Positioning information correction method and device, electronic equipment and storage medium

Abstract

The invention provides a method for correcting positioning information, which comprises the following steps: acquiring first positioning information of a first position, determining a course change angle of moving from the first position to a second position according to the course information, and correcting the course change angle of moving from the first position to the second position according to the course change angle. The course change angle is corrected according to actual distance information between a reference position and a third position to obtain second positioning information of the second position, the reference position and the first position are located in the same target coordinate system, and the third position is located in the same target coordinate system; the third position is an actual position of the second position determined based on the reference position. The second position is corrected through the reference position and the third position which are located in the same target coordinate system as the first position, the INS precision error deduced by the IMU is reduced, and the course and position precision determined by the IMU is effectively improved.

Description

Technical Field

[0001] The present disclosure relates to the field of data processing, and in particular to a method, device, electronic device and storage medium for correcting positioning information. Background Art

[0002] With the popularization of smart terminal devices, users have put forward higher requirements on the accuracy of positioning information obtained from the terminals.

[0003] Currently, due to the cost and size of the Inertial Measurement Unit (IMU) on wearable devices and mobile terminals, the measurement accuracy of the IMU is relatively low. The accuracy of the Inertial Navigation System (INS) derived from the IMU accumulates and errors become larger over time, resulting in large errors when the terminal device outputs positioning information to the user. Summary of the invention

[0004] The present disclosure provides a method and device for correcting positioning information, an electronic device, a storage medium, and a chip.

[0005] A first aspect of the present disclosure provides a method for correcting positioning information, the method comprising:

[0006] Acquire first positioning information of a first position, where the first positioning information includes heading information of the first position;

[0007] Determine a heading change angle from the first position to the second position according to the heading information;

[0008] The heading change angle is corrected according to actual distance information between the reference position and the third position to obtain second positioning information of the second position, wherein the reference position and the first position are in the same target coordinate system, and the third position is the actual position of the second position determined based on the reference position.

[0009] In some embodiments of the present disclosure, determining the heading change angle from the first position to the second position according to the heading information includes:

[0010] determining a first distance moved from the first position to the second position;

[0011] determining a transformation angle from the first position to the second position according to the first distance, the heading information and the position information of the first position, wherein the first positioning information also includes the position information of the first position;

[0012] The heading change angle when moving from the first position to the second position in the same horizontal plane is determined according to the transformation angle.

[0013] In some embodiments of the present disclosure, the correcting the heading change angle according to the actual distance information between the reference position and the third position to obtain the second positioning information of the second position includes:

[0014] Determine a first angle in a first triangle with the first position as the vertex angle, wherein the first triangle is a triangle formed by the first position, the reference position, and an intersection position in the same plane, and the intersection position is an intersection point of the reference position when projected onto the X-axis of the target coordinate system and an extension line of the first position along the X-axis;

[0015] Determine a second angle in a second triangle with the first position as a vertex angle, wherein the second triangle is a triangle formed by the first position, the reference position, and the third position in the same plane;

[0016] Determining a navigation correction compensation according to the first angle and the second angle;

[0017] The heading change angle is corrected based on the navigation correction compensation to obtain second positioning information of the second position.

[0018] In some embodiments of the present disclosure, determining a first angle in a first triangle with the first position as a vertex angle includes:

[0019] determining a second distance of a first line segment, wherein the first line segment is a line segment between the reference position and the first position;

[0020] Determine a third distance of a second line segment, wherein the second line segment is a line segment between the reference position and the intersection position;

[0021] Determine a fourth distance of a third line segment; wherein the third line segment is a line segment between the first position and the intersection position, and the first line segment, the second line segment and the third line segment form a first triangle;

[0022] A first angle between the first line segment and the second line segment is determined.

[0023] In some embodiments of the present disclosure, determining a second angle in a second triangle with the first position as a vertex angle includes:

[0024] determining a fifth distance of a fourth line segment, the fourth line segment being a line segment between the reference position and the third position;

[0025] determining a sixth distance of a fifth line segment, the fifth line segment being a line segment between the first position and the third position, wherein the first line segment, the fourth line segment, and the fifth line segment form a second triangle;

[0026] A second angle between the first line segment and the fifth line segment is determined.

[0027] In some embodiments of the present disclosure, the correcting the heading change angle based on the navigation correction compensation includes:

[0028] Acquire multiple navigation correction compensations collected within a moving time period, where the moving time period is a time period corresponding to moving from a first position to a second position;

[0029] Applying filtering and smoothing processing to the multiple navigation correction compensations to obtain the navigation correction compensation;

[0030] The heading change angle is corrected using the navigation correction compensation.

[0031] In some embodiments of the present disclosure, before determining the first distance moved from the first position to the second position, the method further includes:

[0032] Determining whether the position information of the second position is in the same plane as the first position and the reference position;

[0033] If they are not in the same plane, then if they are not in the same plane, projecting the second position onto the plane where the first position and the reference position are located to obtain a fourth position;

[0034] The determining a first distance moved from the first position to the second position comprises:

[0035] The distance moved from the first position to the fourth position is determined as the first distance.

[0036] In some embodiments of the present disclosure, before acquiring the first positioning information of the first position, the method further includes:

[0037] Determine whether the corresponding thresholds are met in each of the plurality of judgment conditions, wherein the judgment condition comprises at least one of the following: signal-to-noise ratio, position precision factor, satellite elevation angle, and number of satellites;

[0038] According to the number of the judgment conditions that meet the corresponding threshold, it is determined whether the first positioning information meets the preset accuracy requirement.

[0039] In some embodiments of the present disclosure, acquiring first positioning information of a first position includes:

[0040] In a case where it is determined that at least one judgment condition meets a corresponding threshold, determining that the first positioning information meets the preset accuracy requirement;

[0041] The first positioning information corresponding to the first position is obtained.

[0042] A second aspect of the present disclosure provides a device for correcting positioning information, the device comprising:

[0043] an acquiring unit, configured to acquire first positioning information of a first position, wherein the first positioning information includes heading information of the first position;

[0044] A first determining unit, configured to determine a heading change angle from the first position to the second position according to the heading information;

[0045] A correction unit is used to correct the heading change angle according to actual distance information between the reference position and the third position to obtain second positioning information of the second position, wherein the reference position and the first position are in the same target coordinate system, and the third position is the actual position of the second position determined based on the reference position.

[0046] In some embodiments of the present disclosure, the first determining unit includes:

[0047] A first determining module, configured to determine a first distance from the first position to the second position;

[0048] a second determining module, configured to determine a transformation angle of movement from the first position to the second position according to the first distance, the heading information and the position information of the first position, wherein the first positioning information also includes the position information of the first position;

[0049] The third determination module is used to determine a heading change angle from the first position to the second position in the same horizontal plane according to the transformation angle.

[0050] In some embodiments of the present disclosure, the correction unit includes:

[0051] A first determination module is used to determine a first angle in a first triangle with the first position as a vertex angle, wherein the first triangle is a triangle formed by the first position, the reference position and an intersection position in the same plane, and the intersection position is an intersection point of the reference position when projected onto the X-axis of a target coordinate system and an extension line of the first position along the X-axis;

[0052] A second determining module is used to determine a second angle in a second triangle with the first position as a vertex angle, wherein the second triangle is a triangle formed by the first position, the reference position, and the third position in the same plane;

[0053] A third determination module, configured to determine a navigation correction compensation according to the first angle and the second angle;

[0054] A correction module is used to correct the heading change angle based on the navigation correction compensation to obtain second positioning information of the second position.

[0055] In some embodiments of the present disclosure, the first determining module is further configured to:

[0056] determining a second distance of a first line segment, wherein the first line segment is a line segment between the reference position and the first position;

[0057] Determine a third distance of a second line segment, wherein the second line segment is a line segment between the reference position and the intersection position;

[0058] Determine a fourth distance of a third line segment; wherein the third line segment is a line segment between the first position and the intersection position, and the first line segment, the second line segment and the third line segment form a first triangle;

[0059] A first angle between the first line segment and the second line segment is determined.

[0060] In some embodiments of the present disclosure, the second determining module is further configured to:

[0061] determining a fifth distance of a fourth line segment, the fourth line segment being a line segment between the reference position and the third position;

[0062] determining a sixth distance of a fifth line segment, the fifth line segment being a line segment between the first position and the third position, wherein the first line segment, the fourth line segment, and the fifth line segment form a second triangle;

[0063] A second angle between the first line segment and the fifth line segment is determined.

[0064] In some embodiments of the present disclosure, the correction module is further used to:

[0065] Acquire multiple navigation correction compensations collected within a moving time period, where the moving time period is a time period corresponding to moving from a first position to a second position;

[0066] Applying filtering and smoothing processing to the multiple navigation correction compensations to obtain the navigation correction compensation;

[0067] The heading change angle is corrected using the navigation correction compensation.

[0068] In some embodiments of the present disclosure, the device further comprises:

[0069] A judging unit, configured to judge whether the position information of the second position is in the same plane as the first position and the reference position before the first determining unit determines the first distance moved from the first position to the second position;

[0070] a processing unit, configured to project the second position onto the plane where the first position and the reference position are located to obtain a fourth position if they are not in the same plane;

[0071] The first determining unit is configured to determine a distance from the first position to the fourth position as the first distance.

[0072] In some embodiments of the present disclosure, the device further comprises:

[0073] A second determining unit is configured to determine whether, before the acquiring unit acquires the first positioning information of the first position, a plurality of judgment conditions respectively meet corresponding thresholds, wherein the judgment conditions include at least one of the following: a signal-to-noise ratio, a position precision factor, a satellite elevation angle, and a number of satellites;

[0074] The third determination unit is used to determine whether the first positioning information meets a preset accuracy requirement according to the number of the judgment conditions that meet the corresponding threshold.

[0075] In some embodiments of the present disclosure, the acquisition unit is further configured to:

[0076] In a case where it is determined that at least one judgment condition meets a corresponding threshold, determining that the first positioning information meets the preset accuracy requirement;

[0077] The first positioning information corresponding to the first position is obtained.

[0078] The third aspect embodiment of the present disclosure proposes an electronic device, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method described in the first aspect embodiment of the present disclosure.

[0079] The fourth aspect embodiment of the present disclosure proposes a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to enable a computer to execute the method described in the first aspect embodiment of the present disclosure.

[0080] The fifth aspect embodiment of the present disclosure proposes a chip, which includes a processing circuit and an interface circuit; wherein the interface circuit is used to read instructions, and the interface circuit sends the instructions to the processing circuit so that the processing circuit executes the method described in the first aspect embodiment.

[0081] In summary, according to the method for correcting positioning information proposed in the present disclosure, the method includes obtaining first positioning information of a first position, the first positioning information includes heading information of the first position, determining the heading change angle from the first position to the second position according to the heading information, and correcting the heading change angle according to the actual distance information between the reference position and the third position to obtain second positioning information of the second position, wherein the reference position and the first position are in the same target coordinate system, and the third position is the actual position of the second position determined based on the reference position. By correcting the second position through the reference position and the third position in the same target coordinate system as the first position, the accuracy error of the INS derived by the IMU is reduced, and the heading and position accuracy determined by the IMU is effectively improved.

[0082] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0083] The drawings herein are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present disclosure, and together with the description are used to explain the principles of the present disclosure, and do not constitute improper limitations on the present disclosure.

[0084] Figure 1 A flowchart of a method for correcting positioning information provided by an embodiment of the present disclosure;

[0085] Figure 2 A schematic diagram of a heading change angle θ provided in an embodiment of the present disclosure;

[0086] Figure 3 A flowchart of a method for correcting positioning information provided by an embodiment of the present disclosure;

[0087] Figure 4 A flowchart of a method for correcting positioning information provided by an embodiment of the present disclosure;

[0088] Figure 5 A flowchart of a method for correcting positioning information provided by an embodiment of the present disclosure;

[0089] Figure 6 A schematic diagram of a positioning information correction system provided by an embodiment of the present disclosure;

[0090] Figure 7 A flowchart of a method for correcting positioning information provided by an embodiment of the present disclosure;

[0091] Figure 8 A flowchart of a method for correcting positioning information provided by an embodiment of the present disclosure;

[0092] Fig. 9 A flowchart of a method for correcting positioning information provided by an embodiment of the present disclosure;

[0093] Fig.10 A schematic diagram of the structure of a positioning information correction device provided in an embodiment of the present disclosure;

[0094] Fig.11 A schematic diagram of the structure of a positioning information correction device provided in an embodiment of the present disclosure;

[0095] Fig.12 A schematic diagram of the structure of an electronic device provided in an embodiment of the present disclosure;

[0096] Fig.13 A schematic diagram of the structure of a chip provided in an embodiment of the present disclosure;

[0097] Fig.14 A schematic diagram of the structure of a chip provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0098] Embodiments of the present disclosure are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present disclosure, and should not be construed as limiting the present disclosure.

[0099] With the popularization of smart terminal devices, users have put forward higher requirements on the accuracy of positioning information obtained from the terminals.

[0100] Currently, due to the cost and size of the Inertial Measurement Unit (IMU) on wearable devices and mobile terminals, the measurement accuracy of the IMU is relatively low. The accuracy of the Inertial Navigation System (INS) derived from the IMU accumulates and errors become larger over time, resulting in large errors when the terminal device outputs positioning information to the user.

[0101] Therefore, in order to solve the problems existing in the related art, the present disclosure proposes a method for correcting positioning information, obtaining first positioning information of a first position, the first positioning information including heading information of the first position, determining a heading change angle from the first position to a second position according to the heading information, and correcting the heading change angle according to actual distance information between a reference position and a third position to obtain second positioning information of the second position, wherein the reference position and the first position are in the same target coordinate system, and the third position is the actual position of the second position determined based on the reference position.

[0102] This solution corrects the second position through a reference position and a third position in the same target coordinate system as the first position, thereby reducing the accuracy error of the INS derived from the IMU and effectively improving the heading and position accuracy determined by the IMU.

[0103] The embodiments of the present disclosure are not exhaustive, but are only illustrative of some embodiments, and are not intended to be a specific limitation on the scope of protection of the present disclosure. In the absence of contradiction, each step in a certain embodiment can be implemented as an independent embodiment, and the steps can be arbitrarily combined. For example, a solution after removing some steps in a certain embodiment can also be implemented as an independent embodiment, and the order of the steps in a certain embodiment can be arbitrarily exchanged. In addition, the optional implementation methods in a certain embodiment can be arbitrarily combined; in addition, the embodiments can be arbitrarily combined, for example, some or all of the steps of different embodiments can be arbitrarily combined, and a certain embodiment can be arbitrarily combined with the optional implementation methods of other embodiments.

[0104] In each embodiment of the present disclosure, unless otherwise specified or there is a logical conflict, the terms and / or descriptions between the embodiments are consistent and can be referenced to each other, and the technical features in different embodiments can be combined to form a new embodiment based on their internal logical relationships.

[0105] The terms used in the embodiments of the present disclosure are only for the purpose of describing specific embodiments and are not intended to limit the present disclosure.

[0106] In the embodiments of the present disclosure, unless otherwise specified, elements expressed in the singular form, such as "a", "an", "the", "above", "said", "aforementioned", "this", etc., may mean "one and only one", or "one or more", "at least one", etc. For example, when using articles such as "a", "an", "the" in English in translation, the noun after the article may be understood as a singular expression or a plural expression.

[0107] In some embodiments of the present disclosure, terms such as “in response to…”, “in response to determining…”, “in the case of…”, “at the time of…”, “when…”, “if…”, “if…”, etc. may be interchangeable.

[0108] In some embodiments of the present disclosure, terms such as "greater than", "greater than or equal to", "not less than", "more than", "more than or equal to", "not less than", "higher than", "higher than or equal to", "not lower than", and "above" can be replaced with each other, and terms such as "less than", "less than or equal to", "not greater than", "less than", "less than or equal to", "no more than", "lower than", "lower than or equal to", "not higher than", and "below" can be replaced with each other.

[0109] The prefixes such as "first" and "second" in the embodiments of the present disclosure are only for distinguishing different description objects and do not constitute any restrictions on the position, order, priority, quantity or content of the description objects. For the statement of the description objects, please refer to the description in the context of the claims or embodiments, and no unnecessary restrictions should be constituted due to the use of prefixes.

[0110] In the embodiments of the present disclosure, “plurality” refers to two or more.

[0111] In the embodiments of the present disclosure, terms such as "import", "input", and "read in" can be used interchangeably.

[0112] In some embodiments of the present disclosure, devices and the like may be interpreted as physical or virtual, and their names are not limited to the names recorded in the embodiments. Terms such as “device”, “equipment”, “device”, “circuit”, “network element”, “node”, “function”, “unit”, “section”, “system”, “network”, “chip”, “chip system”, “entity”, and “subject” may be interchangeable.

[0113] In some embodiments of the present disclosure, the terms "terminal", "terminal device", "user equipment (UE)", "user terminal" "mobile station (MS)", "mobile terminal (MT)", subscriber station, mobile unit, subscriber unit, wireless unit, remote unit, mobile device, wireless device, wireless communication device, remote device, mobile subscriber station, access terminal, mobile terminal, wireless terminal, remote terminal, handset, user agent, mobile client, client and the like may be used interchangeably.

[0114] Figure 1 This is a flow chart of a method for correcting positioning information provided by an embodiment of the present disclosure. The method can be applicable to application scenarios such as smart terminals, for example, executed by a terminal with integrated navigation or positioning functions or a processor in the terminal, or executed by other devices suitable for correcting positioning information, and the present disclosure is not limited thereto. Figure 1 As shown, the method for correcting positioning information includes steps 101-103.

[0115] Step 101: Acquire first positioning information of a first position, where the first positioning information includes heading information of the first position.

[0116] The disclosed embodiments are applicable to scenarios where GNSS signals cannot be used for positioning. When the current second position of the terminal is deduced through IMU inertia, the heading and position deviation problems caused by the accumulated errors of the sensor can be corrected in real time through the method provided in the embodiments of the present application.

[0117] The first position described in the embodiment of the present disclosure is the last valid positioning information based on the GNSS signal in a scenario where the GNSS signal cannot be used for positioning.

[0118] In some embodiments, since the coordinate information based on GNSS signal positioning is different from the two-dimensional target coordinate system described in the embodiment of the present disclosure, after obtaining the first positioning information of the first position, the first positioning information needs to be converted from the original coordinate system to the target coordinate system. The converted coordinates include but are not limited to the coordinate information of the first position and the heading information of the three axes.

[0119] For example, the first positioning information is the longitude and latitude of the WGS84 coordinate system, which is converted into the target coordinate system (such as the Cartesian coordinate system), or the WGS84 coordinate system is converted into any two-dimensional plane coordinate system. Specifically, the embodiment of the present disclosure does not limit the type of the target coordinate system.

[0120] Step 102: Determine a heading change angle from the first position to the second position according to the heading information.

[0121] During the navigation and positioning process, the positioning heading information will change as the walking route changes. In order to facilitate the understanding of the heading change angle, such as Figure 2 As shown, the heading change angle corresponds to Figure 2 The heading change angle θ in .

[0122] When determining the heading change angle θ, the initial heading angle and the final heading angle must be determined. Based on the two determined heading angles (initial heading angle and final heading angle), the heading change angle θ can be determined. Figure 2 After determining the initial heading angle of the Pn-1 position and the final heading angle of the Pn position, the heading change angle θ from the Pn-1 position (first position) to the Pn position (second position) can be calculated.

[0123] In the embodiment of the present disclosure, when determining the heading change angle θ, the heading change angle θ of the terminal from point Pn-1 to point Pn is calculated by calculating the quaternion transformation of the IMU sampling data within the ΔT time. Specifically, the embodiment of the present disclosure does not limit the method used to calculate the heading change angle θ.

[0124] It should be understood that Figure 2 The description is only given to facilitate understanding of the heading change angle θ, rather than limiting a specific positioning path.

[0125] Step 103, correcting the heading change angle according to actual distance information between the reference position and the third position to obtain second positioning information of the second position, wherein the reference position and the first position are in the same target coordinate system, and the third position is the actual position of the second position determined based on the reference position.

[0126] The reference position (anchor point) described in the embodiment of the present disclosure can be located in a fixed router or any hotspot, and can be accurately positioned through GNSS signals. In the specific application process, high-precision surveying and mapping equipment (such as differential positioning) is used to obtain the WGS84 coordinates of the reference position (anchor point) and convert them into coordinates of the target coordinate system (such as the ENU coordinate system).

[0127] In the embodiments of the present disclosure, the terminal and the reference position need to be in the same horizontal plane. When the terminal moves from the first position to the second position, the anchor point at the reference position can calculate the actual position between the reference position and the terminal by transmitting a wireless signal, that is, calculate the actual distance between the first position and the third position. In some embodiments, when the anchor point calculates the actual distance between the first position and the third position through wireless communication, it can be calculated through Bluetooth, wireless network communication technology (Wi-Fi), ultra-wideband wireless carrier communication (Ultra Wide Band, UWB), etc., and specifically, the embodiments of the present disclosure are not limited to this.

[0128] At each sampling point of the terminal, the second positioning information output by the positioning is corrected using the actual position (ie, the third position) of the second position calculated based on the reference position. The correction includes but is not limited to the heading and position information contained in the second positioning information.

[0129] For example, when a user carries a terminal device (such as a wearable device, a mobile phone, etc.) in an indoor shopping mall or hikes in a mountain, the GNSS signal cannot meet the positioning requirements. The IMU measures the sensor data for strapdown inertial navigation positioning, such as collecting accelerometer, gyroscope and magnetometer data above 25 Hz to calculate the attitude and heading, and derive the IMU's forward direction, speed and distance. When the inertial navigation calculates the heading and position information in real time, the embodiment of the present disclosure uses a fixed reference position (anchor point) to assist in correcting the heading and position information output by the INS, which is closer to the actual value.

[0130] According to the method for correcting positioning information proposed in the present disclosure, the method includes obtaining first positioning information of a first position, the first positioning information includes heading information of the first position, calculating the heading change angle from the first position to the second position according to the heading information, and correcting the heading change angle according to the actual distance information between the reference position and the third position to obtain second positioning information of the second position, wherein the reference position and the first position are in the same target coordinate system, and the third position is the actual position of the second position determined based on the reference position. By correcting the second position by using the reference position and the third position in the same target coordinate system as the first position, the accuracy error of the INS derived by the IMU is reduced, and the heading and position accuracy calculated by the IMU is effectively improved.

[0131] Figure 3 The following further shows a flow chart of a method for correcting positioning information proposed in the present disclosure. Figure 1 The embodiment shown further explains step 102. Figure 3 The following steps may be included:

[0132] Step 201: determine a first distance from the first position to the second position.

[0133] Record all IMU sampling data (including but not limited to heading information, coordinate information, acceleration information, etc.) from the first position to the second position after ΔT time. Use the sampled accelerometer Accl data, use the step length detection algorithm to determine the number of steps taken by the pedestrian within ΔT time, and use the pre-trained pedestrian model to determine the pedestrian's step length. Based on the product of the determined number of steps and the step length, calculate the first distance L from the first position to the second position gi .

[0134] In the specific application process, any implementation method of the step length detection algorithm and the pedestrian step length model can be adopted without specific limitation.

[0135] Step 202: Determine a transformation angle for moving from the first position to the second position based on the first distance, the heading information and the position information of the first position, wherein the first positioning information also includes the position information of the first position.

[0136] In the ENU coordinate system, with the starting angle (hx, hy, hz) of the first position, the transformation angle angle (x, y, z) of the device from the first position to the second position is calculated by calculating the quaternion transformation of the IMU sampling data within the ΔT time.

[0137] Step 203: Determine a heading change angle from the first position to the second position in the same horizontal plane according to the transformation angle.

[0138] When correcting the second positioning coordinates, the embodiment of the present disclosure determines the heading change angle θ of the heading change angle of the horizontal plane from the first position to the second position in the BEV view. Among them, the algorithm for determining the angle change within the ΔT time by quaternion transformation using the initial heading H(x, y, z) is not described in detail in the embodiment of the present disclosure, such as the AHRS algorithm.

[0139] Figure 4 The following further shows a flow chart of a method for correcting positioning information proposed in the present disclosure. Figure 1 The embodiment shown further explains step 103. Figure 4The following steps may be included:

[0140] Step 301, determining a first angle in a first triangle with the first position as a vertex angle, wherein the first triangle is a triangle formed by the first position, the reference position and an intersection position in the same plane, and the intersection position is an intersection of the reference position and an extension line of the first position along the X-axis when projected onto the X-axis of a target coordinate system;

[0141] In the disclosed embodiment, triangles (first triangle and second triangle) are used as the basis for calculation. Based on the known lengths of the three sides of the triangles, this calculation method occupies the least processing resources, improves the calculation efficiency, and ensures the real-time calculation of the second positioning information.

[0142] like Figure 5 As shown, when determining the first angle in the first triangle with the first position as the vertex angle, the following method may be used, including:

[0143] Step 3011, determining a second distance of a first line segment, wherein the first line segment is a line segment between the reference position and the first position;

[0144] In order to facilitate a better understanding of the various locations in the embodiments of the present disclosure, Figure 6 As shown, the first position corresponds to point G, the reference position corresponds to anchor point A, the second position corresponds to position I, the third position corresponds to position I', the first line segment AG is a line segment with reference position A and first position G as endpoints, and the corresponding second distance is L ag .

[0145] In calculating the second distance L ag When the linear distance Lag between the first position G and the reference position (anchor point) A is calculated by the two-dimensional space coordinates. The specific calculation method can adopt any method in the relevant technology, which will not be described in detail in the embodiment of the present disclosure.

[0146] Step 3012: determine a third distance of a second line segment, wherein the second line segment is a line segment between the reference position and the intersection position.

[0147] The intersection position corresponds to position B, the second line segment AB is a line segment with the intersection position B and the reference position A as endpoints, and the corresponding third distance is L ab .

[0148] In determining the third distance L ab When , it is determined by the y-axis coordinate position of the reference position A point and the y-axis coordinate position of the first position G in the ENU coordinate system.

[0149] Step 3013, determining a fourth distance of a third line segment; wherein the third line segment is a line segment between the first position and the intersection position, and the first line segment, the second line segment and the third line segment form a first triangle.

[0150] The third line segment BG is a line segment with the intersection position B and the first position G as endpoints, and its corresponding fourth distance is L gb .

[0151] In calculating the fourth distance L gb When , it is determined by the x-axis coordinate position of the reference position A point and the x-axis coordinate position of the first position G in the ENU coordinate system.

[0152] from Figure 6 It can be seen that the first triangle GBA is composed of a first line segment AG, a second line segment AB and a third line segment BG in the same plane.

[0153] Step 3014: determine a first angle between the first line segment and the second line segment.

[0154] In the two-dimensional ENU coordinate system, it is known that the second distance of the first line segment AG is L ag The fourth distance from the third line segment BG is L gb， Calculate the value φ of the first angle ∠AGB.

[0155] The first angle ∠AGB can be calculated by the cosine theorem, and the specific calculation process will not be elaborated.

[0156] Step 302, determining a second angle in a second triangle with the first position as a vertex angle, wherein the second triangle is a triangle formed by the first position, the reference position and the third position in the same plane.

[0157] like Figure 7 As shown, when determining the second angle of the second triangle with the first position as the vertex angle, the following methods may be used but are not limited to:

[0158] Step 3021: determine a fifth distance of a fourth line segment, where the fourth line segment is a line segment between the reference position and the third position.

[0159] The fourth line segment A I' is a line segment with the reference position A and the third position I' as endpoints, and the corresponding fifth distance is Lai'. It should be noted that the fifth distance is the actual distance moved by the terminal.

[0160] When calculating the fifth distance Lai', the corresponding calculation method can be determined based on the type of anchor point, and the type of anchor point includes but is not limited to BT, WIFI and UWB, etc. The fifth distance Lai' of the fourth line segment Ai' can be implemented by any of the following algorithms:

[0161] 1) Received Signal Strength Indicator (RSSI)

[0162] 2) Bluetooth Angle of Arrive (AoA) / Bluetooth Angle of Departure (AOD)

[0163] 3) Bluetooth channel detection BT (Channel Sounding)

[0164] In some embodiments, the fifth distance Lai' is calculated according to the type of the anchor point, including but not limited to the above three methods and can also be implemented in other ways.

[0165] Step 3022: determine a sixth distance of a fifth line segment, where the fifth line segment is a line segment between the first position and the third position, wherein the first line segment, the fourth line segment, and the fifth line segment form a second triangle.

[0166] The fifth line segment G I' is a line segment with the first position G and the third position I' as endpoints, and the corresponding sixth distance is L gi’ . The sixth distance L gi’ The first distance L gi The lengths are the same, and the third position I' point and the second position I point are both located at Figure 6 The dotted circle shown in FIG. 1 is centered at the first position G and the sixth distance L is gi’ Or the first distance L gi The dotted circle formed by the radius.

[0167] It should be noted that the third position I' point can be any position of the dotted circle, and is not limited to Figure 6 At the third position I' shown.

[0168] from Figure 6 It can be seen that the second triangle AG I' is composed of the first line segment AG, the fifth line segment GI' and the fourth line segment I'A in the same plane.

[0169] Step 3023: determine a second angle between the first line segment and the fifth line segment.

[0170] Given all the side lengths of the second triangle AGI', L ag , Lgi’ and L ai’ , the second angle ∠AGI' is obtained according to the cosine theorem. When calculating the second angle ∠AGI', the following formula may be used but is not limited to:

[0171] ∠AGI'=arcos((L ag 2 +L gi’ 2 -L ai’ 2 ) / 2*L ag *L gi’ ).

[0172] Step 303: Determine a navigation correction compensation according to the first angle and the second angle.

[0173] The navigation correction compensation is the angle ∠BGI' between the third line segment BG and the fifth line segment GI', ∠BGI'=∠AGI'–φ.

[0174] Step 304: Correct the heading change angle based on the navigation correction compensation to obtain second positioning information of the second position.

[0175] like Figure 8 As shown, when the heading change angle is corrected based on the navigation correction compensation, the following methods may be used but are not limited to:

[0176] Step 3041, obtaining multiple navigation correction compensations collected within a moving time period, where the moving time period is a time period corresponding to moving from a first position to a second position.

[0177] In the related art, as the moving time period Δt from the first position to the second position accumulates, the cumulative error of θ determined by the IMU becomes larger and larger. Therefore, the heading change angle θ can be corrected and constrained by ∠BGI', thereby improving the accuracy of the INS navigation coordinates.

[0178] Since the correction process is a real-time correction process based on the sampling points, multiple navigation correction compensations may be obtained within the Δt time.

[0179] Step 3042: Apply filtering and smoothing processing to the multiple navigation correction compensations to obtain the navigation correction compensations.

[0180] When performing filtering and smoothing processing, any method in the relevant technology may be used to implement it, and the specific embodiments of the present disclosure are not limited thereto.

[0181] Step 3043: Use the navigation correction compensation to correct the heading change angle.

[0182] At each second position, the reference position (anchor point) and the terminal are used to interactively correct the heading change angle θ and the second positioning information corresponding to the second position to assist in correcting the heading and position output by the INS, so that the corrected second position I output by the INS is closer to the true value.

[0183] The above embodiment is described by taking the second position point I, the first position point G and the reference position point A as being in the same plane. In actual applications, when the terminal moves from the first position point G to the second position point I, it may be that when the terminal is climbing a mountain, the second position point I is not in the same plane as the first position point G and the reference position point A when it moves to the second position point I. For example, Fig. 9 In order to more accurately calibrate the second position information, before determining the first distance from the first position point G to the second position point I, determine whether the position information of the second position point I is in the same plane as the first position point G and the reference position point A, project the second position point I onto the plane where the first position point G and the reference position point A are located, and obtain the fourth position point D, that is, point D is the projection point of the second position point I on the AG plane, and determine the first distance L from the first position point A to the fourth position point D. ad .

[0184] In calculating the first distance L ad When ∠IAD is determined based on the coordinate information of the reference position point A and the coordinate information of the second position point I, the first distance L can be determined based on ∠IAD according to the triangle calculation formula. ad .

[0185] When calculating the height change from the first position point G to the second position point I, the right-hand rule can be used to obtain the height change ∠IGD of the second position point I, and then determine L gd , when the second distance is known to be L ag , the first distance L ad and L gd Under the premise of , calculate ∠AGD.

[0186] In some embodiments, before obtaining the first positioning information of the first location, it is determined whether multiple judgment conditions meet the corresponding thresholds respectively, wherein the judgment conditions include at least one of the following: signal-to-noise ratio, position precision factor, satellite elevation angle and number of satellites. Based on the number of judgment conditions that meet the corresponding thresholds, it is determined whether the first positioning information meets the preset accuracy requirements.

[0187] In an embodiment of the present disclosure, when it is determined that at least one judgment condition meets the corresponding threshold, it is determined that the first positioning information meets the preset accuracy requirement, and the first positioning information corresponding to the first position is obtained. In an embodiment of the present disclosure, the accuracy of the first positioning information is determined, and the accumulated error can be eliminated.

[0188] When it is determined that no judgment condition meets the corresponding threshold, it is determined that the first positioning information does not meet the preset accuracy requirement.

[0189] For example, the judgment conditions include but are not limited to the following:

[0190] 1) Eliminate signal-to-noise ratio CN0 < 25dbm;

[0191] 2) Number of satellites < 5;

[0192] 3) The elevation angle of the available satellite is φ<45°;

[0193] 4) GNSS satellite positioning can be successful and the horizontal position precision factor (Horizontal Dilution of Precision, HDOP) is <0.8;

[0194] It should be noted that the above judgment conditions are merely exemplary explanations given for ease of understanding, and are not limitations on specific thresholds.

[0195] Corresponding to the above positioning information correction method, the present invention also provides a positioning information correction device. Since the device embodiment of the present invention corresponds to the above method embodiment, the details not disclosed in the device embodiment can be referred to the above method embodiment, and will not be repeated in the present invention.

[0196] Fig.10 A schematic diagram of the structure of a positioning information correction device 400 provided in an embodiment of the present disclosure, the positioning information correction device includes:

[0197] An acquiring unit 41 is configured to acquire first positioning information of a first position, where the first positioning information includes heading information of the first position;

[0198] A first determining unit 42, configured to determine a heading change angle from the first position to the second position according to the heading information;

[0199] The correction unit 43 is used to correct the heading change angle according to the actual distance information between the reference position and the third position to obtain the second positioning information of the second position, wherein the reference position and the first position are in the same target coordinate system, and the third position is the actual position of the second position determined based on the reference position.

[0200] According to the positioning information correction device proposed in the present disclosure, the device includes obtaining first positioning information of a first position, the first positioning information includes heading information of the first position, determining the heading change angle from the first position to the second position according to the heading information, and correcting the heading change angle according to the actual distance information between the reference position and the third position to obtain second positioning information of the second position, wherein the reference position and the first position are in the same target coordinate system, and the third position is the actual position of the second position determined based on the reference position. By correcting the second position through the reference position and the third position in the same target coordinate system as the first position, the accuracy error of the INS derived by the IMU is reduced, and the heading and position accuracy determined by the IMU is effectively improved.

[0201] Furthermore, in a possible implementation of the embodiment of the present disclosure, as Fig.11 As shown, the first determining unit 42 includes:

[0202] A first determining module 421, configured to determine a first distance from the first position to the second position;

[0203] A second determining module 422 is used to determine a transformation angle from the first position to the second position according to the first distance, the heading information and the position information of the first position, wherein the first positioning information also includes the position information of the first position;

[0204] The third determining module 423 is used to determine a heading change angle from the first position to the second position in the same horizontal plane according to the transformation angle.

[0205] Furthermore, in a possible implementation of the embodiment of the present disclosure, as Fig.11 As shown, the correction unit 43 includes:

[0206] A first determining module 431 is configured to determine a first angle in a first triangle with the first position as a vertex angle, wherein the first triangle is a triangle formed by the first position, the reference position, and an intersection position in the same plane, and the intersection position is an intersection of the reference position when projected onto the X-axis of a target coordinate system and an extension line of the first position along the X-axis;

[0207] A second determining module 432 is configured to determine a second angle in a second triangle with the first position as a vertex angle, wherein the second triangle is a triangle formed by the first position, the reference position, and the third position in the same plane;

[0208] A third determination module 433, configured to determine a navigation correction compensation according to the first angle and the second angle;

[0209] The correction module 434 is used to correct the heading change angle based on the navigation correction compensation to obtain second positioning information of the second position.

[0210] Furthermore, in a possible implementation of the embodiment of the present disclosure, as Fig.11 As shown, the first determining module 431 is further used for:

[0211] determining a second distance of a first line segment, wherein the first line segment is a line segment between the reference position and the first position;

[0212] Determine a third distance of a second line segment, wherein the second line segment is a line segment between the reference position and the intersection position;

[0213] Determine a fourth distance of a third line segment; wherein the third line segment is a line segment between the first position and the intersection position, and the first line segment, the second line segment and the third line segment form a first triangle;

[0214] A first angle between the first line segment and the second line segment is determined.

[0215] Furthermore, in a possible implementation of the embodiment of the present disclosure, as Fig.11 As shown, the second determining module 432 is further used for:

[0216] determining a fifth distance of a fourth line segment, the fourth line segment being a line segment between the reference position and the third position;

[0217] determining a sixth distance of a fifth line segment, the fifth line segment being a line segment between the first position and the third position, wherein the first line segment, the fourth line segment, and the fifth line segment form a second triangle;

[0218] A second angle between the first line segment and the fifth line segment is determined.

[0219] Furthermore, in a possible implementation of the embodiment of the present disclosure, as Fig.11 As shown, the correction module 43 is also used for:

[0220] Acquire multiple correction angles collected within a moving time period, where the moving time period is a time period corresponding to moving from a first position to a second position;

[0221] Applying filtering and smoothing processing to the multiple navigation correction compensations to obtain the navigation correction compensation;

[0222] The heading change angle is corrected using the navigation correction compensation.

[0223] Furthermore, in a possible implementation of the embodiment of the present disclosure, as Fig.11 As shown, the device also includes:

[0224] A judging unit 44, configured to judge whether the position information of the second position is in the same plane as the first position and the reference position before the first determining unit 42 determines the first distance from the first position to the second position;

[0225] A processing unit 45 is used for projecting the second position onto the plane where the first position and the reference position are located to obtain a fourth position if they are not in the same plane;

[0226] The first determining unit 42 is configured to determine a distance from the first position to the fourth position as the first distance.

[0227] Furthermore, in a possible implementation of the embodiment of the present disclosure, as Fig.11 As shown, the device also includes:

[0228] A second determining unit 46 is configured to determine whether, before the acquiring unit 41 acquires the first positioning information of the first position, a plurality of determination conditions meet corresponding thresholds respectively, wherein the determination conditions include at least one of the following: a signal-to-noise ratio, a position precision factor, a satellite elevation angle, and a number of satellites;

[0229] The third determination unit 47 determines whether the first positioning information meets a preset accuracy requirement according to the number of the judgment conditions that meet the corresponding threshold.

[0230] Furthermore, in a possible implementation of the embodiment of the present disclosure, as Fig.11 As shown, the acquisition unit 41 is further used for:

[0231] In a case where it is determined that at least one judgment condition meets a corresponding threshold, determining that the first positioning information meets the preset accuracy requirement;

[0232] The first positioning information corresponding to the first position is obtained.

[0233] Since the device provided in the embodiment of the present disclosure corresponds to the methods provided in the above-mentioned embodiments, the implementation of the method is also applicable to the device provided in the embodiment and will not be described in detail in this embodiment.

[0234] In the embodiments provided in the present application, the methods and devices provided in the embodiments of the present application are introduced. In order to implement the functions in the methods provided in the embodiments of the present application, the electronic device may include a hardware structure and a software module, and implement the functions in the form of a hardware structure, a software module, or a hardware structure plus a software module. A function of the functions may be executed in the form of a hardware structure, a software module, or a hardware structure plus a software module.

[0235] Fig.12 1 is a block diagram of an electronic device 500 for implementing the above-mentioned positioning information correction method according to an exemplary embodiment. For example, the electronic device 500 may be a computer, a fitness device, a personal digital assistant, a smart phone, a smart watch, a smart bracelet, a tablet computer, a drone, an intelligent robot, a server, etc.

[0236] Reference Fig.12 , the electronic device 500 may include one or more of the following components: a processing component 502 , a memory 504 , a power component 506 , a multimedia component 508 , an audio component 510 , an input / output (I / O) interface 512 , a sensor component 514 , and a communication component 516 .

[0237] The processing component 502 generally controls the overall operation of the electronic device 500, such as operations associated with display, phone calls, data communications, camera operations, and recording operations. The processing component 502 may include one or more processors 520 to execute instructions to complete all or part of the steps of the above-mentioned method. In addition, the processing component 502 may include one or more modules to facilitate the interaction between the processing component 502 and other components. For example, the processing component 502 may include a multimedia module to facilitate the interaction between the multimedia component 508 and the processing component 502.

[0238] The memory 504 is configured to store various types of data to support operations on the electronic device 500. Examples of such data include instructions for any application or method operating on the electronic device 500, contact data, phone book data, messages, pictures, videos, etc. The memory 504 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0239] The power supply component 506 provides power to the various components of the electronic device 500. The power supply component 506 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power to the electronic device 500.

[0240] The multimedia component 508 includes a screen that provides an output interface between the electronic device 500 and the user. In some embodiments of the present disclosure, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundaries of the touch or slide action, but also detect the duration and pressure associated with the touch or slide operation. In some embodiments of the present disclosure, the multimedia component 508 includes a front camera and / or a rear camera. When the electronic device 500 is in an operating mode, such as a shooting mode or a video mode, the front camera and / or the rear camera may receive external multimedia data. Each front camera and rear camera may be a fixed optical lens system or have a focal length and optical zoom capability.

[0241] The audio component 510 is configured to output and / or input audio signals. For example, the audio component 510 includes a microphone (MIC), and when the electronic device 500 is in an operating mode, such as a call mode, a recording mode, and a speech recognition mode, the microphone is configured to receive an external audio signal. The received audio signal can be further stored in the memory 504 or sent via the communication component 516. In some embodiments of the present disclosure, the audio component 510 also includes a speaker for outputting audio signals.

[0242] I / O interface 512 provides an interface between processing component 502 and peripheral interface modules, such as keyboards, click wheels, buttons, etc. These buttons may include but are not limited to: a home button, a volume button, a start button, and a lock button.

[0243] The sensor assembly 514 includes one or more sensors for providing various aspects of status assessment for the electronic device 500. For example, the sensor assembly 514 can detect the open / closed state of the electronic device 500, the relative positioning of components, such as the display and keypad of the electronic device 500, and the sensor assembly 514 can also detect the position change of the electronic device 500 or a component of the electronic device 500, the presence or absence of user contact with the electronic device 500, the orientation or acceleration / deceleration of the electronic device 500, and the temperature change of the electronic device 500. The sensor assembly 514 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. The sensor assembly 514 may also include an optical sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments of the present disclosure, the sensor assembly 514 may also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

[0244] The communication component 516 is configured to facilitate wired or wireless communication between the electronic device 500 and other devices. The electronic device 500 can access a wireless network based on a communication standard, such as WiFi, 2G or 3G, 4G LTE, 5G NR (NewRadio) or a combination thereof. In an exemplary embodiment, the communication component 516 receives a broadcast signal or broadcast-related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 516 also includes a near field communication (NFC) module to facilitate short-range communication. For example, the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology and other technologies.

[0245] In an exemplary embodiment, the electronic device 500 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the above methods.

[0246] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory 504 including instructions, and the above instructions can be executed by the processor 520 of the electronic device 500 to perform the above method for image processing. For example, the non-transitory computer-readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0247] The embodiments of the present disclosure further provide a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to enable a computer to execute the method described in the above embodiments of the present disclosure.

[0248] In order to implement the above embodiments, the present disclosure further proposes a chip, including: the chip includes a processing circuit, and the processing circuit is configured to execute the method provided by the above embodiments.

[0249] Fig.13 is a schematic diagram of the structure of a chip proposed in an embodiment of the present disclosure. Fig.13 The structure of the chip 600 is shown, but is not limited to this.

[0250] The chip 600 includes a processing circuit 601 and an interface circuit 602. The interface circuit 602 is used to read instructions. The interface circuit 602 sends the instructions to the processing circuit 601 so that the processing circuit 601 executes the above method.

[0251] Alternatively, if Fig.14 As shown, Fig.14 The chip 600 may further include a memory 603 for storing instructions, and the interface circuit 602 may be used to read the instructions stored in the memory 603 .

[0252] Optionally, the interface circuit 602 is connected to the memory 603, and the interface circuit 602 can be used to receive signals from the memory 603 or other devices, and the interface circuit 602 can be used to send signals to the memory 603 or other devices. For example, the interface circuit 602 can read the instructions stored in the memory 603 and send the instructions to the processing circuit 601.

[0253] Optionally, the number of the memory 603 may be one or more. The number of the interface circuit 602 may also be one or more.

[0254] In some embodiments, the interface circuit 602 performs at least one of the communication steps such as sending and / or receiving in the above method, and the processing circuit 601 performs other steps.

[0255] In some embodiments, terms such as interface circuit, interface, transceiver pin, and transceiver may be used interchangeably.

[0256] Optionally, all or part of the memory 603 may also be located outside the chip 600 .

[0257] Those skilled in the art may also appreciate that the various illustrative logic blocks and steps listed in the embodiments of the present application may be implemented by electronic hardware, computer software, or a combination of the two. Whether such functions are implemented by hardware or software depends on the design requirements of the specific application and the entire system. Those skilled in the art may use various methods to implement the functions for each specific application, but such implementation should not be understood as exceeding the scope of protection of the embodiments of the present application.

[0258] It should be noted that the terms "first", "second", etc. in the specification and claims of the present disclosure and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present disclosure described herein can be implemented in an order other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0259] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples" or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0260] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present invention includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present invention belong.

[0261] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processing module, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purposes of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (control method), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or otherwise processing in a suitable manner if necessary, and then stored in a computer memory.

[0262] It should be understood that the various parts of the embodiments of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0263] A person of ordinary skill in the art may understand that all or part of the steps of the method for implementing the above-mentioned embodiment may be completed by instructing the relevant hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one of the steps of the method embodiment or a combination thereof.

[0264] In addition, each functional unit in each embodiment of the present invention may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium. The above-mentioned storage medium may be a read-only memory, a disk or an optical disk, etc.

[0265] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A method for correcting positioning information, characterized in that: The method comprises: Acquire first positioning information of a first position, where the first positioning information includes heading information of the first position; Determine a heading change angle from the first position to the second position according to the heading information; The heading change angle is corrected according to actual distance information between the reference position and the third position to obtain second positioning information of the second position, wherein the reference position and the first position are in the same target coordinate system, and the third position is the actual position of the second position determined based on the reference position.

2. The method according to claim 1, characterized in that Determining the heading change angle from the first position to the second position according to the heading information includes: determining a first distance moved from the first position to the second position; determining a transformation angle from the first position to the second position according to the first distance, the heading information and the position information of the first position, wherein the first positioning information also includes the position information of the first position; The heading change angle when moving from the first position to the second position in the same horizontal plane is determined according to the transformation angle.

3. The method according to claim 2, characterized in that The correcting the heading change angle according to the actual distance information between the reference position and the third position to obtain the second positioning information of the second position includes: Determine a first angle in a first triangle with the first position as the vertex angle, wherein the first triangle is a triangle formed by the first position, the reference position, and an intersection position in the same plane, and the intersection position is an intersection point of the reference position when projected onto the X-axis of the target coordinate system and an extension line of the first position along the X-axis; Determine a second angle in a second triangle with the first position as a vertex angle, wherein the second triangle is a triangle formed by the first position, the reference position, and the third position in the same plane; Determining a navigation correction compensation according to the first angle and the second angle; The heading change angle is corrected based on the navigation correction compensation to obtain second positioning information of the second position.

4. The method according to claim 3, characterized in that Determining a first angle in a first triangle with the first position as a vertex angle comprises: determining a second distance of a first line segment, wherein the first line segment is a line segment between the reference position and the first position; Determine a third distance of a second line segment, wherein the second line segment is a line segment between the reference position and the intersection position; Determine a fourth distance of a third line segment; wherein the third line segment is a line segment between the first position and the intersection position, and the first line segment, the second line segment and the third line segment form a first triangle; A first angle between the first line segment and the second line segment is determined.

5. The method according to claim 3, characterized in that: Determining a second angle of a second triangle with the first position as a vertex angle comprises: determining a fifth distance of a fourth line segment, the fourth line segment being a line segment between the reference position and the third position; determining a sixth distance of a fifth line segment, the fifth line segment being a line segment between the first position and the third position, wherein the first line segment, the fourth line segment, and the fifth line segment form a second triangle; A second angle between the first line segment and the fifth line segment is determined.

6. The method according to claim 3, characterized in that: The correcting the heading change angle based on the navigation correction compensation comprises: Acquire multiple navigation correction compensations collected within a moving time period, where the moving time period is a time period corresponding to moving from a first position to a second position; Applying filtering and smoothing processing to the multiple navigation correction compensations to obtain the navigation correction compensation; The heading change angle is corrected using the navigation correction compensation.

7. The method according to claim 2, characterized in that: Before determining a first distance moved from the first position to the second position, the method further comprises: Determining whether the position information of the second position is in the same plane as the first position and the reference position; If they are not in the same plane, projecting the second position onto the plane where the first position and the reference position are located to obtain a fourth position; The determining a first distance moved from the first position to the second position comprises: The distance moved from the first position to the fourth position is determined as the first distance.

8. The method according to any one of claims 1 to 7, characterized in that Before acquiring the first positioning information of the first position, the method further includes: Determine whether the corresponding thresholds are met in each of the plurality of judgment conditions, wherein the judgment condition comprises at least one of the following: signal-to-noise ratio, position precision factor, satellite elevation angle, and number of satellites; According to the number of the judgment conditions that meet the corresponding threshold, it is determined whether the first positioning information meets the preset accuracy requirement.

9. The method according to claim 8, characterized in that The acquiring first positioning information of the first position includes: In a case where it is determined that at least one judgment condition meets a corresponding threshold, determining that the first positioning information meets the preset accuracy requirement; The first positioning information corresponding to the first position is obtained.

10. A positioning information correction device, characterized in that: The device comprises: an acquiring unit, configured to acquire first positioning information of a first position, wherein the first positioning information includes heading information of the first position; A first determining unit, configured to determine a heading change angle from the first position to the second position according to the heading information; A correction unit is used to correct the heading change angle according to actual distance information between the reference position and the third position to obtain second positioning information of the second position, wherein the reference position and the first position are in the same target coordinate system, and the third position is the actual position of the second position determined based on the reference position.

11. An electronic device, characterized in that: include: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 1 to 9.

12. A non-transitory computer-readable storage medium storing computer instructions, characterized in that: The computer instructions are used to cause the computer to execute the method according to any one of claims 1-9.

13. A chip, characterized in that: The chip comprises a processing circuit and an interface circuit; wherein the interface circuit is used to read instructions, and the interface circuit sends the instructions to the processing circuit so that the processing circuit executes the method according to any one of claims 1 to 9.

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