Information determination method, device and equipment, computer storage medium and computer program product

Abstract

The embodiment of the invention discloses an information determination method, which comprises the steps of determining reference position information of driving equipment based on a first signal received by a first antenna of the driving equipment; based on a second signal received by a second antenna of target equipment carried on the driving equipment, determining initial position information of the target equipment; wherein the first antenna is located in a plane area formed by the plurality of second antennas; and the target error of the position of the driving equipment is determined based on the reference position information and the initial position information, so that the problem that the accuracy of the determined positioning error is relatively low when the positioning error of the vehicle is determined in the prior art is solved. The embodiment of the invention further discloses an information determination device and equipment, a computer storage medium and a computer program product.

Description

Technical Field

[0001] The present application relates to information determination technology in the field of computer network technology, and more particularly to an information determination method, device, equipment, computer storage medium and computer program product. Background Art

[0002] With the development of science and technology, in the field of intelligent driving, a surveying and mapping device is usually used to obtain the real-time positioning information of the vehicle. However, there are often errors when positioning the vehicle through the surveying and mapping device. Therefore, how to determine the accurate positioning error to ensure that the accurate vehicle positioning can be obtained is particularly important. At present, the relevant technology obtains the positioning error of the vehicle by comparing the single vehicle positioning obtained by the surveying and mapping device with the reference positioning of the vehicle; however, this method of determining the positioning error of the vehicle based only on the vehicle positioning of the only surveying and mapping device will result in a low accuracy of the obtained vehicle positioning error. Summary of the invention

[0003] To solve the above technical problems, the embodiments of the present application hope to provide an information determination method, device, equipment, computer storage medium and computer program product, which solve the problem of low accuracy of the determined positioning error when determining the positioning error of the vehicle in the related art.

[0004] The technical solution of this application is implemented as follows:

[0005] A method for determining information, the method comprising:

[0006] Determining reference position information of the traveling device based on a first signal received by a first antenna of the traveling device;

[0007] Determine the preliminary position information of the target device based on the second signal received by the second antenna of the target device mounted on the traveling device; wherein the first antenna is located in a plane area formed by a plurality of the second antennas;

[0008] Based on the reference position information and the rough position information, a target error of the position of the traveling device is determined.

[0009] In the above solution, the step of determining the target error of the position of the traveling device based on the reference position information and the preliminary position information includes:

[0010] Determine the target position of the traveling device based on the plurality of preliminary position information;

[0011] Based on the reference position information and the target position, a target error of the position of the traveling device is determined.

[0012] In the above solution, the step of determining the target position of the driving device based on the plurality of preliminary position information includes:

[0013] determining a distance between the first antenna and each of the second antennas;

[0014] Based on the target parameter, the plurality of preliminary position information are screened to obtain a plurality of first position information;

[0015] Based on the plurality of first position information and the plurality of distances, a target position of the traveling device is determined.

[0016] In the above solution, determining the target position of the traveling device based on the plurality of first position information and the plurality of distances includes:

[0017] Determine a weight corresponding to each of the distances;

[0018] The target position is determined based on the plurality of first position information, the plurality of distances and the plurality of weights.

[0019] In the above solution, determining the target position based on the multiple first position information, the multiple distances and the multiple weights includes:

[0020] Determine a plurality of first coordinates based on the plurality of first position information, and perform format conversion on each first coordinate to obtain a plurality of second coordinates;

[0021] Based on the plurality of second coordinates, the plurality of distances and the plurality of weights, a reference coordinate is determined; wherein the target position includes the reference coordinate.

[0022] In the above solution, determining the target error of the position of the traveling device based on the reference position information and the target position includes:

[0023] Perform format conversion on the reference coordinates to obtain converted coordinates;

[0024] A reference coordinate is determined based on the reference position information, and the target error is determined based on the reference coordinate and the converted coordinate.

[0025] In the above solution, determining the target error based on the reference coordinates and the converted coordinates includes:

[0026] Determining a horizontal error and a vertical error of the position based on the reference coordinates and the transformed coordinates;

[0027] The target error is determined based on a plurality of the horizontal errors and a plurality of the elevation errors.

[0028] An information determination device, the device comprising:

[0029] A first determining unit, configured to determine reference position information of the traveling device based on a first signal received by a first antenna of the traveling device;

[0030] A second determining unit is used to determine the rough location information of the target device based on a second signal received by a second antenna of the target device mounted on the traveling device; wherein the first antenna is located in a plane area formed by a plurality of the second antennas;

[0031] A third determining unit is configured to determine a target error of the position of the traveling device based on the reference position information and the preliminary position information.

[0032] An information determination device, the device comprising: a processor, a memory, and a communication bus;

[0033] The communication bus is used to realize the communication connection between the processor and the memory;

[0034] The processor is used to execute the information determination program in the memory to implement the steps of the above-mentioned information determination method.

[0035] A computer-readable storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the steps of the above-mentioned information determination method.

[0036] A computer program product comprises a computer program, wherein the computer program implements the above-mentioned information determination method when executed by a processor.

[0037] The information determination method, device, equipment, computer storage medium and computer program product provided in the embodiment of the present application can determine the reference position information of the driving device based on the first signal received by the first antenna of the driving device in the plane area formed by multiple second antennas, and determine the rough position information of the target device based on the second signal received by the second antenna of the target device mounted on the driving device, and then determine the target error of the position of the driving device based on the reference position information and the rough position information; in this way, the positioning error of the driving vehicle can be determined by combining the reference position information determined according to the signal received by the first antenna and the multiple rough position information determined according to the signals received by the multiple second antennas, that is, when determining the positioning error of the driving vehicle, multiple rough position information is considered, instead of determining the positioning error based on only a single positioning position as in the related art, which solves the problem of low accuracy of the determined positioning error when determining the positioning error of the vehicle in the related art. In addition, by setting the first antenna in the plane area formed by multiple second antennas, the problem of introducing additional errors due to the adjacent placement of the antenna of the vehicle and the antenna of the surveying and mapping equipment in the related art can also be solved, further improving the accuracy of the determined positioning error of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 A flowchart of an information determination method provided in an embodiment of the present application;

[0039] Figure 2 A flowchart of another information determination method provided in an embodiment of the present application;

[0040] Figure 3 A schematic diagram of the structure of an information determination device provided in an embodiment of the present application;

[0041] Figure 4 A schematic diagram of the structure of an information determination device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0042] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application.

[0043] It should be understood that the "embodiments of the present application" or "the aforementioned embodiments" mentioned throughout the specification mean that specific features, structures or characteristics related to the embodiments are included in at least one embodiment of the present application. Therefore, "in the embodiments of the present application" or "in the aforementioned embodiments" appearing throughout the specification may not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics may be combined in one or more embodiments in any suitable manner. In the various embodiments of the present application, the size of the sequence numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application. The above-mentioned sequence numbers of the embodiments of the present application are for description only and do not represent the advantages and disadvantages of the embodiments.

[0044] Unless otherwise specified, the electronic device performs any step in the embodiments of the present application, and the processor of the electronic device may perform the step. It is also worth noting that the embodiments of the present application do not limit the order in which the electronic device performs the following steps. In addition, the methods used to process data in different embodiments may be the same method or different methods. It should also be noted that any step in the embodiments of the present application can be independently executed by the electronic device, that is, when the electronic device executes any step in the following embodiments, it may not rely on the execution of other steps.

[0045] It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0046] The present application embodiment provides a method for determining information, referring to Figure 1 As shown, the method may include the following steps:

[0047] Step 101: Determine reference position information of a moving device based on a first signal received by a first antenna of the moving device.

[0048] In the embodiment of the present application, the driving device may be a car, a ship, or a drone, etc.; the first antenna may refer to an antenna installed on the driving device. Specifically, the first signal received by the driving device may be processed to obtain first global positioning system fix data (GGA) for the driving device, and the reference position information of the driving object may be determined based on the first GGA data.

[0049] Step 102: Determine preliminary location information of the target device based on a second signal received by a second antenna of the target device mounted on the traveling device.

[0050] The first antenna is located in a plane area formed by a plurality of second antennas.

[0051] In the embodiment of the present application, the target device may refer to a real-time kinematic (RTK) surveying and mapping device installed on a traveling device; the second antenna may refer to the antenna of the RTK surveying and mapping device itself.

[0052] Each RTK surveying and mapping device may have one second antenna or two second antennas. It should be noted that the number of the second antennas in the present invention is at least two, that is, the driving device is equipped with at least two RTK surveying and mapping devices with one second antenna, or at least one RTK surveying and mapping device with two second antennas.

[0053] In the embodiment of the present application, the plane area formed by the second antennas may be a line segment, a triangle, a rectangle, etc., which may be specifically determined according to the number of the second antennas.

[0054] Step 103: Determine a target error of the position of the driving device based on the reference position information and the preliminary position information.

[0055] In an embodiment of the present application, the target position of the traveling device can be determined based on multiple preliminary position information, and the positioning error of the traveling device, that is, the target error of the position of the traveling device, can be determined based on the target position and reference position information.

[0056] The information determination method provided in the embodiment of the present application can combine the reference position information determined according to the signal received by the first antenna and the multiple preliminary position information determined according to the signals received by the multiple second antennas to determine the positioning error of the moving vehicle, that is, multiple preliminary positions are taken into account when determining the positioning error of the moving vehicle, instead of only determining the positioning error according to a unique positioning position as in the related art, thereby solving the problem of low accuracy of the positioning error determined when determining the positioning error of the vehicle in the related art. In addition, by setting the first antenna in the plane area formed by the multiple second antennas, the problem of additional errors introduced by the adjacent placement of the vehicle antenna and the antenna of the surveying and mapping equipment in the related art can also be solved, further improving the accuracy of the determined positioning error of the vehicle.

[0057] Based on the above embodiments, the embodiments of the present application provide an information determination method, which can be applied to an information determination device, referring to Figure 2 As shown, the method may include the following steps:

[0058] Step 201: An information determination device determines reference position information of a traveling device based on a first signal received by a first antenna of the traveling device.

[0059] In an embodiment of the present application, the reference location information may include latitude and longitude information, altitude information, and data recording time. Specifically, the first signal may be processed according to the National Marine Electronics Association (NMEA) protocol to obtain the first GGA data, and then the reference location information may be extracted from the first GGA data. Among them, the altitude information may include the first altitude and the second altitude; the data recording time may refer to the Coordinated Universal Time (UTC).

[0060] It should be noted that the traveling device has only one first antenna, and the installation position of the first antenna needs to be determined according to the number and installation position of the second antennas of the RTK surveying and mapping equipment carried by the traveling device.

[0061] Exemplarily, the first GGA data may be as shown in Table 1 below.

[0062]

[0063] Table 1

[0064] It should be noted that in addition to UTC time, longitude information, latitude information and altitude information, GGA data can also include positioning quality indication, horizontal precision factor, number of satellites and other information.

[0065] Step 202: The information determination device determines preliminary location information of the target device based on a second signal received by a second antenna of the target device mounted on the traveling device.

[0066] The first antenna is located in a plane area formed by a plurality of second antennas.

[0067] In the embodiment of the present application, if there are two second antennas, the first antenna is arranged on the line segment formed by the installation points of the two second antennas, that is, the installation position of the first antenna and the installation positions of the two second antennas are located on a straight line; if there are three second antennas, the first antenna will be located in a triangular area or a circular area formed by the three second antennas; if there are four second antennas, the second antenna will be located in a rectangular area or a circular area formed by the four second antennas.

[0068] It should be noted that if there are two second antennas, preferably, the first antenna can be arranged in the middle of the two second antennas, that is, the center of the second antenna completely coincides with the center of the line segment formed by the two antennas.

[0069] In an embodiment of the present application, the preliminary location information may include the latitude and longitude information, altitude information and data recording time corresponding to the second antenna. Specifically, at least two second signals received by at least two second antennas may be processed according to the NMEA protocol to obtain a plurality of second GGA data, and then the preliminary location information may be extracted from each second GGA data. It should be noted that each second antenna corresponds to a preliminary location information.

[0070] Step 203: The information determination device determines the target position of the driving device based on a plurality of preliminary position information.

[0071] In the embodiment of the present application, the target position may refer to the theoretical position of the driving device. Specifically, the distance between the first antenna and each second antenna may be determined, and the target position of the driving object may be determined based on the multiple distances and the multiple preliminary position information.

[0072] In the embodiment of the present application, step 203 can be implemented through steps 203a to 203c.

[0073] Step 203a: The information determination device determines the distance between the first antenna and each second antenna.

[0074] In the embodiment of the present application, if there are two second antennas, two distances can be determined; if there are three second antennas, three distances can be determined.

[0075] In a feasible manner, if there are two second antennas and the first antenna is located at the midline position of the two second antennas, two distances can be obtained, and the two distances obtained are equal.

[0076] Step 203b: The information determination device screens multiple pieces of preliminary position information based on the target parameters to obtain multiple pieces of first position information.

[0077] In an embodiment of the present application, the target parameter may characterize whether necessary field information is missing in the preliminary location information. In one achievable manner, the target parameter may be carried in the preliminary location information and may be represented by a numerical value. For example, 0 may indicate that the preliminary location information contains all necessary field information; 1 may indicate that some necessary information is missing in the preliminary location information.

[0078] In an embodiment of the present application, multiple preliminary position information can be screened and processed according to the target parameters in each preliminary position information to obtain multiple first position information (i.e., fixed solutions) containing all necessary field information, that is, the preliminary position information that lacks necessary information is removed from all preliminary position information.

[0079] Step 203c: The information determination device determines the target position of the traveling device based on the multiple first position information and the multiple distances.

[0080] In the embodiment of the present application, step 203c can be implemented through steps 203c1 to 203c2.

[0081] Step 203c1: The information determination device determines the weight corresponding to each distance.

[0082] In the embodiment of the present application, the weight represents the importance of each distance. If multiple distances are equal, the weight corresponding to each distance is also equal. It should be noted that the weight can be determined based on historical data and actual needs.

[0083] Step 203c2: The information determination device determines the target position based on the multiple first position information, multiple distances and multiple weights.

[0084] In the embodiment of the present application, a plurality of first coordinates can be obtained by processing the first position information, and the target position of the traveling object can be determined based on the plurality of first coordinates, the plurality of distances and the weight corresponding to each distance.

[0085] In the embodiment of the present application, step 203c2 can be implemented through steps 203c21 to 203c23.

[0086] Step 203c21: The information determination device determines a plurality of first coordinates based on the plurality of first position information, and performs format conversion on each first coordinate to obtain a plurality of second coordinates.

[0087] In the embodiment of the present application, the longitude and latitude information and the altitude information in each first position information may be converted into geodetic coordinates in a geodetic coordinate system, namely, BLH coordinates.

[0088] Exemplarily, if the first location information is as shown in Table 2 below, the first coordinates obtained after converting the longitude and latitude information and the altitude information may be (31.250489718, 121.612116071, 51.400299999).

[0089]

[0090] Table 2

[0091] Afterwards, the obtained first coordinate can be transformed again to be converted into a coordinate in a spatial rectangular coordinate system. For example, after the first coordinate (31.250489718, 121.612116071, 51.400299999) is transformed, its second coordinate in the spatial rectangular coordinate system can be obtained (-2860729.990282290, 4647847.671791870, 3289694.259323440).

[0092] It should be noted that one first coordinate corresponds to one second coordinate.

[0093] Step 203c22: The information determination device determines the reference coordinates based on the multiple second coordinates, the multiple distances, and the multiple weights.

[0094] The target position includes reference coordinates.

[0095] In the embodiment of the present application, each distance and the corresponding weight may be calculated to obtain multiple values, and then the reference coordinates may be determined based on the multiple values ​​and the multiple second coordinates. In one achievable manner, if there are two second antennas, that is, two second coordinates, two distances and two weights, the calculation formula for the reference coordinates may be as shown in the following formulas (1) to (3).

[0096]

[0097] Wherein, d1 represents the first distance from the first antenna to the first second antenna; d2 represents the second distance from the first antenna to the second second antenna; a represents the weight corresponding to the first distance; b represents the weight corresponding to the second distance; x1 represents the abscissa in the first second coordinate corresponding to the first second antenna; x2 represents the abscissa in the second second coordinate corresponding to the second second antenna; y1 represents the ordinate in the first second coordinate corresponding to the first second antenna; y2 represents the ordinate in the second second coordinate corresponding to the second second antenna; z1 represents the vertical coordinate in the first second coordinate corresponding to the first second antenna; z2 represents the vertical coordinate in the second second coordinate corresponding to the second second antenna; x c Represents the horizontal coordinate in the reference coordinates; y c Indicates the vertical coordinate in the reference coordinate system; z c Represents the vertical coordinate in base coordinates.

[0098] It should be noted that the reference coordinates are coordinates in a spatial rectangular coordinate system.

[0099] Step 204: The information determination device determines a target error of the position of the driving device based on the reference position information and the target position.

[0100] In the embodiment of the present application, the reference coordinates can be determined according to the reference position information, and the positioning error of the traveling device, that is, the target error of the position of the traveling device, can be determined according to the reference coordinates and the reference coordinates in the target position.

[0101] In the embodiment of the present application, step 204 can be implemented through steps 204a to 204b.

[0102] Step 204a: The information determination device performs format conversion on the reference coordinates to obtain converted coordinates.

[0103] In the embodiment of the present application, the coordinates in the spatial rectangular coordinate system may be transformed to obtain the geodetic coordinates in the geodetic coordinate system, namely, the BLH coordinates (coordinates after transformation).

[0104] Step 204b: The information determination device determines the reference coordinates based on the reference position information, and determines the target error based on the reference coordinates and the converted coordinates.

[0105] In the embodiment of the present application, the target error may include a horizontal error and an elevation error. Specifically, the latitude and longitude information and the altitude information in the reference position information may be converted into geodetic coordinates in a geodetic coordinate system, i.e., reference coordinates, and the horizontal error and elevation error of the position of the driving device may be determined based on the obtained reference coordinates and the converted coordinates.

[0106] In the embodiment of the present application, step 204b can be implemented through steps 204b1 to 204b2.

[0107] Step 204b1: The information determination device determines the horizontal error and the elevation error of the position based on the reference coordinates and the converted coordinates.

[0108] In the embodiment of the present application, the reference coordinates can be converted into coordinates in a spatial rectangular coordinate system, that is, the converted reference coordinates are obtained, and then the horizontal error and the elevation error are determined according to the reference coordinates, the converted reference coordinates, the reference coordinates, and the converted coordinates. It should be noted that the UTC time corresponding to the reference coordinates, the converted reference coordinates, the reference coordinates, and the converted coordinates is the same.

[0109] Specifically, the reference coordinates (X) of point i can be calculated according to the following formula (4): i ,Y i ,Z i ), converted reference coordinates (B i ,I i ,H i ) and the reference coordinates (X j ,Y j ,Z j ), converted coordinates (B j,I j ,H j ) to obtain the station center coordinates of point j relative to point i (e j ,n j ,u j ).

[0110]

[0111] Afterwards, the obtained station center coordinates can be calculated according to formula (5) to obtain the azimuth angle d of point j relative to point i j .

[0112]

[0113] Furthermore, the station center coordinates (e) of point i relative to point j can be calculated according to formulas (4) and (5). i ,n i ,u i ) and azimuth d i , then, the horizontal error herr of the position of the driving device at point j can be calculated according to formula (6) and formula (7): j and the elevation error lerr j .

[0114]

[0115] lerr j =|herr*cos(d j -d i -π)| Formula (7)

[0116] After that, similarly, the horizontal error herr of the position of the driving device at point i can be calculated according to formulas (6) and (7): i and the elevation error lerr i .

[0117] Step 204b2: The information determination device determines a target error based on multiple horizontal errors and multiple elevation errors.

[0118] In an embodiment of the present application, the horizontal error and elevation error of the position of the traveling device at each UTC time can be calculated according to step 204b3, and probability statistics are performed on the obtained multiple horizontal errors and multiple elevation errors to obtain target errors including the standard deviation 1sigma, two times the standard deviation 2sigma, three times the standard deviation 3sigma and the circular error probability CEP value.

[0119] It should be noted that, for the description of the same steps and the same contents in this embodiment as those in other embodiments, reference can be made to the description in other embodiments and will not be repeated here.

[0120] The information determination method provided in the embodiment of the present application can combine the reference position information determined according to the signal received by the first antenna and the multiple preliminary position information determined according to the signals received by the multiple second antennas to determine the positioning error of the moving vehicle, that is, multiple preliminary position information is taken into account when determining the positioning error of the moving vehicle, instead of only determining the positioning error according to the unique positioning position as in the related art, thereby solving the problem of low accuracy of the positioning error determined when determining the positioning error of the vehicle in the related art. In addition, by setting the first antenna in the plane area formed by the multiple second antennas, the problem of additional error introduced by the adjacent placement of the vehicle antenna and the antenna of the surveying and mapping equipment in the related art can also be solved, further improving the accuracy of the determined positioning error of the vehicle.

[0121] Based on the above embodiments, the present invention provides an information determination device, which can be applied to Figure 1 and 2 In the information determination method provided in the corresponding embodiment, refer to Figure 3 As shown, the information determination device 3 may include: a first determination unit 31, a second determination unit 32 and a third determination unit 33, wherein:

[0122] A first determining unit 31 is used to determine reference position information of the traveling device based on a first signal received by a first antenna of the traveling device;

[0123] A second determining unit 32 is used to determine the rough location information of the target device based on the second signal received by the second antenna of the target device mounted on the moving device; wherein the first antenna is located in a plane area formed by the plurality of second antennas;

[0124] The third determining unit 33 is used to determine a target error of the position of the traveling device based on the reference position information and the preliminary position information.

[0125] In other embodiments of the present application, the third determining unit 33 is further configured to perform the following steps:

[0126] Determine a target position of the traveling device based on a plurality of preliminary position information;

[0127] Based on the reference position information and the target position, a target error of the position of the traveling device is determined.

[0128] In other embodiments of the present application, the third determining unit 33 is further configured to perform the following steps:

[0129] determining a distance between the first antenna and each second antenna;

[0130] Based on the target parameter, multiple pieces of preliminary position information are screened to obtain multiple pieces of first position information;

[0131] A target position of the traveling device is determined based on the plurality of first position information and the plurality of distances.

[0132] In other embodiments of the present application, the third determining unit 33 is further configured to perform the following steps:

[0133] Determine the weight corresponding to each distance;

[0134] A target position is determined based on the plurality of first position information, the plurality of distances and the plurality of weights.

[0135] In other embodiments of the present application, the third determining unit 33 is further configured to perform the following steps:

[0136] Determine a plurality of first coordinates based on the plurality of first position information, and convert the format of each first coordinate to obtain a plurality of second coordinates;

[0137] Based on the plurality of second coordinates, the plurality of distances and the plurality of weights, a reference coordinate is determined; wherein the target position includes the reference coordinate.

[0138] In other embodiments of the present application, the third determining unit 33 is further configured to perform the following steps:

[0139] Perform format conversion on the reference coordinates to obtain converted coordinates;

[0140] A reference coordinate is determined based on the reference position information, and a target error is determined based on the coordinate after the reference coordinate is converted.

[0141] In other embodiments of the present application, the third determining unit 33 is further configured to perform the following steps:

[0142] Determine the horizontal error and elevation error of the position based on the reference coordinates and the transformed coordinates;

[0143] Based on the multiple horizontal errors and the multiple elevation errors, a target error is determined.

[0144] It should be noted that the specific description of the steps performed by each unit can be found in Figure 1 and 2 The information determination method provided in the corresponding embodiment will not be repeated here.

[0145] The information determination device provided in the embodiment of the present application can determine the positioning error of the moving vehicle by combining the reference position information determined according to the signal received by the first antenna and the multiple preliminary position information determined according to the signals received by the multiple second antennas, that is, multiple preliminary position information is taken into account when determining the positioning error of the moving vehicle, instead of determining the positioning error only according to the unique positioning position as in the related art, thereby solving the problem of low accuracy of the positioning error determined when determining the positioning error of the vehicle in the related art. In addition, by setting the first antenna in the plane area formed by the multiple second antennas, the problem of additional error introduced by the adjacent placement of the vehicle antenna and the antenna of the surveying and mapping equipment in the related art can also be solved, further improving the accuracy of the determined positioning error of the vehicle.

[0146] Based on the above embodiments, the embodiments of the present application provide an information determination device, which can be applied to Figure 1 and 2 In the information determination method provided in the corresponding embodiment, refer to Figure 4 As shown, the information determination device 4 may include: a processor 41, a memory 42 and a communication bus 43, wherein:

[0147] The communication bus 43 is used to realize the communication connection between the processor 41 and the memory 42;

[0148] The processor 41 is used to execute the information determination program in the memory 42 to implement the following steps:

[0149] Determine reference position information of the traveling device based on a first signal received by a first antenna of the traveling device;

[0150] Determine the rough location information of the target device based on the second signal received by the second antenna of the target device mounted on the moving device; wherein the first antenna is located in a plane area formed by the plurality of second antennas;

[0151] Based on the reference position information and the rough position information, a target error of the position of the traveling device is determined.

[0152] In other embodiments of the present application, the processor 41 is used to execute the information determination program in the memory 42 to determine the target error of the position of the driving device based on the reference position information and the preliminary position information, so as to implement the following steps:

[0153] Determine a target position of the traveling device based on a plurality of preliminary position information;

[0154] Based on the reference position information and the target position, a target error of the position of the traveling device is determined.

[0155] In other embodiments of the present application, the processor 41 is used to execute the information determination program in the memory 42 to determine the target position of the traveling device based on the plurality of preliminary position information, so as to implement the following steps:

[0156] determining a distance between the first antenna and each second antenna;

[0157] Based on the target parameter, multiple pieces of preliminary position information are screened to obtain multiple pieces of first position information;

[0158] A target position of the traveling device is determined based on the plurality of first position information and the plurality of distances.

[0159] In other embodiments of the present application, the processor 41 is used to execute the information determination program in the memory 42 to determine the target position of the traveling device based on the multiple first position information and the multiple distances, so as to implement the following steps:

[0160] Determine the weight corresponding to each distance;

[0161] A target position is determined based on the plurality of first position information, the plurality of distances and the plurality of weights.

[0162] In other embodiments of the present application, the processor 41 is used to execute the information determination program in the memory 42 to determine the target position based on multiple first position information, multiple distances and multiple weights to implement the following steps:

[0163] Determine a plurality of first coordinates based on the plurality of first position information, and convert the format of each first coordinate to obtain a plurality of second coordinates;

[0164] Based on the plurality of second coordinates, the plurality of distances and the plurality of weights, a reference coordinate is determined; wherein the target position includes the reference coordinate.

[0165] In other embodiments of the present application, the processor 41 is used to execute the information determination program in the memory 42 to determine the target error of the position of the traveling device based on the reference position information and the target position, so as to implement the following steps:

[0166] Perform format conversion on the reference coordinates to obtain converted coordinates;

[0167] A reference coordinate is determined based on the reference position information, and a target error is determined based on the reference coordinate and the transformed coordinate.

[0168] In other embodiments of the present application, the processor 41 is used to execute the information determination program in the memory 42 to determine the target error based on the reference coordinates and the converted coordinates to implement the following steps:

[0169] Determine the horizontal error and elevation error of the position based on the reference coordinates and the transformed coordinates;

[0170] Based on the multiple horizontal errors and the multiple elevation errors, a target error is determined.

[0171] It should be noted that the specific description of the steps executed by the processor can be referred to Figure 1 and 2 The information determination method provided in the corresponding embodiment will not be repeated here.

[0172] The information determination device provided in the embodiment of the present application can determine the positioning error of the moving vehicle by combining the reference position information determined according to the signal received by the first antenna and the multiple preliminary position information determined according to the signals received by the multiple second antennas, that is, multiple preliminary position information is taken into account when determining the positioning error of the moving vehicle, instead of determining the positioning error only according to the unique positioning position as in the related art, thereby solving the problem of low accuracy of the positioning error determined when determining the positioning error of the vehicle in the related art. In addition, by setting the first antenna in the plane area formed by the multiple second antennas, the problem of additional error introduced by the adjacent placement of the vehicle antenna and the antenna of the surveying and mapping equipment in the related art can also be solved, further improving the accuracy of the determined positioning error of the vehicle.

[0173] Based on the foregoing embodiments, the embodiments of the present application provide a computer-readable storage medium, which stores one or more programs, and the one or more programs can be executed by one or more processors to implement Figure 1 and 2 The corresponding embodiments provide steps of the information determination method.

[0174] Based on the above embodiments, an embodiment of the present application provides a computer program product, the computer program product includes a computer program, the computer program is executed by a processor to achieve Figure 1 and 2 The corresponding embodiments provide steps of the information determination method.

[0175] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of hardware embodiments, software embodiments, or embodiments in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage and optical storage, etc.) that contain computer-usable program code.

[0176] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0177] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0178] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0179] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A method for determining information, characterized in that: The method comprises: Determining reference position information of the traveling device based on a first signal received by a first antenna of the traveling device; Determine the preliminary position information of the target device based on the second signal received by the second antenna of the target device mounted on the traveling device; wherein the first antenna is located in a plane area formed by a plurality of the second antennas; Based on the reference position information and the rough position information, a target error of the position of the traveling device is determined.

2. The method according to claim 1, characterized in that The step of determining a target error of the position of the traveling device based on the reference position information and the preliminary position information includes: Determine the target position of the traveling device based on the plurality of preliminary position information; Based on the reference position information and the target position, a target error of the position of the traveling device is determined.

3. The method according to claim 2, characterized in that The determining the target position of the traveling device based on the plurality of preliminary position information comprises: determining a distance between the first antenna and each of the second antennas; Based on the target parameter, the plurality of preliminary position information are screened to obtain a plurality of first position information; Based on the plurality of first position information and the plurality of distances, a target position of the traveling device is determined.

4. The method according to claim 3, characterized in that The step of determining the target position of the traveling device based on the plurality of first position information and the plurality of distances comprises: Determine a weight corresponding to each of the distances; The target position is determined based on the plurality of first position information, the plurality of distances and the plurality of weights.

5. The method according to claim 4, characterized in that The determining the target position based on the plurality of first position information, the plurality of distances and the plurality of weights comprises: Determine a plurality of first coordinates based on the plurality of first position information, and perform format conversion on each first coordinate to obtain a plurality of second coordinates; Based on the plurality of second coordinates, the plurality of distances and the plurality of weights, a reference coordinate is determined; wherein the target position includes the reference coordinate.

6. The method according to claim 2, characterized in that The step of determining a target error of the position of the traveling device based on the reference position information and the target position includes: Perform format conversion on the reference coordinates to obtain converted coordinates; A reference coordinate is determined based on the reference position information, and the target error is determined based on the reference coordinate and the converted coordinate.

7. The method according to claim 6, characterized in that Determining the target error based on the reference coordinates and the transformed coordinates includes: Determining a horizontal error and a vertical error of the position based on the reference coordinates and the transformed coordinates; The target error is determined based on a plurality of the horizontal errors and a plurality of the elevation errors.

8. An information determination device, characterized in that: The device comprises: A first determining unit, configured to determine reference position information of the traveling device based on a first signal received by a first antenna of the traveling device; A second determining unit is used to determine the rough location information of the target device based on a second signal received by a second antenna of the target device mounted on the traveling device; wherein the first antenna is located in a plane area formed by a plurality of the second antennas; A third determining unit is configured to determine a target error of the position of the traveling device based on the reference position information and the preliminary position information.

9. An information determination device, characterized in that: The device comprises: a processor, a memory and a communication bus; The communication bus is used to realize the communication connection between the processor and the memory; The processor is used to execute the information determination program in the memory to implement the steps of the information determination method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the steps of the information determination method according to any one of claims 1 to 7.

11. A computer program product, comprising a computer program, characterized in that: When the computer program is executed by a processor, the computer program implements the information determination method according to any one of claims 1 to 7.

Images