result of the target terminal based on each network positioning result and each network positioning weight, and each reference positioning result and each reference positioning weight.

[0117] Optionally, the network positioning data includes wireless positioning data and traffic positioning data;

[0118] The acquisition module 402 is further configured to:

[0119] Acquiring wireless positioning data of a target terminal; and / or,

[0120] Get the traffic location data of the target terminal.

[0121] Optionally, the reference positioning data includes broadband positioning data, radio frequency positioning data and satellite positioning data;

[0122] The acquisition module 402 is further configured to:

[0123] Acquiring broadband positioning data of a target terminal; and / or,

[0124] Acquiring radio frequency positioning data of a target terminal; and / or,

[0125] Obtain the satellite positioning data of the target terminal.

[0126] Optionally, the determining module 406 is further configured to:

[0127] Acquire current environment information of the target terminal;

[0128] Based on the current environment information, each network positioning weight and each reference positioning weight are determined.

[0129] Optionally, the network positioning data includes a network positioning signal, and the reference positioning data includes a reference positioning signal;

[0130] The determining module 406 is further configured to:

[0131] Based on the current environment information, determining a signal state of each network positioning signal and a signal state of each reference positioning signal;

[0132] The network positioning weight of each network positioning result is determined according to the signal status of each network positioning signal, and the reference positioning weight of each reference positioning result is determined according to the signal status of each reference positioning signal.

[0133] Optionally, the determining module 406 is further configured to:

[0134] Acquire device attribute information of the target terminal;

[0135] Based on the device attribute information, each network positioning weight and each reference positioning weight are determined.

[0136] The fusion positioning device provided by the present application includes: an acquisition module, configured to acquire at least one set of network positioning data of a target terminal in a network positioning dimension, and at least one set of reference positioning data in a reference positioning dimension; the acquisition module, configured to acquire a network positioning result of each set of network positioning data according to the at least one set of network positioning data, and to acquire a reference positioning result of each set of reference positioning data according to the at least one set of reference positioning data; a determination module, configured to determine a network positioning weight corresponding to each network positioning result and a reference positioning weight corresponding to each reference positioning result; and a generation module, configured to generate a fusion positioning result of the target terminal based on each network positioning result and each network positioning weight, and each reference positioning result and each reference positioning weight.

[0137] An embodiment of the present application realizes the fusion of different positioning technologies, realizes the fusion positioning of the target terminal, and improves the accuracy of a single positioning technology; the fusion positioning is performed by integrating network positioning technology with other positioning technologies, which can reduce the positioning cost of fusion positioning.

[0138] The above is a schematic scheme of a fusion positioning device of this embodiment. It should be noted that the technical scheme of the fusion positioning device and the technical scheme of the above fusion positioning method belong to the same concept, and the details not described in detail in the technical scheme of the fusion positioning device can be referred to the description of the technical scheme of the above fusion positioning method.

[0139] Figure 5 The block diagram of a computing device 500 provided according to an embodiment of the present application is shown. The components of the computing device 500 include but are not limited to a memory 510 and a processor 520. The processor 520 is connected to the memory 510 via a bus 530, and the database 550 is used to store data.

[0140] The computing device 500 also includes an access device 540 that enables the computing device 500 to communicate via one or more networks 560. Examples of these networks include a public switched telephone network (PSTN), a local area network (LAN), a wide area network (WAN), a personal area network (PAN), or a combination of communication networks such as the Internet. The access device 540 may include one or more of any type of network interface (e.g., a network interface card (NIC)) of wired or wireless, such as an IEEE 802.11 wireless local area network (WLAN) wireless interface, a world-wide interoperability for microwave access (Wi-MAX) interface, an Ethernet interface, a universal serial bus (USB) interface, a cellular network interface, a Bluetooth interface, a near field communication (NFC) interface, and the like.

[0141] In one embodiment of the present application, the above components of the computing device 500 and Figure 5 Other components not shown in the figure may also be connected to each other, for example, via a bus. It should be understood that Figure 5 The computing device structure block diagram shown is only for the purpose of illustration, and is not intended to limit the scope of the present application. Those skilled in the art may add or replace other components as needed.

[0142] The computing device 500 may be any type of stationary or mobile computing device, including a mobile computer or mobile computing device (e.g., a tablet computer, a personal digital assistant, a laptop computer, a notebook computer, a netbook, etc.), a mobile phone (e.g., a smart phone), a wearable computing device (e.g., a smart watch, smart glasses, etc.), or other types of mobile devices, or a stationary computing device such as a desktop computer or a personal computer (PC). The computing device 500 may also be a mobile or stationary server.

[0143] Among them, when the processor 520 executes the computer instructions, the steps of the fusion positioning method are implemented.

[0144] The above is a schematic scheme of a computing device of this embodiment. It should be noted that the technical scheme of the computing device and the technical scheme of the above fusion positioning method belong to the same concept, and the details not described in detail in the technical scheme of the computing device can be referred to the description of the technical scheme of the above fusion positioning method.

[0145] An embodiment of the present application further provides a computer-readable storage medium storing computer instructions, which, when executed by a processor, implement the steps of the fusion positioning method as described above.

[0146] The above is a schematic scheme of a computer-readable storage medium of this embodiment. It should be noted that the technical scheme of the storage medium and the technical scheme of the above-mentioned fusion positioning method belong to the same concept, and the details not described in detail in the technical scheme of the storage medium can be referred to the description of the technical scheme of the above-mentioned fusion positioning method.

[0147] The above describes specific embodiments of the present application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0148] The computer instructions include computer program codes, which may be in source code form, object code form, executable files or some intermediate forms, etc. The computer readable medium may include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium, etc.

[0149] It should be noted that, for the above-mentioned method embodiments, for the sake of simplicity of description, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described action sequence, because according to the present application, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0150] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0151] The preferred embodiments of the present application disclosed above are only used to help explain the present application. The optional embodiments do not describe all the details in detail, nor do they limit the invention to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of the present application. The present application selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present application, so that those skilled in the art can understand and use the present application well. The present application is only limited by the claims and their full scope and equivalents.

Claims

1. A fusion positioning method, characterized in that: include: Acquire at least one set of network positioning data of the target terminal in a network positioning dimension and at least one set of reference positioning data in a reference positioning dimension; Obtaining a network positioning result of each set of network positioning data according to the at least one set of network positioning data, and obtaining a reference positioning result of each set of reference positioning data according to the at least one set of reference positioning data; Determine a network positioning weight corresponding to each network positioning result and a reference positioning weight corresponding to each reference positioning result; Based on each network positioning result and each network positioning weight, as well as each reference positioning result and each reference positioning weight, a fused positioning result of the target terminal is generated.

2. The method according to claim 1, characterized in that Network positioning data includes wireless positioning data and traffic positioning data; Obtaining at least one set of network positioning data of the target terminal in the network positioning dimension, including: Acquiring wireless positioning data of a target terminal; and / or, Get the traffic location data of the target terminal.

3. The method according to claim 1, characterized in that Reference positioning data includes broadband positioning data, radio frequency positioning data and satellite positioning data; Acquiring at least one set of reference positioning data of the target terminal in a reference positioning dimension includes: Acquiring broadband positioning data of a target terminal; and / or, Acquiring radio frequency positioning data of a target terminal; and / or, Obtain the satellite positioning data of the target terminal.

4. The method according to claim 1, characterized in that Determining the network positioning weight corresponding to each network positioning result and the reference positioning weight corresponding to each reference positioning result, including: Acquire current environment information of the target terminal; Based on the current environment information, each network positioning weight and each reference positioning weight are determined.

5. The method according to claim 4, characterized in that The network positioning data includes the network positioning signal, and the reference positioning data includes the reference positioning signal; Based on the current environment information, determining each network positioning weight and each reference positioning weight includes: Based on the current environment information, determining a signal state of each network positioning signal and a signal state of each reference positioning signal; The network positioning weight of each network positioning result is determined according to the signal status of each network positioning signal, and the reference positioning weight of each reference positioning result is determined according to the signal status of each reference positioning signal.

6. The method according to claim 1, characterized in that Determining the network positioning weight corresponding to each network positioning result and the reference positioning weight corresponding to each reference positioning result, including: Acquire device attribute information of the target terminal; Based on the device attribute information, each network positioning weight and each reference positioning weight are determined.

7. A fusion positioning device, characterized in that: include: An acquisition module is configured to acquire at least one set of network positioning data of the target terminal in a network positioning dimension and at least one set of reference positioning data in a reference positioning dimension; an obtaining module, configured to obtain a network positioning result of each group of network positioning data according to the at least one group of network positioning data, and to obtain a reference positioning result of each group of reference positioning data according to the at least one group of reference positioning data; A determination module is configured to determine a network positioning weight corresponding to each network positioning result and a reference positioning weight corresponding to each reference positioning result; The generation module is configured to generate a fused positioning result of the target terminal based on each network positioning result and each network positioning weight, as well as each reference positioning result and each reference positioning weight.

8. A fusion positioning system, characterized in that: The system includes a server and a target terminal; The target terminal is configured to obtain, in response to the target positioning instruction, at least one set of network positioning data of the target terminal in a network positioning dimension and at least one set of reference positioning data in a reference positioning dimension, and send each set of network positioning data and each set of reference positioning data to the server; The server is configured to obtain at least one set of network positioning data of the target terminal in a network positioning dimension and at least one set of reference positioning data in a reference positioning dimension, obtain a network positioning result of each set of network positioning data according to the at least one set of network positioning data, obtain a reference positioning result of each set of reference positioning data according to the at least one set of reference positioning data, determine a network positioning weight corresponding to each network positioning result and a reference positioning weight corresponding to each reference positioning result, generate a fused positioning result of the target terminal based on each network positioning result and each network positioning weight, and each reference positioning result and each reference positioning weight, and send the fused positioning result to the target terminal; The target terminal is further configured to receive the fused positioning result.

9. A computing device comprising a memory, a processor, and computer instructions stored in the memory and executable on the processor, characterized in that: When the processor executes the computer instructions, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer-readable storage medium storing computer instructions, characterized in that: When the computer instruction is executed by a processor, the steps of the method described in any one of claims 1 to 6 are implemented.

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