Method and device for determining moving track

Abstract

The embodiment of the invention provides a method and device for determining a moving track, and the method comprises the steps: obtaining the last positioning information of a target object before the target object is offline, and obtaining the initial offline position of the target object; obtaining the moving direction of the target object and the average step length of the target object; and determining the moving track of the target object in the offline stage according to the initial offline position, the moving direction and the average step length. According to the method and the device, the problem that the mobile terminal cannot establish and retain complete trajectory data in a non-signal or weak-signal environment in the prior art is solved, and the effect that the mobile terminal retains the complete trajectory data in the non-signal or weak-signal environment is further achieved.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of software systems, and in particular, to a method and device for determining a movement trajectory. Background Art

[0002] At present, the positioning methods of mobile terminals mainly rely on GPS positioning, WiFi signal positioning or mobile phone signal positioning, but these positioning methods are all subject to the limitations of signal coverage. Under field patrol conditions, especially in forest patrols, network and positioning signal attenuation is often encountered, and the location information cannot be normally positioned and uploaded. Even if the patrol personnel upload it online later, the background cannot get the lost data, which brings great challenges to field patrol planning, and safety hazards cannot be checked in time, which is easy to cause immeasurable losses. Therefore, how to establish a mobile terminal to retain complete trajectory data in an environment with no signal or weak signal is a technical problem that needs to be solved urgently.

[0003] There is currently no effective solution to the above problems. Summary of the invention

[0004] The embodiments of the present invention provide a method and device for determining a mobile trajectory, so as to at least solve the problem in the related art that a mobile terminal cannot establish and retain complete trajectory data in an environment with no signal or weak signal.

[0005] According to one embodiment of the present invention, a method for determining a movement trajectory is provided, comprising: obtaining the last positioning information of a target object before going offline to obtain an initial offline position of the target object; obtaining a moving direction of the target object and an average step length of the target object; and determining the movement trajectory of the target object in the offline stage according to the initial offline position, the moving direction and the average step length.

[0006] In an exemplary embodiment, determining the movement trajectory of the target object in the offline stage according to the initial offline position, the moving direction and the average step length includes: determining N landing points according to the initial offline position, the moving direction and the average step length, wherein N is an integer and the 0th landing point is the initial offline position; and obtaining the movement trajectory through the N landing points.

[0007] In an exemplary embodiment, the method further includes: obtaining the i-1th moving direction of the target object, wherein the i-1th moving direction is the moving direction of the target object used to determine the i-th landing point, wherein i is an integer greater than or equal to 1; determining the i-1th slope based on the i-1th landing point; determining the i-1th landing point by the i-1th slope and the i-1th moving direction, wherein the N landing points include the i-th landing point.

[0008] In an exemplary embodiment, the i-th landing point is determined by the i-1-th slope and the i-1-th moving direction, including: determining the i-1-th moving horizontal distance by the average step length and the i-1-th slope; and obtaining the i-th landing point according to the i-1-th moving horizontal distance and the i-1-th moving direction.

[0009] In an exemplary embodiment, determining the i-1th slope based on the i-1th landing point includes: determining the pixel where the i-1th landing point is located in the digital elevation data as the first pixel; determining a second pixel among a plurality of pixels adjacent to the first pixel in the digital elevation data; and determining the i-1th slope based on height data of the first pixel and the second pixel.

[0010] In an exemplary embodiment, determining the i-1th slope based on the height data of the first pixel and the second pixel includes: determining the i-1th slope based on the lateral distance and the longitudinal distance of the pixels in the digital elevation data, and the height data of the first pixel and the second pixel.

[0011] In an exemplary embodiment, determining the i-1th slope according to the lateral distance and the longitudinal distance of the pixel in the digital elevation data, and the height data of the first pixel and the second pixel includes: obtaining the i-1th slope by the following formula:

[0012]

[0013] in, is the lateral distance of the pixel in the digital elevation data, is the longitudinal distance of the pixel in the digital elevation data, is the height data of the first pixel, is the height data of the second pixel, is the i-1th slope.

[0014] In an exemplary embodiment, the pixel where the i-1th landing point in the digital elevation data is located is determined as the first pixel, including: determining the row and column numbers of the first pixel according to the longitude of the i-1th landing point, the latitude of the i-1th landing point, and the starting longitude of the digital elevation data and the starting latitude of the digital elevation data.

[0015] In an exemplary embodiment, determining the row and column numbers of the first pixel according to the longitude of the i-1th landing point, the latitude of the i-1th landing point, the starting longitude of the digital elevation data, and the starting latitude of the digital elevation data includes:

[0016] The row and column numbers of the first pixel are determined by the following formula:

[0017]

[0018]

[0019] in, is the row number of the first pixel, is the column number of the first pixel, is the longitude of the i-1th landing point, is the latitude of the i-1th landing point, is the starting longitude of the digital elevation data, is the starting latitude of the digital elevation data, is the longitude resolution, is the latitude resolution, is the ceiling function.

[0020] In an exemplary embodiment, determining a second pixel among a plurality of pixels adjacent to the first pixel in the digital elevation data includes: determining an i-1th angle according to the i-1th moving direction; and determining a pixel located at the i-1th angle to the first pixel among a plurality of pixels adjacent to the first pixel as the second pixel.

[0021] In an exemplary embodiment, determining the i-1th angle according to the i-1th moving direction includes: determining the i-1th angle by the following formula:

[0022]

[0023] in, is the i-1th angle, is the i-1th moving direction, is the floor function.

[0024] In an exemplary embodiment, determining the i-1th moving horizontal distance by using the average step length and the i-1th slope comprises:

[0025] The i-1th moving horizontal distance is determined by the following formula:

[0026]

[0027] in, is the horizontal distance of the i-1th movement, is the average step length, is the i-1th slope.

[0028] In an exemplary embodiment, obtaining the i-th landing point according to the i-1th moving horizontal distance and the i-1th moving direction includes: determining the longitude and latitude of the i-th landing point according to the i-1th moving horizontal distance, the i-1th moving direction and the longitude and latitude of the i-1th landing point.

[0029] In an exemplary embodiment, determining the longitude and latitude of the i-th landing point according to the i-1th moving horizontal distance, the i-1th moving direction, and the longitude and latitude of the i-1th landing point includes:

[0030] The latitude and longitude of the i-th foothold are determined by the following formula:

[0031]

[0032]

[0033] in, is the longitude of the i-th foothold, is the latitude of the i-th foothold, is the longitude of the i-1th landing point, is the latitude of the i-1th landing point, is the horizontal distance of the i-1th movement, R is the radius of the earth, is the i-1th moving direction.

[0034] In an exemplary embodiment, obtaining the average step length of the target object includes: determining N step lengths of the target object in an online phase before the offline phase; and determining an average of the N step lengths as the average step length of the target object.

[0035] In an exemplary embodiment, determining N steps of the target object in the online stage includes: determining the j-th step of the target object through the following steps, where j is an integer greater than or equal to 1: determining the j-th distance based on the starting position and the landing position of the j-th step of the target object; determining the slope of the starting position of the j-th step; and determining the j-th step based on the j-th distance and the slope of the starting position of the j-th step.

[0036] In an exemplary embodiment, determining the jth distance according to the starting position and the landing position of the jth step of the target object includes:

[0037] The j-th distance is determined by the following formula:

[0038]

[0039] in, is the j-th distance, is the radius of the Earth, is the latitude of the starting position of the j-th step, is the latitude of the landing point in step j, is the longitude of the starting position of the j-th step, is the longitude of the landing point of the j-th step.

[0040] In an exemplary embodiment, determining the j-th step length according to the j-th distance and the slope of the starting position of the j-th step includes:

[0041] The j-th step length is determined by the following formula:

[0042]

[0043] in, is the j-th step length, is the jth distance, is the slope of the starting position of the j-th step.

[0044] In an exemplary embodiment, after determining N landing points based on the initial offline position, the moving direction and the average step length, the method further includes: obtaining the initial online position of the target object in the online stage after the offline stage; and adjusting the average step length of the target object when the deviation between the last landing point among the N landing points and the initial online position is greater than or equal to a preset threshold.

[0045] In an exemplary embodiment, adjusting the average step length of the target object includes: determining a step length error based on the initial offline position and the initial online position, and a moving direction of the target object at the N landing points; and adjusting the average step length according to the step length error.

[0046] According to another embodiment of the present invention, a device for determining a moving trajectory is provided, comprising: a first acquisition module, used to acquire the last positioning information of a target object before going offline, and obtain the initial offline position of the target object; a second acquisition module, used to acquire the moving direction of the target object, and the average step length of the target object; a determination module, used to determine the moving trajectory of the target object in the offline stage according to the initial offline position, the moving direction and the average step length.

[0047] According to yet another embodiment of the present invention, a computer-readable storage medium is provided, wherein a computer program is stored in the computer-readable storage medium, wherein the computer program implements the steps of any of the above methods when executed by a processor.

[0048] According to yet another embodiment of the present invention, there is provided an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor is configured to run the computer program to execute the steps in any one of the above method embodiments.

[0049] According to yet another embodiment of the present invention, a computer program product is provided, comprising a computer program, wherein when the computer program is executed by a processor, the steps of any of the above methods are implemented.

[0050] Through the present invention, the initial offline position of the target object is obtained by obtaining the last positioning information of the target object before it goes offline; the moving direction of the target object and the average step length of the target object are obtained; and the moving trajectory of the target object in the offline stage is determined according to the initial offline position, the moving direction and the average step length. Therefore, the problem in the related art that the mobile terminal cannot establish and retain complete trajectory data in an environment with no signal or weak signal can be solved, and the effect of retaining complete trajectory data in an environment with no signal or weak signal can be achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 is a hardware structure block diagram of a mobile terminal of a method for determining a moving trajectory according to an embodiment of the present invention;

[0052] Figure 2 is a flow chart of a method for determining a movement trajectory according to an embodiment of the present invention;

[0053] Figure 3is a flowchart of obtaining slope data of patrol tracks according to an embodiment of the present invention;

[0054] Figure 4 is a workflow diagram according to an embodiment of the present invention;

[0055] Figure 5 4 is a structural block diagram of a device for determining a moving trajectory according to an embodiment of the present invention. DETAILED DESCRIPTION

[0056] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings and in combination with the embodiments.

[0057] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0058] The offline track recording scheme involved in the embodiment of the present invention is as follows:

[0059] (1) Offline storage

[0060] It refers to backing up data to a physical device, usually an offline backup. This backup method can avoid the impact of uncontrollable factors such as network failures and cloud service provider failures on data.

[0061] (2) Geographic location information

[0062] It is used to describe the temporal and spatial relationship of geographical objects. In the embodiment of the present invention, the geographical location mainly refers to the location information obtained by positioning means such as the Global Positioning System (GPS).

[0063] (3) Gyroscope

[0064] A device for locating azimuth angles, by which the horizontal and vertical directions of the current position can be determined.

[0065] (4) Digital elevation model

[0066] Digital Elevation Model (DEM) is a digital simulation of ground terrain through limited terrain elevation data. It is a physical ground model that represents ground elevation in the form of a set of ordered numerical arrays.

[0067] (5) Slope

[0068] The embodiment of the present invention refers to the degree of rise or fall or the degree of inclination of a certain ground, and is used to describe the inclination of geographical terrain and roads.

[0069] The problems to be solved by the embodiments of the present invention are as follows:

[0070] (1) Manual clocking in, such as setting an offline QR code for clocking in, can solve some patrol problems. However, the solution of only using the clocking-in points cannot correctly obtain the process trajectory between patrol points. In the forest fire prevention route planning, it is easy to cause patrol overlap and omissions, and cannot completely solve the existing patrol planning pain points.

[0071] (2) Some patrol systems have fixed routes, and patrollers patrol the mountains and forests along fixed routes. This scenario has a single applicability and requires the administrator to plan the route in advance. It is not applicable to temporary patrol scenarios or scenarios without fixed routes, and the problem of location data loss in the process has not been effectively solved.

[0072] (3) Most field patrol systems generate trajectories by simply mechanically connecting the existing positioning point data of the system. In the case of complex signal conditions in the field, weak network signals cannot effectively transmit information. In the case of weak GPS signals and inability to effectively locate in real time, no systematic solution has been formed to generate patrol routes.

[0073] (4) The geographical conditions of field patrols are complex. The trajectory data generated by the gyroscope alone cannot accurately describe the patrol process data, and the generated trajectory has large errors.

[0074] (5) When the ranger's trajectory is calculated and generated by a gyroscope or other method without positioning conditions, if there is a large deviation from the actual position, there is no systematic solution to the correction problem that arises.

[0075] The method for determining the movement trajectory provided in the embodiments of the present application can be executed in a mobile terminal, a computer terminal or a similar computing device. Taking running on a mobile terminal as an example, Figure 1 FIG. 1 is a hardware structure block diagram of a mobile terminal of a method for determining a moving trajectory according to an embodiment of the present invention. Figure 1 As shown, the mobile terminal may include one or more ( Figure 1 Only one is shown in the figure) a processor 102 (the processor 102 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA) and a memory 104 for storing data, wherein the mobile terminal may also include a transmission device 106 and an input / output device 108 for communication functions. It can be understood by those skilled in the art that Figure 1 The structure shown is for illustration only and does not limit the structure of the mobile terminal. Figure 1 More or fewer components as shown, or with Figure 1 Different configurations shown.

[0076] The memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the method for determining the movement trajectory in the embodiment of the present invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, to implement the above method. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include a memory remotely arranged relative to the processor 102, and these remote memories can be connected to the mobile terminal via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

[0077] The transmission device 106 is used to receive or send data via a network. The specific example of the above network may include a wireless network provided by a communication provider of the mobile terminal. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, referred to as NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 106 can be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0078] In this embodiment, a method for determining a movement trajectory running on the above mobile terminal or network architecture is provided. Figure 2 is a flow chart of a method for determining a moving trajectory according to an embodiment of the present invention. Figure 2 As shown, the process includes the following steps:

[0079] Step S202, obtaining the last positioning information of the target object before going offline, and obtaining the initial offline position of the target object;

[0080] The target object is a ranger. The initial offline position is the last positioning information of the target object before it goes offline, and is also the starting point of the estimated movement trajectory of the ranger in the offline state. In this embodiment, the last position coordinate before going offline is defined as ( , ),in is the longitude information of the initial offline location above, is the latitude information of the initial offline location.

[0081] Step S204, obtaining the moving direction of the target object and the average step length of the target object;

[0082] The above moving direction is obtained by the gyroscope. The moving direction of the ranger in the defined plane coordinate system is The above-mentioned gyroscope can still obtain the movement direction of the ranger in real time during the offline stage, and the above-mentioned average step length is the average step length of the ranger calculated during the online stage before the ranger is offline.

[0083] In an exemplary embodiment, obtaining the average step length of the target object includes: determining N step lengths of the target object in an online phase before the offline phase; and determining an average of the N step lengths as the average step length of the target object.

[0084] Under good network environment conditions, initialize the patroller's trajectory route, obtain the patroller's N steps in the online stage before the above offline stage, and take the average of the above N steps as the patroller's average step length to obtain the above average step length The specific method for calculating the single step length of the ranger is as follows.

[0085] The j-th step length of the target object is determined by the following steps, where j is an integer greater than or equal to 1: determining the j-th distance based on the starting position and landing position of the j-th step of the target object; determining the j-th slope of the starting position of the j-th step; and determining the j-th step length based on the j-th distance and the j-th slope.

[0086] Specifically,

[0087] The j-th distance is determined by the following formula:

[0088]

[0089] in, is the jth distance, is the radius of the Earth, is the latitude of the starting position of the j-th step, is the latitude of the landing point in step j, is the longitude of the starting position of the j-th step, is the longitude of the landing point of the j-th step.

[0090] Get the initial position of the jth step Slope of the point , according to the step length , horizontal distance The relationship between the slope and the step length is calculated by the following formula .

[0091] Specifically, the j-th step length is determined by the following formula:

[0092]

[0093] in, is the j-th step length, is the jth distance, is the slope of the starting position of the jth step. Through the above steps, multiple data are obtained to obtain multiple step length data , , , , …, the abnormal data with 3 times the standard deviation are eliminated by the standard deviation method, the remaining valid data are averaged, and finally the average step length ρ of the ranger is calculated and stored in the device.

[0094] Step S206: determining the moving trajectory of the target object in the offline stage according to the initial offline position, the moving direction and the average step length.

[0095] Specifically, N landing points are determined according to the initial offline position, the moving direction and the average step length, wherein i is an integer greater than or equal to 1, and the 0th landing point is the initial offline position; and the moving trajectory is obtained through the N landing points.

[0096] According to the above initial offline position, moving direction and average step length, the N landing points of the ranger in the offline state can be determined. Among them, any landing point among the N landing points is calculated based on the previous landing point, and the specific calculation method is as follows.

[0097] The i-th landing point is determined by the following steps: obtaining the i-1th moving direction of the target object, wherein the i-1th moving direction is the moving direction of the target object used to determine the i-th landing point; determining the i-1th slope according to the i-1th landing point, and determining the i-1th moving horizontal distance through the average step length and the i-1th slope; obtaining the i-th landing point according to the i-1th moving horizontal distance and the i-1th moving direction.

[0098] First, the i-1th landing point of the ranger is obtained, and the moving direction of the i-th landing point relative to the target object of the i-1th landing point is obtained through the gyroscope. The i-1th slope between the i-th landing point and the i-1th landing point is determined according to the above i-1th landing point and the i-th moving direction. The i-1th moving horizontal distance of the ranger is calculated by the above average step length and the i-1th slope to obtain the above i-1th landing point.

[0099] Specifically, the method for calculating the i-1th slope between the i-th landing point and the i-1th landing point is as follows: determine the pixel where the i-1th landing point in the digital elevation data is located as the first pixel; determine the second pixel from a plurality of pixels adjacent to the first pixel in the digital elevation data; and determine the i-1th slope based on the height data of the first pixel and the second pixel.

[0100] The above-mentioned pixel refers to the smallest unit for representing surface elevation in a geographic information system. Each pixel represents the elevation value of a specific location on the surface. The resolution of DEM depends on the size of the pixel, usually in meters. A higher-resolution DEM has smaller pixels and can provide more detailed terrain information, while a lower-resolution DEM may result in lost or blurred information. DEM pixels can be used to generate topographic maps, conduct terrain analysis, flood simulation and other geographic analysis applications.

[0101] First, the row and column number information of the location of the i-1th foothold is obtained through the DEM data, and the row and column number of the first pixel is determined according to the longitude and latitude of the i-1th foothold, the starting longitude and latitude of the digital elevation data. Assume that the starting longitude of the DEM raster dataset is , the starting latitude is The latitude and longitude resolutions are , The row and column numbers of the first pixel are determined by the following formula:

[0102]

[0103]

[0104] in, is the row number of the first pixel, is the column number of the first pixel, is the longitude of the i-1th landing point, is the latitude of the i-1th landing point, is the starting longitude of the digital elevation data, is the starting latitude of the digital elevation data, is the longitude resolution, is the latitude resolution, is the ceiling function.

[0105] Through the above formula, we can obtain the row and column number of the DEM pixel where the ranger's i-1th foothold is located.

[0106] Determining a second pixel from a plurality of pixels adjacent to the first pixel in the digital elevation data includes: determining an i-1th angle according to the i-1th moving direction; and determining a pixel located at the i-1th angle to the first pixel from a plurality of pixels adjacent to the first pixel as the second pixel.

[0107] Get the height data of the location of the i-1th foothold according to the row and column numbers. Suppose the location unit of the i-1th foothold is e, and the location height data is , the surrounding 8 pixels are a, b, c, d, f, g, h, i. The position relationship is:

[0108]

[0109] The height information of the 8 surrounding pixels is obtained through the position relationship of the row and column numbers. The moving direction of the ranger is obtained according to the gyroscope information. With the north direction as 0 degrees, the moving angle of the ranger's i-th foothold is obtained as follows: .

[0110] When the horizontal and vertical distances of a single pixel in DEM data are When , the angle of the i-th foothold relative to the i-1-th foothold is obtained by the proximity method. , specifically, the i-1th angle is determined by the following formula:

[0111]

[0112] in, is the i-1th angle, is the i-1th moving direction, is the floor function.

[0113] When the horizontal and vertical distances of a single pixel in DEM data are When calculating the angle between the center of pixel e and the center of pixels b and c, and the angle between the center of pixel e and the center of pixels c and f, the patrolman's moving angle and the angle direction of the line connecting pixel e and the eight center points can be obtained through conditional judgment. .

[0114] Determining the i-1th slope according to the height data of the first pixel and the second pixel includes: determining the i-1th slope according to the lateral distance and the longitudinal distance of the pixels in the digital elevation data, and the height data of the first pixel and the second pixel.

[0115] Specifically, the i-1th slope can be obtained by the following formula:

[0116]

[0117] in, is the horizontal distance of the pixel, is the vertical distance of the pixel, is the height data of the first pixel, is the height data of the second pixel, is the i-1th slope.

[0118] According to the obtained angle , get the corresponding pixel height. For example, when When the calculated direction data , that is, in the above 8 pixel position relationship, from pixel e to pixel i, the corresponding heights of the pixels can be obtained from the DEM data. and , the i-1th slope can be obtained through the above formula.

[0119] Figure 3 FIG. 1 is a flowchart of obtaining slope data of patrol track according to an embodiment of the present invention. Figure 3 As shown, the process includes the following steps:

[0120] S301, obtaining the DEM grid position of the current position;

[0121] S302, obtaining the height values ​​of 8 adjacent cells around the current location, and jumping to S304;

[0122] S303, obtaining the moving direction of the ranger;

[0123] S304, obtaining a slope value according to a proximity method;

[0124] S305, output slope data.

[0125] Through the above steps, the i-1th slope between the i-th foothold and the i-1th foothold can be obtained, and then the average step length and the i-1th slope above Determine the i-1th moving horizontal distance between the i-th landing point and the i-1th landing point.

[0126] Specifically, the above i-1th moving horizontal distance is calculated by the following formula.

[0127]

[0128] in, is the horizontal distance of the i-1th movement, is the average step length, is the i-1th slope.

[0129] As an optional implementation, obtaining the i-th landing point according to the i-1th moving horizontal distance and the i-1th moving direction includes: determining the longitude and latitude of the i-th landing point according to the i-1th moving horizontal distance, the i-1th moving direction and the longitude and latitude of the i-1th landing point.

[0130] The latitude and longitude of the i-th foothold are determined by the following formula:

[0131]

[0132]

[0133] in, is the longitude of the i-th foothold, is the latitude of the i-th foothold, is the longitude of the i-1th landing point, is the latitude of the i-1th landing point, is the horizontal distance of the i-1th movement, R is the radius of the earth, is the i-1th moving direction.

[0134] Repeat the above steps to calculate the latitude and longitude of subsequent landing points ( , ), , )…as follows:

[0135]

[0136]

[0137] in, The function for converting radians to longitude and latitude is: is the longitude information of the first stop. is the longitude information of the offline initial location, is the horizontal distance between the first foothold and the offline initial position, is the moving angle of the first foothold relative to the offline initial position, is the latitude information of the first stop. is the latitude information of the offline initial position, and R is the radius of the earth.

[0138]

[0139]

[0140] in, The function for converting radians to longitude and latitude is: is the longitude information of the second stop. is the longitude information of the first stop. is the horizontal distance between the second foothold and the first foothold, is the moving angle of the second foothold relative to the first foothold, is the latitude information of the first stop. is the latitude information of the second landing point, and R is the radius of the earth.

[0141] Optionally, repeat the above steps to calculate the nth drop point ( , )for:

[0142]

[0143]

[0144] in, The function for converting radians to longitude and latitude is: is the longitude information of the nth landing point, is the longitude information of the n-1th landing point, is the horizontal distance between the nth foothold and the n-1th foothold, is the moving angle of the nth foothold relative to the n-1th foothold, is the latitude information of the nth foothold, is the latitude information of the n-1th landing point, and R is the radius of the earth.

[0145] Optionally, the last position before offline / initial position offline ( , ) and the slope, moving angle and average step length of each subsequent landing point to calculate the nth landing point, and determine the longitude and latitude of the ith landing point by the following formula:

[0146]

[0147]

[0148] in, is the longitude of the i-th foothold, is the latitude of the i-th landing point, R is the radius of the earth, is the average step length, is the zth moving direction, is the zth slope, is the starting longitude of the initial offline location, is the starting latitude of the initial offline location, is the latitude of the zth foothold. The slope, moving angle, and latitude information of each foothold are accumulated and then calculated with the last position before offline (offline initial position) to obtain the longitude and latitude of the nth foothold.

[0149] When the mobile phone or device enters a signal-free environment, the platform stores the movement angle of each ranger's movement returned by the gyroscope. , by using the above formula, the longitude and latitude coordinates after each movement are calculated through a loop, and the coordinates of the point where the ranger moves during this offline process are obtained ( , ), , ), , )…, ( , ), and store the calculated offline data in the data storage module, the movement trajectory of the ranger in the offline state can be obtained.

[0150] In an exemplary embodiment, the initial online position of the target object in the online stage after the offline stage is obtained; when the deviation between the last landing point among the N landing points and the initial online position is greater than or equal to a preset threshold, the average step length of the target object is adjusted.

[0151] Specifically, the point coordinates of the initial online position of the target object in the online phase after the offline phase are defined as ( , ), the last landing point among the above N landing points is the last landing point calculated, assuming that its point is ( , ), verify the calculation to get the last point ( , ) and the first point coordinate after positioning recovery ( , ), theoretically, the two points should basically coincide to ensure the accuracy of the calculation. The deviation between the last of the N landing points and the initial online position is ( , )and( , ) , It can be calculated by the following formula, and the actual distance to the initial position can also be calculated ( , ) to the actual point after recovery ( , )Ground distance. The specific calculation formula is as follows:

[0152]

[0153] Where R is the radius of the Earth, is the inverse sine function, is a sine function, is the latitude information of the initial online position in the online phase after the offline phase, is the calculated latitude information of the last landing point, is the cosine function, The longitude information of the initial online position in the online phase after the offline phase, The calculated longitude information of the last stop.

[0154] when When the error is within the platform tolerance. When , it indicates that there is a large error between the motion trajectory calculated in the offline stage and the actual trajectory of the ranger in the offline stage. From the above analysis, it can be seen that the slope value can be improved by increasing the resolution of DEM data. In addition, for field patrol scenes, in areas with large slope differences, the human stride length is different from that in the normal state, and the stride length data can be optimized for fixed areas.

[0155] The specific optimization method is as follows: determining the step error according to the initial offline position and the initial online position, and the moving direction of the target object at the N landing points; and adjusting the average step length according to the step error.

[0156] Specifically, the calculation results appear *l, perform segmented step size data optimization, and set the corrected longitude and latitude step sizes to be , ignoring the influence of slope, the calculation method of slope remains unchanged.

[0157]

[0158]

[0159] Depend on( , )According to the formula for the shortest distance from a point to the y=x line:

[0160]

[0161] in, is the correction step size in the dimension direction, is the correction step size in the longitude direction, is the correction step size.

[0162] pass Correct the step length data, perform point calculations, and regain the error distance , judge whether it converges. If the data diverges, that is, the X-axis and Y-axis data show opposite trends, then consider the step error during the ranger's movement and discard the data correction. If it converges, save the local step correction.

[0163] Optionally, for areas with large elevation differences or special terrain (such as rivers, gravel, etc.) on the route, they can be divided into different areas, such as area A, B, C, D, E..., and the initial step length of each area is the average step length. , by correcting the data to correct the step size data of the corresponding areas A, B, C, D, E..., we can get , , , , …, used for the next regional data calculation.

[0164] Optionally, the executor of the above steps may be a background processor, or other devices with similar processing capabilities, or a machine that integrates at least an image acquisition device and a data processing device, wherein the image acquisition device may include a graphics acquisition module such as a camera, and the data processing device may include a computer, a mobile phone or other terminal, but is not limited thereto.

[0165] The embodiment of the present invention provides a solution for generating and optimizing field patrol trajectories, the solution comprising: obtaining the real-time mobile trajectory information of the patroller in a positioning scenario, generating the trajectory route and step length data according to the positioning information of the patroller's equipment; a trajectory calculation method in the absence of positioning, dynamically generating the mobile trajectory route according to the patroller's step length information, gyroscope data and terrain data under GPS positioning information; trajectory correction after positioning recovery, after positioning recovery, generating the mobile trajectory information according to the patroller's movement information and correcting the trajectory under the condition of large difference between the patroller's position; trajectory storage in a non-network environment, in the absence of a network in the field, the trajectory information cannot be uploaded to the cloud device normally, and the temporary device updates the patrol information after the network is restored.

[0166] By combining relevant technologies such as gyroscope (electronic compass), offline storage, geographic location and DEM data, the ranger trajectory information is generated. The ranger trajectory can be generated without network and positioning to ensure the integrity of the patrol trajectory.

[0167] The management system modules of the embodiment of the present invention include: a data storage module, a data processing module, a data analysis module and a data visualization display module. When the system is offline, the data storage module and the data processing module will be based on a new trajectory generation method to more accurately and timely complete the generation of patrolman trajectory data, thereby providing a guarantee for subsequent trajectory data visualization and patrol trajectory planning.

[0168] Figure 4 is a work flow chart according to an embodiment of the present invention, such as Figure 4 As shown, the process includes the following steps:

[0169] S401, obtain slope data according to DEM, and jump to S403;

[0170] Specifically, the system needs to store the DEM digital elevation data of the patrol area in advance to calculate the slope data during the patroller's path movement.

[0171] S402, data of patrol officers in signal environment areas;

[0172] Specifically, under the condition of good signal strength, the movement data of the patroller is obtained in advance, and the step length data of the patroller is calculated in combination with the slope data of S401.

[0173] S403, obtaining the ranger's step length data;

[0174] S404, define plane coordinates;

[0175] Specifically, the initial point position and plane coordinates are defined.

[0176] S405, calculating trajectory data;

[0177] Specifically, in the offline state, the position data of the ranger after each movement is calculated by combining the gyroscope data and the slope data calculated by the offline terrain data in S401 under the defined plane coordinates, and is converted into longitude and latitude coordinates through the plane coordinates.

[0178] S406, data storage, jump to S407 or S408;

[0179] Specifically, after the network is restored, the patrolman's field movement trajectory data points are uploaded to the server for storage, including the patrolman's trajectory point data set, movement direction data set, and regional step length data set. Statistical analysis can be performed on the data later.

[0180] S407, optimize step length data in segments, and jump to S403;

[0181] Specifically, through online point calibration, the ranger step data is defined in segments and the calculation content is optimized.

[0182] According to the above analysis, the workflow of this embodiment is as follows: first, the ranger's moving direction and distance are calculated according to the ranger's moving gyroscope data; then, the corresponding direction slope data is obtained through the DEM data, and the actual distance of the ranger's moving direction is calculated in combination with the slope data; then, the position of each position of the ranger is drawn according to the defined plane coordinates and stored offline; finally, the offline position data is connected to obtain the offline trajectory data, which can also provide a basis for subsequent optimization.

[0183] S408, visual display;

[0184] Specifically, the patrolman's single patrol online data and the calculated offline data are spliced ​​by time, and finally the trajectory data is drawn for platform display. In the offline state, the patrolman can view the patrol trajectory on the device side. After the offline state is restored, the offline data is uploaded, and the patrol trajectory can be viewed and managed on the system management side, providing a reliable method and software system tool for subsequent trajectory data statistical analysis and patrol trajectory planning.

[0185] Through the above steps, the problem in the related art that the mobile terminal cannot establish and retain complete trajectory data in an environment with no signal or weak signal is solved, and the effect of the mobile terminal retaining complete trajectory data in an environment with no signal or weak signal is achieved.

[0186] The advantages of the embodiments of the present invention are as follows:

[0187] 1. Trajectory generation based on offline calculation

[0188] In view of the fact that the network and positioning signals often attenuate greatly during field patrols, and that the positioning and uploading of location information cannot be performed normally, the embodiment of the present invention proposes a field patrol system based on offline storage, gyroscope, and DEM. In a non-positioning environment, the device performs offline position calculation based on gyroscope and DEM data, effectively avoiding the problem of abnormal loss of trajectory data due to network reasons.

[0189] 2. Improve the accuracy of field patrols in complex terrain based on DEM terrain data elements

[0190] For field patrol scenarios, the terrain conditions are complex, and traditional offline point calculations based on only longitude and latitude or plane position calculations cannot fully adapt to this scenario. The patrol trajectory route generation solution described in the embodiment of the present invention superimposes DEM terrain data elements, considers the influence of terrain elements during the patroller's actions, calculates the patroller's moving direction distance based on slope data, locates the patroller's landing position through distance, and iteratively forms a trajectory route, which is more accurate than the plane calculation position.

[0191] 3. With optimization measures, optimized for special and complex areas

[0192] For areas with large terrain differences or special landforms, the walking characteristics of rangers are different from those in normal mountain patrols. For this specific scenario, the step length data is corrected and the step length is divided into zones and segments to further optimize the trajectory feature calculation and make the trajectory points in the same area more reliable.

[0193] 4. No need for fixed track route matching, higher flexibility.

[0194] In order to avoid the problem of poor network signals and inability to locate whether the patrol personnel have completed the patrol, most traditional offline clocking-in solutions adopt fixed-point routes or offline QR code clocking-in solutions. On the one hand, the problem of position data loss in the process is not effectively solved, which is easy to cause patrol overlap and omissions. On the other hand, it is not applicable to temporary scenarios or scenarios without fixed routes. The embodiment of the present invention combines the patrolman's motion feature data in the device to obtain offline position data, and because the patrolman's position can also be calculated in real time in the offline state, it can also be combined with fixed points to realize fixed patrol scenarios, which is flexible and easy to expand.

[0195] The key points of the embodiments of the present invention are as follows:

[0196] 1. Calculate step length and offline trajectory points based on offline storage, gyroscope, and DEM data.

[0197] The device stores the DEM elevation data of the patrol area, calculates the slope data based on the DEM elevation data using the 8-pixel method, and calculates the ranger's step length based on the slope data. Combined with the slope data, the plane coordinate system is used to further calculate the plane coordinate position corresponding to each step of the ranger's movement after offline, and converts it into longitude and latitude coordinates for storage. In the process of field patrol, it is often encountered that the network and positioning signal attenuation is large, and it is impossible to locate and upload the location information normally. Based on the gyroscope and DEM data, offline position calculation is performed, which effectively avoids the problem of abnormal loss of trajectory data due to network reasons.

[0198] 2. Optimize step length data by region for complex or special terrain

[0199] Set the error threshold for each kilometer distance, divide the route into different areas for areas with large elevation differences, set initial step sizes for different areas, calculate the coordinates of the last point in the area before the point is restored offline based on the initial step size, and optimize the step size data through the earth distance formula, error formula and shortest distance calculation to further optimize the trajectory feature calculation and make the trajectory points in the same area more reliable.

[0200] 3. Inspection management system suitable for field patrols in weak network and weak GPS environments

[0201] The inspection management system in the embodiment of the present invention includes: a data storage module, a data processing module, a data analysis module and a data visualization display module. When the system is in an offline state, the data storage module and the data processing module will be based on an offline storage, gyroscope, DEM trajectory generation method to more accurately and timely complete the generation of patrolman trajectory data, and generate mobile trajectory information based on the patrolman's movement information and trajectory correction under conditions where the difference between the patrolman's position is large, providing guarantee for subsequent trajectory data visualization and patrol trajectory planning.

[0202] Through the description of the above implementation methods, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus a necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for enabling a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in each embodiment of the present invention.

[0203] In this embodiment, a device for determining a movement trajectory is also provided, which is used to implement the above-mentioned embodiments and preferred embodiments, and will not be repeated hereafter. As used below, the term "module" may be a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0204] Figure 5 is a structural block diagram of an apparatus for determining a moving trajectory according to an embodiment of the present invention, such as Figure 5 As shown, the device includes a first acquisition module 502, which is used to obtain the last positioning information of the target object before going offline, and obtain the initial offline position of the target object; a second acquisition module 504, which is used to obtain the moving direction of the target object and the average step length of the target object; a determination module 506, which is used to determine the moving trajectory of the target object in the offline stage according to the initial offline position, the moving direction and the average step length.

[0205] In an exemplary embodiment, the above-mentioned device is also used to determine the movement trajectory of the target object in the offline stage according to the initial offline position, the moving direction and the average step length, including: determining N landing points according to the initial offline position, the moving direction and the average step length, wherein N is an integer and the 0th landing point is the initial offline position; and obtaining the movement trajectory through the N landing points.

[0206] In an exemplary embodiment, the above-mentioned device is also used to obtain the i-1th moving direction of the target object, wherein the i-1th moving direction is the moving direction of the target object used to determine the i-th landing point, wherein i is an integer greater than or equal to 1; determine the i-1th slope based on the i-1th landing point; determine the i-1th landing point by the i-1th slope and the i-1th moving direction, wherein the N landing points include the i-th landing point.

[0207] In an exemplary embodiment, the above-mentioned device is also used to determine the i-1th moving horizontal distance through the average step length and the i-1th slope; and obtain the i-th landing point according to the i-1th moving horizontal distance and the i-1th moving direction.

[0208] In an exemplary embodiment, the above-mentioned device is also used to determine the pixel where the i-1th landing point in the digital elevation data is located as the first pixel; determine the second pixel among multiple pixels adjacent to the first pixel in the digital elevation data; and determine the i-1th slope based on the height data of the first pixel and the second pixel.

[0209] In an exemplary embodiment, the above-mentioned device is also used to determine the (i-1)th slope based on the lateral distance and longitudinal distance of the pixel in the digital elevation data, and the height data of the first pixel and the second pixel.

[0210] In an exemplary embodiment, the above device is further used to obtain the i-1th slope by the following formula:

[0211]

[0212] in, is the lateral distance of the pixel in the digital elevation data, is the longitudinal distance of the pixel in the digital elevation data, is the height data of the first pixel, is the height data of the second pixel, is the i-1th slope.

[0213] In an exemplary embodiment, the above-mentioned device is also used to determine the row and column numbers of the first pixel based on the longitude of the i-1th landing point, the latitude of the i-1th landing point, the starting longitude of the digital elevation data, and the starting latitude of the digital elevation data.

[0214] In an exemplary embodiment, the above device is further used to determine the row and column numbers of the first pixel by the following formula:

[0215]

[0216]

[0217] in, is the row number of the first pixel, is the column number of the first pixel, is the longitude of the i-1th landing point, is the latitude of the i-1th landing point, is the starting longitude of the digital elevation data, is the starting latitude of the digital elevation data, is the longitude resolution, is the latitude resolution, is the ceiling function.

[0218] In an exemplary embodiment, the above-mentioned device is also used to determine the i-1th angle according to the i-1th moving direction; and determine the pixel located at the i-1th angle of the first pixel among multiple pixels adjacent to the first pixel as the second pixel.

[0219] In an exemplary embodiment, the above device is further used to determine the i-1th angle by the following formula:

[0220]

[0221] in, is the i-1th angle, is the i-1th moving direction, is the floor function.

[0222] In an exemplary embodiment, the above device is further used to determine the i-1th moving horizontal distance by the following formula:

[0223]

[0224] in, is the horizontal distance of the i-1th movement, is the average step length, is the i-1th slope.

[0225] In an exemplary embodiment, the above-mentioned device is also used to determine the longitude and latitude of the i-th landing point based on the i-1th moving horizontal distance, the i-1th moving direction and the longitude and latitude of the i-1th landing point.

[0226] In an exemplary embodiment, the above device is further used to determine the longitude and latitude of the i-th foothold by the following formula:

[0227]

[0228]

[0229] in, is the longitude of the i-th foothold, is the latitude of the i-th foothold, is the longitude of the i-1th landing point, is the latitude of the i-1th landing point, is the horizontal distance of the i-1th movement, R is the radius of the earth, is the i-1th moving direction.

[0230] In an exemplary embodiment, the apparatus is further configured to determine N step lengths of the target object in an online phase before the offline phase; and determine an average of the N step lengths as an average step length of the target object.

[0231] In an exemplary embodiment, the above-mentioned device is also used to determine the j-th step length of the target object through the following steps, where j is an integer greater than or equal to 1: determining the j-th distance based on the starting position and landing position of the j-th step of the target object; determining the slope of the starting position of the j-th step; determining the j-th step length based on the j-th distance and the slope of the starting position of the j-th step.

[0232] In an exemplary embodiment, the above device is further used to determine the j-th distance by the following formula:

[0233]

[0234] in, is the jth distance, is the radius of the Earth, is the latitude of the starting position of the j-th step, is the latitude of the landing point in step j, is the longitude of the starting position of the j-th step, is the longitude of the landing point of the j-th step.

[0235] In an exemplary embodiment, the apparatus is further configured to determine the j-th step length by the following formula:

[0236]

[0237] in, is the j-th step length, is the jth distance, is the slope of the starting position of the j-th step.

[0238] In an exemplary embodiment, the above-mentioned device is also used to obtain the initial online position of the target object in the online stage after the offline stage after determining N landing points based on the initial offline position, the moving direction and the average step length; when the deviation between the last landing point among the N landing points and the initial online position is greater than or equal to a preset threshold, adjust the average step length of the target object.

[0239] In an exemplary embodiment, the above-mentioned device is also used to determine the step length error based on the initial offline position and the initial online position, and the moving direction of the target object at the N landing points; and adjust the average step length according to the step length error.

[0240] It should be noted that the above modules can be implemented by software or hardware. For the latter, it can be implemented in the following ways, but not limited to: the above modules are all located in the same processor; or the above modules are located in different processors in any combination.

[0241] An embodiment of the present invention further provides a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, the steps of any of the above methods are implemented.

[0242] In an exemplary embodiment, the computer-readable storage medium may include, but is not limited to, various media that can store computer programs, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk.

[0243] An embodiment of the present invention further provides an electronic device, including a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute the steps in any one of the above method embodiments.

[0244] In an exemplary embodiment, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor, and the input / output device is connected to the processor.

[0245] For specific examples in this embodiment, reference may be made to the examples described in the above embodiments and exemplary implementation modes, and this embodiment will not be described in detail herein.

[0246] An embodiment of the present invention further provides a computer program product, including a computer program, which implements the steps of the method described in each embodiment of the present application when executed by a processor.

[0247] Obviously, those skilled in the art should understand that the above modules or steps of the present invention can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order than here, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.

[0248] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for determining a movement trajectory, characterized in that: include: Obtain the last location information of the target object before it goes offline, and obtain the initial offline location of the target object; Acquire the moving direction of the target object and the average step length of the target object; The moving trajectory of the target object in the offline stage is determined according to the initial offline position, the moving direction and the average step length.

2. The method according to claim 1, characterized in that Determining the moving trajectory of the target object in the offline stage according to the initial offline position, the moving direction and the average step length includes: Determine N landing points according to the initial offline position, the moving direction and the average step length, wherein N is an integer and the 0th landing point is the initial offline position; The moving trajectory is obtained through the N landing points.

3. The method according to claim 2, characterized in that The method further comprises: Obtaining the i-1th moving direction of the target object, wherein the i-1th moving direction is the moving direction of the target object used to determine the i-th landing point, and the moving direction includes: the i-1th moving direction, i is an integer greater than or equal to 1; Determine the i-1th slope based on the i-1th foothold; The i-th landing point is determined by the i-1-th slope and the i-1-th moving direction, wherein the N landing points include the i-th landing point.

4. The method according to claim 3, characterized in that Determine the i-1th slope based on the i-1th foothold, including: The pixel where the i-1th foothold in the digital elevation data is located is determined as the first pixel; Determine a second pixel among a plurality of pixels adjacent to the first pixel in the digital elevation data; The (i-1)th slope is determined according to the height data of the first pixel and the second pixel.

5. The method according to claim 4, characterized in that Determining the i-1th slope according to the height data of the first pixel and the second pixel includes: The (i-1)th slope is determined according to the lateral distance and the longitudinal distance of the pixel in the digital elevation data, and the height data of the first pixel and the second pixel.

6. The method according to claim 5, characterized in that Determining the i-1th slope according to the lateral distance and the longitudinal distance of the pixel in the digital elevation data, and the height data of the first pixel and the second pixel, comprising: The i-1th slope is obtained by the following formula: ； in, is the lateral distance of the pixel in the digital elevation data, is the longitudinal distance of the pixel in the digital elevation data, is the height data of the first pixel, is the height data of the second pixel, is the i-1th slope.

7. The method according to claim 4, characterized in that Determining the pixel where the i-1th foothold in the digital elevation data is located as the first pixel includes: The row and column numbers of the first pixel are determined according to the longitude of the i-1th landing point, the latitude of the i-1th landing point, the starting longitude of the digital elevation data, and the starting latitude of the digital elevation data.

8. The method according to claim 7, characterized in that Determining the row and column numbers of the first pixel according to the longitude of the i-1th landing point, the latitude of the i-1th landing point, the starting longitude of the digital elevation data, and the starting latitude of the digital elevation data includes: The row and column numbers of the first pixel are determined by the following formula: ； ； in, is the row number of the first pixel, is the column number of the first pixel, is the longitude of the i-1th landing point, is the latitude of the i-1th landing point, is the starting longitude of the digital elevation data, is the starting latitude of the digital elevation data, is the longitude resolution, is the latitude resolution, is the ceiling function.

9. The method according to claim 4, characterized in that Determining a second pixel from a plurality of pixels adjacent to the first pixel in the digital elevation data comprises: Determining the i-1th angle according to the i-1th moving direction; A pixel located at the (i-1)th angle of the first pixel among a plurality of pixels adjacent to the first pixel is determined as the second pixel.

10. The method according to claim 9, characterized in that Determining the i-1th angle according to the i-1th moving direction includes: The i-1th angle is determined by the following formula: ； in, is the i-1th angle, is the i-1th moving direction, is the floor function.

11. The method according to claim 3, characterized in that Determining the i-th landing point by the i-1-th slope and the i-1-th moving direction comprises: Determine the i-1th moving horizontal distance by using the average step length and the i-1th slope; The i-th landing point is obtained according to the i-1th moving horizontal distance and the i-1th moving direction.

12. The method according to claim 11, characterized in that Determining the i-1th moving horizontal distance by the average step length and the i-1th slope includes: The i-1th moving horizontal distance is determined by the following formula: ； in, is the horizontal distance of the i-1th movement, is the average step length, is the i-1th slope.

13. The method according to claim 11, characterized in that Obtaining the i-th landing point according to the i-1th moving horizontal distance and the i-1th moving direction includes: The longitude and latitude of the i-th landing point is determined according to the i-1th moving horizontal distance, the i-1th moving direction and the longitude and latitude of the i-1th landing point.

14. The method according to claim 13, characterized in that Determining the longitude and latitude of the i-th landing point according to the i-1th moving horizontal distance, the i-1th moving direction, and the longitude and latitude of the i-1th landing point includes: The latitude and longitude of the i-th foothold are determined by the following formula: ； ； in, is the longitude of the i-th foothold, is the latitude of the i-th foothold, is the longitude of the i-1th landing point, is the latitude of the i-1th landing point, is the horizontal distance of the i-1th movement, R is the radius of the earth, is the i-1th moving direction.

15. The method according to claim 1, characterized in that Obtaining the average step length of the target object, including: Determining N steps of an online phase of the target object before the offline phase; The average of the N step lengths is determined as the average step length of the target object.

16. The method according to claim 15, characterized in that Determining N step lengths of the target object in the online phase includes: The j-th step length of the target object is determined by the following steps, where j is an integer greater than or equal to 1: Determine the jth distance according to the starting position and the landing position of the jth step of the target object; Determining the slope of the starting position of the j-th step; The j-th step length is determined according to the j-th distance and the slope of the starting position of the j-th step.

17. The method according to claim 16, characterized in that Determining the jth distance according to the starting position and the landing position of the jth step of the target object includes: The j-th distance is determined by the following formula: ； in, is the j-th distance, is the radius of the Earth, is the latitude of the starting position of the j-th step, is the latitude of the landing point of step j, is the longitude of the starting position of the j-th step, is the longitude of the landing point of the j-th step.

18. The method according to claim 16, characterized in that Determining the j-th step length according to the j-th distance and the slope of the starting position of the j-th step includes: The j-th step length is determined by the following formula: ； in, is the j-th step length, is the j-th distance, is the slope of the starting position of the j-th step.

19. The method according to claim 2, characterized in that After determining N landing points according to the initial offline position, the moving direction and the average step length, the method further includes: Acquire an initial online position of the target object in an online phase after the offline phase; When the deviation between the last foothold among the N footholds and the initial online position is greater than or equal to a preset threshold, the average step length of the target object is adjusted.

20. The method according to claim 19, characterized in that Adjusting the average step length of the target object includes: Determine a step error according to the initial offline position and the initial online position, and the moving direction of the target object at the N landing points; The average step size is adjusted according to the step size error.

21. A device for determining a movement trajectory, characterized in that: include: A first acquisition module is used to acquire the last positioning information of the target object before it goes offline, and obtain the initial offline position of the target object; A second acquisition module is used to acquire the moving direction of the target object and the average step length of the target object; A determination module is used to determine the movement trajectory of the target object in the offline stage according to the initial offline position, the moving direction and the average step length.

22. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, wherein the computer program implements the steps of the method described in any one of claims 1 to 20 when executed by a processor.

23. An electronic device comprising a memory and a processor, characterized in that: A computer program is stored in the memory, and the processor is configured to run the computer program to perform the method according to any one of claims 1 to 20.

24. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method described in any one of claims 1 to 20 are implemented.

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