Positioning method and device of mobile equipment, equipment, robot and storage medium

Abstract

The invention provides a positioning method and device of mobile equipment, equipment, a robot and a storage medium, and the method comprises the steps: obtaining a first base station position set in a target process, and enabling the target process to be a moving process of target mobile equipment, the first base station position set comprises base station positions of at least two positioning base stations estimated based on a positioning label in the target mobile device; determining a target position transformation matrix between the first base station position set and a second base station position set corresponding to the first base station position set, the second base station position set comprising real base station positions of at least two positioning base stations, the target position transformation matrix is used for reflecting a position transformation relation between an estimated base station position in the first base station position set and a real base station position in the second base station position set; and according to the target position transformation matrix, carrying out position transformation on the mileage positioning position in the target process to obtain a real positioning position of the target mobile device in the target process. According to the technical scheme, the speedometer positioning accuracy can be improved.

Description

Technical Field

[0001] The present application relates to the field of positioning, and in particular to a positioning method, apparatus, device, robot and storage medium for a mobile device. Background Art

[0002] With the rapid development of science and technology, mobile robots are widely used in fields such as unmanned delivery, which greatly facilitates people's lives. If mobile robots want to achieve autonomous walking, they need to rely on navigation and positioning technology, that is, they need to locate the mobile robot and obtain its position.

[0003] At present, mobile robots are usually positioned by odometer positioning technology. Depending on the odometer sensor, odometers can be divided into wheel speed odometers, visual odometers, laser odometers, and inertial odometers. Regardless of the type of odometer, the accumulated error will cause the positioning position of the mobile robot to drift, and the positioning of the robot is not accurate enough. Summary of the invention

[0004] The present application provides a positioning method for a mobile device to solve the technical problem of inaccurate positioning caused by accumulated odometer errors.

[0005] In a first aspect, a method for positioning a mobile device is provided, comprising:

[0006] Acquire a first base station position set in a target process, wherein the target process is a process in which a target mobile device moves, the first base station position set includes at least two estimated base station positions, and the at least two estimated base station positions are base station positions of at least two positioning base stations estimated based on a positioning tag in the target mobile device;

[0007] determining a target position transformation matrix between the first base station position set and a second base station position set corresponding to the first base station position set, wherein the second base station position set includes at least two real base station positions, the at least two real base station positions are real base station positions of the at least two positioning base stations, and the target position transformation matrix is ​​used to reflect a position transformation relationship between the estimated base station positions in the first base station position set and the real base station positions in the second base station position set;

[0008] According to the target position transformation matrix, the mileage positioning position in the target process is transformed to obtain the real positioning position of the target mobile device in the target process. The mileage positioning position is the position of the target mobile device obtained based on the mileage sensor in the target mobile device.

[0009] In this technical solution, by obtaining a first base station position set during the movement of the target mobile device, the first base station position set includes the base station positions of at least two positioning base stations estimated based on the positioning tag in the target mobile device, and then determining the target position transformation matrix between the first base station position set and the second base station position set corresponding to the first base station position set, the second base station position set includes the real base station positions of the at least two positioning base stations, and finally, according to the target position transformation matrix, the mileage positioning position during the movement of the target mobile device is transformed to obtain the real positioning position of the target mobile device during the movement of the target mobile device; this is equivalent to comparing the base station position of the positioning base station estimated by the positioning tag with the real base station position of the positioning base station to determine the drift of the positioning position, and obtaining a target position transformation matrix that reflects the drift of the positioning position, and correcting the mileage positioning position with drift through the target position transformation matrix, so as to obtain a drift-free mileage positioning position, that is, to obtain an accurate mileage positioning position, thereby improving the accuracy of odometer positioning.

[0010] In combination with the first aspect, in a possible implementation, determining a target position transformation matrix between the first base station position set and a second base station position set corresponding to the first base station position set includes: performing iterative closest point (ICP) matching on the estimated base station positions in the first base station position set and the real base station positions in the second base station position set to obtain the target position transformation matrix. Obtaining the target position transformation matrix reflecting the estimated base station positions and the real base station positions based on ICP matching is simple to implement.

[0011] In combination with the first aspect, in a possible implementation, the iterative closest point matching of the estimated base station positions in the first base station position set with the real base station positions in the second base station position set to obtain the target position transformation matrix includes: constructing an optimization objective function related to the position transformation matrix, the optimization objective function is used to constrain the error between the first base station position and the second base station position, the first base station position is the base station position obtained by transforming the third base station position according to the position transformation matrix, the third base station position is the base station position of the positioning base station determined based on the positioning tag, and the second base station position is the real base station position of the positioning base station; substituting the estimated base station positions in the first base station position set and the real base station positions in the second base station position set into the optimization objective function, solving the position transformation matrix that minimizes the function value of the optimization objective function; determining the position transformation matrix that minimizes the function value of the optimization objective function as the target position transformation matrix. By constructing an optimization objective function related to the position transformation matrix and solving the position transformation matrix that minimizes the function value of the optimization objective function to obtain the target position transformation matrix reflecting the estimated base station position and the real base station position, the accuracy of the target position transformation matrix can be ensured.

[0012] In combination with the first aspect, in a possible implementation, after determining the target position transformation matrix between the first base station position set and the second base station position set corresponding to the first base station position set, it also includes: performing a quality check on the target position transformation matrix; performing a position transformation on the mileage positioning position in the target process according to the target position transformation matrix to obtain the real positioning position of the target mobile device in the target process, including: when the target position transformation matrix passes the quality verification, performing a position transformation on the mileage positioning position in the target process according to the target position transformation matrix to obtain the real positioning position of the target mobile device in the target process. Before correcting the mileage positioning position with drift by using the target position transformation matrix, first perform a quality check on the target position transformation matrix. When the target position transformation matrix passes the quality verification, the target position transformation matrix is ​​used to correct the mileage positioning position, which can ensure the accuracy of the correction and improve the accuracy of positioning.

[0013] In combination with the first aspect, in a possible implementation, the quality verification of the target position transformation matrix includes: according to the target position transformation matrix, performing a position transformation on the mileage positioning position in the target process to obtain the mileage correction position in the target process; according to the mileage correction position and the actual base station position in the target process, determining the position transformation error corresponding to the target position transformation matrix, the position transformation error is used to reflect the error between the mileage correction position and the actual position of the target mobile device; if the position transformation error is less than a preset threshold, it is determined that the target position transformation matrix passes the quality verification. The quality verification of the target position transformation matrix is ​​performed by determining the error between the mileage correction position obtained based on the target position transformation matrix and the actual position of the mobile device, so that the target position transformation matrix can be reasonably verified.

[0014] In combination with the first aspect, in a possible implementation method, determining the position transformation error corresponding to the target position transformation matrix according to the mileage correction position and the actual base station position in the target process includes: calculating the reprojection error between the mileage correction position at the target sampling moment and the actual base station position corresponding to the target sampling moment, to obtain the position transformation error corresponding to the target sampling moment, the target sampling moment being the moment when the device base station distance is obtained based on the positioning tag sampling in the target process, the device base station distance being the distance between the target mobile device and the positioning base station, and the actual base station position corresponding to the target sampling moment being the actual base station position of the positioning base station corresponding to the device base station distance at the target sampling moment; determining the position transformation error corresponding to the position transformation matrix according to the position transformation errors corresponding to each target sampling moment in the target process.

[0015] In combination with the first aspect, in a possible implementation, the first base station position set in the target acquisition process includes: in the target process, acquiring multiple device base station distances and multiple mileage positioning positions, the device base station distance is the distance between the target mobile device and the positioning base station obtained based on the positioning tag sampling, and each mileage positioning position in the multiple mileage positioning positions is a mileage positioning position corresponding to each device base station distance in the multiple device base station distances; determining the base station positions corresponding to the multiple device base station distances according to the multiple device base station distances and the multiple mileage positioning positions; determining the first base station position set according to the base station positions corresponding to the multiple device base station distances.

[0016] In combination with the first aspect, in a possible implementation method, after obtaining multiple device base station distances and multiple mileage positioning positions in the target process, it also includes: judging whether the number of the multiple device base station distances and the multiple mileage positioning positions reaches a preset number; determining the base station positions corresponding to the multiple device base station distances based on the multiple device base station distances and the multiple mileage positioning positions includes: when the number of the multiple device base station distances and the multiple mileage positioning positions reaches a preset number, determining the base station positions corresponding to the multiple device base station distances based on the multiple device base station distances and the multiple mileage positioning positions.

[0017] In combination with the first aspect, in a possible implementation method, after determining the base station positions corresponding to the multiple device base station distances according to the multiple device base station distances and the multiple mileage positioning positions, it also includes: judging whether the base station positions corresponding to the multiple device base station distances include the base station positions of at least two positioning base stations; determining the first base station position set according to the base station positions corresponding to the multiple device base station distances includes: in a case where the base station positions corresponding to the multiple device base station distances include the base station positions of at least two positioning base stations, determining the first base station position set according to the base station positions corresponding to the multiple device base station distances.

[0018] In a second aspect, a positioning device for a mobile device is provided, comprising:

[0019] A base station location acquisition module is used to acquire a first base station location set in a target process, wherein the target process is a process in which a target mobile device moves, wherein the first base station location set includes at least two estimated base station locations, wherein the at least two estimated base station locations are base station locations of at least two positioning base stations estimated based on positioning tags in the target mobile device;

[0020] a matrix determination module, configured to determine a target position transformation matrix between the first base station position set and a second base station position set corresponding to the first base station position set, wherein the second base station position set includes at least two real base station positions, the at least two real base station positions are real base station positions of the at least two positioning base stations, and the target position transformation matrix is ​​configured to reflect a position transformation relationship between an estimated base station position in the first base station position set and a real base station position in the second base station position set;

[0021] The device position transformation module is used to transform the mileage positioning position in the target process according to the target position transformation matrix to obtain the real positioning position of the target mobile device in the target process. The mileage positioning position is the position of the target mobile device obtained based on the mileage sensor in the target mobile device.

[0022] In a third aspect, a computer device is provided, comprising a memory and one or more processors, wherein the memory is connected to the one or more processors, and the one or more processors are used to execute one or more computer programs stored in the memory, and when the one or more processors execute the one or more computer programs, the computer device implements the positioning method of the mobile device of the first aspect mentioned above.

[0023] In a fourth aspect, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program, wherein the computer program includes program instructions, and when the program instructions are executed by a processor, the processor executes the positioning method for a mobile device according to the first aspect.

[0024] In a fifth aspect, a robot is provided, comprising a positioning tag and a mileage sensor, and the robot is used to execute the positioning method of the mobile device of the first aspect.

[0025] The present application can achieve the following technical effects: it is equivalent to comparing the base station position of the positioning base station estimated by the positioning tag with the actual base station position of the positioning base station to determine the drift of the positioning position, and obtain a target position transformation matrix that reflects the drift of the positioning position. The mileage positioning position with drift is corrected through the target position transformation matrix, so that a drift-free mileage positioning position can be obtained, that is, an accurate mileage positioning position is obtained, thereby improving the accuracy of odometer positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 Hardware block diagram of the target mobile device provided for this application;

[0027] Figure 2 A flowchart of a method for positioning a mobile device provided in an embodiment of the present application;

[0028] Figure 3 A schematic diagram of a flow chart of another method for positioning a mobile device provided in an embodiment of the present application;

[0029] Figure 4 A flowchart of a method for obtaining a base station location set in a target process provided by an embodiment of the present application;

[0030] Figure 5 is a structural schematic diagram of a positioning device for a mobile device provided in an embodiment of the present application;

[0031] Figure 6 It is a structural diagram of a computer device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0032] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application.

[0033] The technical solution of the present application can be applied to device positioning scenarios. The technical solution of the present application can be specifically applied to a target mobile device, which refers to a device that can automatically walk under the drive of a driving component. The target mobile device includes but is not limited to a robot, a mobile luggage cart, a mobile delivery vehicle, and the like. Optionally, the technical solution of the present application can also be applied to other devices that have a connection relationship or a matching relationship with the target mobile device. The connection relationship between the target mobile device and the other device can be a wired connection relationship or a wireless connection relationship. For example, the target mobile device is a robot, and the other device can refer to a robot base station that matches the robot, or the other device can also refer to a background server corresponding to the robot (such as a cloud server), and the background server and the robot transmit data based on wireless communication.

[0034] The technical principles of the present application are as follows: use the positioning tag to estimate the relative base station position of the positioning base station to obtain the estimated base station position, perform ICP transformation on the estimated base station position and the real base station position of the positioning base station, and obtain a target position transformation matrix that reflects the position drift; use the target position transformation matrix that reflects the position drift to correct the mileage positioning position with drift, so as to obtain a drift-free mileage positioning position, that is, obtain the real positioning position of the target mobile device, thereby improving the accuracy of odometer positioning.

[0035] For ease of understanding, firstly, the target mobile device and the relevant principles of positioning the target mobile device of the present application are introduced.

[0036] See first Figure 1 , Figure 1 The hardware block diagram of the target mobile device provided for this application is as follows: Figure 1As shown, the target mobile device 10 includes a positioning tag 101 and a mileage sensor 102. The positioning tag 101 is used to interact with a positioning base station deployed in an external environment for radio frequency signal interaction, and sample the distance between the target mobile device and the positioning base station (hereinafter referred to as the device base station distance). Among them, the positioning tag 101 and the positioning base station can sample the device base station distance based on ranging methods such as two-way ranging, arrival time difference or arrival phase difference. The device base station distance can be obtained by the target mobile device using any ranging method for ranging, or by the positioning base station using any ranging method for ranging and sent to the target mobile device. This application is not limited. The positioning tag 101 can periodically interact with the positioning base station for radio frequency signals, thereby periodically sampling to obtain the device base station distance. For example, the frequency at which the positioning tag 101 samples the device base station distance can be 1 Hz. The moment when the positioning tag 101 samples the device base station distance can be called the target sampling moment. The positioning tag 101 can be an ultra wide band (UWB) tag, and correspondingly, the positioning base station deployed in the external environment can be a UWB base station. When the positioning tag 101 is a UWB tag, the target sampling time may be referred to as a UWB sampling time, and the UWB sampling time is determined by the sampling frequency of the UWB tag.

[0037] The mileage sensor 102 is used to detect the position change of the target mobile device, so as to determine the positioning position of the target mobile device. The position of the target mobile device obtained based on the positioning of the mileage sensor 102 is called the mileage positioning position. The mileage sensor 102 can be a photoelectric encoding sensor, and the mileage positioning position determined based on the photoelectric encoding sensor can be called the wheel speed mileage positioning position. The mileage sensor 102 can also be a visual sensor (such as a camera), and the mileage positioning position determined based on the visual sensor can be called the visual mileage positioning position. The mileage sensor 102 can also be a laser sensor, and the mileage position determined based on the laser sensor can be called the laser mileage positioning position. The mileage sensor 102 can also be an inertial sensor, and the mileage positioning position determined based on the inertial sensor can be called the inertial mileage positioning position. The mileage sensor 102 can also be a combination of at least two of the above-mentioned photoelectric encoding sensors, visual sensors, laser sensors and inertial sensors. This application does not limit what kind of mileage sensor the mileage sensor 102 is.

[0038] based on Figure 1 The target mobile device shown can implement the technical solution of the present application. The technical solution of the present application is described in detail below.

[0039] See also Figure 2 , Figure 2 A flow chart of a method for positioning a mobile device provided in an embodiment of the present application is shown as follows: Figure 2As shown, the method comprises the following steps:

[0040] S201, obtaining a first base station location set in a target process.

[0041] Here, the target process refers to the process of the target mobile device moving. The target process may be, for example, the process of a robot moving, the process of a mobile luggage cart moving, etc., and is not limited to the description here.

[0042] The first base station location set includes at least two estimated base station locations. The estimated base station location refers to the base station location of the positioning base station estimated based on the positioning tag in the target mobile device during the target process. The at least two estimated base station locations in the first base station location set are the base station locations of at least two positioning base stations. The first base station location set can be expressed as {Aj(x aj ,y aj , z aj ), j = 1, 2, ..., N}, j represents the serial number of the positioning base station in the first base station location set, N is the number of estimated base station locations in the first base station location set, that is, the number of positioning base stations, Aj represents the jth estimated base station location, the jth estimated base station location is the estimated base station location of the jth positioning base station in the first base station location set, (x aj ,y aj , z aj ) represents the spatial position coordinates corresponding to the j-th estimated base station position.

[0043] During the movement of the target mobile device, the distance between the target mobile device and the positioning base stations around the target mobile device can be sampled based on the positioning tag in the target mobile device to obtain the device base station distances corresponding to at least two positioning base stations around the target mobile device; then, according to the position of the target mobile device and the device base station distances corresponding to the at least two positioning base stations, the estimated base station positions of the at least two positioning base stations are determined, thereby obtaining a first base station position set. The position estimation method of each positioning base station is the same. For the specific method of determining the estimated base station position, please refer to the subsequent Figure 4 Relevant description of the corresponding technical solution.

[0044] S202: Determine a target position transformation matrix between a first base station position set and a second base station position set corresponding to the first base station position set.

[0045] Here, the second base station location set corresponding to the first base station location set includes at least two real base station locations, and the at least two real base station locations in the second base station location set are the real base station locations of at least two positioning base stations in the first base station location set. The number of real base station locations in the second base station location set is the same as the number of estimated base station locations in the first base station location set. The second base station location set can be expressed as {Bj(xbj ,y bj , z bj ), j=1, 2, ..., N}, j represents the serial number of the positioning base station in the second base station location set, the j-th positioning base station in the second base station location set and the j-th positioning base station in the first base station location set are the same positioning base station, N is the number of real base station positions in the second base station location set, Bj represents the j-th real base station position, the j-th real base station position is the real base station position of the j-th positioning base station in the second base station location set, (x bj ,y bj , z bj ) represents the spatial position coordinates corresponding to the jth real base station position.

[0046] After obtaining the first base station location set, the positioning base station corresponding to the estimated base station position in the first base station location set can be determined as the target positioning base station; then the real base station position corresponding to the target positioning base station is obtained from the real base station location set to obtain the second base station location set corresponding to the first base station location set. The real base station location set includes the real base station positions of all positioning base stations deployed in the external environment. For example, a total of 10 positioning base stations are deployed in the external environment, namely sta1~sta10, and the real base station location set stores the real base station positions of the 10 positioning base stations. Assuming that there are 3 estimated base station positions in the first base station location set, and the positioning base stations corresponding to the 3 estimated base station positions are sta2, sta3 and sta5, the real base station positions of positioning base stations sta2, sta3 and sta5 can be obtained from the real base station location set to form the second base station location set corresponding to the first base station location set.

[0047] The target position transformation matrix is ​​used to reflect the position transformation relationship between the estimated base station positions in the first base station position set and the real base station positions in the second base station position set, that is, the real base station positions in the second base station position set can be obtained by transforming the estimated base station positions in the first base station position set through the target position transformation matrix. The target transformation matrix includes a rotation matrix and a translation vector, and the target transformation matrix can be expressed as T = (R|t), R is a 3×3 rotation matrix, and t is a 3×1 translation vector. Transforming the position of the estimated base station positions in the first base station position set through the target position transformation matrix means first rotating the estimated base station positions in the first base station position set through the rotation matrix in the target position transformation matrix, and then translating the rotated base station positions through the translation vector in the target position transformation matrix.

[0048] In some possible situations, the estimated base station positions in the first base station position set may be ICP matched with the actual base station positions in the second base station position set to obtain a target position transformation matrix between the first base station position set and the second base station position set.

[0049] In a feasible implementation, the estimated base station positions in the first base station position set and the real base station positions in the second base station position set can be ICP matched by constructing an optimization function of the position transformation matrix and solving the optimal solution of the optimization function to obtain the target position transformation matrix between the first base station position set and the second base station position set. See the following steps A1-A3:

[0050] A1. Construct an optimization objective function related to the position transformation matrix.

[0051] Here, the optimization objective function is used to constrain the error between the first base station position and the second base station position. The first base station position is the base station position obtained by transforming the third base station position according to the position transformation matrix. The third base station position is the base station position of the positioning base station determined based on the positioning tag. The second base station position is the actual base station position of the positioning base station.

[0052] The optimization objective function for the position transformation matrix is ​​as follows:

[0053]

[0054]

[0055]

[0056] Among them, L1 i represents the third base station position of the i-th positioning base station, L2 i represents the first base station position of the i-th positioning base station, represents the error of the i-th positioning base station, α i represents the weight coefficient pre-assigned to the i-th positioning base station, and n represents the number of positioning base stations.

[0057] A2. Substitute the estimated base station positions in the first base station position set and the real base station positions in the second base station position set into the optimization objective function to solve the position transformation matrix that minimizes the function value of the optimization objective function.

[0058] The estimated base station location Aj(x aj ,y aj , z aj ) is substituted into the L1 in the above optimization objective function i , the actual base station location Bj(x bj ,y bj , z bj ) is substituted into the L2 i, get N error expressions, and then solve them based on nonlinear optimization algorithms such as Gauss-Newton method and LM method so that the above Minimum position transformation matrix

[0059] A3. Determine the position transformation matrix that minimizes the function value of the optimization objective function as the target position transformation matrix.

[0060] By constructing an optimization objective function related to the position transformation matrix and solving the position transformation matrix that minimizes the function value of the optimization objective function, a target position transformation matrix reflecting the estimated base station position and the actual base station position is obtained, thereby ensuring the accuracy of the target position transformation matrix.

[0061] Optionally, the estimated base station positions in the first base station position set and the real base station positions in the second base station position set can be ICP matched based on a singular value decomposition (SVD) method, a quaternion method, an orthogonal matrix method, etc., to obtain a target position transformation matrix between the first base station position set and the second base station position set. This application does not limit the ICP matching method.

[0062] The target position transformation matrix reflecting the estimated base station position and the actual base station position is obtained based on ICP matching, and the implementation method is simple.

[0063] In some other possible situations, the target position transformation matrix between the first base station position set and the second base station position set may also be determined based on a point-to-plane ICP matching method or other methods for determining a position transformation matrix. This application does not impose any limitation.

[0064] S203, transforming the mileage positioning position in the target process according to the target position transformation matrix to obtain the real positioning position of the target mobile device in the target process.

[0065] Here, the mileage positioning position is the position of the target mobile device obtained based on the mileage sensor positioning in the target mobile device.

[0066] According to the target position transformation matrix, the mileage positioning position in the target process is transformed, which means that the mileage positioning position in the target process is rotated by the rotation matrix in the target position transformation matrix, and then the position of the target mobile device obtained by rotation is translated by the translation matrix in the target position transformation matrix. The position transformation formula between the real positioning position in the target process and the mileage positioning position in the target process is: Pu k =R*Po k +t,Po k is the kth mileage position in the target process, Puk It is the actual positioning position corresponding to the k-th mileage positioning position in the target process.

[0067] In the above Figure 2 In the corresponding technical solution, by obtaining the first base station position set during the movement of the target mobile device, the first base station position set includes the base station positions of at least two positioning base stations estimated based on the positioning tag in the target mobile device, and then determining the target position transformation matrix between the first base station position set and the second base station position set corresponding to the first base station position set, the second base station position set includes the real base station positions of the at least two positioning base stations, and finally, according to the target position transformation matrix, the mileage positioning position during the movement of the target mobile device is transformed to obtain the real positioning position of the target mobile device during the movement of the target mobile device; this is equivalent to comparing the base station position of the positioning base station estimated by the positioning tag with the real base station position of the positioning base station to determine the drift of the positioning position, and obtaining the target position transformation matrix that reflects the drift of the positioning position, and correcting the mileage positioning position with drift through the target position transformation matrix, so as to obtain a drift-free mileage positioning position, that is, to obtain an accurate mileage positioning position, thereby improving the accuracy of odometer positioning.

[0068] See also Figure 3 , Figure 3 A flow chart of another method for positioning a mobile device provided in an embodiment of the present application is shown as follows: Figure 3 As shown, the method comprises the following steps:

[0069] S301, obtaining a first base station location set in a target process.

[0070] S302: Determine a target position transformation matrix between a first base station position set and a second base station position set corresponding to the first base station position set.

[0071] Here, regarding the specific implementation of steps S301 to S302, please refer to the description of the aforementioned steps S201 to S202, which will not be repeated here.

[0072] S303, determining whether the target position transformation matrix passes the quality check.

[0073] Here, the purpose of judging whether the target position transformation matrix passes the quality check is to determine whether the target position transformation matrix is ​​available. If the target position transformation matrix passes the quality check, it means that the target position transformation matrix is ​​accurate enough, and the target position transformation matrix can accurately reflect the position transformation relationship between the estimated base station positions in the first base station position set and the actual base station positions in the second base station position set. The target position transformation matrix is ​​available, and step S304 is executed; if the target position transformation matrix fails to pass the quality check, it means that the target position transformation matrix is ​​not accurate enough, that is, the target position transformation matrix cannot accurately reflect the position transformation relationship between the estimated base station positions in the first base station position set and the actual base station positions in the second base station position set. The target position transformation matrix is ​​unavailable, and step S301 is executed.

[0074] In a feasible implementation, the quality of the target position transformation matrix can be verified through the following steps B1-B4:

[0075] B1. According to the target position transformation matrix, the mileage positioning position in the target process is transformed to obtain the mileage correction position in the target process.

[0076] Here, the principle of transforming the mileage positioning position in the target process according to the target position transformation matrix to obtain the mileage correction position in the target process is the same as the principle of transforming the mileage positioning position in the target process according to the target position transformation matrix to obtain the real positioning position of the target mobile device in the target process in the aforementioned step S203, and the aforementioned position transformation formula may be referred to.

[0077] B2. Determine the position transformation error corresponding to the target position transformation matrix based on the mileage-corrected position during the target process and the actual base station position during the target process.

[0078] Here, the position transformation error corresponding to the target position transformation matrix is ​​used to reflect the error between the mileage-corrected position and the actual position of the target mobile device.

[0079] The position transformation error corresponding to the target position transformation matrix can be determined through the following steps B21-B22.

[0080] B21. Calculate the reprojection error between the mileage-corrected position at the target sampling time and the actual base station position corresponding to the target sampling time, and obtain the position transformation error corresponding to the target sampling time.

[0081] Here, regarding the meaning of the target sampling moment, please refer to the aforementioned introduction to the target sampling moment, which will not be repeated here. The real base station position corresponding to the target sampling moment refers to the real base station position of the positioning base station corresponding to the device base station distance at the target sampling moment, and the device base station distance at the target sampling moment refers to the device base station distance obtained by sampling the positioning tag in the target mobile device at the target sampling moment. The position transformation error corresponding to the target sampling moment includes G reprojection errors, where G is the number of real base station positions corresponding to the target sampling moment, that is, the number of device base station distances sampled at the target sampling moment.

[0082] The reprojection error between the mileage-corrected position at the target sampling time and a real base station position corresponding to the target sampling time can be calculated by the following formula:

[0083] error qg = abs(r qg -||A qg -Pc q ||)

[0084] q represents the sequence number of the target sampling time, r qg Indicates the distance from the gth device base station sampled at the target sampling time, A qg Indicates the actual base station position of the positioning base station corresponding to the g-th device base station distance sampled at the target sampling time, Pc q The error represents the translation component of the mileage-corrected position at the target sampling time. qg Represents the reprojection error corresponding to the g-th device base station distance sampled at the target sampling time, 1≤g≤G.

[0085] B22. Determine the position transformation error corresponding to the target position transformation matrix according to the position transformation error corresponding to each target sampling moment in the target process.

[0086] In a feasible implementation, the sum of the position transformation errors corresponding to each target sampling moment can be determined as the position transformation error corresponding to the target position transformation matrix, that is, E = M*error qg , where M is the total number of reprojection errors and E is the position transformation error corresponding to the target position transformation matrix.

[0087] In another feasible implementation, the sum of the position transformation errors corresponding to each target sampling moment can also be determined as the mean of the position transformation errors corresponding to the target position transformation matrix, that is,

[0088] B3. If the position transformation error corresponding to the target position transformation matrix is ​​less than a preset threshold, it is determined that the target position transformation matrix passes the quality verification.

[0089] B4. If the position transformation error corresponding to the target position transformation matrix is ​​greater than or equal to a preset threshold, it is determined that the target position transformation matrix fails the quality verification.

[0090] The target position transformation matrix can be reasonably verified by determining the error between the mileage-corrected position obtained based on the target position transformation matrix transformation and the real position of the mobile device to perform quality verification on the target position transformation matrix.

[0091] S304, transforming the mileage positioning position in the target process according to the target position transformation matrix to obtain the real positioning position of the target mobile device in the target process.

[0092] In the above Figure 3 In the corresponding technical solution, by obtaining the first base station position set during the movement of the target mobile device, the first base station position set includes the base station positions of at least two positioning base stations estimated based on the positioning tag in the target mobile device, and then determining the target position transformation matrix between the first base station position set and the second base station position set corresponding to the first base station position set, the second base station position set includes the real base station positions of the at least two positioning base stations, and then performing a quality check on the target position transformation matrix. Only when the target position transformation matrix passes the quality check, the mileage positioning position of the target mobile device during the movement is transformed according to the target position transformation matrix to obtain the real positioning position of the target mobile device during the movement of the target mobile device, thereby realizing the correction of the mileage positioning position, which can ensure the accuracy of the correction and improve the accuracy of positioning.

[0093] It should be noted that the target position transformation matrix involved in the above technical solution can be iteratively updated over time. In the target process, in the current update cycle, the target position transformation matrix can be determined using the first base station position set obtained in the current update cycle, and the target position transformation matrix determined in the current update cycle can be quality checked using the mileage positioning position in the current update cycle; if the target position transformation matrix determined in the current update cycle passes the quality check, the target position transformation matrix in the current update cycle is updated, and the updated target position transformation matrix is ​​used to transform the subsequent mileage positioning positions to obtain the real positioning position of the target mobile device, until the target position transformation matrix is ​​updated in the next update cycle of the current update cycle; if the target position transformation matrix determined in the current update cycle does not pass the quality check, the target position transformation matrix in the current update cycle is used to transform the subsequent mileage positioning positions to obtain the real positioning position of the target mobile device, until the target position transformation matrix is ​​updated in the next update cycle of the current update cycle. In this way, iterative updating of the target transformation matrix can be achieved. The frequency of updating the target position transformation matrix can be the same as the sampling frequency of the positioning tag. For example, if the sampling frequency of the positioning tag is 1 Hz, the update frequency of the target position transformation matrix can also be 1 Hz.

[0094] Next, the process of estimating the base station location is introduced.

[0095] See also Figure 4 , Figure 4 A flow chart of a method for obtaining a base station location set in a target process provided by an embodiment of the present application is as follows: Figure 4 As shown, the following steps are included:

[0096] S401, determining whether the target time in the target process is the mileage positioning time.

[0097] Here, the target time may be any time in the target process, and the mileage positioning time refers to the time when the mileage positioning position is obtained based on the mileage sensor positioning in the target mobile device.

[0098] If the target time during the target movement is the mileage positioning time, it means that the position of the target mobile device needs to be obtained at the target time, and step S402 is executed; if the target time during the target movement is not the mileage positioning time, step S403 is executed.

[0099] S402, obtaining the mileage positioning position at the target time.

[0100] S403, determining whether the target time in the target process is the target sampling time.

[0101] Here, for the definition of the target sampling time, please refer to the above description.

[0102] If the target moment during the target movement is the target sampling moment, it means that the distance between the target mobile device and the positioning base station needs to be obtained at the target moment, and step S404 is executed; if the target moment during the target movement is not the target sampling moment, step S401 is executed.

[0103] S404, obtaining the base station distance and mileage positioning position of the device at the target time.

[0104] The distance between the target mobile device and the positioning base station sampled by the positioning tag in the target mobile device at the target time can be obtained to obtain the device base station distance at the target time. For the specific method of sampling to obtain the device base station distance, please refer to the above introduction to the target mobile device.

[0105] If the target time is both the mileage positioning time and the target sampling time, the mileage positioning position at the target time can be determined directly based on the data detected by the mileage sensor in the target mobile device. If the target time is not the target sampling time, the mileage positioning position at the target time can be obtained by interpolation. A feasible implementation method of interpolating the mileage positioning position at the target time can be seen in the following steps C1-C2:

[0106] C1. Obtain the mileage positioning position at the first moment and the mileage positioning position at the second moment.

[0107] Here, the first moment and the second moment are both mileage positioning moments, that is, both are moments at which the target mobile device is positioned based on the mileage sensor in the target mobile device. The first moment is the moment closest to the target moment before the target moment, and the first moment can be expressed as t k ; The second moment is the moment closest to the target moment after the target moment, and the second moment can be expressed as t k+1 ; That is, the first moment and the second moment are two adjacent mileage positioning moments, and the target moment is the target sampling moment between the two adjacent mileage positioning moments. The target moment can be expressed as t j , t k <t j <t k+1 .

[0108] The mileage positioning position at the first moment can be expressed as Po k , the mileage positioning position at the second moment can be expressed as Po k+1 .

[0109] C2. Calculate the position difference based on the mileage positioning position at the first moment and the mileage positioning position at the second moment to obtain the mileage positioning position at the target moment.

[0110] In a feasible implementation, the mileage positioning position at the target time can be obtained by linear interpolation, that is, Po k =Po k +[(Po k+1 -Po k ) / Δt]*(t j -t k ), Δt=t k+1 -t k .

[0111] After obtaining the device base station distance and mileage positioning position at the target time, the obtained device base station distance and mileage positioning position can also be filtered to filter out abnormal data in the device base station distance and mileage positioning position. Among them, the abnormal values ​​in the device base station distance and mileage positioning position can be detected based on methods such as signal attenuation, ranging change rate, and random sampling consistency, and the abnormal values ​​in the device base station distance and mileage positioning position can be filtered out.

[0112] S405, determining whether the number of acquired device base station distances and mileage positioning positions reaches a preset number.

[0113] Here, the device base station distance and mileage positioning position obtained at each target sampling time can be saved through the data queue. It can be determined whether the number of device base station distances and mileage positioning positions in the data queue reaches a preset number. The preset number is a number sufficient to determine the base station position, and the preset number is greater than or equal to 3.

[0114] If the number of acquired device base station distances and mileage positioning positions reaches the preset number, it means that the number of acquired device base station distances and mileage positioning positions is sufficient to determine the position of the positioning base station, and step S406 is executed; if the number of currently acquired device base station distances and mileage positioning positions does not reach the preset number, it means that the number of currently acquired device base station distances and mileage positioning positions is insufficient to determine the position of the positioning base station, and it is necessary to continue sampling the device base station distance. The next moment after the target moment can be used as the target moment, and step S401 is returned to be executed.

[0115] S406, determining base station positions corresponding to the multiple device base station distances according to the multiple device base station distances and the multiple mileage positioning positions.

[0116] Here, each mileage positioning position in the multiple mileage positioning positions is a mileage positioning position corresponding to each device base station distance in the multiple device base station distances. One mileage positioning position corresponds to one device base station distance.

[0117] In a feasible implementation, the base station position of the positioning base station can be estimated based on the three-point positioning method. The method of estimating the base station position of the positioning base station based on the three-point positioning method is as follows:

[0118] First, the three device base station distances corresponding to the same positioning base station are obtained (assuming they are r1j, r2j, and r3j) and the three mileage positioning positions (p1, p2, and p3) of the target mobile device are determined when the three device base station distances are obtained.

[0119] Then construct the distance equation group, the constructed distance equation group is as follows:

[0120]

[0121]

[0122]

[0123] Among them, (x d1 ,y d1 , z d1 ) is the spatial position coordinate corresponding to the mileage positioning position p1, the device base station distance corresponding to the mileage positioning position p1 is r1j, and r1j is the distance between the target mobile device at the mileage positioning position p1 and the jth positioning base station; (x d2 ,y d2 , z d2 ) is the spatial position coordinate corresponding to the mileage positioning position p2, the device base station distance corresponding to the mileage positioning position p2 is r2j, and r2j is the distance between the target mobile device at the mileage positioning position p2 and the jth positioning base station; (x d3 ,y d3 , z d3 ) is the spatial position coordinate corresponding to the mileage positioning position p3. The device base station distance corresponding to the mileage positioning position p3 is r3j. r3j is the distance between the target mobile device at the mileage positioning position p3 and the jth positioning base station. (x d1 ,y d1 , z d1 )、(x d2 ,y d2 , z d2 )、(x d3 ,y d3 , z d3 ) and r1j, r2j, r3j are all known quantities; (x aj ,y aj , z aj ) is the spatial position coordinate of the jth positioning base station, (x aj ,y aj , z aj ) is an unknown quantity.

[0124] Finally, solve the distance equations (x aj ,y aj , zaj ) to obtain the location coordinates of the positioning base station.

[0125] Optionally, the base station position of the positioning base station can also be estimated based on other methods. For example, for the same positioning base station, multiple sets of data can be obtained, one set of data includes a device base station distance and a mileage positioning position; a distance equation group including multiple distance expressions is constructed based on the multiple sets of data, and the position coordinates of the positioning base station are solved based on the least squares method.

[0126] S407, determining whether the base station positions corresponding to the multiple device base station distances include the base station positions of at least two positioning base stations.

[0127] If the base station positions corresponding to the base station distances of multiple devices only include the base station position of one positioning base station, it is necessary to continue to obtain the base station positions of more positioning base stations. The next moment of the target moment can be used as the target moment, and the process returns to step S401. If the base station positions corresponding to the base station distances of multiple devices include the base station positions of at least two positioning base stations, step S408 is executed.

[0128] S408: Determine a first base station location set according to base station locations corresponding to a plurality of device base station distances.

[0129] The first base station location set includes the following situations:

[0130] The first case: the base station positions corresponding to the base station distances of multiple devices only include the base station positions of two positioning base stations. The base station positions corresponding to the base station distances of multiple devices can be combined to obtain a first base station position set.

[0131] The second case: the base station positions corresponding to the multiple base station distances include the base station positions of at least three positioning base stations. The base station positions corresponding to the multiple device base station distances can be combined to obtain a first base station position set.

[0132] The third case: the base station positions corresponding to the multiple base station distances include the base station positions of at least three positioning base stations, and the base station positions of two positioning base stations can be randomly obtained from the base station positions corresponding to the multiple base station distances, and the base station positions of the two obtained positioning base stations are combined to obtain the first base station position set.

[0133] If the first base station location set is the third case, and there are multiple first base station location sets, then there are multiple target location transformation matrices determined by the aforementioned steps S201 to S202 or steps S301 to S302. When executing the aforementioned step S203 or the aforementioned step S304, the target location transformation matrix with the smallest error can be selected as the final target location transformation matrix to transform the mileage positioning position. The method for calculating the error of the target location transformation matrix can refer to the aforementioned step B2.

[0134] In the above Figure 4 In the corresponding technical solution, the position of the positioning base station is estimated by obtaining multiple device base station distances and multiple mileage positioning positions, then determining the position of the positioning base station based on the multiple device base station distances and multiple mileage positioning positions, and finally determining the positions of at least two positioning base stations based on the position of the positioning base station.

[0135] The method of the present application is introduced above, and the device of the present application is introduced below.

[0136] See also Figure 5 , Figure 5 Schematic diagram of a positioning device for a mobile device provided in an embodiment of the present application. Figure 5 As shown, the positioning device 50 of the mobile device includes:

[0137] A base station location acquisition module 501 is used to acquire a first base station location set in a target process, where the target process is a process in which a target mobile device moves, and the first base station location set includes at least two estimated base station locations, where the at least two estimated base station locations are base station locations of at least two positioning base stations estimated based on positioning tags in the target mobile device;

[0138] The matrix determination module 502 is used to determine a target position transformation matrix between the first base station position set and a second base station position set corresponding to the first base station position set, wherein the second base station position set includes at least two real base station positions, and the at least two real base station positions are real base station positions of the at least two positioning base stations, and the target position transformation matrix is ​​used to reflect the position transformation relationship between the estimated base station positions in the first base station position set and the real base station positions in the second base station position set;

[0139] The device position transformation module 503 is used to transform the mileage positioning position in the target process according to the target position transformation matrix to obtain the real positioning position of the target mobile device in the target process. The mileage positioning position is the position of the target mobile device obtained based on the mileage sensor in the target mobile device.

[0140] In a possible design, the matrix determination module 502 is specifically used to iteratively perform closest point matching on the estimated base station positions in the first base station position set and the actual base station positions in the second base station position set to obtain the target position transformation matrix.

[0141] In one possible design, the matrix determination module 502 is specifically used to: construct an optimization objective function related to a position transformation matrix, the optimization objective function is used to constrain the error between the first base station position and the second base station position, the first base station position is the base station position obtained by transforming the third base station position according to the position transformation matrix, the third base station position is the base station position of the positioning base station determined based on the positioning tag, and the second base station position is the actual base station position of the positioning base station; the estimated base station positions in the first base station position set and the actual base station positions in the second base station position set are substituted into the optimization objective function to solve the position transformation matrix that minimizes the function value of the optimization objective function; the position transformation matrix that minimizes the function value of the optimization objective function is determined as the target position transformation matrix.

[0142] In a possible design, the positioning device 50 of the mobile device also includes a quality verification module 504, which is used to perform quality verification on the target position transformation matrix; the device position transformation module 503 is specifically used to: when the target position transformation matrix passes the quality verification, the mileage positioning position in the target process is transformed according to the target position transformation matrix to obtain the actual positioning position of the target mobile device in the target process.

[0143] In one possible design, the quality verification module 504 is specifically used to: transform the mileage positioning position in the target process according to the target position transformation matrix to obtain the mileage correction position in the target process; determine the position transformation error corresponding to the target position transformation matrix according to the mileage correction position and the actual base station position in the target process, and the position transformation error is used to reflect the error between the mileage correction position and the actual position of the target mobile device; if the position transformation error is less than a preset threshold, it is determined that the target position transformation matrix passes the quality verification.

[0144] In a possible design, the quality verification module 504 is specifically used to: calculate the reprojection error between the mileage-corrected position at the target sampling moment and the actual base station position corresponding to the target sampling moment, and obtain the position transformation error corresponding to the target sampling moment, wherein the target sampling moment is the moment when the device base station distance is obtained based on the positioning tag sampling in the target process, the device base station distance is the distance between the target mobile device and the positioning base station, and the actual base station position corresponding to the target sampling moment is the actual base station position of the positioning base station corresponding to the device base station distance at the target sampling moment; determine the position transformation error corresponding to the position transformation matrix according to the position transformation errors corresponding to each target sampling moment in the target process.

[0145] In one possible design, the base station location acquisition module 501 is specifically used to: in the target process, obtain multiple device base station distances and multiple mileage positioning positions, the device base station distance is the distance between the target mobile device and the positioning base station obtained based on the positioning tag sampling, and each mileage positioning position in the multiple mileage positioning positions is a mileage positioning position corresponding to each device base station distance in the multiple device base station distances; determine the base station positions corresponding to the multiple device base station distances according to the multiple device base station distances and the multiple mileage positioning positions; determine the first base station position set according to the base station positions corresponding to the multiple device base station distances.

[0146] In a possible design, the base station location acquisition module 501 is also used to determine whether the number of the multiple device base station distances and the multiple mileage positioning positions reaches a preset number; the base station location acquisition module 501 is specifically used to: when the number of the multiple device base station distances and the multiple mileage positioning positions reaches a preset number, determine the base station positions corresponding to the multiple device base station distances according to the multiple device base station distances and the multiple mileage positioning positions.

[0147] In a possible design, the base station position acquisition module 501 is also used to determine whether the base station positions corresponding to the multiple device base station distances include the base station positions of at least two positioning base stations; the base station position acquisition module 501 is specifically used to: when the base station positions corresponding to the multiple device base station distances include the base station positions of at least two positioning base stations, determine the first base station position set according to the base station positions corresponding to the multiple device base station distances.

[0148] In a possible design, the base station position acquisition module 501 is specifically used to: obtain the mileage positioning position at a first moment and the mileage positioning position at a second moment, the first moment and the second moment are moments for positioning based on the mileage sensor, the first moment is the moment closest to the third moment before the third moment, the second moment is the moment closest to the third moment after the third moment, and the third moment is the sampling moment of any device base station distance among the multiple device base station distances; perform position interpolation based on the mileage positioning position at the first moment and the mileage positioning position at the second moment to obtain the mileage positioning position at the third moment.

[0149] It should be noted that Figure 5 For the contents not mentioned in the corresponding embodiments, please refer to the description of the aforementioned method embodiments, which will not be repeated here.

[0150] The above-mentioned device obtains a first base station position set during the movement of the target mobile device, the first base station position set includes the base station positions of at least two positioning base stations estimated based on the positioning tag in the target mobile device, and then determines the target position transformation matrix between the first base station position set and the second base station position set corresponding to the first base station position set, the second base station position set includes the real base station positions of the at least two positioning base stations, and finally transforms the mileage positioning position during the movement of the target mobile device according to the target position transformation matrix to obtain the real positioning position of the target mobile device during the movement of the target mobile device; this is equivalent to comparing the base station position of the positioning base station estimated by the positioning tag with the real base station position of the positioning base station to determine the drift of the positioning position, and obtaining a target position transformation matrix that reflects the drift of the positioning position, and correcting the mileage positioning position with drift through the target position transformation matrix, so as to obtain a drift-free mileage positioning position, that is, to obtain an accurate mileage positioning position, thereby improving the accuracy of odometer positioning.

[0151] See also Figure 6 , Figure 6 6 is a schematic diagram of the structure of a computer device provided in an embodiment of the present application, wherein the computer device 60 includes a processor 601 and a memory 602. The memory 602 is connected to the processor 601, for example, via a bus.

[0152] The processor 601 is configured to support the computer device 60 to perform the corresponding functions in the method in the above method embodiment. The processor 601 can be a central processing unit (CPU), a network processor (NP), a hardware chip or any combination thereof. The above hardware chip can be an application specific integrated circuit (ASIC), a programmable logic device (PLD) or a combination thereof. The above PLD can be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL) or any combination thereof.

[0153] The memory 602 is used to store program codes, etc. The memory 602 may include a volatile memory (VM), such as a random access memory (RAM); the memory 602 may also include a non-volatile memory (NVM), such as a read-only memory (ROM), a flash memory, a hard disk drive (HDD) or a solid-state drive (SSD); the memory 602 may also include a combination of the above-mentioned types of memories.

[0154] The processor 601 may call the program code to perform the following operations:

[0155] Acquire a first base station position set in a target process, wherein the target process is a process in which a target mobile device moves, the first base station position set includes at least two estimated base station positions, and the at least two estimated base station positions are base station positions of at least two positioning base stations estimated based on a positioning tag in the target mobile device;

[0156] determining a target position transformation matrix between the first base station position set and a second base station position set corresponding to the first base station position set, wherein the second base station position set includes at least two real base station positions, the at least two real base station positions are real base station positions of the at least two positioning base stations, and the target position transformation matrix is ​​used to reflect a position transformation relationship between the estimated base station positions in the first base station position set and the real base station positions in the second base station position set;

[0157] According to the target position transformation matrix, the mileage positioning position in the target process is transformed to obtain the real positioning position of the target mobile device in the target process, and the mileage positioning position is the position of the target mobile device obtained based on the mileage sensor in the target mobile device.

[0158] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, wherein the computer program includes program instructions, and when the program instructions are executed by a computer, the computer executes the method described in the above embodiment.

[0159] A person skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium, and when the program is executed, it can include the processes of the embodiments of the above-mentioned methods. The storage medium can be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.

[0160] The above disclosure is only the preferred embodiment of the present application, which certainly cannot be used to limit the scope of rights of the present application. Therefore, equivalent changes made according to the claims of the present application are still within the scope covered by the present application.

Claims

1. A method for positioning a mobile device, characterized in that: include: Acquire a first base station position set in a target process, wherein the target process is a process in which a target mobile device moves, the first base station position set includes at least two estimated base station positions, and the at least two estimated base station positions are base station positions of at least two positioning base stations estimated based on a positioning tag in the target mobile device; determining a target position transformation matrix between the first base station position set and a second base station position set corresponding to the first base station position set, wherein the second base station position set includes at least two real base station positions, the at least two real base station positions are real base station positions of the at least two positioning base stations, and the target position transformation matrix is ​​used to reflect a position transformation relationship between the estimated base station positions in the first base station position set and the real base station positions in the second base station position set; According to the target position transformation matrix, the mileage positioning position in the target process is transformed to obtain the real positioning position of the target mobile device in the target process. The mileage positioning position is the position of the target mobile device obtained based on the mileage sensor in the target mobile device.

2. The method according to claim 1, characterized in that The determining of a target position transformation matrix between the first base station position set and a second base station position set corresponding to the first base station position set includes: Iteratively perform closest point matching on the estimated base station positions in the first base station position set and the real base station positions in the second base station position set to obtain the target position transformation matrix.

3. The method according to claim 2, characterized in that The iterative closest point matching of the estimated base station positions in the first base station position set with the real base station positions in the second base station position set to obtain the target position transformation matrix includes: An optimization objective function related to a position transformation matrix is ​​constructed, wherein the optimization objective function is used to constrain an error between a first base station position and a second base station position, wherein the first base station position is a base station position obtained by transforming a third base station position according to the position transformation matrix, wherein the third base station position is a base station position of a positioning base station determined based on a positioning tag, and the second base station position is a real base station position of the positioning base station; Substituting the estimated base station positions in the first base station position set and the real base station positions in the second base station position set into the optimization objective function, and solving a position transformation matrix that minimizes the function value of the optimization objective function; The position transformation matrix that minimizes the function value of the optimization objective function is determined as the target position transformation matrix.

4. The method according to claim 1, characterized in that After determining the target position transformation matrix between the first base station position set and the second base station position set corresponding to the first base station position set, the method further includes: Performing quality check on the target position transformation matrix; The step of transforming the mileage positioning position in the target process according to the target position transformation matrix to obtain the real positioning position of the target mobile device in the target process includes: When the target position transformation matrix passes the quality verification, the mileage positioning position in the target process is transformed according to the target position transformation matrix to obtain the real positioning position of the target mobile device in the target process.

5. The method according to claim 4, characterized in that The quality check of the target position transformation matrix includes: According to the target position transformation matrix, the mileage positioning position in the target process is transformed to obtain the mileage correction position in the target process; Determine, according to the mileage-corrected position and the actual base station position of the target process, a position transformation error corresponding to the target position transformation matrix, wherein the position transformation error is used to reflect the error between the mileage-corrected position and the actual position of the target mobile device; If the position transformation error is less than a preset threshold, it is determined that the target position transformation matrix passes the quality verification.

6. The method according to claim 5, characterized in that The step of determining the position transformation error corresponding to the target position transformation matrix according to the mileage-corrected position and the real base station position in the target process includes: Calculate the reprojection error between the mileage-corrected position at the target sampling moment and the real base station position corresponding to the target sampling moment, and obtain the position transformation error corresponding to the target sampling moment, wherein the target sampling moment is the moment when the device base station distance is obtained based on the positioning tag sampling in the target process, the device base station distance is the distance between the target mobile device and the positioning base station, and the real base station position corresponding to the target sampling moment is the real base station position of the positioning base station corresponding to the device base station distance at the target sampling moment; The position transformation error corresponding to the position transformation matrix is ​​determined according to the position transformation error corresponding to each target sampling moment in the target process.

7. The method according to any one of claims 1 to 6, characterized in that: The first base station location set in the target acquisition process includes: In the target process, a plurality of device base station distances and a plurality of mileage positioning positions are obtained, wherein the device base station distance is the distance between the target mobile device and the positioning base station obtained based on the positioning tag sampling, and each mileage positioning position in the plurality of mileage positioning positions is a mileage positioning position corresponding to each device base station distance in the plurality of device base station distances; Determining base station positions corresponding to the multiple device base station distances according to the multiple device base station distances and the multiple mileage positioning positions; The first base station position set is determined according to base station positions corresponding to the multiple device base station distances.

8. The method according to claim 7, characterized in that In the target process, after obtaining multiple device base station distances and multiple mileage positioning positions, it also includes: Determining whether the number of the plurality of device base station distances and the plurality of mileage positioning positions reaches a preset number; The determining, according to the multiple device base station distances and the multiple mileage positioning positions, base station positions corresponding to the multiple device base station distances includes: When the number of the multiple device base station distances and the multiple mileage positioning positions reaches a preset number, base station positions corresponding to the multiple device base station distances are determined according to the multiple device base station distances and the multiple mileage positioning positions.

9. The method according to claim 7, characterized in that: After determining base station positions corresponding to the multiple device base station distances according to the multiple device base station distances and the multiple mileage positioning positions, the method further includes: Determine whether the base station positions corresponding to the multiple device base station distances include base station positions of at least two positioning base stations; The determining the first base station position set according to the base station positions corresponding to the multiple device base station distances includes: In a case where the base station positions corresponding to the multiple device base station distances include base station positions of at least two positioning base stations, the first base station position set is determined according to the base station positions corresponding to the multiple device base station distances.

10. The method according to claim 7, characterized in that The obtaining of multiple mileage positioning positions includes: Obtaining a mileage positioning position at a first moment and a mileage positioning position at a second moment, wherein the first moment and the second moment are moments of positioning based on the mileage sensor, the first moment is a moment before a third moment that is closest to the third moment, the second moment is a moment after the third moment that is closest to the third moment, and the third moment is a sampling moment of any device base station distance among the multiple device base station distances; Position interpolation is performed based on the mileage positioning position at the first moment and the mileage positioning position at the second moment to obtain the mileage positioning position at the third moment.

11. A positioning device for a mobile device, characterized in that: include: A base station location acquisition module is used to acquire a first base station location set in a target process, wherein the target process is a process in which a target mobile device moves, wherein the first base station location set includes at least two estimated base station locations, wherein the at least two estimated base station locations are base station locations of at least two positioning base stations estimated based on a positioning tag in the target mobile device; a matrix determination module, configured to determine a target position transformation matrix between the first base station position set and a second base station position set corresponding to the first base station position set, wherein the second base station position set includes at least two real base station positions, the at least two real base station positions are real base station positions of the at least two positioning base stations, and the target position transformation matrix is ​​configured to reflect a position transformation relationship between an estimated base station position in the first base station position set and a real base station position in the second base station position set; The device position transformation module is used to transform the mileage positioning position in the target process according to the target position transformation matrix to obtain the real positioning position of the target mobile device in the target process. The mileage positioning position is the position of the target mobile device obtained based on the mileage sensor in the target mobile device.

12. A computer device, characterized in that: The method comprises a memory and a processor, wherein the memory is connected to the processor, and the processor is used to execute one or more computer programs stored in the memory. When the processor executes the one or more computer programs, the computer device implements the method according to any one of claims 1 to 10.

13. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, wherein the computer program includes program instructions, and when the program instructions are executed by a processor, the processor is caused to perform the method according to claims 1-10.

14. A robot, characterized in that: The robot comprises a positioning tag and a mileage sensor, and is used to execute the method according to any one of claims 1 to 10.

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