Shared electric bicycle satellite positioning method and system and electronic equipment

Abstract

The invention provides a shared electric bicycle satellite positioning method and system and electronic equipment, and the method comprises the steps: obtaining a satellite positioning signal, inertial navigation system data and geographic information system data corresponding to a shared electric bicycle; processing the satellite positioning signal, the inertial navigation system data and the geographic information system data to obtain the position information of the shared electric bicycle; detecting a cellular network signal of an area where the shared electric bicycle is located; and under the condition that the cellular network signal is abnormal, the position information is sent to a cloud server through a satellite communication network. According to the shared electric bicycle satellite positioning method, the shared electric bicycle satellite positioning system and the electronic equipment provided by the invention, the position information of the bicycle can be uploaded to the cloud server under the condition that a cellular network signal is weak or no signal exists, the application scene is expanded, and the management efficiency and the safety of the shared electric bicycle are improved.

Description

Technical Field

[0001] The present invention relates to the field of satellite positioning technology, and in particular to a satellite positioning method, system and electronic equipment for a shared electric motorcycle. Background Art

[0002] With the development of the sharing economy, shared electric motorcycles have been widely used in urban transportation as a convenient way of travel. However, due to the wide geographical distribution of shared electric motorcycles, especially in remote areas, underground parking lots, mountainous areas and other areas with poor or no cellular network signals, traditional cellular network-based positioning systems often cannot provide accurate vehicle location data, which brings great inconvenience to the management and operation of shared electric motorcycles.

[0003] Most of the existing shared electric motorcycles rely on cellular networks to update and upload the vehicle's location in real time, using the Global Navigation Satellite System (GNSS) to obtain location information, and then transmitting the location information to the cloud through the cellular network. However, when the vehicle is in an area with weak or no cellular signal, the upload of location information is blocked, resulting in the inability to track and manage the vehicle in real time. This situation not only increases the risk of vehicle loss and theft, but also reduces management efficiency. Summary of the invention

[0004] The present invention provides a satellite positioning method, system and electronic device for a shared electric motorcycle, which are used to solve the defect in the prior art that shared electric motorcycles rely on cellular networks for real-time update and upload of vehicle locations, and cannot transmit vehicle location information in application scenarios with abnormal cellular network signals, thereby affecting the management efficiency and safety of shared electric motorcycles.

[0005] The present invention provides a satellite positioning method for a shared electric motorcycle, comprising: Obtain satellite positioning signals, inertial navigation system data and geographic information system data corresponding to shared electric motorcycles; Processing the satellite positioning signal, inertial navigation system data and geographic information system data to obtain the location information of the shared electric motorcycle; Detecting a cellular network signal in an area where the shared electric motorcycle is located; In case the cellular network signal is abnormal, the location information is sent to a cloud server via a satellite communication network.

[0006] In some embodiments, the processing of the satellite positioning signal, the inertial navigation system data and the geographic information system data to obtain the location information of the shared electric motorcycle includes: Processing the satellite positioning signal to obtain the initial position information of the shared electric motorcycle; Preprocessing the inertial navigation system data and the geographic information system data to obtain preprocessed data; Based on the preprocessed data, the initial position information of the shared electric motorcycle is corrected to obtain the position information of the shared electric motorcycle.

[0007] In some embodiments, the processing of the satellite positioning signal, the inertial navigation system data and the geographic information system data to obtain the location information of the shared electric motorcycle includes: Preprocessing the satellite positioning signal, the inertial navigation system data and the geographic information system data to obtain preprocessed satellite positioning signal, preprocessed inertial navigation system data and preprocessed geographic information system data; Aligning the preprocessed satellite positioning signal, the preprocessed inertial navigation system data, and the preprocessed geographic information system data to obtain aligned multimodal data; fusing the aligned multimodal data to obtain fused data; Based on the fused data, the location information of the shared electric motorcycle is determined.

[0008] In some embodiments, detecting a cellular network signal in an area where the shared electric motorcycle is located includes: Obtaining the cellular network signal strength in the area where the shared electric motorcycle is located; Determine whether the cellular network signal strength is lower than a preset signal strength threshold. If so, determine that the cellular network signal is abnormal, generate a first control instruction, and control the shared electric motorcycle to switch to a satellite communication mode based on the first control instruction. Otherwise, generate a second control instruction, and control the shared electric motorcycle to maintain a cellular network communication mode based on the second control instruction.

[0009] In some embodiments, after controlling the shared electric motorcycle to switch to the satellite communication mode based on the first control instruction, the method further includes: Generate a third control instruction, and activate the low power consumption strategy of the shared electric motorcycle based on the third control instruction.

[0010] In some embodiments, the method further comprises: Based on the location information of the shared electric motorcycle in the current time period, determine whether the continuous stationary time of the shared electric motorcycle exceeds a preset time threshold. If so, generate a fourth control instruction, and control the shared electric motorcycle to enter sleep mode based on the fourth control instruction.

[0011] In some embodiments, sending the location information to a cloud server via a satellite communication network includes: compressing the position information to obtain compressed position information; The best target satellite network is adaptively selected from a plurality of pre-set satellite networks, and the compressed location information is sent to a cloud server through the target satellite network.

[0012] The present invention also provides a satellite positioning system for shared electric motorcycles, comprising: An acquisition module is used to obtain satellite positioning signals, inertial navigation system data and geographic information system data corresponding to the shared electric motorcycle; A satellite positioning module, used to process the satellite positioning signal, inertial navigation system data and geographic information system data to obtain the location information of the shared electric motorcycle; A signal detection module, used to detect the cellular network signal in the area where the shared electric motorcycle is located; The satellite communication module is used to send the location information to the cloud server via the satellite communication network when the cellular network signal is abnormal.

[0013] In some embodiments, the system further comprises: The power management module is used to generate a third control instruction and activate the low power consumption strategy of the shared electric motorcycle based on the third control instruction.

[0014] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the satellite positioning method for a shared electric motorcycle as described above is implemented.

[0015] The shared electric motorcycle satellite positioning method, system and electronic device provided by the present invention obtain the satellite positioning signal, inertial navigation system data and geographic information system data corresponding to the shared electric motorcycle; process the satellite positioning signal, inertial navigation system data and geographic information system data to obtain the location information of the shared electric motorcycle; detect the cellular network signal in the area where the shared electric motorcycle is located; and in the event of an abnormal cellular network signal, send the location information to a cloud server via a satellite communication network. This method is suitable for areas with weak or no cellular network signals, expands the application scenarios, and improves the management efficiency and safety of shared electric motorcycles. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 It is a flow chart of the satellite positioning method for a shared electric motorcycle provided in an embodiment of the present invention.

[0018] Figure 2 It is a schematic diagram of a flow chart of processing satellite positioning signals, inertial navigation system data and geographic information system data provided by an embodiment of the present invention.

[0019] Figure 3 It is a structural schematic diagram of a satellite positioning system for shared electric motorcycles provided in an embodiment of the present invention.

[0020] Figure 4 It is a schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0022] The terms "first", "second", etc. in the present invention are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present invention can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first" and "second" are generally of the same type, and the number of objects is not limited. For example, the first object can be one or more.

[0023] In recent years, with the development of satellite communication technology, the widespread deployment of low-Earth orbit satellites has made it possible to conduct low-cost, wide-coverage communications through satellite networks. Compared with traditional ground base station networks, satellite communications have a wider coverage range and are particularly suitable for remote areas and areas without cellular network signals. Therefore, by combining satellite communication technology with GNSS, the location information of vehicles can be uploaded to the management platform even in the absence of cellular networks, providing a new solution for the precise positioning and management of shared electric motorcycles.

[0024] Although some satellite positioning and communication technologies have been applied in other fields, such as shipping and field exploration, in the field of short-distance transportation such as shared electric motorcycles, how to efficiently use satellite communication systems, achieve a balance between power consumption, cost and communication latency, and ensure that the system can intelligently switch communication modes in different network environments, are still technical challenges that need to be solved urgently.

[0025] To this end, the embodiments of the present invention propose a satellite positioning method, system and electronic device for a shared electric motorcycle, aiming to solve the problem in the prior art that the vehicle cannot be tracked in areas with abnormal cellular network signals.

[0026] Figure 1 The following is a flow chart of a satellite positioning method for a shared electric motorcycle provided by an embodiment of the present invention. Figure 1 As shown, a satellite positioning method for a shared electric motorcycle is provided, comprising the following steps: step 110, step 120, step 130 and step 140. The steps of the method flow are only a possible implementation of the present invention.

[0027] Step 110: Obtain the satellite positioning signal, inertial navigation system data and geographic information system data corresponding to the shared electric motorcycle.

[0028] Among them, satellite positioning signals refer to signals from different satellite navigation systems, such as the Global Positioning System (GPS), the GLObal NAvigation Satellite System (GLONASS), the Galileo Satellite Navigation System and the Beidou Satellite Navigation System. Satellite positioning signals contain time information and location information.

[0029] Among them, the inertial navigation system data is time series data, which records information such as the position, speed, and posture of shared electric motorcycles that change over time. The inertial navigation system data focuses on providing real-time and continuous positioning information.

[0030] Among them, the geographic information system data at least includes the location data of shared electric motorcycles, the user's riding route data and basic geographic information. The geographic information system data can be vector data or raster data. The geographic information system data provides rich spatial context information.

[0031] Optionally, satellite positioning signals are received through a GNSS receiver installed on the shared electric motorcycle; inertial navigation system data is obtained through the inertial navigation system (such as an accelerometer and a gyroscope) of the shared electric motorcycle; geographic information system data is obtained from an official map service provider or an open source geographic information system database, or geographic information system data is obtained through remote sensing technology.

[0032] It is understandable that by obtaining the satellite positioning signals, inertial navigation system data and geographic information system data corresponding to shared electric motorcycles, a comprehensive and rich data foundation is provided for the subsequent positioning of shared electric motorcycles, which helps to improve the accuracy of shared electric motorcycle positioning.

[0033] Step 120: Process the satellite positioning signal, inertial navigation system data and geographic information system data to obtain the location information of the shared electric motorcycle.

[0034] Optionally, differential positioning technology is used to determine the location information of shared electric motorcycles in specific scenarios.

[0035] In some embodiments, the satellite positioning signal, the inertial navigation system data and the geographic information system data are processed to obtain the location information of the shared electric motorcycle, including: Process the satellite positioning signal to obtain the initial location information of the shared electric motorcycle; Preprocessing the inertial navigation system data and the geographic information system data to obtain preprocessed data; Based on the preprocessed data, the initial position information of the shared electric motorcycle is corrected to obtain the position information of the shared electric motorcycle.

[0036] Optionally, the satellite positioning signal is decoded to extract useful information, such as pseudo-random noise codes and navigation messages, and the pseudo-range from the signal receiver to each visible satellite is calculated based on the signal propagation time. The pseudo-range is corrected and the three-dimensional position (longitude, latitude, altitude) of the signal receiver is calculated using triangulation or least squares algorithms using pseudo-range information from at least four satellites to obtain the initial position information of the shared electric motorcycle.

[0037] Optionally, the inertial navigation system data is preprocessed by denoising, coordinate transformation, etc., and the inertial navigation system data is aligned with the satellite positioning signal.

[0038] Optionally, the GIS data is pre-processed by data cleaning, format conversion, coordinate conversion, standardization, interpolation, etc., to align the GIS data with the satellite positioning signal.

[0039] Figure 2 The present invention provides a flowchart of processing satellite positioning signals, inertial navigation system data and geographic information system data. Figure 2 As shown, in step 120, the satellite positioning signal, the inertial navigation system data and the geographic information system data are processed to obtain the location information of the shared electric motorcycle, including: Step 121, preprocessing the satellite positioning signal, the inertial navigation system data and the geographic information system data to obtain preprocessed satellite positioning signal, preprocessed inertial navigation system data and preprocessed geographic information system data; Step 122: aligning the preprocessed satellite positioning signal, the preprocessed inertial navigation system data, and the preprocessed geographic information system data to obtain aligned multimodal data; Step 123, fusing the aligned multimodal data to obtain fused data; Step 124: Determine the location information of the shared electric motorcycle based on the fused data.

[0040] Optionally, a data fusion algorithm (such as an extended Kalman filter, an unscented Kalman filter, or a particle filter) is used to integrate the aligned multimodal data.

[0041] Optionally, the aligned multimodal data is fused according to the weights of various types of data in the aligned multimodal data.

[0042] It should be noted that the inertial navigation system data can provide short-term accurate positioning compensation to solve the problem of position drift when the signal is weak.

[0043] It can be understood that by preprocessing, aligning and fusing satellite positioning signals, inertial navigation system data and geographic information system data, the location information of shared electric motorcycles can be determined based on the fused data, which improves the accuracy and reliability of shared electric motorcycle positioning, helps to improve user experience and optimize operational efficiency.

[0044] Step 130: Detect the cellular network signal in the area where the shared electric motorcycle is located.

[0045] It is understandable that by detecting the cellular network signal in the area where the shared electric motorcycle is located, it is possible to determine whether the cellular network signal in the area where the shared electric motorcycle is located is abnormal, so as to detect abnormal situations in a timely manner and take reasonable response measures.

[0046] In some embodiments, detecting a cellular network signal in an area where the shared electric motorcycle is located includes: Get the cellular network signal strength in the area where the shared electric motorcycle is located; Determine whether the cellular network signal strength is lower than a preset signal strength threshold. If so, determine that the cellular network signal is abnormal, generate a first control instruction, and control the shared electric motorcycle to switch to satellite communication mode based on the first control instruction. Otherwise, generate a second control instruction, and control the shared electric motorcycle to maintain the cellular network communication mode based on the second control instruction.

[0047] Optionally, the cellular network signal is monitored in real time, and when the cellular network signal strength is lower than a preset signal strength threshold, such as -90dBm, or the cellular network signal is completely lost, the satellite positioning mode is triggered and the low power consumption management strategy is activated.

[0048] It should be noted that the default communication mode of shared electric motorcycles is the cellular network communication mode, which detects in real time whether the cellular network signal is abnormal. If the cellular network signal is abnormal, it will automatically switch to the satellite communication mode. If the cellular network signal is normal, it will maintain the cellular network communication mode.

[0049] It is understandable that shared electric motorcycles adopt a communication mode that combines cellular networks and satellite communications, and monitor cellular network signals in real time to automatically switch communication modes. This can effectively avoid communication interruptions caused by insufficient cellular network coverage or unstable signals, improve communication stability, reliability of positioning services and user experience, improve management efficiency, reduce operating costs, and is suitable for a variety of application scenarios; multi-channel data transmission methods also increase the possibility of data backup. Once a problem occurs in the main communication channel, data can continue to be transmitted through the backup channel, thereby ensuring the security and integrity of the data.

[0050] In some embodiments, after controlling the shared electric motorcycle to switch to the satellite communication mode based on the first control instruction, the method further includes: A third control instruction is generated, and a low power consumption strategy of the shared electric motorcycle is activated based on the third control instruction.

[0051] Optionally, the energy consumption of shared electric motorcycles can be reduced by optimizing hardware design and software algorithms; for example, by using low-power sensors and reducing the frequency of unnecessary data transmission.

[0052] Optionally, when the cellular network signal returns to normal, the relevant modules are automatically awakened.

[0053] It is understandable that activating the low-power strategy when the cellular network signal abnormally switches to the satellite communication mode can not only effectively extend the battery life and battery life, but also reduce charging and maintenance costs, improve user experience, and ensure that the vehicle can work stably in various environments.

[0054] In some embodiments, the method further comprises: Based on the location information of the shared electric motorcycle in the current time period, determine whether the continuous stationary time of the shared electric motorcycle exceeds the preset time threshold. If so, generate a fourth control instruction, and control the shared electric motorcycle to enter the sleep mode based on the fourth control instruction.

[0055] Optionally, the preset duration threshold is determined according to historical experience data or based on user input.

[0056] Optionally, when the shared electric motorcycle is stationary or the location information does not need to be updated frequently, only the GNSS module is kept running and the other modules enter a sleep state.

[0057] It should be noted that shared electric motorcycles usually implement sleep mode through a built-in intelligent control module. When the vehicle has not been used for a long time or a low battery is detected, the sleep mechanism will be automatically triggered. In the sleep state, the vehicle may turn off high-energy-consuming functions such as GPS positioning and Bluetooth connection, while maintaining basic safety monitoring functions to ensure vehicle safety.

[0058] Optionally, when the shared electric motorcycle moves, the positioning module is automatically awakened and restored.

[0059] Step 140: When the cellular network signal is abnormal, the location information is sent to the cloud server via the satellite communication network.

[0060] Optionally, in the event of an abnormal cellular network signal and if there is no satellite communication condition, the location information is stored locally. After the cellular network signal returns to normal, the location information is uploaded to the cloud server in batches via the cellular network to ensure the integrity of the location information.

[0061] In some embodiments, sending the location information to a cloud server via a satellite communication network includes: compressing the position information to obtain compressed position information; The best target satellite network is adaptively selected from multiple pre-set satellite networks, and the compressed location information is sent to the cloud server through the target satellite network.

[0062] Optionally, the target satellite network is determined based on parameters such as signal strength, network load and transmission delay of different satellite communication networks.

[0063] It can be understood that by compressing the location information and sending the compressed location information to the cloud server through the target satellite network, the efficiency of data transmission is improved, energy consumption is reduced, and the stability and reliability of data transmission can be ensured.

[0064] The following is a description of a shared electric motorcycle satellite positioning system provided by an embodiment of the present invention. The shared electric motorcycle satellite positioning system described below and the shared electric motorcycle satellite positioning method described above can be referenced to each other.

[0065] Figure 3 A schematic diagram of the structure of a satellite positioning system for a shared electric motorcycle provided by an embodiment of the present invention is shown in FIG. Figure 3 As shown, the shared electric motorcycle satellite positioning system 300 includes: The acquisition module 310 is used to acquire the satellite positioning signal, inertial navigation system data and geographic information system data corresponding to the shared electric motorcycle; The satellite positioning module 320 is used to process the satellite positioning signal, the inertial navigation system data and the geographic information system data to obtain the location information of the shared electric motorcycle; The signal detection module 330 is used to detect the cellular network signal in the area where the shared electric motorcycle is located; The satellite communication module 340 is used to send the location information to the cloud server via the satellite communication network when the cellular network signal is abnormal.

[0066] In some embodiments, the shared electric motorcycle satellite positioning system 300 further includes: The power management module is used to generate a third control instruction and activate the low power consumption strategy of the shared electric motorcycle based on the third control instruction.

[0067] Optionally, the satellite positioning signal, the inertial navigation system data and the geographic information system data are processed to obtain the location information of the shared electric motorcycle, including: Process the satellite positioning signal to obtain the initial location information of the shared electric motorcycle; Preprocessing the inertial navigation system data and the geographic information system data to obtain preprocessed data; Based on the preprocessed data, the initial position information of the shared electric motorcycle is corrected to obtain the position information of the shared electric motorcycle.

[0068] Optionally, the satellite positioning signal, the inertial navigation system data and the geographic information system data are processed to obtain the location information of the shared electric motorcycle, including: Preprocessing the satellite positioning signal, the inertial navigation system data and the geographic information system data to obtain preprocessed satellite positioning signal, preprocessed inertial navigation system data and preprocessed geographic information system data; Aligning the preprocessed satellite positioning signal, the preprocessed inertial navigation system data, and the preprocessed geographic information system data to obtain aligned multimodal data; Fusing the aligned multimodal data to obtain fused data; Based on the fused data, the location information of the shared electric motorcycle is determined.

[0069] Optionally, detecting a cellular network signal in an area where the shared electric motorcycle is located includes: Get the cellular network signal strength in the area where the shared electric motorcycle is located; Determine whether the cellular network signal strength is lower than a preset signal strength threshold. If so, determine that the cellular network signal is abnormal, generate a first control instruction, and control the shared electric motorcycle to switch to satellite communication mode based on the first control instruction. Otherwise, generate a second control instruction, and control the shared electric motorcycle to maintain the cellular network communication mode based on the second control instruction.

[0070] Optionally, the shared electric motorcycle satellite positioning system 300 further includes: The control module is used to determine whether the continuous stationary time of the shared electric motorcycle exceeds a preset time threshold based on the location information of the shared electric motorcycle in the current time period. If so, a fourth control instruction is generated to control the shared electric motorcycle to enter sleep mode based on the fourth control instruction.

[0071] Optionally, the location information is sent to a cloud server via a satellite communication network, including: compressing the position information to obtain compressed position information; Adaptively select the best target satellite network from multiple pre-set satellite networks and send the compressed location information to the cloud server through the target satellite network It should be noted here that the shared electric motorcycle satellite positioning system provided by the embodiment of the present invention can implement all the method steps implemented by the above-mentioned shared electric motorcycle satellite positioning method embodiment, and can achieve the same technical effect. The parts and beneficial effects of this embodiment that are the same as the method embodiment will not be specifically described here.

[0072] Figure 4 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention, such as Figure 4 As shown, the electronic device may include: a processor 810, a communications interface 420, a memory 430 and a communication bus 440, wherein the processor 410, the communications interface 420 and the memory 430 communicate with each other through the communication bus 440. The processor 410 may call the logic instructions in the memory 430 to execute the satellite positioning method for a shared electric motorcycle, the method comprising: obtaining the satellite positioning signal, inertial navigation system data and geographic information system data corresponding to the shared electric motorcycle; processing the satellite positioning signal, inertial navigation system data and geographic information system data to obtain the location information of the shared electric motorcycle; detecting the cellular network signal in the area where the shared electric motorcycle is located; and sending the location information to the cloud server through the satellite communication network when the cellular network signal is abnormal.

[0073] In addition, the logic instructions in the above-mentioned memory 430 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0074] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, it is implemented to execute the shared electric motorcycle satellite positioning method provided by the above-mentioned methods. The method includes: obtaining the satellite positioning signal, inertial navigation system data and geographic information system data corresponding to the shared electric motorcycle; processing the satellite positioning signal, inertial navigation system data and geographic information system data to obtain the location information of the shared electric motorcycle; detecting the cellular network signal in the area where the shared electric motorcycle is located; and in the event of an abnormality in the cellular network signal, sending the location information to a cloud server via a satellite communication network.

[0075] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0076] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0077] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A satellite positioning method for a shared electric motorcycle, characterized in that: include: Obtain satellite positioning signals, inertial navigation system data and geographic information system data corresponding to shared electric motorcycles; Processing the satellite positioning signal, inertial navigation system data and geographic information system data to obtain the location information of the shared electric motorcycle; Detecting a cellular network signal in an area where the shared electric motorcycle is located; In case the cellular network signal is abnormal, the location information is sent to a cloud server via a satellite communication network.

2. The satellite positioning method for shared electric motorcycles according to claim 1, characterized in that: The processing of the satellite positioning signal, the inertial navigation system data and the geographic information system data to obtain the location information of the shared electric motorcycle includes: Processing the satellite positioning signal to obtain the initial position information of the shared electric motorcycle; Preprocessing the inertial navigation system data and the geographic information system data to obtain preprocessed data; Based on the preprocessed data, the initial position information of the shared electric motorcycle is corrected to obtain the position information of the shared electric motorcycle.

3. The satellite positioning method for shared electric motorcycles according to claim 1, characterized in that: The processing of the satellite positioning signal, the inertial navigation system data and the geographic information system data to obtain the location information of the shared electric motorcycle includes: Preprocessing the satellite positioning signal, the inertial navigation system data and the geographic information system data to obtain preprocessed satellite positioning signal, preprocessed inertial navigation system data and preprocessed geographic information system data; Aligning the preprocessed satellite positioning signal, the preprocessed inertial navigation system data, and the preprocessed geographic information system data to obtain aligned multimodal data; fusing the aligned multimodal data to obtain fused data; Based on the fused data, the location information of the shared electric motorcycle is determined.

4. The satellite positioning method for shared electric motorcycles according to claim 1, characterized in that: The detecting of the cellular network signal in the area where the shared electric motorcycle is located includes: Obtaining the cellular network signal strength in the area where the shared electric motorcycle is located; Determine whether the cellular network signal strength is lower than a preset signal strength threshold. If so, determine that the cellular network signal is abnormal, generate a first control instruction, and control the shared electric motorcycle to switch to a satellite communication mode based on the first control instruction. Otherwise, generate a second control instruction, and control the shared electric motorcycle to maintain a cellular network communication mode based on the second control instruction.

5. The satellite positioning method for shared electric motorcycles according to claim 4, characterized in that: After controlling the shared electric motorcycle to switch to the satellite communication mode based on the first control instruction, the method further includes: Generate a third control instruction, and activate the low power consumption strategy of the shared electric motorcycle based on the third control instruction.

6. The satellite positioning method for shared electric motorcycles according to claim 1, characterized in that: The method further comprises: Based on the location information of the shared electric motorcycle in the current time period, determine whether the continuous stationary time of the shared electric motorcycle exceeds a preset time threshold. If so, generate a fourth control instruction, and control the shared electric motorcycle to enter sleep mode based on the fourth control instruction.

7. The satellite positioning method for a shared electric motorcycle according to any one of claims 2 to 6, characterized in that: The sending of the location information to the cloud server via a satellite communication network comprises: compressing the position information to obtain compressed position information; The best target satellite network is adaptively selected from a plurality of pre-set satellite networks, and the compressed location information is sent to a cloud server through the target satellite network.

8. A satellite positioning system for shared electric motorcycles, characterized in that: include: An acquisition module is used to obtain satellite positioning signals, inertial navigation system data and geographic information system data corresponding to the shared electric motorcycle; A satellite positioning module, used to process the satellite positioning signal, inertial navigation system data and geographic information system data to obtain the location information of the shared electric motorcycle; A signal detection module, used to detect the cellular network signal in the area where the shared electric motorcycle is located; The satellite communication module is used to send the location information to the cloud server via the satellite communication network when the cellular network signal is abnormal.

9. The shared electric motorcycle satellite positioning system according to claim 8, characterized in that: The system further comprises: The power management module is used to generate a third control instruction and activate the low power consumption strategy of the shared electric motorcycle based on the third control instruction.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that: When the processor executes the computer program, it implements the shared electric motorcycle satellite positioning method as described in any one of claims 1 to 7.

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