Positioning method and device, computer equipment and storage medium

Abstract

The invention relates to the technical field of wireless communication, in particular to a positioning method and device, computer equipment and a storage medium. The method comprises the following steps: acquiring at least one current sub-positioning result corresponding to a current positioning point and positioning credibility corresponding to each current sub-positioning result; wherein the at least one current sub-positioning result is a result obtained by positioning at the current positioning point in different positioning modes; and under the condition that the positioning credibility corresponding to each current sub-positioning result is smaller than a credibility threshold value, determining a current comprehensive positioning result corresponding to the current positioning point according to each current sub-positioning result and the positioning credibility corresponding to each current sub-positioning result. According to the method and the device, the positioning accuracy of the finally determined current comprehensive positioning result is ensured, so that the current sub-positioning result with relatively low positioning credibility is corrected through the current sub-positioning result with relatively high positioning credibility, the positioning cost of a multi-positioning mode is reduced, and the positioning precision of the multi-positioning mode is improved.

Description

Technical Field

[0001] The present application relates to the field of wireless communication technology, and in particular to a positioning method, apparatus, computer equipment, and storage medium. Background Art

[0002] Mobile network cellular positioning, ultra-wideband (UWB) positioning, fingerprint positioning, inertial navigation positioning, etc. are commonly used methods for indoor high-precision positioning. To improve positioning accuracy, multiple positioning technologies can also be used for integrated positioning.

[0003] Due to the influence of factors such as positioning signal fading and fluctuation, the positioning accuracy of various positioning technologies will drift and deteriorate. Therefore, in the process of integrated positioning using multiple positioning technologies, how to obtain accurate comprehensive positioning results based on the sub-positioning results of different positioning methods has become a key issue. Summary of the Invention

[0004] Based on this, it is necessary to provide a positioning method, device, computer equipment and storage medium that can accurately obtain comprehensive positioning results to address the above technical problems.

[0005] In a first aspect, the present application provides a positioning method. The method comprises:

[0006] Obtaining at least one current sub-positioning result corresponding to the current positioning point and the positioning reliability corresponding to each current sub-positioning result; wherein the at least one current sub-positioning result is a result obtained by positioning the current positioning point using different positioning methods;

[0007] When the positioning credibility corresponding to each of the current sub-positioning results is less than the credibility threshold, the current comprehensive positioning result corresponding to the current positioning point is determined according to each of the current sub-positioning results and the positioning credibility corresponding to each of the current sub-positioning results.

[0008] In one embodiment, determining the current integrated positioning result corresponding to the current positioning point according to each of the current sub-positioning results and the positioning credibility corresponding to each of the current sub-positioning results includes:

[0009] Determining, according to the positioning credibility corresponding to each of the current sub-positioning results, an influence weight corresponding to each of the current sub-positioning results;

[0010] Using the influence weights corresponding to the current sub-positioning results, weighting the corresponding current sub-positioning results to obtain weighted positioning results corresponding to the current sub-positioning results;

[0011] The current comprehensive positioning result corresponding to the current positioning point is determined according to the weighted positioning results corresponding to the current sub-positioning results.

[0012] In one embodiment, the method further comprises:

[0013] Determining whether a positioning distance between the current integrated positioning result and a historical integrated positioning result corresponding to a historical positioning point is greater than a constraint distance; wherein the constraint distance is determined based on a time difference between the current positioning moment and the historical positioning moment corresponding to the historical positioning point;

[0014] If so, positioning calibration is performed on the current integrated positioning result or the historical integrated positioning result according to the positioning credibility of each current sub-positioning result and the positioning credibility of each historical sub-positioning result corresponding to the historical positioning point.

[0015] In one embodiment, positioning calibration is performed on the historical integrated positioning result based on the positioning credibility of each current sub-positioning result and the positioning credibility of each historical sub-positioning result corresponding to the historical positioning point, including:

[0016] If there is a positioning credibility greater than a credibility threshold among the positioning credibility corresponding to each of the current sub-positioning results, determining a first distance between the current comprehensive positioning result and each of the historical sub-positioning results respectively;

[0017] taking a first distance greater than the constraint distance as a first abnormal distance, and deleting a first abnormal sub-positioning result corresponding to the first abnormal distance from each of the historical sub-positioning results;

[0018] Positioning calibration is performed on the historical comprehensive positioning results according to the historical sub-positioning results that do not include the first abnormal sub-positioning result.

[0019] In one embodiment, the method further comprises:

[0020] The historical positioning point is used as the new current positioning point, the historical comprehensive positioning result after positioning calibration is used as the new current comprehensive positioning result, the previous positioning point corresponding to the historical positioning point is used as the new historical positioning point, and the previous comprehensive positioning result of the previous positioning point is used as the new historical comprehensive positioning result;

[0021] Based on the new current positioning point, the new current integrated positioning result, the new historical positioning point, and the new historical integrated positioning result, returning to the step of determining whether the positioning distance between the current integrated positioning result and the historical integrated positioning result corresponding to the historical positioning point is greater than the constraint distance.

[0022] In one embodiment, based on the positioning credibility of each current sub-positioning result and the positioning credibility of each historical sub-positioning result corresponding to the historical positioning point, the current comprehensive positioning result includes:

[0023] If there is a positioning credibility greater than a credibility threshold among the positioning credibility corresponding to each of the historical sub-positioning results, determining a second distance between the historical comprehensive positioning result and each of the current sub-positioning results respectively;

[0024] taking a second distance greater than the constraint distance as a second abnormal distance, and deleting a second abnormal sub-positioning result corresponding to the second abnormal distance from each of the current sub-positioning results;

[0025] Perform positioning calibration on the current comprehensive positioning result according to the current sub-positioning result that does not include the second abnormal sub-positioning result.

[0026] In a second aspect, the present application further provides a positioning device. The device comprises:

[0027] an acquisition module, configured to acquire at least one current sub-positioning result corresponding to a current positioning point and a positioning reliability corresponding to each current sub-positioning result; wherein the at least one current sub-positioning result is a result obtained by positioning the current positioning point using different positioning methods;

[0028] A determination module is used to determine the current comprehensive positioning result corresponding to the current positioning point based on each of the current sub-positioning results and the positioning credibility corresponding to each of the current sub-positioning results when the positioning credibility corresponding to each of the current sub-positioning results is less than a credibility threshold.

[0029] In a third aspect, the present application further provides a computer device. The computer device includes a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are performed:

[0030] Obtaining at least one current sub-positioning result corresponding to the current positioning point and the positioning reliability corresponding to each current sub-positioning result; wherein the at least one current sub-positioning result is a result obtained by positioning the current positioning point using different positioning methods;

[0031] When the positioning credibility corresponding to each of the current sub-positioning results is less than the credibility threshold, the current comprehensive positioning result corresponding to the current positioning point is determined according to each of the current sub-positioning results and the positioning credibility corresponding to each of the current sub-positioning results.

[0032] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the following steps:

[0033] Obtaining at least one current sub-positioning result corresponding to the current positioning point and the positioning reliability corresponding to each current sub-positioning result; wherein the at least one current sub-positioning result is a result obtained by positioning the current positioning point using different positioning methods;

[0034] When the positioning credibility corresponding to each of the current sub-positioning results is less than the credibility threshold, the current comprehensive positioning result corresponding to the current positioning point is determined according to each of the current sub-positioning results and the positioning credibility corresponding to each of the current sub-positioning results.

[0035] In a fifth aspect, the present application further provides a computer program product. The computer program product includes a computer program that, when executed by a processor, implements the following steps:

[0036] Obtaining at least one current sub-positioning result corresponding to the current positioning point and the positioning reliability corresponding to each current sub-positioning result; wherein the at least one current sub-positioning result is a result obtained by positioning the current positioning point using different positioning methods;

[0037] When the positioning credibility corresponding to each of the current sub-positioning results is less than the credibility threshold, the current comprehensive positioning result corresponding to the current positioning point is determined according to each of the current sub-positioning results and the positioning credibility corresponding to each of the current sub-positioning results.

[0038] The above-mentioned positioning method, device, computer equipment and storage medium obtain at least one current sub-positioning result corresponding to the current positioning point and the positioning credibility corresponding to each current sub-positioning result, so as to determine the current comprehensive positioning result corresponding to the current positioning point based on each current sub-positioning result and the positioning credibility corresponding to each current sub-positioning result. According to the above content, when determining the current comprehensive positioning result corresponding to the current positioning point, the present application will pre-judge whether the positioning credibility corresponding to each current sub-positioning result is less than the credibility threshold. If so, it indicates that the current comprehensive positioning result corresponding to the current positioning point needs to be determined based on each current sub-positioning result. Since the positioning credibility corresponding to each current sub-positioning result can represent the accuracy probability corresponding to the current sub-positioning result determined by each positioning method, when determining the current comprehensive positioning result, the positioning credibility corresponding to each current sub-positioning result can be referred to to increase the influence of the current sub-positioning result with higher positioning credibility on the final determination of the current comprehensive positioning result, and reduce the influence of the current sub-positioning result with lower positioning credibility on the final determination of the current comprehensive positioning result, thereby ensuring the positioning accuracy of the final determined current comprehensive positioning result, so as to realize the correction of the current sub-positioning result with lower positioning credibility through the current sub-positioning result with higher positioning credibility, thereby reducing the positioning cost of multiple positioning methods and improving the positioning accuracy of multiple positioning methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 A diagram of an application environment of a positioning method provided in an embodiment of the present application;

[0040] Figure 2 A schematic diagram of the flow of the first positioning method provided in an embodiment of the present application;

[0041] Figure 3 A schematic diagram of the flow of the second positioning method provided in an embodiment of the present application;

[0042] Figure 4 A schematic diagram of a flow chart of a third positioning method provided in an embodiment of the present application;

[0043] Figure 5 A schematic diagram of a fourth positioning method according to an embodiment of the present application;

[0044] Figure 6 A structural block diagram of a positioning device provided in an embodiment of the present application;

[0045] Figure 7 FIG. 1 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0046] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0047] The positioning method provided in the embodiment of the present application can be applied to Figure 1 In the application environment shown. The terminal 102 communicates with the server 104 via a network. The data storage system can store data that the server 104 needs to process. The data storage system can be integrated on the server 104, or placed on the cloud or other network servers. By obtaining at least one current sub-positioning result corresponding to the current positioning point and the positioning credibility corresponding to each current sub-positioning result, the current comprehensive positioning result corresponding to the current positioning point is determined according to each current sub-positioning result and the positioning credibility corresponding to each current sub-positioning result. The terminal 102 can be, but is not limited to, various personal computers, laptops, smart phones, tablets, Internet of Things devices and portable wearable devices. The Internet of Things devices can be smart speakers, smart TVs, smart air conditioners, smart car-mounted devices, etc. Portable wearable devices can be smart watches, smart bracelets, head-mounted devices, etc. The server 104 can be implemented as an independent server or a server cluster consisting of multiple servers.

[0048] In one embodiment, Figure 2 As shown, a positioning method is provided, which is applied to Figure 1 Taking the server 104 in the example as an example, the following steps are included:

[0049] S201: Obtain at least one current sub-positioning result corresponding to a current positioning point and the positioning reliability corresponding to each current sub-positioning result.

[0050] Among them, at least one current sub-positioning result is a result obtained by positioning at the current positioning point using different positioning methods.

[0051] It should be noted that when it is necessary to obtain at least one current sub-positioning result corresponding to the current positioning point and the positioning credibility corresponding to each current sub-positioning result, it can be combined with a pre-set credibility determination method, which records different credibility determination sub-methods for different positioning methods. Then, according to different credibility determination sub-methods, the positioning credibility corresponding to the current sub-positioning results of the corresponding positioning methods can be obtained respectively.

[0052] Among them, the credibility determination sub-method corresponding to each positioning method records at least one candidate credibility and the positioning conditions corresponding to each candidate credibility; by detecting the positioning conditions of each positioning method for the current positioning point, the positioning credibility corresponding to the current sub-positioning result obtained by each positioning method is selected from each candidate credibility.

[0053] In one embodiment of the present application, if each positioning method can include fingerprint positioning, the positioning conditions corresponding to the fingerprint positioning include the number of cells and RSRP; as an example, for a signal measurement point with a cell number ≥5 and an RSRP ≥-85dBm, the positioning credibility is recorded as 100; for a signal measurement point with a cell number ≥5 and an RSRP ≥-95dBm, the positioning credibility is recorded as 90; for a signal measurement point with a cell number ≥5 and an RSRP ≥-105dBm, the positioning credibility is recorded as 80; for a signal measurement point with a cell number ≥5 and an RSRP ≥-115dBm, the positioning credibility is recorded as 70. As another example, for signal measurement points with ≥3 cells and RSRP ≥-85dBm, the positioning confidence is recorded as 90; for signal measurement points with ≥3 cells and RSRP ≥-95dBm, the positioning confidence is recorded as 80; for signal measurement points with ≥3 cells and RSRP ≥-105dBm, the positioning confidence is recorded as 70; and for signal measurement points with ≥3 cells and RSRP ≥-115dBm, the positioning confidence is recorded as 60.

[0054] S202: When the positioning credibility corresponding to each current sub-positioning result is less than the credibility threshold, determine the current comprehensive positioning result corresponding to the current positioning point according to each current sub-positioning result and the positioning credibility corresponding to each current sub-positioning result.

[0055] It should be noted that the credibility threshold may be the maximum credibility corresponding to each positioning method, or a value set by operation and maintenance personnel based on historical experience. The value range of the credibility threshold is not limited here.

[0056] In one embodiment of the present application, when determining whether the positioning credibility corresponding to each current sub-positioning result is less than the credibility threshold, the maximum credibility corresponding to each positioning method can be determined in advance, and then the maximum credibility corresponding to each positioning method can be used as the positioning credibility corresponding to each current sub-positioning result; as an example, for fingerprint positioning, the maximum credibility is 100, for QR code scanning positioning, the maximum credibility is 500, for low-power Bluetooth single-point positioning, the maximum credibility is 500, for inertial navigation positioning, the maximum credibility is 50, for cellular positioning, the maximum credibility is 100, for UWB positioning, the maximum credibility is 120, etc.

[0057] Further explanation: when the positioning credibility corresponding to each current sub-positioning result is not all less than the credibility threshold, that is, there is a current sub-positioning result among the current sub-positioning results whose positioning credibility is greater than the credibility threshold, then the current sub-positioning result will be used as the current comprehensive positioning result.

[0058] The above positioning method obtains at least one current sub-positioning result corresponding to the current positioning point and the positioning credibility corresponding to each current sub-positioning result, so as to determine the current comprehensive positioning result corresponding to the current positioning point based on each current sub-positioning result and the positioning credibility corresponding to each current sub-positioning result. According to the above content, when determining the current comprehensive positioning result corresponding to the current positioning point, the present application will pre-judge whether the positioning credibility corresponding to each current sub-positioning result is less than the credibility threshold. If so, it indicates that the current comprehensive positioning result corresponding to the current positioning point needs to be determined based on each current sub-positioning result. Since the positioning credibility corresponding to each current sub-positioning result can represent the accuracy probability corresponding to the current sub-positioning result determined by each positioning method, when determining the current comprehensive positioning result, the positioning credibility corresponding to each current sub-positioning result can be referred to to increase the influence of the current sub-positioning result with higher positioning credibility on the final determination of the current comprehensive positioning result, and reduce the influence of the current sub-positioning result with lower positioning credibility on the final determination of the current comprehensive positioning result, thereby ensuring the positioning accuracy of the final determined current comprehensive positioning result, so as to realize the correction of the current sub-positioning result with lower positioning credibility through the current sub-positioning result with higher positioning credibility, thereby reducing the positioning cost of multiple positioning methods and improving the positioning accuracy of multiple positioning methods.

[0059] In one embodiment of the present application, if there are five positioning methods including fingerprint positioning, QR code scanning positioning, low-power Bluetooth single-point positioning, inertial navigation positioning and UWB positioning, and the positioning credibility corresponding to the current sub-positioning results of the five positioning methods are determined as follows: For fingerprint positioning, the positioning credibility of the signal measurement point with a cell number <3 is recorded as 40. For QR code scanning positioning, the credibility is recorded as 500, which is defined as accurate credibility. For low-power Bluetooth single-point positioning, the maximum credibility is 400. For inertial navigation positioning, the step length method is used for positioning. If the y-axis of the natural coordinate system of the mobile phone is consistent with the direction of movement, and the step length has been collected and calibrated under the GPS system, the positioning credibility is recorded as 50, otherwise it is recorded as 30. For UWB positioning, if the number of positioning point base stations is greater than or equal to 4, the credibility is recorded as 120; if the number of positioning point base stations is greater than or equal to 3, the credibility is recorded as 100; if the number of positioning point base stations is less than 3, the credibility is recorded as 60; if the credibility threshold is predetermined to be 400, then if the positioning credibility corresponding to the current sub-positioning result of the QR code scanning positioning is determined to be greater than the credibility threshold, the current sub-positioning result of the QR code scanning positioning is used as the current comprehensive positioning result.

[0060] In one embodiment, if Figure 3 As shown, when it is necessary to determine the current comprehensive positioning result corresponding to the current positioning point based on each current sub-positioning result and the positioning credibility corresponding to each current sub-positioning result, the following contents may be specifically included:

[0061] S301: Determine an influence weight corresponding to each current sub-positioning result according to the positioning credibility corresponding to each current sub-positioning result.

[0062] It should be noted that when it is necessary to determine the impact weight corresponding to each current sub-positioning result, the calculation formula for the impact weight can be determined in advance, and then, based on the calculation formula for the impact weight and the positioning credibility corresponding to each current sub-positioning result, the impact weight corresponding to each current sub-positioning result can be determined.

[0063] The calculation formula for the influence weight is as follows:

[0064]

[0065] Wherein, Bn represents the positioning credibility corresponding to the current sub-positioning result.

[0066] S302: weighting the corresponding current sub-positioning results using the influence weights corresponding to the current sub-positioning results to obtain weighted positioning results corresponding to the current sub-positioning results.

[0067] In one embodiment of the present application, when it is necessary to determine the weighted positioning results corresponding to each current sub-positioning result, the influence weight corresponding to each current sub-positioning result is determined respectively according to the above-mentioned influence weight calculation formula, and then the influence weight corresponding to each current sub-positioning result is multiplied and weighted by the X-axis coordinate, Y-axis coordinate and Z-axis coordinate in the current sub-positioning result respectively. The result obtained is the weighted positioning result corresponding to each current sub-positioning result.

[0068] S303: Determine a current comprehensive positioning result corresponding to the current positioning point according to the weighted positioning results corresponding to the current sub-positioning results.

[0069] In one embodiment of the present application, when it is necessary to determine the current comprehensive positioning result corresponding to the current positioning point based on the weighted positioning results corresponding to each current sub-positioning result, the X-axis coordinate, Y-axis coordinate and Z-axis coordinate in the current comprehensive positioning result can be determined based on the first positioning formula for the X-axis coordinate of the current sub-positioning result, the second positioning formula for the Y-axis coordinate and the third positioning formula for the Z-axis coordinate.

[0070] The first positioning formula, the second positioning formula, and the third positioning formula are as follows:

[0071] 、 and ;

[0072] Among them, X, Y and Z represent the X-axis coordinate, Y-axis coordinate and Z-axis coordinate of the current sub-positioning result respectively; Bn represents the positioning reliability corresponding to the current sub-positioning result.

[0073] The above positioning method determines the influence weight corresponding to each current sub-positioning result to achieve weighting of the corresponding current sub-positioning results, obtains the weighted positioning results corresponding to each current sub-positioning result, and then determines the current comprehensive positioning result corresponding to the current positioning point. It ensures that when determining the current comprehensive positioning result, the positioning credibility corresponding to each current sub-positioning result can be referred to, so as to increase the influence of the current sub-positioning results with higher positioning credibility on the final determination of the current comprehensive positioning result, and reduce the influence of the current sub-positioning results with lower positioning credibility on the final determination of the current comprehensive positioning result.

[0074] In one embodiment, if Figure 4 As shown, when it is necessary to perform positioning calibration on the current integrated positioning result and the historical integrated positioning result, the following contents may be specifically included:

[0075] S401: Determine whether the positioning distance between the current integrated positioning result and the historical integrated positioning result corresponding to the historical positioning point is greater than the constraint distance.

[0076] The constraint distance is determined according to the time difference between the current positioning moment and the historical positioning moment corresponding to the historical positioning point.

[0077] It should be noted that a motion rate threshold can be set according to the device motion type of the user being located; furthermore, the product of the motion rate according to the motion rate threshold and the time difference between the current positioning moment and the historical positioning moment corresponding to the historical positioning point is used as the constraint distance.

[0078] S402: If yes, then perform positioning calibration on the current integrated positioning result or the historical integrated positioning result according to the positioning credibility of each current sub-positioning result and the positioning credibility of each historical sub-positioning result corresponding to the historical positioning point.

[0079] It should be noted that it is possible to verify separately whether there is a positioning credibility greater than the credibility threshold among the positioning credibility corresponding to each current sub-positioning result, and whether there is a positioning credibility greater than the credibility threshold among the positioning credibility corresponding to each historical sub-positioning result. If there is a positioning credibility greater than the credibility threshold among the positioning credibility corresponding to each current sub-positioning result, it is proved that the current comprehensive positioning result is an accurate positioning result. Therefore, the reason why the positioning distance between the current comprehensive positioning result and the historical comprehensive positioning result corresponding to the historical positioning point is greater than the constraint distance lies in the historical comprehensive positioning result; if there is a positioning credibility greater than the credibility threshold among the positioning credibility corresponding to each historical sub-positioning result, it is proved that the historical comprehensive positioning result is an accurate positioning result. Therefore, the reason why the positioning distance between the current comprehensive positioning result and the historical comprehensive positioning result corresponding to the historical positioning point is greater than the constraint distance lies in the current comprehensive positioning result.

[0080] To further explain, if the reason why the positioning distance between the current comprehensive positioning result and the historical comprehensive positioning result corresponding to the historical positioning point is greater than the constraint distance is due to the historical comprehensive positioning result, then positioning calibration is required for the historical comprehensive positioning result; if the reason why the positioning distance between the current comprehensive positioning result and the historical comprehensive positioning result corresponding to the historical positioning point is greater than the constraint distance is due to the current comprehensive positioning result, then positioning calibration is required for the current comprehensive positioning result.

[0081] In one embodiment of the present application, if there is a positioning credibility greater than a credibility threshold among the positioning credibility corresponding to each current sub-positioning result, the first distance between the current comprehensive positioning result and each historical sub-positioning result is determined respectively; the first distance greater than the constraint distance is used as the first abnormal distance, and the first abnormal sub-positioning result corresponding to the first abnormal distance is deleted from each historical sub-positioning result; and positioning calibration is performed on the historical comprehensive positioning result based on the historical sub-positioning results that do not include the first abnormal sub-positioning result.

[0082] It is further explained that since the historical comprehensive positioning results have been calibrated, the historical comprehensive positioning results after the positioning calibration will have a certain degree of deviation compared to the historical comprehensive positioning results before the positioning calibration. Therefore, there will be a situation where the positioning distance between the historical comprehensive positioning results after the positioning calibration and the previous comprehensive positioning results is greater than the constraint distance. For this reason, the following content can be included to realize positioning calibration for the previous comprehensive positioning result.

[0083] Specifically, the historical positioning point is used as the new current positioning point, the historical comprehensive positioning result after positioning calibration is used as the new current comprehensive positioning result, the previous positioning point corresponding to the historical positioning point is used as the new historical positioning point, and the previous comprehensive positioning result of the previous positioning point is used as the new historical comprehensive positioning result; based on the new current positioning point, the new current comprehensive positioning result, the new historical positioning point and the new historical comprehensive positioning result, the step of determining whether the positioning distance between the current comprehensive positioning result and the historical comprehensive positioning result corresponding to the historical positioning point is greater than the constraint distance is returned.

[0084] Furthermore, in the process of looping back to execute the step of determining whether the positioning distance between the current comprehensive positioning result and the historical comprehensive positioning result corresponding to the historical positioning point is greater than the constraint distance, if the positioning credibility of at least one historical sub-positioning result corresponding to the historical positioning point includes accurate credibility, the loop operation is stopped; or, if it is detected that the number of reverse position calculations reaches a threshold value, the loop operation is stopped.

[0085] In one embodiment of the present application, if there is a positioning credibility greater than a credibility threshold among the positioning credibility corresponding to each historical sub-positioning result, the second distance between the historical comprehensive positioning result and each current sub-positioning result is determined respectively; the second distance greater than the constraint distance is used as the second abnormal distance, and the second abnormal sub-positioning result corresponding to the second abnormal distance is deleted from each current sub-positioning result; and positioning calibration is performed on the current comprehensive positioning result based on the current sub-positioning result that does not include the second abnormal sub-positioning result.

[0086] The above positioning method further improves the positioning accuracy of multiple positioning methods and reduces the positioning cost of multiple positioning methods by calibrating the current comprehensive positioning results and historical comprehensive positioning results.

[0087] In one embodiment, if Figure 5 As shown, when it is necessary to determine the current comprehensive positioning result corresponding to the current positioning point, the following contents may be specifically included:

[0088] S501: Obtain at least one current sub-positioning result corresponding to a current positioning point and the positioning reliability corresponding to each current sub-positioning result.

[0089] S502 : When the positioning credibility corresponding to each current sub-positioning result is less than a credibility threshold, determine the influence weight corresponding to each current sub-positioning result according to the positioning credibility corresponding to each current sub-positioning result.

[0090] S503: Using the influence weights corresponding to the current sub-positioning results, weight the corresponding current sub-positioning results to obtain weighted positioning results corresponding to the current sub-positioning results.

[0091] S504: Determine a current comprehensive positioning result corresponding to the current positioning point according to the weighted positioning results corresponding to the current sub-positioning results.

[0092] In one embodiment, in order to further improve the positioning accuracy of multiple positioning methods, high-reliability positioning technology devices can be set at key paths or points in key positioning areas of the positioning area as accurate trust points to return the positioning to the right track and cut off the accumulated errors.

[0093] As an example, accurate and reliable positioning technology (QR code, low-transmission power Bluetooth, etc.) can be set at building entrances and exits, elevator entrances, path bifurcations, path must-pass points, crowd close contact points, stairway safety exits, toilets, and other locations, or key path nodes that require key monitoring, to achieve accurate positioning, calibrate the positioning trajectory, and cut off accumulated errors.

[0094] The above positioning method obtains at least one current sub-positioning result corresponding to the current positioning point and the positioning credibility corresponding to each current sub-positioning result, so as to determine the current comprehensive positioning result corresponding to the current positioning point based on each current sub-positioning result and the positioning credibility corresponding to each current sub-positioning result. According to the above content, when determining the current comprehensive positioning result corresponding to the current positioning point, the present application will pre-judge whether the positioning credibility corresponding to each current sub-positioning result is less than the credibility threshold. If so, it indicates that the current comprehensive positioning result corresponding to the current positioning point needs to be determined based on each current sub-positioning result. Since the positioning credibility corresponding to each current sub-positioning result can represent the accuracy probability corresponding to the current sub-positioning result determined by each positioning method, when determining the current comprehensive positioning result, the positioning credibility corresponding to each current sub-positioning result can be referred to to increase the influence of the current sub-positioning result with higher positioning credibility on the final determination of the current comprehensive positioning result, and reduce the influence of the current sub-positioning result with lower positioning credibility on the final determination of the current comprehensive positioning result, thereby ensuring the positioning accuracy of the final determined current comprehensive positioning result, so as to realize the correction of the current sub-positioning result with lower positioning credibility through the current sub-positioning result with higher positioning credibility, thereby reducing the positioning cost of multiple positioning methods and improving the positioning accuracy of multiple positioning methods.

[0095] It should be understood that, although the steps in the flowcharts of the above embodiments are shown in sequence as indicated by the arrows, these steps are not necessarily performed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be performed in other orders. Moreover, at least a portion of the steps in the flowcharts of the above embodiments may include multiple steps or multiple stages, and these steps or stages are not necessarily performed at the same time, but can be performed at different times. The execution order of these steps or stages is not necessarily to be performed in sequence, but can be performed in turn or alternately with other steps or at least a portion of steps or stages in other steps.

[0096] Based on the same inventive concept, embodiments of the present application also provide a positioning device for implementing the aforementioned positioning method. The solution provided by this device is similar to the solution described in the aforementioned method. Therefore, the specific limitations of one or more positioning device embodiments provided below can be found in the above-described limitations of the positioning method and will not be further elaborated here.

[0097] In one embodiment, Figure 6 As shown, a positioning device is provided, including: an acquisition module 10 and a determination module 20, wherein:

[0098] The acquisition module 10 is used to obtain at least one current sub-positioning result corresponding to the current positioning point and the positioning reliability corresponding to each current sub-positioning result; wherein, at least one current sub-positioning result is a result obtained by positioning the current positioning point using different positioning methods.

[0099] The determination module 20 is configured to determine the current integrated positioning result corresponding to the current positioning point based on each current sub-positioning result and the positioning credibility corresponding to each current sub-positioning result when the positioning credibility corresponding to each current sub-positioning result is less than a credibility threshold.

[0100] In one embodiment, an influence weight corresponding to each current sub-positioning result is determined based on the positioning credibility corresponding to each current sub-positioning result;

[0101] Using the influence weights corresponding to the current sub-positioning results, weight the corresponding current sub-positioning results to obtain weighted positioning results corresponding to the current sub-positioning results;

[0102] The current comprehensive positioning result corresponding to the current positioning point is determined based on the weighted positioning results corresponding to the current sub-positioning results.

[0103] Determine whether the positioning distance between the current comprehensive positioning result and the historical comprehensive positioning result corresponding to the historical positioning point is greater than the constraint distance; wherein the constraint distance is determined based on the time difference between the current positioning moment and the historical positioning moment corresponding to the historical positioning point;

[0104] If so, the current integrated positioning result or the historical integrated positioning result is calibrated according to the positioning reliability of each current sub-positioning result and the positioning reliability of each historical sub-positioning result corresponding to the historical positioning point.

[0105] If there is a positioning credibility greater than the credibility threshold among the positioning credibility corresponding to each current sub-positioning result, then determining the first distance between the current comprehensive positioning result and each historical sub-positioning result respectively;

[0106] The first distance greater than the constraint distance is taken as the first abnormal distance, and the first abnormal sub-location result corresponding to the first abnormal distance is deleted from each historical sub-location result;

[0107] Positioning calibration is performed on the historical comprehensive positioning results based on the historical sub-positioning results that do not include the first abnormal sub-positioning result.

[0108] The historical positioning point is used as the new current positioning point, the historical comprehensive positioning result after positioning calibration is used as the new current comprehensive positioning result, the previous fixed point corresponding to the historical positioning point is used as the new historical positioning point, and the previous comprehensive positioning result of the previous fixed point is used as the new historical comprehensive positioning result;

[0109] Based on the new current positioning point, the new current integrated positioning result, the new historical positioning point, and the new historical integrated positioning result, return to the step of determining whether the positioning distance between the current integrated positioning result and the historical integrated positioning result corresponding to the historical positioning point is greater than the constraint distance.

[0110] If there is a positioning credibility greater than the credibility threshold among the positioning credibility corresponding to each historical sub-positioning result, then determining the second distance between the historical comprehensive positioning result and each current sub-positioning result respectively;

[0111] The second distance greater than the constraint distance is taken as the second abnormal distance, and the second abnormal sub-positioning result corresponding to the second abnormal distance is deleted from each current sub-positioning result;

[0112] The current comprehensive positioning result is calibrated based on the current sub-positioning result that does not include the second abnormal sub-positioning result.

[0113] The above-mentioned positioning device obtains at least one current sub-positioning result corresponding to the current positioning point and the positioning credibility corresponding to each current sub-positioning result, so as to determine the current comprehensive positioning result corresponding to the current positioning point based on each current sub-positioning result and the positioning credibility corresponding to each current sub-positioning result. According to the above content, when determining the current comprehensive positioning result corresponding to the current positioning point, the present application will pre-judge whether the positioning credibility corresponding to each current sub-positioning result is less than the credibility threshold. If so, it indicates that the current comprehensive positioning result corresponding to the current positioning point needs to be determined based on each current sub-positioning result. Since the positioning credibility corresponding to each current sub-positioning result can represent the accuracy probability corresponding to the current sub-positioning result determined by each positioning method, when determining the current comprehensive positioning result, the positioning credibility corresponding to each current sub-positioning result can be referred to to increase the influence of the current sub-positioning result with higher positioning credibility on the final determination of the current comprehensive positioning result, and reduce the influence of the current sub-positioning result with lower positioning credibility on the final determination of the current comprehensive positioning result, thereby ensuring the positioning accuracy of the final determined current comprehensive positioning result, so as to realize the correction of the current sub-positioning result with lower positioning credibility through the current sub-positioning result with higher positioning credibility, thereby reducing the positioning cost of multiple positioning methods and improving the positioning accuracy of multiple positioning methods.

[0114] Each module in the positioning device described above can be implemented in whole or in part through software, hardware, or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in hardware form, or can be stored in a memory in a computer device in software form, so that the processor can call and execute the corresponding operations of each module.

[0115] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Figure 7As shown. The computer device includes a processor, memory, an input / output interface, a communication interface, a display unit, and an input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are connected to the system bus via the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and external devices. The communication interface of the computer device is used to communicate with external terminals via wired or wireless means, and the wireless means can be achieved via Wi-Fi, mobile cellular networks, NFC (near-field communication), or other technologies. When executed by the processor, the computer program implements a positioning method. The display unit of the computer device is used to form a visually visible image and can be a display screen, a projection device, or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the computer device casing, or an external keyboard, touchpad or mouse.

[0116] Those skilled in the art will understand that Figure 7 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0117] In one embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented:

[0118] Obtaining at least one current sub-positioning result corresponding to the current positioning point and the positioning reliability corresponding to each current sub-positioning result; wherein the at least one current sub-positioning result is a result obtained by positioning the current positioning point using different positioning methods;

[0119] When the positioning credibility corresponding to each current sub-positioning result is less than the credibility threshold, the current comprehensive positioning result corresponding to the current positioning point is determined according to each current sub-positioning result and the positioning credibility corresponding to each current sub-positioning result.

[0120] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0121] Determine the influence weight corresponding to each current sub-positioning result according to the positioning credibility corresponding to each current sub-positioning result;

[0122] Using the influence weights corresponding to the current sub-positioning results, weight the corresponding current sub-positioning results to obtain weighted positioning results corresponding to the current sub-positioning results;

[0123] The current comprehensive positioning result corresponding to the current positioning point is determined based on the weighted positioning results corresponding to the current sub-positioning results.

[0124] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0125] Determine whether the positioning distance between the current comprehensive positioning result and the historical comprehensive positioning result corresponding to the historical positioning point is greater than the constraint distance; wherein the constraint distance is determined based on the time difference between the current positioning moment and the historical positioning moment corresponding to the historical positioning point;

[0126] If so, the current integrated positioning result or the historical integrated positioning result is calibrated according to the positioning reliability of each current sub-positioning result and the positioning reliability of each historical sub-positioning result corresponding to the historical positioning point.

[0127] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0128] If there is a positioning credibility greater than the credibility threshold among the positioning credibility corresponding to each current sub-positioning result, then determining the first distance between the current comprehensive positioning result and each historical sub-positioning result respectively;

[0129] The first distance greater than the constraint distance is taken as the first abnormal distance, and the first abnormal sub-location result corresponding to the first abnormal distance is deleted from each historical sub-location result;

[0130] Positioning calibration is performed on the historical comprehensive positioning results based on the historical sub-positioning results that do not include the first abnormal sub-positioning result.

[0131] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0132] The historical positioning point is used as the new current positioning point, the historical comprehensive positioning result after positioning calibration is used as the new current comprehensive positioning result, the previous fixed point corresponding to the historical positioning point is used as the new historical positioning point, and the previous comprehensive positioning result of the previous fixed point is used as the new historical comprehensive positioning result;

[0133] Based on the new current positioning point, the new current integrated positioning result, the new historical positioning point, and the new historical integrated positioning result, return to the step of determining whether the positioning distance between the current integrated positioning result and the historical integrated positioning result corresponding to the historical positioning point is greater than the constraint distance.

[0134] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0135] If there is a positioning credibility greater than the credibility threshold among the positioning credibility corresponding to each historical sub-positioning result, then determining the second distance between the historical comprehensive positioning result and each current sub-positioning result respectively;

[0136] The second distance greater than the constraint distance is taken as the second abnormal distance, and the second abnormal sub-positioning result corresponding to the second abnormal distance is deleted from each current sub-positioning result;

[0137] The current comprehensive positioning result is calibrated based on the current sub-positioning result that does not include the second abnormal sub-positioning result.

[0138] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented:

[0139] Obtaining at least one current sub-positioning result corresponding to the current positioning point and the positioning reliability corresponding to each current sub-positioning result; wherein the at least one current sub-positioning result is a result obtained by positioning the current positioning point using different positioning methods;

[0140] When the positioning credibility corresponding to each current sub-positioning result is less than the credibility threshold, the current comprehensive positioning result corresponding to the current positioning point is determined according to each current sub-positioning result and the positioning credibility corresponding to each current sub-positioning result.

[0141] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0142] Determine the influence weight corresponding to each current sub-positioning result according to the positioning credibility corresponding to each current sub-positioning result;

[0143] Using the influence weights corresponding to the current sub-positioning results, weight the corresponding current sub-positioning results to obtain weighted positioning results corresponding to the current sub-positioning results;

[0144] The current comprehensive positioning result corresponding to the current positioning point is determined based on the weighted positioning results corresponding to the current sub-positioning results.

[0145] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0146] Determine whether the positioning distance between the current comprehensive positioning result and the historical comprehensive positioning result corresponding to the historical positioning point is greater than the constraint distance; wherein the constraint distance is determined based on the time difference between the current positioning moment and the historical positioning moment corresponding to the historical positioning point;

[0147] If so, the current integrated positioning result or the historical integrated positioning result is calibrated according to the positioning reliability of each current sub-positioning result and the positioning reliability of each historical sub-positioning result corresponding to the historical positioning point.

[0148] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0149] If there is a positioning credibility greater than the credibility threshold among the positioning credibility corresponding to each current sub-positioning result, then determining the first distance between the current comprehensive positioning result and each historical sub-positioning result respectively;

[0150] The first distance greater than the constraint distance is taken as the first abnormal distance, and the first abnormal sub-location result corresponding to the first abnormal distance is deleted from each historical sub-location result;

[0151] Positioning calibration is performed on the historical comprehensive positioning results based on the historical sub-positioning results that do not include the first abnormal sub-positioning result.

[0152] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0153] The historical positioning point is used as the new current positioning point, the historical comprehensive positioning result after positioning calibration is used as the new current comprehensive positioning result, the previous fixed point corresponding to the historical positioning point is used as the new historical positioning point, and the previous comprehensive positioning result of the previous fixed point is used as the new historical comprehensive positioning result;

[0154] Based on the new current positioning point, the new current integrated positioning result, the new historical positioning point, and the new historical integrated positioning result, return to the step of determining whether the positioning distance between the current integrated positioning result and the historical integrated positioning result corresponding to the historical positioning point is greater than the constraint distance.

[0155] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0156] If there is a positioning credibility greater than the credibility threshold among the positioning credibility corresponding to each historical sub-positioning result, then determining the second distance between the historical comprehensive positioning result and each current sub-positioning result respectively;

[0157] The second distance greater than the constraint distance is taken as the second abnormal distance, and the second abnormal sub-positioning result corresponding to the second abnormal distance is deleted from each current sub-positioning result;

[0158] The current comprehensive positioning result is calibrated based on the current sub-positioning result that does not include the second abnormal sub-positioning result.

[0159] In one embodiment, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the following steps:

[0160] Obtaining at least one current sub-positioning result corresponding to the current positioning point and the positioning reliability corresponding to each current sub-positioning result; wherein the at least one current sub-positioning result is a result obtained by positioning the current positioning point using different positioning methods;

[0161] When the positioning credibility corresponding to each current sub-positioning result is less than the credibility threshold, the current comprehensive positioning result corresponding to the current positioning point is determined according to each current sub-positioning result and the positioning credibility corresponding to each current sub-positioning result.

[0162] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0163] Determine the influence weight corresponding to each current sub-positioning result according to the positioning credibility corresponding to each current sub-positioning result;

[0164] Using the influence weights corresponding to the current sub-positioning results, weight the corresponding current sub-positioning results to obtain weighted positioning results corresponding to the current sub-positioning results;

[0165] The current comprehensive positioning result corresponding to the current positioning point is determined based on the weighted positioning results corresponding to the current sub-positioning results.

[0166] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0167] Determine whether the positioning distance between the current comprehensive positioning result and the historical comprehensive positioning result corresponding to the historical positioning point is greater than the constraint distance; wherein the constraint distance is determined based on the time difference between the current positioning moment and the historical positioning moment corresponding to the historical positioning point;

[0168] If so, the current integrated positioning result or the historical integrated positioning result is calibrated according to the positioning reliability of each current sub-positioning result and the positioning reliability of each historical sub-positioning result corresponding to the historical positioning point.

[0169] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0170] If there is a positioning credibility greater than the credibility threshold among the positioning credibility corresponding to each current sub-positioning result, then determining the first distance between the current comprehensive positioning result and each historical sub-positioning result respectively;

[0171] The first distance greater than the constraint distance is taken as the first abnormal distance, and the first abnormal sub-location result corresponding to the first abnormal distance is deleted from each historical sub-location result;

[0172] Positioning calibration is performed on the historical comprehensive positioning results based on the historical sub-positioning results that do not include the first abnormal sub-positioning result.

[0173] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0174] The historical positioning point is used as the new current positioning point, the historical comprehensive positioning result after positioning calibration is used as the new current comprehensive positioning result, the previous fixed point corresponding to the historical positioning point is used as the new historical positioning point, and the previous comprehensive positioning result of the previous fixed point is used as the new historical comprehensive positioning result;

[0175] Based on the new current positioning point, the new current integrated positioning result, the new historical positioning point, and the new historical integrated positioning result, return to the step of determining whether the positioning distance between the current integrated positioning result and the historical integrated positioning result corresponding to the historical positioning point is greater than the constraint distance.

[0176] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0177] If there is a positioning credibility greater than the credibility threshold among the positioning credibility corresponding to each historical sub-positioning result, then determining the second distance between the historical comprehensive positioning result and each current sub-positioning result respectively;

[0178] The second distance greater than the constraint distance is taken as the second abnormal distance, and the second abnormal sub-positioning result corresponding to the second abnormal distance is deleted from each current sub-positioning result;

[0179] The current comprehensive positioning result is calibrated based on the current sub-positioning result that does not include the second abnormal sub-positioning result.

[0180] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of relevant countries and regions.

[0181] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the above-mentioned embodiments. In particular, any reference to memory, database, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The databases involved in the various embodiments provided herein may include at least one of a relational database and a non-relational database. Non-relational databases may include, but are not limited to, distributed databases based on blockchains. The processors involved in the various embodiments provided herein may be, but are not limited to, general-purpose processors, central processing units (CPUs), graphics processing units (GPUs), digital signal processors (DSPs), programmable logic devices (PLDs), data processing logic devices based on quantum computing, and the like.

[0182] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0183] The above embodiments merely illustrate several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art may make various modifications and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be determined by the appended claims.

Claims

1. A positioning method, characterized in that: The method comprises: Obtaining at least one current sub-positioning result corresponding to the current positioning point and the positioning credibility corresponding to each of the current sub-positioning results; wherein the at least one current sub-positioning result is a result obtained by positioning the current positioning point using different positioning methods; When the positioning credibility corresponding to each of the current sub-positioning results is less than the credibility threshold, the current comprehensive positioning result corresponding to the current positioning point is determined according to each of the current sub-positioning results and the positioning credibility corresponding to each of the current sub-positioning results.

2. The method according to claim 1, characterized in that The determining, according to each of the current sub-positioning results and the positioning credibility corresponding to each of the current sub-positioning results, a current comprehensive positioning result corresponding to the current positioning point includes: Determining, according to the positioning credibility corresponding to each of the current sub-positioning results, the influence weight corresponding to each of the current sub-positioning results; Using the influence weights corresponding to the current sub-positioning results, weighting the corresponding current sub-positioning results to obtain weighted positioning results corresponding to the current sub-positioning results; The current comprehensive positioning result corresponding to the current positioning point is determined according to the weighted positioning results corresponding to the current sub-positioning results.

3. The method according to claim 1, characterized in that: The method further comprises: Determine whether the positioning distance between the current comprehensive positioning result and the historical comprehensive positioning result corresponding to the historical positioning point is greater than the constraint distance; wherein the constraint distance is determined according to the time difference between the current positioning moment and the historical positioning moment corresponding to the historical positioning point; If so, the current comprehensive positioning result or the historical comprehensive positioning result is calibrated according to the positioning credibility of each current sub-positioning result and the positioning credibility of each historical sub-positioning result corresponding to the historical positioning point.

4. The method according to claim 3, characterized in that: According to the positioning credibility of each of the current sub-positioning results and the positioning credibility of each of the historical sub-positioning results corresponding to the historical positioning point, positioning calibration is performed on the historical comprehensive positioning result, including: If there is a positioning credibility greater than a credibility threshold among the positioning credibility corresponding to each of the current sub-positioning results, determining a first distance between the current comprehensive positioning result and each of the historical sub-positioning results respectively; Taking a first distance greater than the constraint distance as a first abnormal distance, and deleting a first abnormal sub-positioning result corresponding to the first abnormal distance from each of the historical sub-positioning results; The historical comprehensive positioning result is calibrated according to the historical sub-positioning results that do not include the first abnormal sub-positioning result.

5. The method according to claim 4, characterized in that The method further comprises: The historical positioning point is used as the new current positioning point, the historical comprehensive positioning result after positioning calibration is used as the new current comprehensive positioning result, the previous positioning point corresponding to the historical positioning point is used as the new historical positioning point, and the previous comprehensive positioning result of the previous positioning point is used as the new historical comprehensive positioning result; According to the new current positioning point, the new current integrated positioning result, the new historical positioning point and the new historical integrated positioning result, return to the step of determining whether the positioning distance between the current integrated positioning result and the historical integrated positioning result corresponding to the historical positioning point is greater than the constraint distance.

6. The method according to claim 3, characterized in that According to the positioning credibility of each of the current sub-positioning results and the positioning credibility of each of the historical sub-positioning results corresponding to the historical positioning point, the current comprehensive positioning result includes: If there is a positioning credibility greater than the credibility threshold among the positioning credibility corresponding to each of the historical sub-positioning results, then determining the second distance between the historical comprehensive positioning result and each of the current sub-positioning results respectively; Taking a second distance greater than the constraint distance as a second abnormal distance, and deleting a second abnormal sub-positioning result corresponding to the second abnormal distance from each of the current sub-positioning results; The current comprehensive positioning result is calibrated according to the current sub-positioning result that does not include the second abnormal sub-positioning result.

7. A positioning device, characterized in that: The device comprises: An acquisition module, used to acquire at least one current sub-positioning result corresponding to the current positioning point and the positioning credibility corresponding to each of the current sub-positioning results; wherein the at least one current sub-positioning result is a result obtained by positioning the current positioning point using different positioning methods; A determination module is used to determine the current comprehensive positioning result corresponding to the current positioning point according to each of the current sub-positioning results and the positioning credibility corresponding to each of the current sub-positioning results when the positioning credibility corresponding to each of the current sub-positioning results is less than a credibility threshold.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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