Positioning target track display method and device, equipment, medium and program product

Abstract

The invention provides a positioning target track display method and device, equipment, a medium and a program product, and the method comprises the steps: for each position point of a positioning target, generating a position fitting function taking the position point as a starting point based on the positioning information of the position point and the positioning information of an associated position point corresponding to the position point, the position fitting function is generated according to the positioning information of the acquired real position points, so that each acquired position point is on the position fitting function, the trajectory drift phenomenon caused by the fact that the position points are outside the position fitting function is avoided, and the display effect of trajectory display is improved.

Description

Technical Field

[0001] The present application belongs to the field of positioning, and in particular, relates to a positioning target trajectory display method, device, equipment, medium and program product. Background Art

[0002] When location information is distributed through cloud services, it is constrained by network conditions. Usually, the communication frequency is low, usually less than or equal to 1 Hz, and there are problems such as uncertain delays and filtering of abnormal points specified by business rules. Due to the above reasons, it is difficult to confirm the precise location in near real-time scenarios.

[0003] At present, the positioning terminal transmits the positioning information of the positioning target to the business cloud service, and the business cloud service usually transmits the positioning information to the display end at a frequency less than or equal to 1 Hz. There are two common methods for subsequent operations on the display end: the first is to directly display the received location point, that is, display the location point as received, and do not do any other processing. Therefore, the location point is teleported every second, and the display effect of this method is poor. The second is that after the display end receives the latest terminal location point, it will make a linear interpolation animation, that is, move the positioning target from the original location point to the new location point in a uniform straight line within 1 second, but this method cannot restore the true trajectory of the positioning target and will cause trajectory drift. Summary of the invention

[0004] The embodiments of the present application provide a positioning target trajectory display method, device, equipment, medium and program product to achieve format-preserving encryption of mixed data.

[0005] In a first aspect, an embodiment of the present application provides a method for displaying a positioning target trajectory, the method comprising:

[0006] Acquire positioning information of multiple location points of the positioning target; the positioning information includes positioning time and location information;

[0007] For each target location point, determining an associated location point corresponding to the target location point from the multiple location points, and generating a location fitting function with the target location point as a starting point based on the positioning information of the target location point and the positioning information of the associated location point; the associated location point is one or more continuous location points whose positioning time is after the positioning time of the target location point; the target location point is any one location point among the multiple location points;

[0008] Based on the position fitting function, determining the trajectory of the positioning target;

[0009] The trajectory of the positioning target is displayed.

[0010] In a second aspect, an embodiment of the present application provides a positioning target trajectory display device, the device comprising:

[0011] An acquisition module, which acquires the positioning information of multiple location points of the positioning target; the positioning information includes positioning time and location information;

[0012] A generating module, for each position point, determines an associated position point corresponding to the target position point, and generates a position fitting function with the target position point as a starting point based on the positioning information of the target position point and the positioning information of the associated position point; the associated position point is one or more continuous position points whose positioning time is after the positioning time of the target position point;

[0013] A determination module, which determines the trajectory of the positioning target based on the position fitting function;

[0014] A display module displays the trajectory of the positioning target.

[0015] In a third aspect, an embodiment of the present application provides an electronic device, comprising: a processor and a memory storing computer program instructions; when the processor executes the computer program instructions, the positioning target trajectory display method as described in the first aspect is implemented.

[0016] In a fourth aspect, an embodiment of the present application provides a computer storage medium, on which computer program instructions are stored. When the computer program instructions are executed by a processor, the positioning target trajectory display method as described in the first aspect is implemented.

[0017] In a fifth aspect, an embodiment of the present application provides a computer program product. When instructions in the computer program product are executed by a processor of an electronic device, the electronic device executes the positioning target trajectory display method as described in the first aspect.

[0018] The positioning target trajectory display method, device, equipment, medium and program product of the embodiments of the present application generate, for each position point of the positioning target, a position fitting function with the position point as the starting point based on the positioning information of the position point and the positioning information of the associated position point corresponding to the position point. Since the position fitting function is generated based on the positioning information of the real position point that has been acquired, each acquired position point is on the position fitting function, avoiding the trajectory drift phenomenon caused by the position point being outside the position fitting function, thereby improving the display effect of the trajectory display. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solution of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0020] Figure 1 It is a schematic diagram of the comparison between a predicted trajectory and a real trajectory in the related technology;

[0021] Figure 2 It is a schematic diagram of the effect of smoothing an existing trajectory in the related technology;

[0022] Figure 3 It is a schematic diagram of the comparison between the expected generated trajectory and the actual generated trajectory in the related art;

[0023] Figure 4 It is a flowchart of a method for displaying a positioning target trajectory provided by an embodiment of the present application;

[0024] Figure 5 is a schematic diagram of a position fitting function provided by an embodiment of the present application;

[0025] Figure 6 It is a schematic diagram of a position fitting function corresponding to a different segmentation position provided by an embodiment of the present application;

[0026] Figure 7 is a schematic diagram of a position fitting function after determining a segmentation position through acceleration, provided by an embodiment of the present application;

[0027] Figure 8 is a schematic diagram of a position and posture of a positioning target provided by an embodiment of the present application;

[0028] Fig. 9 is a schematic diagram of a generation process of a third position model graph provided by an embodiment of the present application;

[0029] Fig.10 It is a schematic diagram of a process of solving a position fitting function after a display terminal receives positioning information of multiple position points, provided by an embodiment of the present application;

[0030] Fig.11 This is a schematic diagram of the distribution of location points displayed on a display terminal provided by an embodiment of the present application;

[0031] Fig.12 It is a structural schematic diagram of a positioning target trajectory display device provided by an embodiment of the present application;

[0032] Fig.13 It is a structural schematic diagram of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0033] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, rather than to limit the present application. For those skilled in the art, the present application can be implemented without the need for some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by illustrating the examples of the present application.

[0034] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "include..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0035] As described in the background technology, in the current related technology, the positioning terminal transmits the positioning information of the positioning target to the business cloud service, and the business cloud service usually transmits the positioning information to the display end at a frequency less than or equal to 1 Hz. There are two common methods for subsequent operations on the display end: the first is to directly display the received location point, that is, what location point is received is displayed, and no other processing is done. Therefore, the location point is teleported every second, and the display effect of this method is poor. The second is that after the display end receives the latest terminal location point, it will make a linear interpolation animation, that is, the positioning target is moved from the original location point to the new location point in a uniform straight line within 1 second, but this method cannot restore the true trajectory of the positioning target, and will cause trajectory drift. Reference Figure 1 , which is a schematic diagram of the comparison between a predicted trajectory and a real trajectory in the related technology. It can be seen that when the actual trajectory of the positioning target deviates greatly, the predicted trajectory still extends forward along the previous trajectory, thereby causing trajectory drift (jump).

[0036] In addition, in some related technologies, the predicted trajectory of the positioning target is obtained by smoothing the existing trajectory, for example, using Kalman filtering, Bezier curves, and B-spline curves to smooth the trajectory. However, these smoothing solutions are not suitable for scenes where the positioning trajectory is displayed in real time. In real-time scenes, these smoothing solutions will make the positioning target not necessarily pass through the pushed position point. For example, refer to Figure 2 , among which some points are not on the curve, that is, the smoothed trajectory curve cannot include all the location points of the positioning target. Moreover, smoothing the existing trajectory is the same as extending it forward based on the original trajectory. Since both predict the future trajectory of the unobtained location points to obtain the predicted trajectory, when there is a deviation between the actual location points and the predicted trajectory, trajectory drift is inevitable.

[0037] In addition, in some related technologies, since the location of the positioning target is not related to the acquisition time of the location point, when there is a large delay in the communication link, the location point that should not appear at this moment will still be displayed. Therefore, the location of the positioning target at that time cannot be accurately displayed. Moreover, when the delay corresponding to a certain location point is greater than the time interval between two adjacent location points, the trajectory deviation of the positioning target position may occur. Figure 3 In the expected trajectory on the left, each position point appears in the actual order. However, in the actual situation, some position points arrive at the display end later than the next position point due to delay. Figure 3 The trajectory shown on the right is the trajectory that will have a folding bias.

[0038] In order to solve various problems in the related art, the embodiments of the present application provide a positioning target trajectory display method, device, equipment, computer storage medium and computer program product. The positioning target trajectory display method provided by the embodiments of the present application is first introduced below.

[0039] Figure 4 FIG. 1 is a flow chart showing a first method for displaying a positioning target trajectory provided by an embodiment of the present application. Figure 4 As shown, the method comprises the following steps:

[0040] S101, obtaining positioning information of multiple location points of a positioning target; the positioning information includes positioning time and location information.

[0041] In specific implementation, the positioning target is any object to be positioned, which may be a device with a positioning function or a user of the device. For example, the positioning target may be a device with a positioning function such as a car, an unmanned aircraft, or a mobile phone. Alternatively, the positioning target may be a user who uses a mobile phone for positioning, which is not limited. The positioning information of multiple location points of the positioning target may be obtained through a cloud server. In one example, the positioning target transmits the positioning information of multiple location points to the cloud server, and the cloud server transmits the positioning information of the multiple location points to the display end at a certain frequency.

[0042] It should be noted that the positioning target trajectory display method of the embodiment of the present application can be applied to the display end. In an illustrative usage scenario, the positioning target can be a taxi that the user calls through a cloud server. The taxi sends the positioning information of each position point during the journey to the cloud server. After the cloud server receives the positioning information of these position points, it transmits it to the display end at a certain frequency, so that the display end can generate and display the trajectory of the taxi through the positioning information of these position points.

[0043] In order to accurately determine the trajectory of the positioning target and avoid trajectory deviation caused by the irrelevance between the location information of the location point and the acquisition time of the location point, in some embodiments, the positioning information of the location point of the positioning target includes the positioning time and the location information, that is, each location point has both the location information and the positioning time.

[0044] In order to realize the display of the positioning target trajectory in a three-dimensional scene, in some embodiments, the position information of the above-mentioned position point includes first position information, second position information and third position information. The first position information, the second position information and the third position information are position information in three different directions in space, and any two of the three directions are perpendicular. In one example, the first position information, the second position information and the third position information can be longitude information, latitude information and elevation information, respectively.

[0045] S102, for each target location point, determine an associated location point corresponding to the target location point from multiple location points, and generate a location fitting function with the target location point as the starting point based on the positioning information of the target location point and the positioning information of the associated location point; the associated location point is one or more consecutive location points whose positioning time is after the positioning time of the target location point; the target location point is any one of the multiple location points.

[0046] In a specific implementation, after obtaining the positioning information of multiple location points of the positioning target, in order to accurately determine the trajectories corresponding to the multiple location points, for each received target location point, a location fitting function with the target location point as the starting point is generated based on the positioning information of the target location point and the positioning information of one or more continuous associated location points whose positioning time is after the positioning time of the target location point. Among them, the target location point is any one of the multiple location points. It should be noted that, unlike the related art in which a predicted trajectory containing future location points is directly generated based on the location information of historical location points, in the embodiment of the present application, the target location point and the associated location point are both actually generated location points, so there will be no situation where the generated trajectory does not include a certain actual location point. In one example, the generated location fitting function starts with the target location point and ends with the associated location point adjacent to the target location point.

[0047] When the positioning target trajectory is a trajectory in a three-dimensional scene, corresponding to the position information, in some embodiments, the above-mentioned position fitting function includes a first fitting function, a second fitting function and a third fitting function. Among them, the first fitting function is the first fitting function corresponding to the first position information, the second fitting function is the fitting function corresponding to the second position information, and the third fitting function is the fitting function corresponding to the third position information. In an example, the first fitting function can be generated according to the first position information of the target position point and the first position information of the associated position point, and / or the second fitting function can be generated according to the second position information of the target position point and the second position information of the associated position point, and / or the third fitting function can be generated according to the third position information of the target position point and the third position information of the associated position point. When generating the position fitting function, a preset function with unknown parameters can be assumed first, and then the unknown parameters of the preset function can be determined by the positioning information of the target position point and the positioning information of the associated position point, so as to obtain the final position fitting function.

[0048] In order to accurately obtain the position fitting function and make the position fitting function more closely match the actual trajectory, in some embodiments, based on the positioning information of the target position point and the positioning information of the associated position point, a position fitting function with the target position point as the starting point is generated, specifically including:

[0049] In response to determining that the target position point corresponds to one of the associated position points, a linear function with the target position point as a starting point is generated based on the positioning information of the target position point and the positioning information of the associated position point, and the linear function is used as the position fitting function;

[0050] In response to determining that the target position point corresponds to two associated position points, a target quadratic function with the target position point as a starting point is generated based on the positioning information of the target position point and the positioning information of the associated position point, and the target quadratic function is used as the position fitting function.

[0051] In the specific implementation, considering that the positioning target does not always move along a straight line during the actual moving process, therefore, in order to better restore the real trajectory of the positioning target, the quadratic function is used as the initial function for generating the position fitting function in the embodiment of the present application, but considering that when fitting the quadratic function, a large number of position points are required, and in order to make the generated trajectory as close as possible to the latest position of the positioning target, and to realize the trajectory generation and display in a near real-time scenario, it is necessary to generate the position fitting function through a small number of position points as much as possible. Therefore, in this embodiment, when generating the position fitting function, the number of associated position points corresponding to the current target position point will be judged first. When it is determined that there is only one associated position point corresponding to the target position point, that is, there are currently 2 position points used to generate the position fitting function, at this time, according to the positioning information of the target position point and the positioning information of the associated position point, a linear function with the target position point as the starting point is generated, and the linear function is used as the position fitting function. When it is determined that there are two or more associated position points corresponding to the target position point, that is, there can be 3 position points currently used to generate the position fitting function, at this time, the target quadratic function with the target position point as the starting point can be generated according to the positioning information of the target position point and the positioning information of the two associated position points, and the target quadratic function is used as the position fitting function.

[0052] In some embodiments, the two associated position points include a first associated position point adjacent to the target position point, and a second associated position point adjacent to the first associated position point; generating a target quadratic function with the target position point as a starting point based on the positioning information of the target position point and the positioning information of the associated position point specifically includes:

[0053] Determine a first speed of the target location point based on the location of the target location point among the plurality of location points;

[0054] Determine a second speed of the first associated position point based on the positioning information of the second associated position point and the positioning information of the target position point;

[0055] The target quadratic function is generated based on the first speed, the second speed, the positioning information of the target position point and the positioning information of the first associated position point; wherein the target quadratic function includes a continuous first-segment quadratic function and a second-segment quadratic function.

[0056] In the specific implementation, in order to more realistically restore the moving trajectory of the positioning target, this implementation divides the target quadratic function corresponding to the position fitting function into two continuous quadratic functions, which are represented by the first quadratic function and the second quadratic function respectively. In this way, the two quadratic functions can be used to represent the acceleration stage and the deceleration stage of the positioning target during the movement process. In order to accurately obtain the various parameters of the two quadratic functions, it is necessary to determine the first speed of the target position point and the second speed of the first associated position point adjacent to the target position point, and then generate the target quadratic function according to the first speed, the second speed, the positioning information of the target position point and the positioning information of the first associated position point. Among them, the first speed of the target position point is determined by the position of the target position point in the above multiple position points. And the second speed of the first associated position point is determined by the positioning information of the second associated position point and the positioning information of the target position point.

[0057] refer to Figure 5 , is a schematic diagram of a position fitting function in an embodiment of the present application, Figure 5 The position fitting function in includes two continuous quadratic functions, where q f represents the connection point of two quadratic functions, q0 represents the target position point, and q1 represents the first associated position point. Figure 5 In, t f At the corresponding time point, the position information of the first quadratic function is equal to the position information of the second function, and the speed of the first quadratic function is equal to the speed of the second quadratic function. In addition, at time point t0, q0 is a known value, and the first speed at t0 is a known value. At time point t1, q1 is a known value, and the second speed at t1 is a known value. Therefore, with the help of the above known conditions, the parameters of the two quadratic functions can be obtained, thereby obtaining the position fitting function.

[0058] In some embodiments, the quadratic function expression corresponding to the position fitting function can be:

[0059]

[0060] Derivative the expression gives the velocity function:

[0061]

[0062] In the above expressions, time t is the independent variable, the dependent variable is the position information at that moment, and α1, β1, γ1, α2, β2, and γ2 are unknown parameter variables. n-1 ,t n-2 ,t f is a known constant, t n-1 is the positioning time of the n-1th position point, t n-2is the positioning time of the n-2th position point, t f is the segmentation time, i.e. the time of connecting the two quadratic functions. t n-2 to n-1 During the time period t f The first quadratic function of time point segmentation. Similarly, Because f The second quadratic function of the time point segmentation. According to the above conditions, there are currently 6 unknown variables (α1, β1, γ1, α2, β2, γ2), and 6 equations can be established to solve:

[0063] 1) At t n-2 At a certain time point, the position information of the target location point is a known value.

[0064] 2) At t n-1 At this time point, the position information of the first associated position point is a known value.

[0065] 3) At t n-2 At the time point, the first velocity of the target position point is a known value.

[0066] 4) At t n-1 At the time point, the second speed of the first associated position point is a known value.

[0067] 5) At t f Time point, first quadratic function The position information is equal to the second quadratic function location information.

[0068] 6) At t f Time point, first quadratic function The velocity value is equal to the second quadratic function The speed value.

[0069] By solving the equations, for the received N position point information, the values ​​of the unknown parameters α1, β1, γ1, α2, β2, and γ2 of the position fitting function between the first n position points can be obtained. Thus, the position fitting function f composed of two quadratic functions is obtained. n ″ -1 (t):

[0070]

[0071] in, t n-2 to n-1 During the time period t f The first quadratic function of time point segmentation. Similarly, Because fThe second quadratic function of time point segmentation.

[0072] In order to accurately determine the first speed of the target location point, in some embodiments, determining the first speed of the target location point based on the location of the target location point among the multiple location points specifically includes:

[0073] In response to the target position point being the first position point of the plurality of position points, determining the first speed to be 0;

[0074] Or, in response to the target location point not being the first location point of the multiple location points, a preceding location point whose positioning time is before the positioning time of the target location point and adjacent to the target location point is obtained, and the first speed is determined based on the positioning information of the preceding location point and the positioning information of the first associated location point.

[0075] In specific implementation, when the target location point is the first location point of multiple location points, the first speed can be determined as 0, that is, the target location point is assumed to be the starting point of the positioning target. When the target location point is not the first location point of multiple location points, it is necessary to obtain a preceding location point whose positioning time is before the positioning time of the above target location point and is adjacent to the above target location point, and determine the above first speed based on the positioning information of the above preceding location point and the positioning information of the above first associated location point.

[0076] In one embodiment, the speed of each position point can be determined by the following Table 1:

[0077]

[0078]

[0079] Table 1

[0080] It should be noted that in this embodiment, the traditional speed formula is not directly applied. To solve t N-1 The velocity value at the location is calculated by using the formula Solving for t N-1 When the traditional speed formula is used directly, using t N-1 The total displacement distance at t is divided by N-1 What we get is the positioning target from the beginning to t N-1 The average speed between t N-1Moreover, by calculating the speed of each position point in this way, for each position point of the positioning target moving to the later stage, since the speeds of a large number of position points in the early stage are averaged when calculating the speed, the speed difference between two adjacent position points in the later stage is very small. To avoid this situation, in this embodiment, for each position point, the distance between the previous position point and the next position point is divided by the travel time of this distance, so that the speed of the current position point can be calculated more accurately.

[0081] In order to accurately determine the position of the connection point between the two segments of the quadratic function corresponding to the position fitting function, the inventor of the present application has found through research that different segmentation positions will greatly affect the display effect of the function. The segmentation position is the position of the connection point between the two segments of the quadratic function. Figure 6 , the split position is t f The split position in the position fitting function on the left is closer to the target position point, that is, t n-2 The position point at which the segmentation position in the position fitting function on the right is closer to the first associated position point, that is, t n-1 It can be seen that due to the different split positions, the position fitting functions on the left and right are quite different. In some embodiments, in order to facilitate calculation, the split position can be directly set to the time midpoint of the two quadratic functions. However, although this method of directly taking the midpoint meets the expectations in many scenes, in some boundary scenes, the display effect is abnormal.

[0082] In order to avoid abnormal influence of inaccurate segmentation position on the position fitting function, in some embodiments, the target quadratic function is generated based on the first speed, the second speed, the positioning information of the target position point and the positioning information of the first associated position point, specifically including:

[0083] Determine a first acceleration of the target location point based on the location of the target location point among the plurality of location points;

[0084] Determine a third speed of the second associated position point based on the positioning information of the first associated position point;

[0085] Determine a second acceleration of the first associated position point based on the first speed and the third speed;

[0086] Determine the position of the connection point between the first segment quadratic function and the second segment quadratic function based on the first acceleration and the second acceleration;

[0087] The target quadratic function is generated based on the position of the connection point, the first speed, the second speed, the positioning information of the target position point, and the positioning information of the first associated position point.

[0088] During specific implementation, in order to reduce the abnormal influence of the split position on the position fitting function, the inventor of the present application has found through observation that a better display effect can be achieved when the split position is closer to the position point with greater acceleration. Therefore, in this embodiment, the first acceleration of the target position point is first determined according to the position of the target position point among the multiple position points, and the third speed of the second associated position point is determined according to the positioning information of the first associated position point, and then the second acceleration of the first associated position point is determined according to the first speed and the third speed. After obtaining the first acceleration and the second acceleration, the position of the connection point of the first segment quadratic function and the second segment quadratic function is determined according to the first acceleration and the second acceleration, that is, the split position. After determining the split position, the target quadratic function can be generated more accurately according to the split position, the first speed, the second speed, the positioning information of the target position point, and the positioning information of the first associated position point.

[0089] In some embodiments, the acceleration of each position point can be calculated by the following Table 2:

[0090]

[0091] Table 2

[0092] It should be noted that, similar to calculating the speed of each position point, in this embodiment, To calculate t N-2 The acceleration at t N-2 When the acceleration at N-1 The velocity at t N-1 The speed at t N Therefore, when calculating the acceleration according to Table 2, it is necessary to obtain the positioning information of the two positions after the current position. Therefore, in some embodiments, when the positioning information of the position after the second associated position cannot be obtained, the third speed of the second associated position can be determined by the positioning information of the first associated position and the positioning information of the second associated position, or the time midpoint of the two quadratic functions can be directly used as the segmentation position.

[0093] In some embodiments, the position of the connection point between the first segment quadratic function and the second segment quadratic function may be determined by the following formula:

[0094]

[0095] Among them, t f-ratio Indicates the segmentation time t f The ratio of the total duration of the two quadratic functions. Indicates t n-1 The acceleration at Indicates t n-2 N represents the number of multiple position points of the positioning target.

[0096] refer to Figure 7 , which is a schematic diagram of a position fitting function after determining the segmentation position by acceleration in an embodiment of the present application, Figure 7 You can see t f Close to the point with greater acceleration, and according to the split time t calculated from the acceleration f The ratio of the total duration of the two quadratic functions is used to accurately determine t f location. Figure 7 and Figure 6 Compared with the above, the anomaly in the position fitting function is obviously eliminated.

[0097] In some embodiments, t can be determined by the following formula: N Speed ​​at:

[0098]

[0099] Among them, V N Indicates t N The speed at a time point can be obtained by the above formula in the absence of t N+1 When the location information of the time point is provided, a method is provided to obtain t N Method of speed of time point.

[0100] In some embodiments, determining the first acceleration of the target location point based on the location of the target location point among the multiple location points specifically includes:

[0101] In response to determining that the target position point is the first position point of the plurality of position points, determining the first acceleration to be 0;

[0102] Or, in response to determining that the target position point is not the first position point, a target speed of the preceding position point is acquired, and the first acceleration is determined based on the target speed and the second speed.

[0103] In specific implementation, when it is determined that the target location point is the first location point of the multiple location points, the first acceleration can be determined to be 0, that is, the target location point is defaulted as the starting point of the positioning target. When it is determined that the target location point is not the first location point, the target speed of the preceding location point whose positioning time is before the positioning time of the target location point can be obtained first, and then the first acceleration is determined according to the target speed and the second speed.

[0104] S103, determining the trajectory of the positioning target based on the position fitting function.

[0105] In a specific implementation, after obtaining the position fitting function of each position point, the moving trajectory of the positioning target can be inserted between each adjacent position point according to the position fitting function. Finally, the trajectory of the positioning target is determined by these position points and the moving trajectory between adjacent position points. It should be noted that in some embodiments, the positioning target is a device including a positioning terminal, for example, a vehicle including a navigation positioning terminal. In this case, the positioning information of the multiple position points of the positioning target obtained is generally the positioning information of the position points of the positioning terminal. In order to accurately restore the trajectory of the positioning target, the relative position of the positioning target and the positioning terminal included therein can be measured in advance, and then the position fitting function can be adjusted according to the relative position, and the trajectory of the positioning target is determined by the adjusted position fitting function.

[0106] In some embodiments, determining the trajectory of the positioning target based on the position fitting function specifically includes:

[0107] Determine the posture fitting function of the positioning target based on the position fitting function;

[0108] The trajectory of the positioning target is determined based on the posture fitting function and the position fitting function.

[0109] In order to more accurately display the trajectory of the positioning target, in this embodiment, in addition to determining the position information of the positioning target in the three-dimensional scene, the position information of the positioning target is further determined. Figure 8 , the position and posture information of the positioning target 001 includes heading angle information (yaw), pitch angle information (pitch) and roll angle information (roll). When determining the position and posture information of the positioning target, the attitude fitting function of the positioning target is first determined according to the position fitting function, and the position and posture information of the positioning target at each moment can be obtained according to the attitude fitting function. Therefore, the trajectory of the positioning target including the position and posture can be determined according to the attitude fitting function and the position fitting function.

[0110] In order to accurately determine the attitude fitting function of the positioning target, in some embodiments, the attitude fitting function includes a heading angle fitting function, a pitch angle fitting function and a roll angle fitting function; determining the attitude fitting function of the positioning target based on the position fitting function specifically includes:

[0111] Determine the heading angle fitting function based on the first fitting function and the second fitting function;

[0112] or, determining the pitch angle fitting function based on the third fitting function and the first fitting function;

[0113] Or, the rolling angle fitting function is determined based on the third fitting function and the second fitting function.

[0114] In specific implementation, corresponding to the position information of the positioning target, the above-mentioned attitude fitting function includes a heading angle fitting function, a pitch angle fitting function and a roll angle fitting function. When determining the above-mentioned heading angle fitting function according to the above-mentioned first fitting function and the above-mentioned second fitting function, the first position information (longitude) lon and the second position information (latitude) lat at the current time t can be first obtained:

[0115]

[0116] Take ε as a sufficiently small value, such as 0.00001, to obtain The first function of two close position points (t1 represents the time of the first position point, t n represents the moment of the nth position point), as shown below:

[0117]

[0118] Among them, lon start (t) represents the first position information (longitude) of the starting point of two close positions, lon end (t) represents the first position information (longitude) of the end points of the two approaching positions.

[0119] Similarly, the method for obtaining the second function of two position points in a short period of time is as follows:

[0120]

[0121] Among them, lat start (t) represents the second position information (latitude) of the starting point of two close positions, lon end (t) represents the second position information (latitude) of the end points of the two approaching positions.

[0122] From the first position information (longitude) and the second position information (latitude) of the two close position points, the deflection angle of the two close position points relative to the true north direction, that is, the heading angle, can be calculated. Thus, the heading angle fitting function is obtained: Based on the same principle, the pitch angle fitting function can be determined by using the third fitting function and the first fitting function. And determine the rolling angle fitting function according to the third fitting function and the second fitting function

[0123] S104, displaying the trajectory of the positioning target.

[0124] In a specific implementation, after the trajectory of the positioning target is generated, the trajectory of the positioning target can be displayed on the display end, so as to show the trajectory of the positioning target to the user holding the display end.

[0125] In order to more accurately generate the third fitting function, in some embodiments, generating a position fitting function with the target position point as the starting point based on the positioning information of the target position point and the positioning information of the associated position point specifically includes:

[0126] Acquire a third position model diagram corresponding to the target position point; the third position model diagram includes third position information of different positions, and the different positions are determined by the first position information and the second position information;

[0127] Generate the first fitting function based on the first position information of the target position point and the first position information of the associated position point;

[0128] generating the second fitting function based on the second position information of the target position point and the second position information of the associated position point;

[0129] The third fitting function is generated based on the first fitting function, the second fitting function and the third position model graph.

[0130] In a specific implementation, the third position model map corresponding to the acquired target position point may be a third position model map directly generated by collecting terrain data. Fig. 9 ,in, Fig. 9 X and Y in the coordinate diagram represent the first position information and the second position information respectively, and the colors in the coordinate diagram represent the third position information. Fig. 9 The coordinate graph (a) in the figure represents the original terrain data collected. After obtaining the coordinate graph corresponding to the original terrain data, the center point of each pixel in the coordinate graph (a) is regarded as a discrete point to obtain the coordinate graph (b). Then, the bilinear interpolation method is used to convert these discrete points into linear functions to obtain the coordinate graph (c). The coordinate graph (c) is the final third position model graph. The third position information of any point in the graph can be obtained through the third position model graph. It should be noted that in some embodiments, the first position information represents longitude information, the second position information represents latitude information, and the third position information represents elevation information. At this time, the corresponding third position model graph is a digital elevation model graph.

[0131] After obtaining the third position model diagram corresponding to the target position point, the first fitting function is further generated according to the first position information of the target position point and the first position information of the associated position point, and the second fitting function is generated according to the second position information of the target position point and the second position information of the associated position point. After obtaining the first fitting function and the second fitting function, the first position information and the second position information corresponding to each moment can be obtained, and then the first position information and the second position information corresponding to each moment can be used to determine the third position information corresponding to each moment in the third position model diagram, and finally the third fitting function is obtained.

[0132] Considering that collecting terrain data requires a relatively high cost, in some embodiments, before obtaining the third position model map corresponding to the target position point, the positioning target trajectory display method of the embodiment of the present application further includes:

[0133] Obtaining positioning information of multiple historical position points of a target historical positioning target; the target historical positioning target is a historical positioning target with a trajectory similar to the positioning target;

[0134] Generate the third position model map based on the positioning information of the multiple historical position points;

[0135] Among them, for each pixel unit in the above-mentioned third position model diagram, the first distance between each historical position point included in the above-mentioned pixel unit and the center of the above-mentioned pixel unit is determined, the first weight of each historical position point is determined based on the above-mentioned first distance, and the third position information of the above-mentioned pixel unit is determined based on the above-mentioned first weight and the historical third position information of each historical position point.

[0136] During specific implementation, in an embodiment of the present application, in order to reduce the cost of acquiring the third position model map, the above-mentioned third position model map will be generated based on the positioning information of multiple historical position points of historical positioning targets with similar trajectories to the positioning target. It should be noted that the positioning information of the above-mentioned historical position points includes first position information, second position information and third position information. When determining the third position information (color) of each pixel unit in the third position model map, the first weight of each historical position point can be determined based on the first distance of each historical position point from the center of the above-mentioned pixel unit, and then the third position information of each pixel unit can be determined based on the first weight and the historical third position information of each historical position point. For example, the third position information of the positioning target of a certain pixel unit is: point A 0.12 meters, point B 0.13 meters, point C 0.10 meters, and the distances from the center point are: point A 1 meter, point B 1 meter, point C 2 meters, respectively, then the weight of point A is The weight of point B The weight of point C is The third position information of the pixel unit is expected to be

[0137] In some embodiments, after generating the third position model diagram based on the positioning information of the plurality of historical position points, the positioning target trajectory display method of the embodiment of the present application further includes:

[0138] Determine the target pixel unit corresponding to the target position point in the third position model map;

[0139] Determine a historical average distance between a plurality of historical position points included in the target pixel unit and a center of the target pixel unit, and a total number of the plurality of historical position points included in the target pixel unit;

[0140] Determine a second distance between the target location point and the center of the pixel unit, and determine a second weight of the target location point based on the second distance, the historical average distance and the total number;

[0141] Determine a historical average weight based on the second distance, the historical average distance and the total number;

[0142] The third position information of the target pixel unit is updated based on the second weight, the historical average weight, the total number, and the third position information of the target position point.

[0143] In the specific implementation, in order to further ensure the accuracy of the third position information in the third position model map, in this embodiment, after the third position model map is generated according to the positioning information of the above-mentioned multiple historical position points, the third position information of the pixel unit in the third position model map will be further updated. When updating the pixel unit, the target pixel unit corresponding to the current target position point in the above-mentioned third position model map will be determined first, and then the third position information of the target pixel unit can be updated by the following formula:

[0144]

[0145]

[0146]

[0147]

[0148] Among them, w1 represents the distance weight of this update, n0 represents the total number of historical location points, d0 represents the historical average distance, w0 represents the historical average weight, d1 represents the distance from the current update point to the center point (second distance), d2 represents the historical average distance after update, h1 represents the third location information of this update, and h2 represents the third location information after update.

[0149] In some embodiments, reference Fig.10 , is the process of solving the position fitting function after the display terminal receives the positioning information of N position points:

[0150] Among them, t1, t2, ..., t N It represents the time when the 1st, 2nd, ... Nth position points are received. n ' -1 (t), f n ″ -1 When the superscript of the (t) function is ', it means that the underlying function is fitted by a linear function; when the superscript is ', it means that the underlying function is fitted by a quadratic function. The subscript n-1 (n∈[1,N]) represents the starting point of this function, that is, the position of this function starts from t n-1 End since n .

[0151] When the first position point is received, the position fitting function between the two position points cannot be obtained due to insufficient data.

[0152] When the second location point is received, a function can be fitted through the positioning information of t1 and t2, and the location fitting function of the segment t1 to t2 can be calculated. In one example, the location fitting function includes a time-longitude function or time-latitude function or time-elevation function

[0153] When the third position point is received, a quadratic function can be fitted through the positioning information of t1, t2, and t3, and the position fitting function of the segment t1 to t2 can be calculated. In one example, the position fitting function includes a time-longitude function or time-latitude function or time-elevation function At this time, a linear function can be fitted through the positioning information of t2 and t3 to calculate the position fitting function of the segment from t2 to t3. The position fitting function includes the time-longitude function. or time-latitude function or time-elevation function

[0154] When the Nth position point is received, for an integer n, A quadratic function can be fitted by any information of tn-2, tn-1, and tn, and a position fitting function of any segment from tn-2 to tn-1 can be calculated. In one example, the position fitting function includes a time-longitude function or time-latitude function or time-elevation function At the same time, a linear function can be fitted through the positioning information of tN-1 and tN to calculate the position fitting function of the segment tN-1 to tN. In one example, the position fitting function includes the time-longitude function or time-latitude function or time-elevation function

[0155] In one embodiment, if the cache points are configured as 4 positions at the display end, the time range that can be normally displayed is as follows: Fig.11 As shown in the figure, 10 represents the time range that can be displayed normally, 20 represents the location point of the positioning target received at the current moment, and 30 represents the location point of the positioning target to be received next. Since at least two location points are required for normal display, it is necessary to configure the trajectory display delay time. When the delay time is only 1 point, the trajectory switching between the linear function and the quadratic function may occur. When the delay time is only 2 points, the quadratic function segmentation position t f Therefore, in this embodiment, the delay time is set to the 80% percentile delay time of the terminal plus 3 points (three points are 3 seconds in the case of 1 Hz).

[0156] Since the time-longitude function, time-latitude function, and time-elevation function included in the position fitting function are strongly related to time, after the delay time configuration is completed, there will be no time and space display confusion during display due to delay fluctuations of a single location point or the different order of receiving location points. Therefore, the trajectory display effect of the positioning target is a smooth curve that is strongly related to the actual acceleration and speed of the positioning terminal.

[0157] The positioning target trajectory display method of the embodiment of the present application generates, for each position point of the positioning target, a position fitting function with the position point as the starting point based on the positioning information of the position point and the positioning information of the associated position point corresponding to the position point. Since the position fitting function is generated based on the positioning information of the real position point that has been acquired, each acquired position point is on the position fitting function, thereby avoiding the trajectory drift phenomenon caused by the position point being outside the position fitting function, thereby improving the display effect of the trajectory display.

[0158] Based on the same inventive concept, corresponding to any of the above-mentioned embodiment methods, the present application also provides a positioning target trajectory display device.

[0159] refer to Fig.12 , the positioning target trajectory display device comprises:

[0160] Acquisition module 201, acquires positioning information of multiple location points of the positioning target; the positioning information includes positioning time and location information;

[0161] The generating module 202 determines, for each location point, an associated location point corresponding to the target location point, and generates a location fitting function with the target location point as a starting point based on the location information of the target location point and the location information of the associated location point; the associated location point is one or more continuous location points whose location time is after the location time of the target location point;

[0162] A determination module 203 determines the trajectory of the positioning target based on the position fitting function;

[0163] The display module 204 displays the trajectory of the positioning target.

[0164] In some embodiments, the above-mentioned position information includes first position information, second position information and third position information; the above-mentioned position fitting function includes a first fitting function, a second fitting function and a third fitting function.

[0165] In some embodiments, the generating module comprises:

[0166] A first determining unit, in response to determining that the target position point corresponds to one of the associated position points, generates a linear function with the target position point as a starting point based on positioning information of the target position point and positioning information of the associated position point, and uses the linear function as the position fitting function;

[0167] The second determination unit, in response to determining that the target position point corresponds to the two associated position points, generates a target quadratic function with the target position point as a starting point based on the positioning information of the target position point and the positioning information of the associated position points, and uses the target quadratic function as the position fitting function.

[0168] In some embodiments, the two associated position points include a first associated position point adjacent to the target position point, and a second associated position point adjacent to the first associated position point; the second determining unit includes:

[0169] A first determining component determines a first speed of the target location point based on a location of the target location point among the plurality of location points;

[0170] A second determining component determines a second speed of the first associated position point based on the positioning information of the second associated position point and the positioning information of the target position point;

[0171] A generating component generates the target quadratic function based on the first speed, the second speed, the positioning information of the target position point and the positioning information of the first associated position point; wherein the target quadratic function includes a continuous first segment quadratic function and a second segment quadratic function.

[0172] In some embodiments, the first determining component is specifically configured to:

[0173] In response to the target position point being the first position point of the plurality of position points, determining the first speed to be 0;

[0174] Or, in response to the target location point not being the first location point of the multiple location points, a preceding location point whose positioning time is before the positioning time of the target location point and adjacent to the target location point is obtained, and the first speed is determined based on the positioning information of the preceding location point and the positioning information of the first associated location point.

[0175] In some embodiments, a generating component is specifically configured to:

[0176] Determine a first acceleration of the target location point based on the location of the target location point among the plurality of location points;

[0177] Determine a third speed of the second associated position point based on the positioning information of the first associated position point;

[0178] Determine a second acceleration of the first associated position point based on the first speed and the third speed;

[0179] Determine the position of the connection point between the first segment quadratic function and the second segment quadratic function based on the first acceleration and the second acceleration;

[0180] The target quadratic function is generated based on the position of the connection point, the first speed, the second speed, the positioning information of the target position point, and the positioning information of the first associated position point.

[0181] In some embodiments, a generating component is specifically configured to:

[0182] In response to determining that the target position point is the first position point of the plurality of position points, determining the first acceleration to be 0;

[0183] Or, in response to determining that the target position point is not the first position point, a target speed of the preceding position point is acquired, and the first acceleration is determined based on the target speed and the second speed.

[0184] In some embodiments, the determining module includes:

[0185] A fitting function determining unit, which determines a posture fitting function of the positioning target based on the position fitting function;

[0186] The trajectory determination unit determines the trajectory of the positioning target based on the posture fitting function and the position fitting function.

[0187] In some embodiments, the above-mentioned attitude fitting function includes a heading angle fitting function, a pitch angle fitting function and a roll angle fitting function; the fitting function determination unit is specifically used to:

[0188] Determine the heading angle fitting function based on the first fitting function and the second fitting function;

[0189] or, determining the pitch angle fitting function based on the third fitting function and the first fitting function;

[0190] Or, the rolling angle fitting function is determined based on the third fitting function and the second fitting function.

[0191] In some embodiments, the generating module is specifically configured to:

[0192] Acquire a third position model diagram corresponding to the target position point; the third position model diagram includes third position information of different positions, and the different positions are determined by the first position information and the second position information;

[0193] Generate the first fitting function based on the first position information of the target position point and the first position information of the associated position point;

[0194] generating the second fitting function based on the second position information of the target position point and the second position information of the associated position point;

[0195] The third fitting function is generated based on the first fitting function, the second fitting function and the third position model graph.

[0196] In some embodiments, the positioning target trajectory display device in the embodiment of the present application further includes a model diagram generation module, which is used to:

[0197] Obtaining positioning information of multiple historical position points of a target historical positioning target; the target historical positioning target is a historical positioning target with a trajectory similar to the positioning target;

[0198] Generate the third position model map based on the positioning information of the multiple historical position points;

[0199] Among them, for each pixel unit in the above-mentioned third position model diagram, the first distance between each historical position point included in the above-mentioned pixel unit and the center of the above-mentioned pixel unit is determined, the first weight of each historical position point is determined based on the above-mentioned first distance, and the third position information of the above-mentioned pixel unit is determined based on the above-mentioned first weight and the historical third position information of each historical position point.

[0200] In some embodiments, the model graph generation module is further used to:

[0201] Determine the target pixel unit corresponding to the target position point in the third position model map;

[0202] Determine a historical average distance between a plurality of historical position points included in the target pixel unit and a center of the target pixel unit, and a total number of the plurality of historical position points included in the target pixel unit;

[0203] Determine a second distance between the target location point and the center of the pixel unit, and determine a second weight of the target location point based on the second distance, the historical average distance and the total number;

[0204] Determine a historical average weight based on the second distance, the historical average distance and the total number;

[0205] The third position information of the target pixel unit is updated based on the second weight, the historical average weight, the total number, and the third position information of the target position point.

[0206] For the convenience of description, the above device is described in terms of functions divided into various modules. Of course, when implementing the present application, the functions of each module can be implemented in the same or multiple software and / or hardware.

[0207] The positioning target trajectory display device of the above embodiment is used to implement the corresponding positioning target trajectory display method in any of the above embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0208] Fig.13 A schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present application is shown.

[0209] In some embodiments the electronic device may include a processor 301 and a memory 302 storing computer program instructions.

[0210] Specifically, the processor 301 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0211] The memory 302 may include a large capacity memory for data or instructions. By way of example and not limitation, the memory 302 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive or a combination of two or more of these. In appropriate cases, the memory 302 may include a removable or non-removable (or fixed) medium. In appropriate cases, the memory 302 may be inside or outside the integrated gateway disaster recovery device. In a specific embodiment, the memory 302 is a non-volatile solid-state memory.

[0212] In certain embodiments, memory 302 includes a read-only memory (ROM). The ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), an electrically alterable ROM (EAROM), or flash memory, or a combination of two or more of the above, where appropriate.

[0213] The memory may include read-only memory (ROM), random access memory (RAM), magnetic disk storage media devices, optical storage media devices, flash memory devices, electrical, optical or other physical / tangible memory storage devices. Thus, typically, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the method according to an aspect of the present disclosure.

[0214] The processor 301 implements any one of the positioning target trajectory display methods in the above embodiments by reading and executing computer program instructions stored in the memory 302 .

[0215] In one example, the electronic device may further include a communication interface 303 and a bus 310. Fig.13 As shown, the processor 301, the memory 302, and the communication interface 303 are connected via a bus 310 and communicate with each other.

[0216] The communication interface 303 is mainly used to implement communication between various modules, devices, units and / or equipment in the embodiments of the present application.

[0217] Bus 310 includes hardware, software or both, and the parts of online data flow billing equipment are coupled to each other. For example, but not limitation, bus may include accelerated graphics port (AGP) or other graphics bus, enhanced industrial standard architecture (EISA) bus, front-end bus (FSB), hypertransport (HT) interconnection, industrial standard architecture (ISA) bus, infinite bandwidth interconnection, low pin count (LPC) bus, memory bus, micro channel architecture (MCA) bus, peripheral component interconnection (PCI) bus, PCI-Express (PCI-X) bus, serial advanced technology attachment (SATA) bus, video electronics standard association local (VLB) bus or other suitable bus or two or more of these combinations. In appropriate cases, bus 310 may include one or more buses. Although the present application embodiment describes and shows a specific bus, the present application considers any suitable bus or interconnection.

[0218] The electronic device of the above embodiment is used to implement the corresponding positioning target trajectory display method in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be repeated here.

[0219] In addition, in combination with the method for displaying the positioning target trajectory in the above embodiment, the embodiment of the present application can provide a computer storage medium for implementation. The computer storage medium stores computer program instructions; when the computer program instructions are executed by the processor, any one of the methods for displaying the positioning target trajectory in the above embodiment is implemented.

[0220] The computer instructions stored in the storage medium of the above embodiment are used to enable the computer to execute the positioning target trajectory display method described in any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0221] An embodiment of the present application also provides a computer program product, including a computer program, which, when executed, implements any one of the methods for displaying a positioning target trajectory in the above embodiments.

[0222] In some embodiments, the computer program instructions may be executed by one or more processors of a computer so that the computer and / or the processor execute the positioning target trajectory display method described in the above embodiments. Corresponding to the execution subject corresponding to each step in each embodiment of the positioning target trajectory display method, the processor executing the corresponding step may belong to the corresponding execution subject.

[0223] The computer program product of the above embodiment is used to enable the computer and / or the processor to execute the positioning target trajectory display method described in any of the above embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0224] It should be clear that the present application is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present application is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present application.

[0225] The functional blocks shown in the above-described block diagram can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application specific integrated circuit (ASIC), appropriate firmware, a plug-in, a function card, etc. When implemented in software, the elements of the present application are programs or code segments that are used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or a communication link by a data signal carried in a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (RF) links, etc. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc.

[0226] It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, this application is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the embodiment, or in a different order from the embodiment, or several steps can be performed simultaneously.

[0227] Aspects of the present disclosure are described above with reference to the flowchart and / or block diagram of the method, device (system) and computer program product according to the embodiment of the present disclosure. It should be understood that each box in the flowchart and / or block diagram and the combination of each box 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, or other programmable data processing device to produce a machine so that these instructions executed by the processor of the computer or other programmable data processing device enable the implementation of the function / action specified in one or more boxes of the flowchart and / or block diagram. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field programmable logic circuit. It can also be understood that each box in the block diagram and / or flowchart and the combination of boxes in the block diagram and / or flowchart can also be implemented by dedicated hardware that performs a specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions.

[0228] The above is only a specific implementation of the present application. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the protection scope of the present application is not limited to this. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in this application, and these modifications or replacements should be included in the protection scope of this application.

Claims

1. A method for displaying a positioning target trajectory, characterized in that: include: Obtain positioning information of multiple location points of the positioning target; The positioning information includes positioning time and location information; For each target location point, determining an associated location point corresponding to the target location point from the multiple location points, and generating a location fitting function with the target location point as a starting point based on the positioning information of the target location point and the positioning information of the associated location point; the associated location point is one or more continuous location points whose positioning time is after the positioning time of the target location point; The target location point is any one of the multiple location points; Based on the position fitting function, determining the trajectory of the positioning target; The trajectory of the positioning target is displayed.

2. The method according to claim 1, characterized in that The position information includes first position information, second position information and third position information; the position fitting function includes a first fitting function, a second fitting function and a third fitting function.

3. The method according to claim 1, characterized in that Generating a position fitting function with the target position point as a starting point based on the positioning information of the target position point and the positioning information of the associated position point specifically includes: In response to determining that the target position point corresponds to one of the associated position points, a linear function with the target position point as a starting point is generated based on the positioning information of the target position point and the positioning information of the associated position point, and the linear function is used as the position fitting function; In response to determining that the target location point corresponds to two associated location points, a target quadratic function with the target location point as a starting point is generated based on the positioning information of the target location point and the positioning information of the associated location point, and the target quadratic function is used as the position fitting function.

4. The method according to claim 3, characterized in that The two associated position points include a first associated position point adjacent to the target position point, and a second associated position point adjacent to the first associated position point; Generating a target quadratic function with the target position point as a starting point based on the positioning information of the target position point and the positioning information of the associated position point specifically includes: determining a first speed of the target location point based on the location of the target location point among the plurality of location points; determining a second speed of the first associated position point based on the positioning information of the second associated position point and the positioning information of the target position point; The target quadratic function is generated based on the first speed, the second speed, the positioning information of the target location point, and the positioning information of the first associated location point; wherein the target quadratic function includes a continuous first-segment quadratic function and a second-segment quadratic function.

5. The method according to claim 4, characterized in that Determining a first speed of the target location point based on the location of the target location point among the multiple location points specifically includes: In response to the target position point being the first position point of the plurality of position points, determining the first speed to be 0; Or, in response to the target location point not being the first location point of multiple location points, a preceding location point whose positioning time is before the positioning time of the target location point and is adjacent to the target location point is obtained, and the first speed is determined based on the positioning information of the preceding location point and the positioning information of the first associated location point.

6. The method according to claim 5, characterized in that Generating the target quadratic function based on the first speed, the second speed, the positioning information of the target position point, and the positioning information of the first associated position point specifically includes: determining a first acceleration of the target location point based on the location of the target location point among the plurality of location points; determining a third speed of the second associated position point based on the positioning information of the first associated position point; determining a second acceleration of the first associated position point based on the first speed and the third speed; Determine a position of a connection point between the first segment quadratic function and the second segment quadratic function based on the first acceleration and the second acceleration; The target quadratic function is generated based on the position of the connection point, the first speed, the second speed, the positioning information of the target position point, and the positioning information of the first associated position point.

7. The method according to claim 6, characterized in that Determining a first acceleration of the target location point based on the location of the target location point among the multiple location points specifically includes: In response to determining that the target location point is a first location point of the plurality of location points, determining the first acceleration to be 0; Or, in response to determining that the target position point is not the first position point, a target speed of the preceding position point is acquired, and the first acceleration is determined based on the target speed and the second speed.

8. The method according to claim 2, characterized in that: Determining the trajectory of the positioning target based on the position fitting function specifically includes: Determine a posture fitting function of the positioning target based on the position fitting function; The trajectory of the positioning target is determined based on the posture fitting function and the position fitting function.

9. The method according to claim 8, characterized in that The attitude fitting function includes a heading angle fitting function, a pitch angle fitting function and a roll angle fitting function; determining the attitude fitting function of the positioning target based on the position fitting function specifically includes: Determine the heading angle fitting function based on the first fitting function and the second fitting function; or, determining the pitch angle fitting function based on the third fitting function and the first fitting function; Or, the roll angle fitting function is determined based on the third fitting function and the second fitting function.

10. The method according to claim 2, characterized in that Generating a position fitting function with the target position point as a starting point based on the positioning information of the target position point and the positioning information of the associated position point specifically includes: Acquire a third position model graph corresponding to the target position point; the third position model graph includes third position information of different positions, and the different positions are determined by the first position information and the second position information; generating the first fitting function based on the first position information of the target position point and the first position information of the associated position point; generating the second fitting function based on the second position information of the target position point and the second position information of the associated position point; The third fitting function is generated based on the first fitting function, the second fitting function and the third position model graph.

11. The method according to claim 10, characterized in that Before obtaining the third position model map corresponding to the target position point, the method further includes: Acquire positioning information of multiple historical position points of a target historical positioning target; the target historical positioning target is a historical positioning target with a trajectory similar to that of the positioning target; Generate the third position model map based on the positioning information of the multiple historical position points; Among them, for each pixel unit in the third position model map, the first distance between each historical position point included in the pixel unit and the center of the pixel unit is determined, the first weight of each historical position point is determined based on the first distance, and the third position information of the pixel unit is determined based on the first weight and the historical third position information of each historical position point.

12. The method according to claim 11, characterized in that After generating the third position model graph based on the positioning information of the multiple historical position points, the method further includes: Determine a target pixel unit corresponding to the target position point in the third position model map; Determine a historical average distance between a plurality of historical position points included in the target pixel unit and a center of the target pixel unit, and a total number of the plurality of historical position points included in the target pixel unit; Determine a second distance between the target location point and the center of the pixel unit, and determine a second weight of the target location point based on the second distance, the historical average distance, and the total number; determining a historical average weight based on the second distance, the historical average distance, and the total number; The third position information of the target pixel unit is updated based on the second weight, the historical average weight, the total number, and the third position information of the target position point.

13. A positioning target trajectory display device, characterized in that: The device comprises: An acquisition module, which acquires the positioning information of multiple location points of the positioning target; the positioning information includes positioning time and location information; A generating module, for each position point, determines an associated position point corresponding to the target position point, and generates a position fitting function with the target position point as a starting point based on the positioning information of the target position point and the positioning information of the associated position point; the associated position point is one or more continuous position points whose positioning time is after the positioning time of the target position point; A determination module, which determines the trajectory of the positioning target based on the position fitting function; A display module displays the trajectory of the positioning target.

14. An electronic device, characterized in that: The device comprises: a processor and a memory storing computer program instructions; when the processor executes the computer program instructions, the method according to any one of claims 1 to 12 is implemented.

15. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer program instructions, and when the computer program instructions are executed by a processor, the positioning target trajectory display method according to any one of claims 1 to 12 is implemented.

16. A computer program product, characterized in that When the instructions in the computer program product are executed by a processor of an electronic device, the electronic device executes the positioning target trajectory display method as described in any one of claims 1 to 12.

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