Moving track generation method, electronic equipment and readable storage medium

Abstract

The invention provides a moving track generation method, electronic equipment and a readable storage medium, and relates to the technical field of computers. The method is applied to the mobile terminal, the mobile terminal can be arranged on a movable platform, and the method comprises the following steps: acquiring first positioning information, and acquiring attitude information of the movable platform; generating a first moving track of the movable platform according to the first positioning information and the attitude information of the movable platform; acquiring second positioning information; and correcting the first moving track according to the second positioning information. In the method provided by the invention, the first positioning information and the second positioning information are accurate positioning information which is directly acquired, so that the first movement track is corrected by using the accurate second positioning information, the accurate corrected first movement track can be obtained, and the accuracy of the first movement track is improved. Therefore, the problem that the moving track generated by the existing electronic equipment is not accurate is solved to a certain extent.

Description

Technical Field

[0001] The present application relates to the field of computer technology, and in particular to a movement trajectory generation method, an electronic device, and a readable storage medium. Background Art

[0002] Satellite positioning systems can provide accurate and real-time positioning data, and are often used to monitor the user's movement trajectory when riding, running, etc. Specifically, in practical applications, in order to obtain accurate movement trajectories, the positioning components in various electronic devices carried by the user will determine the location of the electronic device by continuously receiving the global positioning system (GPS) signals transmitted by satellites, so as to generate the movement trajectory of the electronic device based on the received multiple positions, that is, the movement trajectory of the user.

[0003] However, the movement trajectory generated by existing electronic devices is not accurate. For example, when the electronic device passes through an area where the GPS signal cannot be received or the GPS signal is weak, the electronic device cannot obtain the accurate position, resulting in an inability to generate an accurate movement trajectory. Summary of the invention

[0004] The embodiments of the present application provide a method for generating a movement trajectory, an electronic device, and a readable storage medium, which can solve the problem that the movement trajectory generated by the existing electronic device is not accurate to a certain extent.

[0005] In a first aspect, an embodiment of the present application provides a method for generating a mobile trajectory, which is applied to a mobile terminal, and the mobile terminal can be set on a movable platform. The method includes: obtaining first positioning information; and obtaining posture information of the movable platform; generating a first mobile trajectory of the movable platform according to the first positioning information and the posture information of the movable platform; obtaining second positioning information; and correcting the first mobile trajectory according to the second positioning information.

[0006] In the mobile trajectory generation method provided in the present application, the first mobile trajectory is first generated using the posture information of the movable platform and the first positioning information, and then the first mobile trajectory is corrected using the acquired second positioning information to obtain a corrected first mobile trajectory. Since both the first positioning information and the second positioning information are accurate positioning information directly acquired, the accurate corrected first mobile trajectory can be obtained by correcting the first mobile trajectory using the accurate second positioning information, thereby solving the problem that the mobile trajectory generated by the existing electronic device is not accurate to a certain extent.

[0007] In a second aspect, an embodiment of the present application provides a movement trajectory generating device, the movement trajectory generating device comprising:

[0008] A first acquisition module, used to acquire first positioning information; and acquire posture information of the movable platform;

[0009] a processing module, configured to generate a first moving trajectory of the movable platform according to the first positioning information and the posture information of the movable platform;

[0010] A second acquisition module, used to acquire second positioning information;

[0011] A correction module is used to correct the first movement trajectory according to the second positioning information.

[0012] In a third aspect, an embodiment of the present application provides an electronic device, comprising a memory, at least one processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the method described in the first aspect and any one of the first aspects above is implemented.

[0013] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method described in any one of the first aspect and the first aspect is implemented.

[0014] In a fifth aspect, an embodiment of the present application provides a computer program product. When the computer program product is run on an electronic device, the electronic device executes the method described in any one of the first and second aspects above.

[0015] It can be understood that the beneficial effects of the second to fifth aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0017] Figure 1 It is a flow chart of a method for generating a moving trajectory provided in an embodiment of the present application;

[0018] Figures 2 to 5 is a schematic diagram of a scene corresponding to a method for generating a moving trajectory provided in an embodiment of the present application;

[0019] Figure 6 It is a structural schematic diagram of a moving trajectory generating device provided in an embodiment of the present application;

[0020] Figure 7 It is a structural schematic diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0021] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0022] Satellite positioning systems can provide accurate and real-time positioning data and are often used to monitor the user's motion trajectory such as cycling and running. Specifically, in practical applications, in order to obtain accurate motion trajectories, the positioning components in various electronic devices carried by the user will determine the location of the electronic device by continuously receiving GPS signals transmitted by satellites, so as to generate the motion trajectory of the electronic device based on the multiple locations obtained, that is, the motion trajectory of the user.

[0023] However, the movement trajectory generated by existing electronic devices is not accurate. For example, when the electronic device passes through an area where the GPS signal cannot be received or the GPS signal is weak, the electronic device cannot obtain the accurate location, resulting in an inability to generate an accurate movement trajectory. Therefore, how to effectively generate an accurate movement trajectory has become a problem to be solved.

[0024] In order to solve the problem that the mobile trajectory generated by the existing electronic device is not accurate. The embodiment of the present application provides a mobile trajectory generation method, an electronic device and a readable storage medium. This method first generates a first mobile trajectory using the posture information and the first positioning information of the movable platform, and then uses the acquired second positioning information to correct the first mobile trajectory to obtain a corrected first mobile trajectory. Since the first positioning information and the second positioning information are both accurate positioning information directly acquired, therefore, using the second positioning information to correct the first mobile trajectory can make the corrected first mobile trajectory more accurate, thereby solving the problem that the mobile trajectory generated by the existing electronic device is not accurate to a certain extent.

[0025] The mobile trajectory generation method provided in the embodiment of the present application can be applied to a mobile terminal. The mobile terminal can be a code table, a mobile phone, a tablet computer, a wearable device, an augmented reality (AR) / virtual reality (VR) device, a laptop computer, an ultra-mobile personal computer (UMPC), a netbook, a personal digital assistant (PDA), a vehicle-mounted device, a smart screen, etc. The embodiment of the present application does not impose any restrictions on the specific type of the mobile terminal.

[0026] It should be understood that the mobile terminal can be set on a movable platform to generate an accurate movement trajectory for the movable platform using the movement trajectory generation method provided in the embodiment of the present application. The movable platform includes but is not limited to movable objects such as people, bicycles, electric vehicles, cars, robots, etc.

[0027] For example, when the terminal device is a mobile phone or a wearable device, the terminal device can be worn on a human body, and the movement trajectory generation method provided in the embodiment of the present application can be used to generate a corresponding movement trajectory for the human body. For another example, when the terminal device is a code table, the terminal device can be fixed on the handlebars of a bicycle or an electric vehicle, and the movement trajectory generation method provided in the embodiment of the present application can be used to generate a corresponding movement trajectory for the bicycle or the electric vehicle.

[0028] The technical solution of the present application is described in detail below in conjunction with the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to be used to explain the present application, but should not be understood as limiting the present application.

[0029] like Figure 1 FIG. 1 is a flow chart of a method for generating a moving trajectory provided by an embodiment of the present application, see Figure 1 The method includes the following steps S101 to S104.

[0030] S101, obtaining first positioning information and obtaining posture information of a movable platform.

[0031] It should be understood that the first positioning information may be determined by a positioning component provided in the mobile terminal and / or the movable platform by receiving a satellite positioning signal. The satellite positioning signal includes but is not limited to a global navigation satellite system (GNSS) signal or a GPS signal. The first positioning information may include location information such as longitude and latitude of the mobile terminal and / or the movable platform.

[0032] In an embodiment of the present application, the posture information of the movable platform can be used to identify the moving trajectory of the movable platform, including information such as three-axis angle values, acceleration, and geomagnetic field strength values.

[0033] Exemplarily, the above-mentioned posture information can be obtained by using a posture sensor or a nine-axis sensor or other equipment arranged on the movable platform. In other words, the posture information of the movable platform can be obtained independently of the positioning component in the mobile terminal and / or the movable platform.

[0034] S102: Generate a first moving trajectory of the movable platform according to the first positioning information and the posture information of the movable platform.

[0035] It is not difficult to understand that the first positioning information can be the positioning information of the terminal device, the positioning information of the movable platform, or the positioning information of the user. Therefore, the first moving trajectory of the movable platform can be generated based on the first positioning information and the posture information of the movable platform.

[0036] In practical applications, in order to ensure the accuracy of the moving trajectory, the positioning component usually obtains a positioning information every one second, so the first positioning information obtained may include multiple position information. Therefore, in a possible implementation, the first position of the movable platform can be determined according to the first positioning information, and the first moving trajectory of the movable platform can be generated according to the first position and the posture information of the movable platform. The posture information of the movable platform may include the three-axis angle value of the movable platform and the acceleration of the movable platform.

[0037] It should be understood that the first position may refer to the last position determined from the multiple position information of the first positioning information. In this way, when the positioning component cannot obtain a satellite signal, the first moving trajectory of the movable platform can be determined by taking the last position determined from the multiple position information as the starting point and combining the attitude information of the movable platform. In other words, the last position determined from the multiple position information can be directly determined as the starting point of the first moving trajectory, and then the first moving trajectory of the movable platform is generated according to the starting point of the first moving trajectory and the attitude information of the movable platform.

[0038] Of course, the first position may also refer to a preset number of positions close to the last position among multiple positions. The preset number may be customized. In this way, the first moving trajectory of the movable platform may be generated according to the preset number of positions and the posture information of the movable platform. Exemplarily, assuming that there are 5 positions determined by the first positioning information, namely A, B, C, D and E, the preset number may be 2. Among the above 5 positions, the 2 positions close to the last position E are C and D. Then position C or position D may be used as the starting point of the first moving trajectory, and then the first moving trajectory of the movable platform may be generated in combination with the posture information of the movable platform.

[0039] In addition, the first position may also refer to multiple positions determined by the first positioning information. Based on this, the second moving trajectory of the movable platform can be generated according to the multiple positions determined in the first positioning information, and then the end point of the second moving trajectory is determined as the starting point of the first moving trajectory, and then the first moving trajectory of the movable platform is determined according to the starting point of the first moving trajectory and the posture information of the movable platform.

[0040] In other possible implementations, the acquired posture information of the movable platform may also include the direction of the movable platform and / or the speed of the movable platform. The first moving trajectory of the movable platform may be generated based on the first positioning information, the direction of the movable platform and / or the speed of the movable platform. Further, the first position of the movable platform may be determined based on the first positioning information, and then the first moving trajectory of the movable platform may be generated based on the first position, the direction of the movable platform and / or the speed of the movable platform. Among them, the relevant description of the first position can refer to the relevant description in the aforementioned embodiment regarding the case where "the posture information of the movable platform may include the three-axis angle values ​​of the movable platform and the acceleration of the movable platform", which will not be repeated here.

[0041] In one example, the speed of the movable platform can be obtained by a speedometer fixed on the movable platform. The speedometer can be set in a mobile terminal, and the mobile terminal is set on the movable platform, so that the speed of the terminal device obtained by the speedometer is the same as the speed of the movable platform; the speedometer can also be directly set on the movable platform, and the speed of the movable platform can be directly obtained by using the speedometer. Exemplarily, assuming that the movable platform is a bicycle or a car, the speedometer can be set on the wheel hub of the bicycle or car, so that when the radius or diameter of the bicycle or car wheel is constant, the speed of the bicycle or car can be determined by obtaining the rotational angular velocity of the bicycle or car wheel or the number of wheels.

[0042] It should be noted that, when the speedometer is directly set on the movable platform, the speedometer can be directly communicated with the mobile terminal so that the mobile terminal can directly obtain the speed of the movable platform (i.e., the mobile terminal); or, the mobile platform and the mobile terminal are communicated with each other, and after the mobile platform reads the speed measured by the speedometer, the mobile platform can use the above-mentioned communication connection with the mobile terminal to send the speed measured by the speedometer to the mobile terminal, so that the mobile terminal can obtain the speed of the movable platform.

[0043] S103: Acquire second positioning information.

[0044] It should be understood that the second positioning information may also be positioning information obtained by a positioning component provided in the mobile terminal and / or the movable platform by receiving a satellite positioning signal (eg, a GNSS signal or a GPS signal).

[0045] In actual design, the positioning component for acquiring the second positioning information may be the same as or different from the positioning component for acquiring the first positioning information.

[0046] S104: Correct the first moving trajectory according to the second positioning information.

[0047] It should be understood that since the second positioning information is also obtained by the positioning component receiving the satellite positioning signal, the second positioning information is also relatively accurate positioning information. The accurate second positioning information can be used to correct the first moving trajectory to ensure the accuracy of the corrected first moving trajectory.

[0048] It is not difficult to understand that in practical applications, the second positioning information may also include multiple pieces of position information. The second position of the movable platform can be determined based on the multiple pieces of position information, and the first moving track can be corrected using the second position.

[0049] In a possible implementation, the second position may refer to the first position of multiple positions determined by the second positioning information. The correction of the first moving track may be to directly determine the first position of the multiple positions as the end point of the first moving track.

[0050] Of course, the second position may also refer to a preset number of positions close to the first position among the multiple positions determined by the second positioning information. For example, assuming that the second positioning information may include 6 positions, namely A, B, C, D, E and F, the preset number may be 2, and among the above 6 positions, the 2 positions close to the first position are B and C, then position B or position C may be determined as the end point of the first moving trajectory.

[0051] In another possible implementation, the second position may also refer to multiple positions determined by the second positioning information. Correspondingly, the correction process of the first moving trajectory may also include: using the multiple positions to generate a third moving trajectory of the movable platform, and determining the starting point of the third moving trajectory as the end point of the first moving trajectory.

[0052] It should be noted that, in the embodiment of the present application, the first positioning information and the second positioning information may be positioning information respectively acquired by the positioning component at two different times.

[0053] It is not difficult to understand that the first positioning information may be obtained at a first moment, and the second positioning information may be obtained at a second moment, wherein the first moment and the second moment are separated by a preset time length. That is, the posture information of the movable platform is obtained within the preset time length.

[0054] In some embodiments, the first positioning information may be positioning information collected before the positioning component detects that it cannot receive the satellite positioning signal; the second positioning information may be positioning information collected when the positioning component detects that it can reacquire the satellite positioning signal.

[0055] As an example but not limitation, assuming that the movable platform is a bicycle, the mobile terminal is a code computer, and a positioning component is provided in the code computer, when the user passes through a long tunnel during riding, and the positioning component provided in the code computer in the tunnel cannot receive the satellite positioning signal, the first positioning information may be the positioning information determined before entering the tunnel based on the satellite positioning signal received by the positioning component in the code computer; the second positioning information may be the positioning information determined after the positioning component in the code computer is able to receive the satellite positioning signal again after the user passes through the tunnel.

[0056] Based on the above possible embodiments, when the mobile terminal and / or movable platform is unable to receive satellite positioning signals or the satellite positioning signals are poor, the first positioning information obtained at the first moment and the posture information of the movable platform (or mobile terminal) can be used to generate a first moving trajectory, and then the first moving trajectory is corrected using the second positioning information obtained at the second moment to obtain the corrected first moving trajectory. It is not difficult to understand that since the first positioning information and the second positioning information are both determined by the positioning component collecting satellite positioning signals, the accuracy of the initial position and the end position of the first moving trajectory is effectively guaranteed, and the occurrence of inaccurate first moving trajectory due to inaccurate initial position or end position is avoided. Therefore, compared with only using the accuracy of the end position to correct the moving trajectory of the movable platform, the above embodiment can further improve the accuracy of the first moving trajectory from the perspective of effectively ensuring that the initial position and the end position of the first moving trajectory are accurate, and effectively solve the problem that the moving trajectory generated by the existing electronic device is not accurate.

[0057] In other embodiments, the mobile terminal and / or the mobile platform may generate a first instruction corresponding to the first operation in response to the first operation, and the first operation is used to reduce the sampling frequency of the positioning component receiving the satellite positioning signal; the mobile terminal and / or the mobile platform responds to the first instruction to reduce the sampling frequency of the positioning component receiving the satellite positioning signal from the first sampling frequency to the second sampling frequency. The sampling period in the second sampling frequency corresponds to the preset duration between the time of obtaining the first positioning information and the time of obtaining the second positioning information, that is, the sampling period in the second sampling frequency is equal to the preset duration.

[0058] Exemplarily, the sampling frequency of the positioning component receiving the satellite positioning signal is usually once per second, that is, the first sampling frequency is once per second. After the mobile terminal and / or the movable platform responds to the first operation, the sampling frequency of the positioning component receiving the satellite positioning signal is reduced to once every 45 seconds, that is, the second sampling frequency is once every 45 seconds. In this case, the sampling period of the second sampling frequency is 45 seconds. In other words, the preset duration between the time of obtaining the first positioning information and the time of obtaining the second positioning information is 45 seconds. Assuming that the first positioning information is obtained at the first moment, the second moment of obtaining the second positioning information is equal to the first moment plus 45 seconds.

[0059] In one possible implementation, the first operation may be a selection operation in which a user triggers the “power saving mode” on a mobile terminal (or a mobile platform); or it may be a series of operations before the user triggers the selection operation in which a user triggers the “power saving mode” on a mobile terminal (or a mobile platform).

[0060] For example, assuming that the mobile terminal is a mobile phone, see Figure 2 , application icons corresponding to multiple applications are displayed on the desktop of the mobile phone, and the application icons corresponding to the multiple applications include but are not limited to application icons for music applications, application icons for weather applications, application icons for theme applications, application icons for application download applications, application icons for payment applications, application icons for settings applications..., this application does not limit the specific content of the application icons for applications displayed on the desktop of the mobile phone.

[0061] See also Figure 2 After the user triggers the application icon of the setting application and starts the setting application, the following is displayed Figure 3 The interface content shown in the figure may display five setting selection objects: wireless local area network (WLAN), Bluetooth, mobile network, sound and vibration, and battery. After the user triggers the battery setting selection object, the following settings may be displayed: Figure 4The interface shown may display multiple selection controls, such as performance mode, power saving mode, super power saving, battery percentage display and more battery settings. In response to the user's selection of the power saving mode, the positioning component reduces the sampling frequency of receiving satellite positioning signals.

[0062] In another possible implementation, the first operation may also be an operation of automatically triggering a reduction in the sampling frequency of the positioning component when the power of the mobile terminal (or mobile platform) is lower than a preset threshold. For example, assuming that the mobile terminal is still a mobile phone, the preset threshold is 20% of the total power of the mobile phone, and when the power of the mobile phone is lower than 20% of the total power, the positioning component will automatically reduce the sampling frequency of receiving satellite positioning signals.

[0063] In another possible implementation, the first operation may also be that when the power level of the mobile terminal (or movable platform) is lower than a preset threshold, after a low power prompt message is displayed on the display screen of the mobile terminal (or movable platform), the user triggers a power saving mode selection operation.

[0064] For example, Figure 5 As shown, assuming that the mobile terminal is still a mobile phone, the preset threshold is 30% of the total power of the mobile phone. When the power of the mobile phone is lower than 30% of the total power, an option box of "Low power, whether to turn on power saving mode" is displayed on the display screen of the mobile phone. When the user clicks the "OK" control, the positioning component responds to the user's operation of clicking the "OK" control and reduces the sampling frequency of receiving satellite positioning signals.

[0065] In other possible implementations, the first operation may also refer to the user directly triggering an operation of a physical key corresponding to reducing the sampling frequency of the positioning component on the mobile terminal (or movable platform). The present application does not limit the specific content of the first operation.

[0066] In a possible implementation, the preset duration between the time of acquiring the first positioning information and the time of acquiring the second positioning information may be greater than or equal to 30 seconds and less than or equal to 120 seconds, that is, 30s≤T≤120s, where T represents the above preset duration.

[0067] In the embodiment of the present application, the above-mentioned preset duration may include 30s, 60s or 120s. According to actual experimental tests, when the interval between the acquisition time of the first positioning information and the acquisition time of the second positioning information is 30s, when the positioning component receives the satellite positioning signal once every 30s, although the error of the first moving trajectory formed is small, due to the short interval time, the power consumed by the positioning component in the mobile terminal and / or movable platform to receive the satellite positioning signal is still large.

[0068] When the interval between the acquisition time of the first positioning information and the acquisition time of the second positioning information is 120s, although the power consumed by the positioning component in the mobile terminal and / or movable platform to receive the satellite positioning signal can be significantly reduced, the accuracy of the generated first moving trajectory is lower due to the slightly longer time interval for the positioning component to receive the satellite positioning signal. The actual measured error of the first moving trajectory is about 10 meters.

[0069] After gradually increasing the time interval between obtaining the first positioning information and the second positioning information, the error of the generated first moving track becomes larger and larger. For example, when the time interval between the time of obtaining the first positioning information and the time of obtaining the second positioning information is 300 seconds, the error of the generated moving track is about 15 meters.

[0070] In order to take into account the accuracy of the first moving trajectory and the power consumption of the mobile terminal and / or the movable platform, in practical applications, the preset time interval between the first positioning information and the second positioning information may be set to 60 seconds.

[0071] Based on the above possible implementations, after the first operation is executed, the first positioning information obtained at the first moment and the posture information of the movable platform (or mobile terminal) can be used to generate a first moving trajectory while reducing the sampling frequency of the positioning component receiving the satellite positioning signal, wherein the posture information of the movable platform (or mobile terminal) is obtained between the first moment and the second moment, and then the first moving trajectory is corrected using the second positioning information obtained at the second moment, and the corrected first moving trajectory can be obtained. Since the first positioning information and the second positioning information are both determined by the positioning component collecting satellite positioning signals, the accuracy of the initial position and the end position of the first moving trajectory is effectively guaranteed, and the accuracy of the corrected first moving trajectory is guaranteed; at the same time, by reasonably extending the time interval between obtaining the first positioning information and the second positioning information, the power consumption of the mobile terminal and / or the movable platform is effectively reduced, the battery life of the mobile terminal and / or the movable platform is extended, and the user experience is improved.

[0072] In the embodiments provided in the present application, it should be understood that the disclosed devices / electronic devices and methods can be implemented in other ways. For example, the device / electronic device embodiments described above are only schematic. For example, the division of modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. The specific content of each unit implementation can refer to the specific description in the above other embodiments, which will not be repeated here.

[0073] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0074] Based on the same inventive concept, the present application embodiment provides a moving track generating device 600, see Figure 6 , the moving trajectory generating device 600 includes:

[0075] A first acquisition module 601 is used to acquire first positioning information; and acquire posture information of the movable platform;

[0076] A processing module 602 is used to generate a first moving trajectory of the movable platform according to the first positioning information and the posture information of the movable platform;

[0077] The second acquisition module 603 is used to acquire second positioning information;

[0078] The correction module 604 is used to correct the first movement trajectory according to the second positioning information.

[0079] In some embodiments, the movement trajectory generating device 600 further includes: a first determination module, used to determine the first position of the movable platform according to the first positioning information; the processing module 602 is further used to: generate the first movement trajectory according to the first position and the posture information of the movable platform.

[0080] In some embodiments, the first position includes a starting point of a first moving trajectory; the processing module 602 is further configured to generate the first moving trajectory according to the starting point of the first moving trajectory and the posture information of the movable platform.

[0081] In some embodiments, the mobile trajectory generating device 600 further includes: the posture information of the movable platform is obtained when it is detected that the satellite positioning signal cannot be obtained.

[0082] In some embodiments, the movement trajectory generating device 600 further includes: a first generating module, configured to generate a second movement trajectory of the movable platform according to the first position; and the processing module 602, further configured to: determine the end point of the second movement trajectory as the starting point of the first movement trajectory.

[0083] In some embodiments, the first positioning information is obtained at a first moment; the second positioning information is obtained at a second moment; wherein a preset time period exists between the first moment and the second moment.

[0084] In some embodiments, the preset duration is greater than or equal to 30 seconds and less than or equal to 120 seconds.

[0085] In some embodiments, the preset duration includes 30 seconds, 60 seconds or 120 seconds.

[0086] In some embodiments, the processing module 602 is further configured to: obtain the posture information of the movable platform within the preset time period.

[0087] In some embodiments, the movement trajectory generating device 600 further includes: a second determining module, configured to determine a second position of the movable platform according to the second positioning information; and the correction module 504, further configured to correct the first movement trajectory according to the second position.

[0088] In some embodiments, the correction module 604 is further configured to: determine the second position as an end point of the first moving trajectory.

[0089] In some embodiments, the movement trajectory generating device 600 further includes: the second positioning information is acquired when it is detected that the satellite positioning signal can be reacquired.

[0090] In some embodiments, the movement trajectory generating device 600 further includes: a second generating module, configured to generate a third movement trajectory of the movable platform according to the second position; and the correction module 604, further configured to: determine the starting point of the third movement trajectory as the end point of the first movement trajectory.

[0091] In some embodiments, the posture information includes the direction of the movable platform; the processing module 602 is further used to generate the first movement trajectory according to the first positioning information and the direction of the movable platform.

[0092] In some embodiments, the mobile trajectory generating device 600 further includes: a first acquisition module, used to obtain the speed of the movable platform; the processing module 602 is further used to: generate the first mobile trajectory according to the first positioning information, the speed of the movable platform and the direction of the movable platform.

[0093] In some embodiments, obtaining the speed of the movable platform includes: obtaining the speed of the movable platform by a speedometer fixed on the movable platform.

[0094] In some embodiments, the speedometer is disposed in the mobile terminal.

[0095] In some embodiments, the speedometer is disposed on the movable platform, and the speedometer is communicatively connected to the mobile terminal.

[0096] The present application also provides an electronic device. Figure 7 As shown, the electronic device 700 includes: at least one processor 701, a memory 702, and a computer program 703 stored in the memory 702 and executable on the at least one processor 701. When the processor 701 executes the computer program 703, the following steps are performed: obtaining first positioning information; and obtaining posture information of the movable platform; generating a first moving trajectory of the movable platform according to the first positioning information and the posture information of the movable platform; obtaining second positioning information; and correcting the first moving trajectory according to the second positioning information.

[0097] In some embodiments, the processor 701 is also used to: determine the first position of the movable platform based on the first positioning information; and generate a first moving trajectory of the movable platform based on the first positioning information and the posture information of the movable platform, including: generating the first moving trajectory based on the first position and the posture information of the movable platform.

[0098] In some embodiments, the first position includes a starting point of a first moving trajectory; when executing the step of generating the first moving trajectory according to the first position and the posture information of the movable platform, the processor 701 is also used to: generate the first moving trajectory according to the starting point of the first moving trajectory and the posture information of the movable platform.

[0099] In some embodiments, the processor 701 is further configured to: obtain the posture information of the movable platform when it is detected that a satellite positioning signal cannot be obtained.

[0100] In some embodiments, the processor 701 is also used to: generate a second movement trajectory of the movable platform based on the first position; when executing the step of generating the first movement trajectory based on the first position and the posture information of the movable platform, the processor 701 is also used to: determine the end point of the second movement trajectory as the starting point of the first movement trajectory.

[0101] In some embodiments, the first positioning information is obtained at a first moment; the second positioning information is obtained at a second moment; wherein a preset time period exists between the first moment and the second moment.

[0102] In some embodiments, the preset duration is greater than or equal to 30 seconds and less than or equal to 120 seconds.

[0103] In some embodiments, the preset duration includes 30 seconds, 70 seconds or 120 seconds.

[0104] In some embodiments, when executing the step of generating the first movement trajectory according to the first position and the posture information of the movable platform, the processor 701 is further used for: the posture information of the movable platform is acquired within the preset time period.

[0105] In some embodiments, the processor 701 is further used to: determine a second position of the movable platform according to the second positioning information; and the correcting the first moving trajectory according to the second positioning information includes: correcting the first moving trajectory according to the second position.

[0106] In some embodiments, the modifying the first movement trajectory according to the second position includes: determining the second position as an end point of the first movement trajectory.

[0107] In some embodiments, the processor 701 is further configured to: obtain the second positioning information when it is detected that the satellite positioning signal can be re-acquired.

[0108] In some embodiments, the processor 701 is further used to: generate a third movement trajectory of the movable platform based on the second position; when executing the step of correcting the first movement trajectory based on the second position, the processor 701 is also used to: determine the starting point of the third movement trajectory as the end point of the first movement trajectory.

[0109] In some embodiments, the posture information includes the direction of the movable platform; when executing the step of generating a first moving trajectory of the movable platform based on the first positioning information and the posture information of the movable platform, the processor 701 is also used to: generate the first moving trajectory based on the first positioning information and the direction of the movable platform.

[0110] In some embodiments, the processor 701 is also used to: obtain the speed of the movable platform; and generate the first moving trajectory according to the first positioning information and the direction of the movable platform, including: generating the first moving trajectory according to the first positioning information, the speed of the movable platform and the direction of the movable platform.

[0111] In some embodiments, obtaining the speed of the movable platform includes: obtaining the speed of the movable platform by a speedometer fixed on the movable platform.

[0112] In some embodiments, the speedometer is disposed in the mobile terminal.

[0113] In some embodiments, the speedometer is disposed on the movable platform, and the speedometer is communicatively connected to the mobile terminal.

[0114] Exemplarily, the computer program 703 may be divided into one or more modules / units, one or more modules / units are stored in the memory 702, and are executed by the processor 701 to complete the present application. One or more modules / units may be a series of computer program instruction segments capable of completing specific functions, and the instruction segments are used to describe the execution process of the computer program in the electronic device 700.

[0115] Those skilled in the art will understand that Figure 7 It is only an example of the electronic device 700 and does not constitute a limitation of the electronic device. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the electronic device 700 may also include input and output devices, network access devices, buses, etc.

[0116] The processor 701 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.

[0117] The memory 702 may be an internal storage unit of the electronic device 700, such as a hard disk or memory of the electronic device 700. The memory 702 may also be an external storage device of the electronic device 700, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the electronic device 700. Further, the memory 702 may also include both an internal storage unit of the electronic device 700 and an external storage device. The memory 702 is used to store computer programs and other programs and data required by the electronic device 700. The memory 702 may also be used to temporarily store data that has been output or is to be output.

[0118] The electronic device 700 provided in this embodiment can execute the above method embodiment, and its implementation principle and technical effect are similar, which will not be repeated here.

[0119] An embodiment of the present application further provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments can be implemented.

[0120] An embodiment of the present application provides a computer program product. When the computer program product runs on an electronic device, the electronic device can implement the steps in the above-mentioned method embodiments when executing the computer program product.

[0121] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above method embodiments, which can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by the processor, the steps of the above method embodiments can be implemented. Among them, the computer program includes computer program code, which can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may at least include: any entity or device that can carry the computer program code to the camera / electronic device, recording medium, computer memory, ROM (read-only memory), RAM (random access memory), CD-ROM (compact disc read-only memory), magnetic tape, floppy disk and optical data storage device. The computer-readable storage medium mentioned in the present application can be a non-volatile storage medium, in other words, a non-transient storage medium.

[0122] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0123] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0124] In the embodiments provided in the present application, it should be understood that the disclosed devices / equipment and methods can be implemented in other ways. For example, the device / equipment embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0125] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0126] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0127] As used in the specification and appended claims of this application, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "uponce it is determined" or "in response to determining" or "uponce [described condition or event] is detected" or "in response to detecting [described condition or event]", depending on the context.

[0128] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0129] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0130] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for generating a moving trajectory, applied to a mobile terminal, wherein the mobile terminal can be arranged on a movable platform, characterized in that: The method comprises: Acquiring first positioning information; and Acquiring posture information of the movable platform; Generate a first moving trajectory of the movable platform according to the first positioning information and the posture information of the movable platform; Acquiring second positioning information; The first moving trajectory is corrected according to the second positioning information.

2. The method according to claim 1, characterized in that The method further comprises: determining a first position of the movable platform according to the first positioning information; The step of generating a first moving trajectory of the movable platform according to the first positioning information and the posture information of the movable platform includes: The first movement trajectory is generated according to the first position and the posture information of the movable platform.

3. The method according to claim 2, characterized in that The first position includes a starting point of the first movement trajectory; The step of generating the first movement trajectory according to the first position and the posture information of the movable platform includes: The first movement trajectory is generated according to the starting point of the first movement trajectory and the posture information of the movable platform.

4. The method according to claim 2, characterized in that: The method further comprises: The posture information of the movable platform is obtained when it is detected that a satellite positioning signal cannot be obtained.

5. The method according to claim 2, characterized in that: The method further comprises: generating a second movement trajectory of the movable platform according to the first position; The step of generating the first movement trajectory according to the first position and the posture information of the movable platform includes: The end point of the second moving track is determined as the starting point of the first moving track.

6. The method according to claim 2, characterized in that The first positioning information is obtained at a first moment; The second positioning information is obtained at a second moment; The first moment and the second moment are separated by a preset time interval.

7. The method according to claim 6, characterized in that The preset duration is greater than or equal to 30 seconds and less than or equal to 120 seconds.

8. The method according to claim 6 or 7, characterized in that: The step of generating the first movement trajectory according to the first position and the posture information of the movable platform includes: The posture information of the movable platform is acquired within the preset time period.

9. The method according to claim 1, characterized in that: The method further comprises: determining a second position of the movable platform according to the second positioning information; The correcting the first moving trajectory according to the second positioning information includes: The first moving trajectory is corrected according to the second position.

10. The method according to claim 9, characterized in that The correcting the first moving trajectory according to the second position includes: The second position is determined as an end point of the first movement trajectory.

11. The method according to claim 4, characterized in that The method further comprises: The second positioning information is acquired when it is detected that the satellite positioning signal can be reacquired.

12. The method according to claim 9, characterized in that The method further comprises: generating a third movement trajectory of the movable platform according to the second position; The correcting the first moving trajectory according to the second position includes: The starting point of the third moving trajectory is determined as the end point of the first moving trajectory.

13. The method according to claim 1, characterized in that The posture information includes the direction of the movable platform; The step of generating a first moving trajectory of the movable platform according to the first positioning information and the posture information of the movable platform includes: The first movement trajectory is generated according to the first positioning information and the direction of the movable platform.

14. The method according to claim 13, characterized in that The method further comprises: Acquiring the speed of the movable platform; The generating the first movement trajectory according to the first positioning information and the direction of the movable platform includes: The first moving trajectory is generated according to the first positioning information, the speed of the movable platform, and the direction of the movable platform.

15. The method according to claim 14, characterized in that The obtaining the speed of the movable platform comprises: The speed of the movable platform is acquired by a speedometer fixed on the movable platform.

16. An electronic device comprising a memory, at least one processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method according to any one of claims 1 to 15 is implemented.

17. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 15 is implemented.

Images