Equipment positioning method and device, computer equipment and storage medium

Abstract

The invention discloses an equipment positioning method and device, computer equipment and a storage medium. Belongs to the technical field of positioning service communication. The method specifically comprises the following steps: acquiring initial positioning information of target equipment at an initial moment; and based on the first positioning method, obtaining first positioning information of the target device at the current moment. And acquiring second positioning information of the target equipment at the current moment based on a second positioning method. And determining target positioning information of the target equipment at the current moment according to the initial positioning information, the first positioning information and the second positioning information. When the target equipment is positioned, not only is the initial positioning information of the target equipment at the initial moment considered, but also the first positioning information, obtained based on the first positioning method, of the target equipment at the current moment and the second positioning information, obtained based on the second positioning method, of the target equipment at the current moment are considered; and the target positioning information obtained by positioning is more accurate.

Description

Technical Field

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

[0002] Positioning technology is currently widely used in various intelligent business scenarios, such as the metaverse, intelligent driving, etc. In outdoor scenarios, satellite navigation systems can solve most positioning problems, while in indoor scenarios, various new positioning technologies emerge in an endless stream. Currently, the more commonly used ones are Bluetooth AOA (Angle-of-Arrival) positioning method and Pedestrian Dead Reckoning (PDR) positioning method.

[0003] However, both the Bluetooth AOA positioning method and the PDR positioning method have certain positioning defects. Taking the Bluetooth AOA positioning method as an example, the Bluetooth AOA positioning method is affected by the multipath effect, and there is a problem that the positioning values ​​are scattered around the real point. Therefore, accurate positioning cannot be achieved using the existing positioning methods. Summary of the invention

[0004] Based on this, it is necessary to provide a device positioning method, apparatus, computer equipment and storage medium that can effectively improve positioning accuracy in response to the above technical problems.

[0005] In a first aspect, the present application provides a device positioning method, the method comprising:

[0006] Obtaining the initial positioning information of the target device at the initial moment;

[0007] Based on the first positioning method, obtaining first positioning information of the target device at the current moment;

[0008] Based on the second positioning method, obtaining second positioning information of the target device at the current moment;

[0009] The target positioning information of the target device at the current moment is determined according to the initial positioning information, the first positioning information and the second positioning information.

[0010] In one embodiment, before obtaining the initial positioning information of the target device at the initial time, the method further includes:

[0011] Based on the first positioning method, obtaining third positioning information of the target device at an initial moment;

[0012] The third positioning information is used as the initial positioning information of the target device at the initial moment.

[0013] In one embodiment, based on the second positioning method, obtaining the second positioning information of the target device at the current moment includes:

[0014] The initial positioning information is used as the positioning starting point, and the target terminal is positioned based on the second positioning method to obtain the second positioning information of the target device at the current moment.

[0015] In one embodiment, the initial positioning information includes an initial azimuth and an initial position; the first positioning information includes a first azimuth and a first position; the second positioning information includes a second azimuth and a second position;

[0016] Accordingly, determining the target positioning information of the target device at the current moment according to the initial positioning information, the first positioning information, and the second positioning information includes:

[0017] Determine a first azimuth difference between the first azimuth and the initial azimuth;

[0018] Determine a second azimuth difference between the second azimuth and the initial azimuth;

[0019] Determine a first positioning optimization situation according to the first azimuth difference and the second azimuth difference;

[0020] The target positioning information of the target device at the current moment is determined according to the first positioning optimization situation, the first positioning information and the second positioning information.

[0021] In one embodiment, determining the target positioning information of the target device at the current moment according to the first positioning optimization situation, the first positioning information, and the second positioning information includes:

[0022] When the first positioning optimization situation is that there is no need to optimize the positioning, determining a first distance between the first position and the initial position;

[0023] determining a second distance between the second position and the initial position;

[0024] Determine a second positioning optimization condition according to the first distance and the second distance;

[0025] The target positioning information of the target device at the current moment is determined according to the first positioning information and / or the second positioning information, and the second positioning optimization condition.

[0026] In one embodiment, determining the target positioning information of the target device at the current moment according to the first positioning information and / or the second positioning information, and the second positioning optimization condition, includes:

[0027] When the second positioning optimization situation is that positioning optimization is required, determining target positioning information of the target device at the current moment according to the first positioning information and / or the second positioning information;

[0028] When the second positioning optimization situation is that there is no need to optimize the positioning, the target positioning information of the target device at the current moment is determined according to the first positioning information.

[0029] In one of the embodiments, the first positioning method is an AOA positioning method, and the second positioning method is a PDR positioning method.

[0030] In a second aspect, the present application provides a device positioning apparatus, the method comprising:

[0031] A first acquisition module, used to acquire initial positioning information of the target device at an initial moment;

[0032] A second acquisition module, used to acquire first positioning information of the target device at a current moment based on the first positioning method;

[0033] A third acquisition module, used to acquire second positioning information of the target device at the current moment based on the second positioning method;

[0034] The determination module is used to determine the target positioning information of the target device at the current moment according to the initial positioning information, the first positioning information and the second positioning information.

[0035] In a third aspect, the present application further provides a computer device, the computer device comprising a memory and a processor, the memory storing a computer program, and the processor implementing the following steps when executing the computer program:

[0036] Obtaining the initial positioning information of the target device at the initial moment;

[0037] Based on the first positioning method, obtaining first positioning information of the target device at the current moment;

[0038] Based on the second positioning method, obtaining second positioning information of the target device at the current moment;

[0039] The target positioning information of the target device at the current moment is determined according to the initial positioning information, the first positioning information and the second positioning information.

[0040] In a fourth aspect, the present application further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0041] Obtaining the initial positioning information of the target device at the initial moment;

[0042] Based on the first positioning method, obtaining first positioning information of the target device at the current moment;

[0043] Based on the second positioning method, obtaining second positioning information of the target device at the current moment;

[0044] The target positioning information of the target device at the current moment is determined according to the initial positioning information, the first positioning information and the second positioning information.

[0045] In a fifth aspect, the present application further provides a computer program product, the computer program product comprising a computer program, and when the computer program is executed by a processor, the following steps are implemented:

[0046] Obtaining the initial positioning information of the target device at the initial moment;

[0047] Based on the first positioning method, obtaining first positioning information of the target device at the current moment;

[0048] Based on the second positioning method, obtaining second positioning information of the target device at the current moment;

[0049] The target positioning information of the target device at the current moment is determined according to the initial positioning information, the first positioning information and the second positioning information.

[0050] The above-mentioned device positioning method, apparatus, computer equipment and storage medium obtain the initial positioning information of the target device at the initial moment. Based on the first positioning method, the first positioning information of the target device at the current moment is obtained. Based on the second positioning method, the second positioning information of the target device at the current moment is obtained. According to the initial positioning information, the first positioning information and the second positioning information, the target positioning information of the target device at the current moment is determined. Compared with the traditional AOA positioning method or PDR positioning method, when positioning the target device, the present application not only considers the initial positioning information of the target device at the initial moment, but also considers the first positioning information of the target device at the current moment obtained based on the first positioning method, and the second positioning information of the target device at the current moment obtained based on the second positioning method. Finally, based on the initial positioning information, the first positioning information and the second positioning information, the target positioning information of the target device at the current moment is determined, so that the target positioning information obtained by positioning is more accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 A diagram of an application environment of a device positioning method provided in this embodiment;

[0052] Figure 2 A schematic diagram of a flow chart of a first device positioning method provided in this embodiment;

[0053] Figure 3 A schematic diagram of a process for determining initial positioning information of a target device at an initial time provided in this embodiment;

[0054] Figure 4A schematic diagram of a process for determining target location information of a target device at the current moment provided in this embodiment;

[0055] Figure 5 A schematic diagram of a flow chart of a second device positioning method provided in this embodiment;

[0056] Figure 6 A structural block diagram of a device positioning apparatus provided in this embodiment;

[0057] Figure 7 This is a diagram of the internal structure of the computer device provided in this embodiment. DETAILED DESCRIPTION

[0058] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0059] The device positioning method provided in the embodiment of the present application can be executed by a server, or can be executed by a target device, or can be executed interactively by a server and a target device, and can be applied to Figure 1 In the application environment shown in FIG. 1 , the server 104 obtains the initial positioning information of the target device 102 at the initial moment. The server 104 obtains the first positioning information of the target device 102 at the current moment based on the first positioning method. The server 104 obtains the second positioning information of the target device 102 at the current moment based on the second positioning method. The server 104 determines the target positioning information of the target device 102 at the current moment based on the initial positioning information, the first positioning information, and the second positioning information.

[0060] The server can be an independent server or a server cluster. The target device refers to a terminal device that can support the AOA positioning method and the PDR positioning method, which can be a smart terminal such as a mobile phone or a computer, or a smart wearable device such as a smart bracelet or a smart watch, or other terminal devices or communication devices.

[0061] In one embodiment, Figure 2 is a flow chart of a device positioning method provided according to an embodiment of the present application, in which the method is applied to Figure 1 Taking the server or target device in the example as an example, the method includes the following steps:

[0062] S201, obtaining initial positioning information of a target device at an initial time.

[0063] The target device refers to a terminal device that supports the AOA positioning method and the PDR positioning method, which can be a smart terminal such as a mobile phone or a computer, or a smart wearable device such as a smart bracelet or a smart watch, or other terminal devices or communication devices. The initial moment refers to the moment when the target device is first located. The initial positioning information refers to the positioning information obtained by positioning the target device at the initial moment.

[0064] Optionally, the initial positioning information includes but is not limited to an initial azimuth and an initial position. The initial azimuth refers to the azimuth information of the target device obtained by positioning at the initial moment. The initial position refers to the position information of the target device obtained by positioning at the initial moment, for example, it may be a position coordinate.

[0065] As an optional implementation of the embodiment of the present application, initial positioning information of the target device at the initial moment is obtained based on a positioning device, wherein the positioning device may be a GPS (Global Positioning System) positioning device or a Beidou positioning device.

[0066] As another optional implementation of the embodiment of the present application, the initial positioning information of the target device at the initial moment is obtained based on the query device, wherein the query device records the initial positioning information of the target device at the initial moment.

[0067] S202: Acquire first positioning information of the target device at a current moment based on a first positioning method.

[0068] The first positioning method refers to a method for positioning the target device. The first positioning information refers to information of the target device at the current moment obtained by positioning the target device based on the first positioning method.

[0069] Optionally, the first positioning method in this embodiment preferably adopts the AOA positioning method. Among them, the AOA positioning method is a positioning technology that uses Bluetooth wireless signals to determine the location of the device. This technology calculates the exact location of the device by measuring the angle of arrival of the signal, and is particularly suitable for positioning needs in indoor environments. The working principle of Bluetooth AOA positioning is based on the angle of arrival method (Angle of Arrival), which is a high-precision positioning technology. Its basic principle is that the tag transmits a wireless signal to the positioning base station, and the antenna array in the positioning base station receives the wireless signal from the same signal source at different time points. By analyzing the arrival time difference, the azimuth and pitch angle of the tag to the positioning base station are calculated, and then combined with the signal strength estimation, the target is accurately positioned in two dimensions.

[0070] Optionally, in this embodiment, based on the first positioning method, the target device is positioned, the positioning information of the target device is acquired in real time, and then the first positioning information of the target device at the current moment is acquired.

[0071] S203: Based on the second positioning method, obtain second positioning information of the target device at the current moment.

[0072] The second positioning method refers to another method for positioning the target device. The second positioning information refers to the information of the target device at the current moment obtained by positioning the target device based on the second positioning method.

[0073] Optionally, the second positioning method in this embodiment preferably adopts a PDR positioning method. The PDR positioning method measures and counts the number of steps, step length, and direction of a pedestrian based on the pedestrian dead reckoning (PDR) of the IMU sensor in the target device, and calculates information such as the pedestrian's walking trajectory and position.

[0074] As an optional implementation of the embodiment of the present application, based on the second positioning method, the target device is positioned, the positioning information of the target device is acquired in real time, and then the second positioning information of the target device at the current moment is acquired.

[0075] As another optional implementation of the embodiment of the present application, the initial positioning information is used as the positioning starting point, and the target terminal is positioned based on the second positioning method to obtain the second positioning information of the target device at the current moment. That is to say, in this embodiment, the initial position of the second positioning method is calibrated based on the initial positioning information, and the initial positioning information is used as the starting position of the second positioning method at the initial moment. On this basis, the positioning information of the target device is obtained in real time based on the second positioning method, and the second positioning information of the target device at the current moment is obtained.

[0076] S204: Determine the target positioning information of the target device at the current moment according to the initial positioning information, the first positioning information and the second positioning information.

[0077] As an optional implementation of the embodiment of the present application, the initial positioning information, the first positioning information and the second positioning information are input into a trained neural network model, and the neural network model outputs the target positioning information of the target device at the current moment.

[0078] As another optional implementation of the embodiment of the present application, a first positioning difference between the first positioning information and the initial positioning information is determined, a second positioning difference between the second positioning information and the initial positioning information is determined, and then the target positioning information of the target device at the current moment is determined based on the first positioning difference and the second positioning difference, as well as the first positioning information and the second positioning information.

[0079] The above-mentioned device positioning method obtains the initial positioning information of the target device at the initial moment. Based on the first positioning method, the first positioning information of the target device at the current moment is obtained. Based on the second positioning method, the second positioning information of the target device at the current moment is obtained. According to the initial positioning information, the first positioning information and the second positioning information, the target positioning information of the target device at the current moment is determined. Compared with the traditional AOA positioning method or PDR positioning method, when positioning the target device, the present application not only considers the initial positioning information of the target device at the initial moment, but also considers the first positioning information of the target device at the current moment obtained based on the first positioning method, and the second positioning information of the target device at the current moment obtained based on the second positioning method. Finally, based on the initial positioning information, the first positioning information and the second positioning information, the target positioning information of the target device at the current moment is determined, so that the target positioning information obtained by positioning is more accurate.

[0080] In one embodiment, in order to obtain the initial positioning information, such as Figure 3 As shown, before obtaining the initial positioning information of the target device at the initial moment, an optional implementation of a device positioning method includes:

[0081] S301: Based on the first positioning method, obtain third positioning information of the target device at an initial moment.

[0082] The third positioning information refers to the positioning information obtained by positioning the target device at the initial moment based on the second positioning method.

[0083] Optionally, in this embodiment, the target device is positioned based on the AOA positioning method to obtain third positioning information of the target device at the initial moment.

[0084] S302: Use the third positioning information as initial positioning information of the target device at an initial moment.

[0085] In this embodiment, based on the first positioning method, the third positioning information of the target device at the initial moment is obtained. The third positioning information is used as the initial positioning information of the target device at the initial moment. In this embodiment, not only the efficiency of obtaining the initial positioning information is improved, but also the initial positioning information of the target device at the initial moment obtained based on the first positioning method is more accurate compared to other positioning methods.

[0086] In one embodiment, the initial positioning information includes an initial azimuth and an initial position; the first positioning information includes a first azimuth and a first position; the second positioning information includes a second azimuth and a second position. On this basis, in order to more accurately determine the target positioning information of the target device at the current moment, such as Figure 4As shown, an optional implementation of S204 includes:

[0087] S401, determining a first azimuth difference between a first azimuth and an initial azimuth.

[0088] The first azimuth refers to the azimuth information of the target device acquired at the current moment based on the first positioning method. The first azimuth difference refers to the azimuth deviation value between the first azimuth and the initial azimuth.

[0089] Optionally, in this embodiment, the difference between the first azimuth angle and the initial azimuth angle is used as the first azimuth angle difference between the first azimuth angle and the initial azimuth angle.

[0090] S402, determining a second azimuth difference between the second azimuth and the initial azimuth.

[0091] The second azimuth refers to the azimuth information of the target device acquired at the current moment based on the second positioning method. The second azimuth difference refers to the azimuth deviation value between the second azimuth and the initial azimuth.

[0092] Optionally, in this embodiment, the difference between the second azimuth angle and the initial azimuth angle is used as the second azimuth angle difference between the second azimuth angle and the initial azimuth angle.

[0093] It should be noted that when determining the first azimuth angle difference and the second azimuth angle difference, the azimuth angle difference should be determined based on the same reference direction, otherwise the first azimuth angle difference and the second azimuth angle difference determined are not comparable.

[0094] S403: Determine a first positioning optimization condition according to the first azimuth angle difference and the second azimuth angle difference.

[0095] The first positioning priority situation refers to whether the positioning information needs to be optimized, which is mainly divided into whether the positioning needs to be optimized or not.

[0096] As an optional implementation of the embodiment of the present application, a first difference between the first azimuth difference and the second azimuth difference is determined. If the first difference is less than a preset threshold, the first positioning optimization situation is that no optimization positioning is required. If the first difference is not less than the preset threshold, the first positioning optimization situation is that optimization positioning is required.

[0097] S404: Determine target positioning information of the target device at the current moment according to the first positioning optimization situation, the first positioning information, and the second positioning information.

[0098] Optionally, in this embodiment, when the first positioning optimization situation is that there is no need to optimize the positioning, a first distance between the first position and the initial position is determined. A second distance between the second position and the initial position is determined. A second positioning optimization situation is determined based on the first distance and the second distance. Based on the first positioning information and / or the second positioning information, and the second positioning optimization situation, the target positioning information of the target device at the current moment is determined.

[0099] In this embodiment, an optional implementation method for determining the first distance between the first position and the initial position is to obtain the position coordinates of the first position and the position coordinates of the initial position, and determine the first distance between the first position and the initial position according to the position coordinates of the first position and the position coordinates of the initial position.

[0100] In this embodiment, an optional implementation method for determining the second distance between the second position and the initial position is to obtain the position coordinates of the second position and the position coordinates of the initial position, and determine the second distance between the second position and the initial position according to the position coordinates of the second position and the position coordinates of the initial position.

[0101] In this embodiment, an optional implementation method for determining the second positioning optimization situation based on the first distance and the second distance is to determine the distance difference between the first distance and the second distance. The second positioning optimization situation is determined based on the size relationship between the distance difference and the difference threshold. Specifically, if the distance difference is less than the difference threshold, the second positioning optimization situation is that no optimization positioning is required. If the distance difference is not less than the difference threshold, the second positioning optimization situation is that optimization positioning is required.

[0102] In this embodiment, an optional implementation method of determining the target positioning information of the target device at the current moment according to the first positioning information and / or the second positioning information and the second positioning optimization situation is that when the second positioning optimization situation is that the positioning needs to be optimized, the target positioning information of the target device at the current moment is determined according to the first positioning information and / or the second positioning information. When the second positioning optimization situation is that the positioning does not need to be optimized, the target positioning information of the target device at the current moment is determined according to the first positioning information.

[0103] In this embodiment, an optional implementation method for determining the target positioning information of the target device at the current moment based on the first positioning information and / or the second positioning information is to optimize the positioning accuracy of the first positioning information or the second positioning information, and use the optimized first positioning information or the second positioning information as the target positioning information of the target device at the current moment.

[0104] In this embodiment, another optional implementation method for determining the target positioning information of the target device at the current moment based on the first positioning information and / or the second positioning information is to fuse the first positioning information and the second positioning information to obtain the fused positioning information. The fused positioning information is used as the target positioning information of the target device at the current moment. In this embodiment, an optional implementation method for fusing the first positioning information and the second positioning information to obtain the fused positioning information is to determine the azimuth mean of the first azimuth and the second azimuth. Determine the middle position between the first position and the second position, and use the azimuth mean and the middle position as the fused positioning information.

[0105] In this embodiment, an optional implementation method of determining the target positioning information of the target device at the current moment according to the first positioning information is to use the first positioning information as the target positioning information of the target device at the current moment.

[0106] Optionally, in this embodiment, when the first positioning optimization situation is a situation where positioning optimization is required, the target positioning information of the target device at the current moment is determined according to the first positioning information and / or the second positioning information. It should be noted that the specific method of determining the target positioning information of the target device at the current moment according to the first positioning information and / or the second positioning information is described in detail in the above embodiment and will not be repeated here.

[0107] In this embodiment, a first azimuth difference between the first azimuth and the initial azimuth is determined. A second azimuth difference between the second azimuth and the initial azimuth is determined. A first positioning optimization condition is determined based on the first azimuth difference and the second azimuth difference. Based on the first positioning optimization condition, the first positioning information, and the second positioning information, the target positioning information of the target device at the current moment is more accurately determined.

[0108] In one embodiment, if Figure 5 As shown, another optional implementation of a device positioning method includes:

[0109] S501, based on the AOA positioning method, obtaining third positioning information of the target device at an initial moment.

[0110] S502: Use the third positioning information as initial positioning information of the target device at an initial moment.

[0111] S503: Based on the AOA positioning method, obtain first positioning information of the target device at the current moment.

[0112] S504: Using the initial positioning information as a positioning starting point, positioning the target terminal based on a PDR positioning method to obtain second positioning information of the target device at the current moment.

[0113] S505: Determine a first azimuth difference between the first azimuth and the initial azimuth.

[0114] S506, determining a second azimuth difference between the second azimuth and the initial azimuth.

[0115] S507: Determine a first positioning optimization condition according to the first azimuth angle difference and the second azimuth angle difference.

[0116] S508: When the first positioning optimization situation is that no positioning optimization is required, determine a first distance between the first position and the initial position.

[0117] S509: Determine a second distance between the second position and the initial position.

[0118] S510: Determine a second positioning optimization condition according to the first distance and the second distance.

[0119] S511: When the second positioning optimization situation requires positioning optimization, determine the target positioning information of the target device at the current moment according to the first positioning information and / or the second positioning information.

[0120] S512: When the second positioning optimization situation is that no positioning optimization is required, determine the target positioning information of the target device at the current moment according to the first positioning information.

[0121] In this embodiment, the initial positioning information of the target device at the initial moment is obtained. Based on the first positioning method, the first positioning information of the target device at the current moment is obtained. Based on the second positioning method, the second positioning information of the target device at the current moment is obtained. According to the initial positioning information, the first positioning information and the second positioning information, the target positioning information of the target device at the current moment is determined. Compared with the traditional AOA positioning method or PDR positioning method, when positioning the target device, the present application not only considers the initial positioning information of the target device at the initial moment, but also considers the first positioning information of the target device at the current moment obtained based on the first positioning method, and the second positioning information of the target device at the current moment obtained based on the second positioning method. Finally, based on the initial positioning information, the first positioning information and the second positioning information, the target positioning information of the target device at the current moment is determined, so that the target positioning information obtained by positioning is more accurate.

[0122] It should be understood that, although the steps in the flowcharts involved in the above embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above embodiments may include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0123] Based on the same inventive concept, the embodiment of the present application also provides a device positioning device for implementing the device positioning method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more device positioning device embodiments provided below can refer to the limitations on the device positioning method above, and will not be repeated here.

[0124] In one embodiment, by Figure 6 FIG. 2 shows a structural block diagram of a device positioning apparatus in an embodiment. Figure 6 As shown, a device positioning apparatus 1 is provided, the apparatus comprising: a first acquisition module 10, a second acquisition module 20, a third acquisition module 30 and a determination module 40, wherein:

[0125] A first acquisition module 10 is used to acquire initial positioning information of the target device at an initial moment;

[0126] A second acquisition module 20, configured to acquire first positioning information of the target device at a current moment based on the first positioning method;

[0127] A third acquisition module 30, configured to acquire second positioning information of the target device at the current moment based on the second positioning method;

[0128] The determination module 40 is used to determine the target positioning information of the target device at the current moment according to the initial positioning information, the first positioning information and the second positioning information.

[0129] The above-mentioned device positioning device obtains the initial positioning information of the target device at the initial moment. Based on the first positioning method, the first positioning information of the target device at the current moment is obtained. Based on the second positioning method, the second positioning information of the target device at the current moment is obtained. According to the initial positioning information, the first positioning information and the second positioning information, the target positioning information of the target device at the current moment is determined. Compared with the traditional AOA positioning method or PDR positioning method, when positioning the target device, the present application not only considers the initial positioning information of the target device at the initial moment, but also considers the first positioning information of the target device at the current moment obtained based on the first positioning method, and the second positioning information of the target device at the current moment obtained based on the second positioning method. Finally, based on the initial positioning information, the first positioning information and the second positioning information, the target positioning information of the target device at the current moment is determined, so that the target positioning information obtained by positioning is more accurate.

[0130] In one embodiment, before obtaining the initial positioning information of the target device at the initial moment, a device positioning apparatus 1 further includes:

[0131] A fourth acquisition module, configured to acquire third positioning information of the target device at an initial moment based on the first positioning method;

[0132] The calibration module is used to use the third positioning information as the initial positioning information of the target device at an initial moment.

[0133] In one embodiment, the Figure 6 The third acquisition module 30 is further specifically used for:

[0134] The initial positioning information is used as the positioning starting point, and the target terminal is positioned based on the second positioning method to obtain the second positioning information of the target device at the current moment.

[0135] In one embodiment, the initial positioning information includes an initial azimuth and an initial position; the first positioning information includes a first azimuth and a first position; the second positioning information includes a second azimuth and a second position, on this basis, Figure 6 The determination module 40 is further specifically used for:

[0136] Determine a first azimuth difference between the first azimuth and the initial azimuth;

[0137] Determine a second azimuth difference between the second azimuth and the initial azimuth;

[0138] Determine a first positioning optimization situation according to the first azimuth difference and the second azimuth difference;

[0139] The target positioning information of the target device at the current moment is determined according to the first positioning optimization situation, the first positioning information and the second positioning information.

[0140] In one embodiment, the Figure 6 The determination module 40 is further specifically used for:

[0141] When the first positioning optimization situation is that there is no need to optimize the positioning, determining a first distance between the first position and the initial position;

[0142] determining a second distance between the second position and the initial position;

[0143] Determine a second positioning optimization condition according to the first distance and the second distance;

[0144] The target positioning information of the target device at the current moment is determined according to the first positioning information and / or the second positioning information, and the second positioning optimization condition.

[0145] In one embodiment, the Figure 6 The determination module 40 is further specifically used for:

[0146] When the second positioning optimization situation is that positioning optimization is required, determining target positioning information of the target device at the current moment according to the first positioning information and / or the second positioning information;

[0147] When the second positioning optimization situation is that there is no need to optimize the positioning, the target positioning information of the target device at the current moment is determined according to the first positioning information.

[0148] In one of the embodiments, the first positioning method is an AOA positioning method, and the second positioning method is a PDR positioning method.

[0149] Each module in the above-mentioned device positioning apparatus can be implemented in whole or in part by software, hardware or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each module above.

[0150] In one embodiment, a computer device is provided. The computer device may be a platform side, and its internal structure diagram may be as shown in FIG. Figure 7As shown. The computer device includes a processor, a memory and a network interface connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store positioning related information. The network interface of the computer device is used to communicate with an external user side through a network connection. When the computer program is executed by the processor, a device positioning method is implemented.

[0151] Those skilled in the art will understand that Figure 7 The structure shown in the figure is merely a block diagram of a portion of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. Specifically, the computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0152] In one embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented:

[0153] Obtaining the initial positioning information of the target device at the initial moment;

[0154] Based on the first positioning method, obtaining first positioning information of the target device at the current moment;

[0155] Based on the second positioning method, obtaining second positioning information of the target device at the current moment;

[0156] The target positioning information of the target device at the current moment is determined according to the initial positioning information, the first positioning information and the second positioning information.

[0157] In one embodiment, when the processor executes the computer program, the following steps are further implemented: before obtaining the initial positioning information of the target device at the initial time, the method further includes:

[0158] Based on the first positioning method, obtaining third positioning information of the target device at an initial moment;

[0159] The third positioning information is used as the initial positioning information of the target device at the initial moment.

[0160] In one embodiment, when the processor executes the computer program, the following steps are further implemented: based on the second positioning method, obtaining the second positioning information of the target device at the current moment, including:

[0161] The initial positioning information is used as the positioning starting point, and the target terminal is positioned based on the second positioning method to obtain the second positioning information of the target device at the current moment.

[0162] In one embodiment, when the processor executes the computer program, the following steps are further implemented: the initial positioning information includes an initial azimuth and an initial position; the first positioning information includes a first azimuth and a first position; the second positioning information includes a second azimuth and a second position;

[0163] Accordingly, determining the target positioning information of the target device at the current moment according to the initial positioning information, the first positioning information, and the second positioning information includes:

[0164] Determine a first azimuth difference between the first azimuth and the initial azimuth;

[0165] Determine a second azimuth difference between the second azimuth and the initial azimuth;

[0166] Determine a first positioning optimization situation according to the first azimuth difference and the second azimuth difference;

[0167] The target positioning information of the target device at the current moment is determined according to the first positioning optimization situation, the first positioning information and the second positioning information.

[0168] In one embodiment, when the processor executes the computer program, the following steps are further implemented: determining the target positioning information of the target device at the current moment according to the first positioning optimization situation, the first positioning information, and the second positioning information, including:

[0169] When the first positioning optimization situation is that there is no need to optimize the positioning, determining a first distance between the first position and the initial position;

[0170] determining a second distance between the second position and the initial position;

[0171] Determine a second positioning optimization condition according to the first distance and the second distance;

[0172] The target positioning information of the target device at the current moment is determined according to the first positioning information and / or the second positioning information, and the second positioning optimization condition.

[0173] In one embodiment, when the processor executes the computer program, the following steps are further implemented: determining the target positioning information of the target device at the current moment according to the first positioning information and / or the second positioning information, and the second positioning optimization condition, including:

[0174] When the second positioning optimization situation is that positioning optimization is required, determining target positioning information of the target device at the current moment according to the first positioning information and / or the second positioning information;

[0175] When the second positioning optimization situation is that there is no need to optimize the positioning, the target positioning information of the target device at the current moment is determined according to the first positioning information.

[0176] In one embodiment, when the processor executes the computer program, the following steps are further implemented: the first positioning method is an AOA positioning method, and the second positioning method is a PDR positioning method.

[0177] In one embodiment, a computer readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0178] Obtaining the initial positioning information of the target device at the initial moment;

[0179] Based on the first positioning method, obtaining first positioning information of the target device at the current moment;

[0180] Based on the second positioning method, obtaining second positioning information of the target device at the current moment;

[0181] The target positioning information of the target device at the current moment is determined according to the initial positioning information, the first positioning information and the second positioning information.

[0182] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: before obtaining the initial positioning information of the target device at the initial time, the method further includes:

[0183] Based on the first positioning method, obtaining third positioning information of the target device at an initial moment;

[0184] The third positioning information is used as the initial positioning information of the target device at the initial moment.

[0185] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: based on the second positioning method, obtaining the second positioning information of the target device at the current moment, including:

[0186] The initial positioning information is used as the positioning starting point, and the target terminal is positioned based on the second positioning method to obtain the second positioning information of the target device at the current moment.

[0187] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: the initial positioning information includes an initial azimuth and an initial position; the first positioning information includes a first azimuth and a first position; the second positioning information includes a second azimuth and a second position;

[0188] Accordingly, determining the target positioning information of the target device at the current moment according to the initial positioning information, the first positioning information, and the second positioning information includes:

[0189] Determine a first azimuth difference between the first azimuth and the initial azimuth;

[0190] Determine a second azimuth difference between the second azimuth and the initial azimuth;

[0191] Determine a first positioning optimization situation according to the first azimuth difference and the second azimuth difference;

[0192] The target positioning information of the target device at the current moment is determined according to the first positioning optimization situation, the first positioning information and the second positioning information.

[0193] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: determining the target positioning information of the target device at the current moment according to the first positioning optimization situation, the first positioning information, and the second positioning information, including:

[0194] When the first positioning optimization situation is that there is no need to optimize the positioning, determining a first distance between the first position and the initial position;

[0195] determining a second distance between the second position and the initial position;

[0196] Determine a second positioning optimization condition according to the first distance and the second distance;

[0197] The target positioning information of the target device at the current moment is determined according to the first positioning information and / or the second positioning information, and the second positioning optimization condition.

[0198] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: determining the target positioning information of the target device at the current moment according to the first positioning information and / or the second positioning information, and the second positioning optimization condition, including:

[0199] When the second positioning optimization situation is that positioning optimization is required, determining target positioning information of the target device at the current moment according to the first positioning information and / or the second positioning information;

[0200] When the second positioning optimization situation is that there is no need to optimize the positioning, the target positioning information of the target device at the current moment is determined according to the first positioning information.

[0201] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: the first positioning method is an AOA positioning method, and the second positioning method is a PDR positioning method.

[0202] In one embodiment, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the following steps:

[0203] Obtaining the initial positioning information of the target device at the initial moment;

[0204] Based on the first positioning method, obtaining first positioning information of the target device at the current moment;

[0205] Based on the second positioning method, obtaining second positioning information of the target device at the current moment;

[0206] The target positioning information of the target device at the current moment is determined according to the initial positioning information, the first positioning information and the second positioning information.

[0207] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: before obtaining the initial positioning information of the target device at the initial time, the method further includes:

[0208] Based on the first positioning method, obtaining third positioning information of the target device at an initial moment;

[0209] The third positioning information is used as the initial positioning information of the target device at the initial moment.

[0210] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: based on the second positioning method, obtaining the second positioning information of the target device at the current moment, including:

[0211] The initial positioning information is used as the positioning starting point, and the target terminal is positioned based on the second positioning method to obtain the second positioning information of the target device at the current moment.

[0212] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: the initial positioning information includes an initial azimuth and an initial position; the first positioning information includes a first azimuth and a first position; the second positioning information includes a second azimuth and a second position;

[0213] Accordingly, determining the target positioning information of the target device at the current moment according to the initial positioning information, the first positioning information, and the second positioning information includes:

[0214] Determine a first azimuth difference between the first azimuth and the initial azimuth;

[0215] Determine a second azimuth difference between the second azimuth and the initial azimuth;

[0216] Determine a first positioning optimization situation according to the first azimuth difference and the second azimuth difference;

[0217] The target positioning information of the target device at the current moment is determined according to the first positioning optimization situation, the first positioning information and the second positioning information.

[0218] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: determining the target positioning information of the target device at the current moment according to the first positioning optimization situation, the first positioning information, and the second positioning information, including:

[0219] When the first positioning optimization situation is that there is no need to optimize the positioning, determining a first distance between the first position and the initial position;

[0220] determining a second distance between the second position and the initial position;

[0221] Determine a second positioning optimization condition according to the first distance and the second distance;

[0222] The target positioning information of the target device at the current moment is determined according to the first positioning information and / or the second positioning information, and the second positioning optimization condition.

[0223] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: determining the target positioning information of the target device at the current moment according to the first positioning information and / or the second positioning information, and the second positioning optimization condition, including:

[0224] When the second positioning optimization situation is that positioning optimization is required, determining target positioning information of the target device at the current moment according to the first positioning information and / or the second positioning information;

[0225] When the second positioning optimization situation is that there is no need to optimize the positioning, the target positioning information of the target device at the current moment is determined according to the first positioning information.

[0226] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: the first positioning method is an AOA positioning method, and the second positioning method is a PDR positioning method.

[0227] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0228] The technical features of the above embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0229] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A device positioning method, characterized in that: The method comprises: Obtaining the initial positioning information of the target device at the initial moment; Based on the first positioning method, obtaining first positioning information of the target device at the current moment; Based on the second positioning method, obtaining second positioning information of the target device at the current moment; The target positioning information of the target device at the current moment is determined according to the initial positioning information, the first positioning information and the second positioning information.

2. The method according to claim 1, characterized in that Before obtaining the initial positioning information of the target device at the initial time, the method further includes: Based on the first positioning method, obtaining third positioning information of the target device at the initial moment; The third positioning information is used as the initial positioning information of the target device at the initial moment.

3. The method according to claim 2, characterized in that The acquiring, based on the second positioning method, second positioning information of the target device at the current moment includes: The initial positioning information is used as a positioning starting point, and the target terminal is positioned based on the second positioning method to obtain the second positioning information of the target device at the current moment.

4. The method according to claim 1, characterized in that: The initial positioning information includes an initial azimuth and an initial position; the first positioning information includes a first azimuth and a first position; the second positioning information includes a second azimuth and a second position; Correspondingly, determining the target positioning information of the target device at the current moment according to the initial positioning information, the first positioning information, and the second positioning information includes: Determine a first azimuth difference between the first azimuth and the initial azimuth; Determine a second azimuth difference between the second azimuth and the initial azimuth; Determining a first positioning optimization condition according to the first azimuth angle difference and the second azimuth angle difference; The target positioning information of the target device at the current moment is determined according to the first positioning optimization situation, the first positioning information, and the second positioning information.

5. The method according to claim 4, characterized in that The determining, according to the first positioning optimization condition, the first positioning information, and the second positioning information, the target positioning information of the target device at the current moment includes: When the first positioning optimization condition is that no positioning optimization is required, determining a first distance between the first position and the initial position; determining a second distance between the second position and the initial position; Determining a second positioning optimization condition according to the first distance and the second distance; The target positioning information of the target device at the current moment is determined according to the first positioning information and / or the second positioning information, and the second positioning optimization condition.

6. The method according to claim 5, characterized in that The determining, according to the first positioning information and / or the second positioning information, and the second positioning optimization condition, the target positioning information of the target device at the current moment includes: When the second positioning optimization situation is that positioning optimization is required, determining the target positioning information of the target device at the current moment according to the first positioning information and / or the second positioning information; When the second positioning optimization situation is that there is no need to optimize the positioning, the target positioning information of the target device at the current moment is determined according to the first positioning information.

7. The method according to any one of claims 1 to 6, characterized in that The first positioning method is an angle of arrival (AOA) positioning method, and the second positioning method is a pedestrian dead reckoning (PDR) positioning method.

8. A device positioning device, characterized in that: The method comprises: A first acquisition module, used to acquire initial positioning information of the target device at an initial moment; A second acquisition module, configured to acquire first positioning information of the target device at a current moment based on a first positioning method; A third acquisition module, configured to acquire second positioning information of the target device at the current moment based on a second positioning method; A determination module is used to determine the target positioning information of the target device at the current moment according to the initial positioning information, the first positioning information and the second positioning information.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

11. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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