Target position determination method and device, medium and product

Abstract

The invention provides a target position determination method and device, a medium and a product, relates to the technical field of positioning, and aims to solve the problem that a general technology cannot meet indoor and outdoor high-precision positioning requirements. The target position determination method comprises the following steps: firstly, acquiring first positioning data and second positioning data; wherein the first positioning data comprises first position information, monitored by an indoor ultra wide band (UWB) base station, of the mobile device in a room and first signal intensity, monitored by the indoor UWB base station, of the mobile device in the room; the second positioning data comprises second position information of the mobile equipment which is monitored by an outdoor continuous operation reference station (CORS) base station and second signal intensity of the mobile equipment which is monitored by the CORS base station. And then, under the condition that the first signal strength is greater than the second signal strength, determining that the target position information is the first position information. And under the condition that the first signal strength is smaller than or equal to the second signal strength, determining the target position information as second position information.

Description

Technical Field

[0001] The present application relates to the field of positioning technology, and in particular to a method, device, medium and product for determining a target position. Background Art

[0002] As people's travel scenarios become increasingly complex and diverse, people's demand for integrated indoor and outdoor navigation is becoming increasingly urgent. Navigation must cover both open outdoor areas and closed indoor environments. This requires extremely high accuracy in navigation and positioning.

[0003] General technology usually uses global positioning system GPS and mobile communication positioning technology for outdoor positioning. General technology usually uses infrared, Bluetooth and other technologies for indoor positioning.

[0004] However, among general technologies, GPS cannot guarantee the security of positioning data, and the positioning delay of mobile networks is large, which cannot achieve high-precision positioning outdoors. Technologies such as infrared and Bluetooth are susceptible to interference and lack stability, and cannot achieve high-precision positioning indoors. Therefore, general technologies cannot meet the needs of high-precision positioning indoors and outdoors. Summary of the invention

[0005] The embodiments of the present disclosure provide a method, device, medium and product for determining a target position, aiming to solve the problem that general technologies cannot meet the requirements of high-precision positioning indoors and outdoors.

[0006] In order to achieve the above purpose, this application adopts the following technical solutions:

[0007] In a first aspect, a method for determining a target position is provided, comprising: acquiring first positioning data and second positioning data; the first positioning data comprising first position information of a mobile device indoors and a first signal strength of the mobile device indoors monitored by an indoor ultra-wideband (UWB) base station; the second positioning data comprising second position information of a mobile device outdoors and a second signal strength of the mobile device outdoors monitored by an outdoor continuous operation reference system (CORS) base station; when the first signal strength is greater than the second signal strength, determining the target position information to be the first position information; and when the first signal strength is less than or equal to the second signal strength, determining the target position information to be the second position information.

[0008] Optionally, when the first signal strength is greater than the second signal strength, determining the target location information as the first location information includes: solving the first positioning data to determine the first location information; and determining the target location information as the first location information.

[0009] Optionally, when the first signal strength is less than or equal to the second signal strength, determining the target location information as the second location information includes: acquiring coordinate data of an outdoor CORS base station; and jointly solving the second positioning data and the coordinate data to determine the second location information.

[0010] Optionally, the second positioning data and the coordinate data are jointly solved to determine the second position information, including: jointly solving the second positioning data and the coordinate data to determine the solved position information; and correcting the solved position information based on a correction model to determine the second position information.

[0011] Optionally, the target location determination method also includes: obtaining an indoor map and an outdoor map of the space where the terminal device is located; fusing the indoor map and the outdoor map to obtain an initial indoor and outdoor fusion map; loading the target location information into the initial indoor and outdoor fusion map to determine the target indoor and outdoor fusion map; the target indoor and outdoor fusion map includes the target location information; and sending the target indoor and outdoor fusion map to the mobile device.

[0012] Optionally, the target location information is target location information in coordinate form; the initial indoor-outdoor fusion map is an initial indoor-outdoor fusion vector map; the target location information is loaded into the initial indoor-outdoor fusion map to determine the target indoor-outdoor fusion map, including: mapping the target location information in coordinate form to the initial indoor-outdoor fusion vector map to determine the target indoor-outdoor fusion map.

[0013] In a second aspect, a target position determination device is provided, which includes: a communication unit and a processing unit; the communication unit is used to obtain first positioning data and second positioning data; the first positioning data includes first position information of a mobile device being indoors monitored by an indoor UWB base station and a first signal strength of the mobile device being indoors; the second positioning data includes second position information of a mobile device being outdoors monitored by an outdoor CORS base station and a second signal strength of the mobile device being outdoors; the processing unit is used to determine that the target position information is the first position information when the first signal strength is greater than the second signal strength; the processing unit is also used to determine that the target position information is the second position information when the first signal strength is less than or equal to the second signal strength.

[0014] Optionally, the processing unit is specifically used to: solve the first positioning data to determine the first position information; and determine that the target position information is the first position information.

[0015] Optionally, the processing unit is specifically used to: obtain coordinate data of an outdoor CORS base station; and jointly solve the second positioning data and the coordinate data to determine the second position information.

[0016] Optionally, the processing unit is specifically used to: jointly solve the second positioning data and the coordinate data to determine the solved position information; based on the correction model, correct the solved position information to determine the second position information.

[0017] Optionally, the communication unit is also used to obtain the indoor map and outdoor map of the space where the terminal device is located; the processing unit is also used to fuse the indoor map and the outdoor map to obtain an initial indoor and outdoor fusion map; the processing unit is also used to load the target location information into the initial indoor and outdoor fusion map to determine the target indoor and outdoor fusion map; the target indoor and outdoor fusion map includes the target location information; the communication unit is also used to send the target indoor and outdoor fusion map to the mobile device.

[0018] Optionally, the target location information is target location information in coordinate form; the initial indoor and outdoor fusion map is an initial indoor and outdoor fusion vector map; the processing unit is also used to: map the target location information in coordinate form to the initial indoor and outdoor fusion vector map to determine the target indoor and outdoor fusion map.

[0019] In a third aspect, a target position determination device is provided, comprising a memory and a processor; the memory is used to store computer execution instructions, and the processor is connected to the memory through a bus; when the target position determination device is running, the processor executes the computer execution instructions stored in the memory, so that the target position determination device executes the target position determination method of the first aspect.

[0020] The target location determination device may be an electronic device, or a part of an electronic device, such as a chip system in an electronic device. The chip system is used to support the electronic device to implement the functions involved in the first aspect and any possible implementation thereof, for example, to obtain and determine the data and / or information involved in the above-mentioned target location determination method. The chip system includes a chip, and may also include other discrete devices or circuit structures.

[0021] In a fourth aspect, a computer-readable storage medium is provided, the computer-readable storage medium comprising computer execution instructions, and when the computer execution instructions are executed on a computer, the computer executes the target position determination method described in the first aspect.

[0022] In a fifth aspect, a computer program product is also provided, which includes a computer program or instructions. When the computer instructions are executed on a target position determination device, the target position determination device executes the target position determination method as described in the first aspect above.

[0023] It should be noted that the above-mentioned computer instructions may be stored in whole or in part on a computer-readable storage medium. The computer-readable storage medium may be packaged together with the processor of the target position determination device, or may be packaged separately from the processor of the target position determination device, which is not limited in the embodiments of the present application.

[0024] The description of the second, third, fourth and fifth aspects of the present application can refer to the detailed description of the first aspect.

[0025] In the embodiments of the present application, the name of the above-mentioned target position determination device does not limit the device or functional module itself. In actual implementation, these devices or functional modules may appear with other names. For example, the receiving unit may also be called a receiving module, a receiver, etc. As long as the functions of each device or functional module are similar to those of the present application, they belong to the scope of the claims of the present application and their equivalent technologies.

[0026] The technical solution provided by this application brings at least the following beneficial effects:

[0027] Based on any of the above aspects, an embodiment of the present application provides a method for determining a target position, first, obtaining first positioning data and second positioning data. The first positioning data includes the first position information of a mobile device indoors monitored by an indoor UWB base station and the first signal strength of the mobile device indoors, and the second positioning data includes the second position information of a mobile device outdoors monitored by an outdoor continuously operating reference station system CORS base station and the second signal strength of the mobile device outdoors. Then, when the first signal strength is greater than the second signal strength, the target position information is determined to be the first position information. When the first signal strength is less than or equal to the second signal strength, the target position information is determined to be the second position information.

[0028] From the above, it can be seen that the present application can obtain the first positioning data of the mobile device monitored by the indoor UWB base station when it is indoors and the second positioning data of the mobile device monitored by the outdoor CORS base station when it is outdoors. Among them, the first positioning data includes the first position information and the first signal strength, and the second positioning data includes the second position information and the second signal strength. Since the accuracy of the first position information of the mobile device monitored by the indoor UWB base station when it is indoors is relatively high, and the accuracy of the second position information of the mobile device monitored by the outdoor CORS base station when it is outdoors is relatively high, therefore, the present application can also determine the target position information as the first position information when the first signal strength is greater than the second signal strength, or determine the target position information as the second position information when the first signal strength is less than or equal to the second signal strength. In this way, the present application can realize indoor and outdoor fusion positioning to quickly and accurately determine the target position information of the mobile device.

[0029] The beneficial effects of the first, second, third, fourth and fifth aspects of the present application can all be referred to the analysis of the above beneficial effects, which will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 A schematic diagram of the structure of an indoor and outdoor fusion positioning system provided in an embodiment of the present application;

[0031] Figure 2 A schematic diagram of the structure of a target location determination device provided in an embodiment of the present application;

[0032] Figure 3 A schematic diagram of the structure of another indoor and outdoor fusion positioning system provided in an embodiment of the present application;

[0033] Figure 4 A schematic diagram of a hardware structure of a communication device provided in an embodiment of the present application;

[0034] Figure 5 A flowchart of a method for determining a target position provided in an embodiment of the present application;

[0035] Figure 6 A flowchart of another method for determining a target position provided in an embodiment of the present application;

[0036] Figure 7 A flowchart of another method for determining a target position provided in an embodiment of the present application;

[0037] Figure 8 A flowchart of another method for determining a target position provided in an embodiment of the present application;

[0038] Fig. 9 A flowchart of another method for determining a target position provided in an embodiment of the present application;

[0039] Fig.10 A flowchart of another method for determining a target position provided in an embodiment of the present application;

[0040] Fig.11 A flowchart of another method for determining a target position provided in an embodiment of the present application;

[0041] Fig.12 A schematic diagram of the structure of a target position determination device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0042] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0043] It should be noted that, in the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0044] In order to facilitate a clear description of the technical solutions of the embodiments of the present application, in the embodiments of the present application, words such as "first" and "second" are used to distinguish between identical or similar items with substantially the same functions and effects. Those skilled in the art can understand that words such as "first" and "second" do not limit the quantity and order of execution.

[0045] Before introducing the target location determination method provided by the present application in detail, a brief introduction to the application scenarios and implementation environment involved in the present application is first given.

[0046] First, a brief introduction to the application scenarios involved in this application is given.

[0047] As described in the background technology, with the gradual improvement and popularization of the BeiDou Navigation Satellite System (BDS), as well as the increasing complexity of urban construction and the diversification of people's life needs, people's travel scenarios are becoming increasingly complex and diversified. Therefore, people's demand for indoor and outdoor integrated navigation is becoming increasingly urgent. Especially in places such as subways, shopping malls, and underground parking lots, people's demand for indoor and outdoor integrated navigation is particularly prominent. These places cover both open outdoor areas and indoor closed environments. The accuracy and stability of navigation positioning are extremely high.

[0048] General technologies can use Global Positioning System (GPS), mobile communication technology (also called mobile network), long range radio (LoRa) and other technologies for outdoor positioning.

[0049] General technologies can use infrared, radio frequency identification (RFID), Bluetooth, wireless fidelity (WiFi) in wireless local area network (WLAN), ZigBee and other positioning technologies for indoor positioning.

[0050] General technology can integrate the above indoor technology with outdoor technology to solve the problem of seamless indoor and outdoor positioning. However, among the above technologies, GPS cannot guarantee the security and confidentiality of positioning data. Since the accuracy of mobile communication technology depends on the number and signal strength of outdoor base stations, it cannot perform real-time positioning in areas with a small number of base stations (for example, suburbs), and the positioning accuracy of mobile communication technology is about 50m, so mobile communication technology cannot achieve real-time, efficient and high-precision positioning. The positioning accuracy of LoRa is about 5m, which cannot meet the needs of high-precision positioning. Since infrared rays can only propagate in line of sight, their penetration is extremely poor. When infrared rays are blocked, they cannot work properly. Therefore, infrared positioning technology is susceptible to interference (environmental factors such as lighting and smoke). RFID does not have communication capabilities and can only be used for fixed position positioning and is susceptible to interference. Bluetooth positioning technology has poor stability and is susceptible to interference. The accuracy of WiFi positioning technology is usually 2m, which cannot provide high-precision positioning. ZigBee signal transmission is affected by multipath effects and movement, and cannot stably provide high-precision positioning.

[0051] Therefore, the above general technologies cannot meet the needs of high-precision positioning indoors and outdoors.

[0052] In response to the above problems, an embodiment of the present application provides a method for determining a target position. First, the first positioning data and the second positioning data are obtained. The first positioning data includes the first position information of the mobile device indoors monitored by the indoor UWB base station and the first signal strength of the mobile device indoors, and the second positioning data includes the second position information of the mobile device outdoors monitored by the outdoor continuously operating reference station system CORS base station and the second signal strength of the mobile device outdoors. Then, when the first signal strength is greater than the second signal strength, the target position information is determined to be the first position information. When the first signal strength is less than or equal to the second signal strength, the target position information is determined to be the second position information.

[0053] From the above, it can be seen that the present application can obtain the first positioning data of the mobile device monitored by the indoor UWB base station when it is indoors and the second positioning data of the mobile device monitored by the outdoor CORS base station when it is outdoors. Among them, the first positioning data includes the first position information and the first signal strength, and the second positioning data includes the second position information and the second signal strength. Since the accuracy of the first position information of the mobile device monitored by the indoor UWB base station when it is indoors is relatively high, and the accuracy of the second position information of the mobile device monitored by the outdoor CORS base station when it is outdoors is relatively high, therefore, the present application can also determine the target position information as the first position information when the first signal strength is greater than the second signal strength, or determine the target position information as the second position information when the first signal strength is less than or equal to the second signal strength. In this way, the present application can realize indoor and outdoor fusion positioning to quickly and accurately determine the target position information of the mobile device.

[0054] The implementation environment of the above-mentioned target position determination method can be the indoor and outdoor fusion positioning system provided in the embodiment of the present application.

[0055] Figure 1 The schematic diagram of the structure of the indoor and outdoor fusion positioning system provided by the embodiment of the present application is shown. Figure 1 As shown, the indoor and outdoor fusion positioning system includes: a target position determination device 101, an outdoor CORS reference station 102, an indoor UWB base station 103, and a mobile device 104.

[0056] Understandably, Figure 1 The mobile device 104 shown is the same mobile device, for ease of understanding, Figure 1 Two mobile devices 104 are used as an example for description.

[0057] Among them, the target location determination device (also known as the high-precision service cloud center) 101 is used to determine the target location information of the mobile device 104 based on the second positioning data provided by the outdoor CORS base station 102 and the first positioning data provided by the indoor UWB base station 103.

[0058] Optionally, the target position determination device 101 is further configured to send a target indoor and outdoor fusion map (also referred to as a high-precision positioning map) to the mobile device 104 .

[0059] Specifically, the target location determination device 101 sends the target indoor and outdoor fusion map to the mobile device 104 through a transmission network (also referred to as an evolved fifth-generation mobile communication technology (5th-Generation Mobile Communication Technology-Advanced, 5G-A) deterministic network).

[0060] The mobile device 104 is used to send a positioning request and positioning related data to the indoor UWB base station, so that the indoor UWB base station 103 monitors the mobile device 104 .

[0061] The outdoor CORS reference station 102 is used to send the second positioning data and the coordinate data of the outdoor CORS reference station to the target position determination device 101 .

[0062] Specifically, the outdoor CORS reference station 102 sends the second positioning data and the coordinate data of the outdoor CORS reference station to the target position determination device 101 through the transmission network.

[0063] Optionally, the outdoor CORS reference station 102 is used to receive Beidou satellite signals and Beidou clock signals from the Beidou satellite navigation system.

[0064] Specifically, the outdoor CORS reference station 102 uses carrier phase differential technology to monitor and receive Beidou satellite signals in real-time kinematic (RTK), so that the outdoor positioning accuracy is less than or equal to 1.5m.

[0065] The indoor UWB base station 103 is used to send second positioning data to the target position determination device 101 .

[0066] Specifically, the indoor UWB base station 103 sends the second positioning data to the target position determination device 101 through the transmission network.

[0067] In practical applications, the indoor and outdoor fusion positioning system includes any number of outdoor CORS reference stations 102 and any number of indoor UWB base stations 103. Usually, three outdoor CORS reference stations 102 are called to determine the outdoor positioning data of the mobile device 104, and three indoor UWB base stations 103 are called to determine the indoor positioning data of the mobile device 104.

[0068] In some embodiments, the indoor and outdoor fusion positioning system can deploy multiple indoor UWB base stations 103 with a coverage radius of 20m, and adopt a ring networking and / or star networking method to obtain a network of multiple indoor UWB base stations. And provide the indoor UWB base station 103 with authorized service frequency band channel 9 (channel 9, CH9) and public service frequency band channel 5 (channel 5, CH5) for positioning, so that the indoor positioning accuracy is less than or equal to 0.5m.

[0069] As can be seen from the above, the present application adopts the outdoor CORS reference station 102 to realize the positioning of the mobile device 104 outdoors, and adopts the indoor UWB base station 103 to realize the positioning of the mobile device 104 indoors.

[0070] This application uses Beidou CORS positioning (i.e., outdoor positioning using outdoor CORS reference stations) to achieve sub-meter-level precise positioning, especially in areas that require high-precision positioning (e.g., engineering surveying, urban planning), Beidou CORS positioning can achieve high-precision positioning. Since the outdoor CORS reference station can operate continuously and stably, and realize efficient data transmission and data processing, Beidou CORS positioning can be completed instantly to provide users with real-time dynamic location information. Since Beidou CORS positioning is through the integration of data from multiple outdoor CORS reference stations, and the use of fusion technology and correction technology, it can effectively reduce the impact of interference factors such as multipath effects and atmospheric delays on the positioning results, thereby ensuring the accuracy and reliability of the positioning results. The indoor and outdoor fusion positioning system provided by this application supports various types of receivers and data processing software, and can be flexibly configured according to different measurement and positioning requirements to meet the application requirements in various complex scenarios. This application uses the Beidou satellite navigation system to obtain positioning data. The Beidou satellite navigation system has a strict control and protection mechanism in terms of data security to ensure that the user's location data is not illegally obtained and leaked. Therefore, this application can provide users with solid data security protection.

[0071] This application uses indoor UWB base stations to achieve indoor positioning. Indoor UWB base stations use ultra-wide frequency bands of gigahertz, which can achieve data transmission rates of hundreds of megabits per second to gigabits per second. And the use of extremely wide bandwidth by indoor UWB base stations can improve the system capacity of indoor and outdoor fusion positioning systems. The use of extremely narrow pulses by indoor UWB base stations can make multipath signals less likely to overlap in the time domain, thereby improving the signal resolution capability. The duty cycle of extremely narrow pulses is very low, and the use of extremely narrow pulses by indoor UWB base stations can effectively reduce interference. Extremely narrow pulses can improve positioning accuracy, and the indoor positioning accuracy of indoor UWB base stations can reach 0.5m. The power of indoor UWB base stations is relatively low, usually tens of mV, so indoor UWB base stations consume low energy when achieving indoor positioning.

[0072] In summary, the present application can provide users with reliable, stable, high-precision positioning with low energy consumption in any scenario, and protect user data security.

[0073] The structural diagram of the target position determination device 101 is as follows: Figure 2 As shown, the target location determination device 101 includes: a CORS solution unit 1011, a UWB solution unit 1012, a high-precision map unit 1013, a storage and calculation unit 1014, a network management unit 1015, and a clock synchronization unit 1016.

[0074] The CORS solution unit 1011 is used to jointly solve the second positioning data (also referred to as CORS reference station observation data) and the coordinate data of the outdoor CORS reference station, and determine the second position information based on the correction model to provide the second position information to the high-precision map unit 1013.

[0075] The UWB solving unit 1012 is used to solve the first positioning data (also referred to as UWB base station measurement data), determine the first position information, and provide the first position information to the high-precision map unit 1013.

[0076] Optionally, the UWB solving unit 1012 is further used to schedule indoor UWB base stations to select an indoor UWB base station for transmitting the first location information.

[0077] The high-precision map unit 1013 is constructed using a high-precision point cloud map to seamlessly merge the indoor map and the outdoor map, parse the indoor and outdoor fused vector map, and send the target indoor and outdoor fused map to the mobile device.

[0078] The storage and computing unit 1014 is used to store data in the indoor and outdoor fusion positioning system and to back up the data.

[0079] The network management unit 1015 is used to receive status information of the mobile device and monitor the status of the mobile device.

[0080] The clock synchronization unit 1014 includes: a Beidou timing module and a high-stability crystal oscillator module or a rubidium clock module. The clock synchronization unit 1014 can send a clock synchronization signal to an indoor UWB base station and other network devices through the Precision Time Protocol (PTP) of the Institute of Electrical and Electronics Engineers 1588 (IEEE 1588), which is a standard number of the Institute of Electrical and Electronics Engineers 1588.

[0081] Among them, the Beidou timing module is the main clock source, and the high-stability crystal oscillator module or rubidium clock module is the secondary clock source.

[0082] The Beidou timing module is based on the high-precision timing capability of the Beidou satellite navigation system, providing a stable and accurate clock signal for the entire system as a time reference.

[0083] When the Beidou timing module fails, the high-stability crystal oscillator module or rubidium clock module is used to maintain the current clock synchronization and send out a clock synchronization failure signal.

[0084] The high-stability crystal oscillator module or rubidium clock module can immediately take over the clock synchronization task and maintain the system's time synchronization status when the Beidou clock signal fails.

[0085] The high-stability crystal oscillator module can provide a long-term stable clock signal, and the rubidium clock module can provide higher frequency accuracy. Both can effectively extend the normal operation time of the system after the main clock source fails.

[0086] In one achievable way, once the master clock source is restored, the system will automatically switch back to the Beidou clock signal to ensure the continuity and accuracy of time synchronization.

[0087] The above-mentioned PTP is a network time synchronization protocol based on the IEEE 1588 standard, which can achieve sub-microsecond time synchronization accuracy in a distributed network.

[0088] Optionally, the indoor UWB base station has a built-in PTP clock module. This allows the indoor UWB base station to receive a clock synchronization signal from a clock synchronization unit. That is, the PTP protocol is used to achieve cascade synchronization between base stations to build a highly consistent time synchronization network. In this way, the efficiency of time synchronization can be improved, and the flexibility and scalability of the network can be enhanced.

[0089] Optionally, an outdoor CORS base station can receive BeiDou clock signals to enhance the stability and reliability of the clock of the entire system.

[0090] As can be seen from the above, the clock synchronization unit provided by this application can achieve clock synchronization of all networks and devices through the clock synchronization mechanism, ensuring that high-precision time synchronization requirements can be achieved even at the edge of the network. The clock synchronization unit provided by this application can provide time synchronization for indoor UWB base stations and other network devices, control the clock difference with the outdoor CORS reference station, and switch the clock source and report the fault in case of failure, so as to maintain clock synchronization of all network devices.

[0091] Combination Figure 1 , Figure 2 ,The structural diagram of the indoor and outdoor fusion positioning system is as follows Figure 3 shown.

[0092] For ease of understanding, Figure 3 A BeiDou satellite navigation system is also shown. Both the mobile device 104 and the outdoor CORS reference station 102 are in wireless communication with the BeiDou satellite navigation system.

[0093] The BeiDou satellite navigation system is used to provide BeiDou satellite signals and BeiDou clock signals to the outdoor CORS reference station 102. The target location determination device includes: Figure 4 The following are the components included. Figure 4Taking the communication device shown in the figure as an example, the hardware structure of the target position determination device is introduced.

[0094] Figure 4 , which is a schematic diagram of a hardware structure of a communication device provided in an embodiment of the present application. The communication device includes a processor 41, a memory 42, a communication interface 43, and a bus 44. The processor 41, the memory 42, and the communication interface 43 can be connected via a bus 44.

[0095] The processor 41 is the control center of the communication device, which can be a processor or a general term for multiple processing elements. For example, the processor 41 can be a general-purpose central processing unit (CPU) or other general-purpose processors. Among them, the general-purpose processor can be a microprocessor or any conventional processor.

[0096] As an embodiment, the processor 41 may include one or more CPUs, such as Figure 4 CPU0 and CPU1 are shown in the figure.

[0097] The memory 42 may be a read-only memory (ROM) or other type of static storage device that can store static information and instructions, a random access memory (RAM) or other type of dynamic storage device that can store information and instructions, an electrically erasable programmable read-only memory (EEPROM), a disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited to these.

[0098] In a possible implementation, the memory 42 may exist independently of the processor 41, and the memory 42 may be connected to the processor 41 via a bus 44 to store instructions or program codes. When the processor 41 calls and executes the instructions or program codes stored in the memory 42, the target position determination method provided in the following embodiments of the present application can be implemented.

[0099] In the embodiment of the present application, for the communication device, the software programs stored in the memory 42 are different, so the functions implemented by the communication device are different. The functions performed by each device will be described in conjunction with the following flowchart.

[0100] In another possible implementation, the memory 42 may also be integrated with the processor 41 .

[0101] The communication interface 43 is used for the communication device to connect with other devices through a communication network, and the communication network may be Ethernet, wireless access network, wireless local area network (WLAN), etc. The communication interface 43 may include a receiving unit for receiving data and a sending unit for sending data.

[0102] The bus 44 may be an industry standard architecture (ISA) bus, a peripheral component interconnect (PCI) bus, or an extended industry standard architecture (EISA) bus. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 4 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0103] It should be pointed out that Figure 4 The structure shown in the figure does not constitute a limitation on the communication device, except Figure 4 In addition to the components shown, the communication device may include more or fewer components than shown, or combine certain components, or arrange the components differently.

[0104] The target position determination method provided in the embodiments of the present application is described in detail below with reference to the accompanying drawings.

[0105] The target position determination method provided in the embodiment of the present application is applied to Figure 1 The target position determination device 101 in the target position determination system shown in FIG. Figure 5 As shown, the target position determination method provided in the embodiment of the present application includes:

[0106] In one achievable way,

[0107] S501: Acquire first positioning data and second positioning data.

[0108] The first positioning data includes first position information of the mobile device indoors monitored by the indoor UWB base station and a first signal strength of the mobile device indoors.

[0109] The second positioning data includes second position information of the mobile device outdoors monitored by an outdoor continuously operating reference station system CORS base station and a second signal strength of the mobile device outdoors.

[0110] In the embodiment of the present application, the target location determination device can obtain the first positioning data of the mobile device being indoors monitored by the indoor UWB base station and the second positioning data of the mobile device being outdoor monitored by the outdoor CORS base station, wherein the first positioning data includes the first location information and the first signal strength, and the second positioning data includes the second location information and the second signal strength, so as to determine the target location information according to the first signal strength and the second signal strength.

[0111] The first positioning data is UWB base station measurement data.

[0112] The second positioning data is the CORS base station monitoring data.

[0113] The first signal strength is the strength of the electromagnetic wave received by the mobile device from the indoor UWB base station.

[0114] The second signal strength is the strength of the electromagnetic wave received by the mobile device from the outdoor CORS reference station.

[0115] Combination Figure 1 The target location determination device 101 can obtain the first positioning data from the indoor UWB base station 103 and obtain the second positioning data from the outdoor CORS reference station 102 through the transmission network.

[0116] S502: When the first signal strength is greater than the second signal strength, determine that the target location information is the first location information.

[0117] In the embodiment of the present application, due to the line-of-sight propagation characteristics of electromagnetic waves. When the mobile device is completely outdoors, the mobile device can only receive electromagnetic waves sent by the outdoor CORS base station. When the mobile device is completely indoors, the mobile device can only receive electromagnetic waves sent by the indoor UWB base station. When the mobile device is in a semi-enclosed environment, the mobile device can receive both the electromagnetic waves sent by the outdoor CORS base station and the electromagnetic waves sent by the indoor UWB base station, but their intensities are different. Therefore, the target position determination device can determine the target position information based on the first signal strength and the second signal strength.

[0118] When the first signal strength is greater than the second signal strength, it means that the signal strength of the electromagnetic wave sent by the indoor UWB base station received by the mobile device is greater than the signal strength of the electromagnetic wave sent by the outdoor CORS reference station. Therefore, the target position determination device can select the first positioning data sent by the indoor UWB base station to determine the first position information as the target position information.

[0119] S503: When the first signal strength is less than or equal to the second signal strength, determine that the target location information is the second location information.

[0120] When the first signal strength is less than or equal to the second signal strength, it means that the signal strength of the electromagnetic wave sent by the indoor UWB base station received by the mobile device is less than or equal to the signal strength of the electromagnetic wave sent by the outdoor CORS reference station. Therefore, the target position determination device can select the second positioning data sent by the outdoor CORS reference station to determine the second position information as the target position information.

[0121] In some embodiments, in combination Figure 5 ,like Figure 6 As shown, in S502, when the first signal strength is greater than the second signal strength, determining the target location information as the first location information specifically includes:

[0122] S601: Calculate first positioning data to determine first position information.

[0123] In the embodiment of the present application, the first positioning data acquired by the target position determination device is UWB monitoring data, which needs to be processed to obtain the first position information of the mobile device. Therefore, the target position determination device can solve the first positioning data to determine the first position information.

[0124] The target location determination device may pre-process the first positioning data (ie, the UWB monitoring data) and resolve the first positioning data to determine the first location information.

[0125] S602: Determine that the target location information is the first location information.

[0126] It can be seen from the above that when the first signal strength is greater than the second signal strength, it means that the signal strength of the electromagnetic wave sent by the indoor UWB base station received by the mobile device is greater than the signal strength of the electromagnetic wave sent by the outdoor CORS reference station.

[0127] Therefore, when the first signal strength is greater than the second signal strength, the target position determination device may determine the first position information as the target position information.

[0128] In some embodiments, in combination Figure 6 ,like Figure 7 As shown, in S503, when the first signal strength is less than or equal to the second signal strength, determining the target location information as the second location information specifically includes:

[0129] S701. Obtain coordinate data of an outdoor CORS reference station.

[0130] In the embodiment of the present application, the second positioning data acquired by the target position determination device is CORS reference station observation data. In practical applications, it is necessary to obtain the coordinate data of the outdoor CORS reference station to determine the second position information based on the second positioning data and the coordinate data. Therefore, the target position determination device can obtain the coordinate data of the outdoor CORS reference station.

[0131] Combination Figure 1 , the target location determination device 101 can obtain coordinate data from the outdoor CORS reference station 102 through the transmission network.

[0132] S702: jointly solve the second positioning data and the coordinate data to determine the second position information.

[0133] The target position determination device needs to jointly solve the second positioning data and the coordinate data to determine the second position information.

[0134] When the first signal strength is less than or equal to the second signal strength, it indicates that the signal strength of the electromagnetic wave sent by the indoor UWB base station and received by the mobile device is less than or equal to the signal strength of the electromagnetic wave sent by the outdoor CORS reference station.

[0135] Therefore, the target position determining device may determine the second position information as the target position information.

[0136] In some embodiments, in combination Figure 7 ,like Figure 8 As shown, in S702, the second positioning data and the coordinate data are jointly solved to determine the second position information, which specifically includes:

[0137] S801: jointly solve the second positioning data and the coordinate data to determine the solved position information.

[0138] S802: Based on the revised model, the resolved position information is revised to determine the second position information.

[0139] In the embodiment of the present application, the second positioning data acquired by the target position determination device may be interfered. Therefore, the target position determination device may first jointly solve the second positioning data and the coordinate data to determine the solved position information. Then, the target position determination device corrects the solved position information based on the correction model to determine the second position information.

[0140] The correction models include: tropospheric delay model, ionospheric delay model and multipath effect model.

[0141] In some embodiments, in combination Figure 8 ,like Fig. 9 As shown, the target position determination method also includes:

[0142] S901. Obtain an indoor map and an outdoor map of the space where the terminal device is located.

[0143] In an embodiment of the present application, the target location determination device can merge the indoor map and the outdoor map into one map, and mark the target location information therein, so as to provide the user with the location of the user and his / her mobile device on the map. Therefore, the present application can obtain the indoor map and the outdoor map of the space where the terminal device is located, so as to merge the indoor map and the outdoor map.

[0144] The target location determination device can obtain an indoor map and an outdoor map of the space where the terminal device is located from the map system.

[0145] S902: Fuse the indoor map and the outdoor map to obtain an initial indoor-outdoor fused map.

[0146] The target location determination device may fuse the indoor map and the outdoor map into one map to obtain an initial indoor-outdoor fused map.

[0147] S903: Load the target location information into the initial indoor and outdoor fusion map to determine the target indoor and outdoor fusion map.

[0148] The target indoor and outdoor fusion map includes the target location information.

[0149] In an embodiment of the present application, the target location determination device can load the target location information into the initial indoor and outdoor fusion map to determine the target indoor and outdoor fusion map including the target location information. In this way, the target location determination device can provide the user with the location of the user and his mobile device on the map.

[0150] S904: Send the target indoor and outdoor fusion map to the mobile device.

[0151] The target location determination device may send the target indoor and outdoor fusion map to the mobile device to provide the user with the location of the map where the user and his / her mobile device are located.

[0152] Combination Figure 1 , the target determination device 101 can send the target indoor and outdoor fusion and map to the mobile device 104 through the transmission network.

[0153] In some embodiments, the target location information is the target location information in the form of coordinates, the initial indoor and outdoor fusion map is the initial indoor and outdoor fusion vector map, and the initial indoor and outdoor fusion map is the initial indoor and outdoor fusion vector map. Fig. 9 ,like Fig.10 As shown, in S903, the target location information is loaded into the initial indoor and outdoor fusion map, and the target indoor and outdoor fusion map is determined, which specifically includes:

[0154] S1001. Map target location information in coordinate form to an initial indoor-outdoor fusion vector map to determine a target indoor-outdoor fusion map.

[0155] In one achievable manner, the target position determination device may parse the initial indoor-outdoor fusion vector map, and map the target position information in the form of coordinates to the initial indoor-outdoor fusion vector map to determine the target indoor-outdoor fusion map.

[0156] Specifically, the high-precision map unit in the target location determination device can parse the initial indoor-outdoor fusion vector map, and map the target location information in the form of coordinates to the initial indoor-outdoor fusion vector map to determine the target indoor-outdoor fusion map.

[0157] For example, Fig.11 A schematic flow chart of yet another method for determining a target position is shown.

[0158] The mobile device can upload positioning requests and data (data related to positioning) to the indoor UWB base station.

[0159] The indoor UWB base station can monitor the first positioning data and forward the first positioning data to the UWB solution unit through the transmission network.

[0160] The UWB solving unit solves the first positioning data to obtain first position information, and sends the first position information to the high-precision map unit.

[0161] The high-precision map unit pushes the initial indoor fusion map to the UWB solution unit.

[0162] In the case where the first location information is the target location information, the UWB solution unit can determine the target indoor and outdoor fusion map, and send the target indoor and outdoor fusion map to the mobile device through the transmission network and the indoor UWB station.

[0163] The BeiDou satellite system can send satellite positioning signals to mobile devices and send satellite positioning carrier data to outdoor CORS base stations.

[0164] The outdoor CORS base station preliminarily processes the satellite positioning carrier data into second positioning data, and sends the second positioning data and coordinate data to the CORS solution unit through the transmission network.

[0165] The CORS solving unit jointly solves the second positioning data and the coordinate data to determine the second position information, and sends the second position information to the high-precision map unit.

[0166] The high-precision map unit pushes the initial indoor fusion map to the CORS solution unit.

[0167] In the case where the second location information is the target location information, the CORS solving unit may determine the target indoor and outdoor fusion map, and send the target indoor and outdoor fusion map to the mobile device through the transmission network.

[0168] As can be seen from the above, this application combines the indoor positioning advantages of indoor UWB base stations and the outdoor positioning advantages of outdoor CORS base stations. The indoor UWB base station and the outdoor CORS base station report the positioning data to the solution unit respectively, and determine the target indoor and outdoor fusion map through the high-precision map unit, and push the target indoor and outdoor fusion map to the mobile device, providing high-precision positioning information to meet the user's needs for seamless positioning and navigation indoors and outdoors, achieving an accuracy of 0.5m indoors and 1.5m outdoors. Therefore, this application provides users with stable high-precision positioning.

[0169] The above mainly introduces the solution provided by the embodiment of the present application from the perspective of the method. In order to realize the above functions, it includes hardware structures and / or software modules corresponding to the execution of each function. Those skilled in the art should easily realize that, in combination with the units and algorithm steps of each example described in the embodiments disclosed herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present application.

[0170] The embodiment of the present application can divide the functional modules of the target position determination device according to the above method example. For example, each functional module can be divided according to each function, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware or in the form of software functional modules. Optionally, the division of modules in the embodiment of the present application is schematic and is only a logical functional division. There may be other division methods in actual implementation.

[0171] Fig.12 FIG. 1 is a schematic diagram showing the structure of a target position determination device provided in an embodiment of the present application. Fig.12 As shown, the target position determination device includes: a communication unit 1201 and a processing unit 1202;

[0172] Communication unit 1201 and processing unit 1202; communication unit 1201 is used to obtain first positioning data and second positioning data; the first positioning data includes first position information of a mobile device indoors monitored by an indoor UWB base station and a first signal strength of the mobile device indoors; the second positioning data includes second position information of a mobile device outdoors monitored by an outdoor CORS base station and a second signal strength of the mobile device outdoors; processing unit 1202 is used to determine that the target position information is the first position information when the first signal strength is greater than the second signal strength; processing unit 1202 is also used to determine that the target position information is the second position information when the first signal strength is less than or equal to the second signal strength.

[0173] Optionally, the processing unit 1202 is specifically used to: solve the first positioning data to determine the first position information; and determine that the target position information is the first position information.

[0174] Optionally, the processing unit 1202 is specifically used to: obtain coordinate data of an outdoor CORS reference station; and jointly solve the second positioning data and the coordinate data to determine the second position information.

[0175] Optionally, the processing unit 1202 is specifically used to: jointly solve the second positioning data and the coordinate data to determine the solved position information; and based on the correction model, correct the solved position information to determine the second position information.

[0176] Optionally, the communication unit 1201 is also used to obtain the indoor map and outdoor map of the space where the terminal device is located; the processing unit 1202 is also used to fuse the indoor map and the outdoor map to obtain an initial indoor and outdoor fusion map; the processing unit 1202 is also used to load the target location information into the initial indoor and outdoor fusion map to determine the target indoor and outdoor fusion map; the target indoor and outdoor fusion map includes the target location information; the communication unit 1201 is also used to send the target indoor and outdoor fusion map to the mobile device.

[0177] Optionally, the target location information is target location information in coordinate form; the initial indoor and outdoor fusion map is an initial indoor and outdoor fusion vector map; the processing unit 1202 is also used to: map the target location information in coordinate form to the initial indoor and outdoor fusion vector map to determine the target indoor and outdoor fusion map.

[0178] An embodiment of the present application also provides a computer-readable storage medium, which includes computer execution instructions. When the computer execution instructions are executed on a computer, the computer executes the target position determination method provided in the above embodiment.

[0179] The embodiment of the present application also provides a computer program, which can be directly loaded into a memory and contains software code. After being loaded and executed by a computer, the computer program can implement the target position determination method provided in the above embodiment.

[0180] Those skilled in the art should be aware that in one or more of the above examples, the functions described in this application can be implemented using hardware, software, firmware, or any combination thereof. When implemented using software, these functions can be stored in a computer-readable medium or transmitted as one or more instructions or codes on a computer-readable medium. Computer-readable media include computer-readable storage media and communication media, wherein communication media include any media that facilitates the transmission of computer programs from one place to another. Storage media can be any available media that can be accessed by general or special-purpose computers.

[0181] Through the description of the above implementation methods, technical personnel in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0182] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of the modules or units is only a logical function division, and there may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the coupling or direct coupling or communication connection between each other shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms. The unit described as a separate component may or may not be physically separated, and the component displayed as a unit may be a physical unit or multiple physical units, that is, it may be located in one place, or it may be distributed in multiple different places. Some or all of the units can be selected according to actual needs to achieve the purpose of the scheme of this embodiment.

[0183] In addition, each functional unit in each embodiment of the present application can be integrated into a processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of a software functional unit. If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on such an understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the general technology or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium, including several instructions to enable a device (which can be a single-chip microcomputer, chip, etc.) or a processor (processor) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a U disk, a mobile hard disk, a ROM, a RAM, a disk, or an optical disk.

[0184] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A method for determining a target position, characterized in that: The method comprises: Acquire first positioning data and second positioning data; the first positioning data includes first position information of a mobile device in the room monitored by an indoor ultra-wideband (UWB) base station and a first signal strength of the mobile device in the room; the second positioning data includes second position information of the mobile device in the room monitored by an outdoor continuously operating reference station system (CORS) base station and a second signal strength of the mobile device in the room; When the first signal strength is greater than the second signal strength, determining that the target location information is the first location information; When the first signal strength is less than or equal to the second signal strength, the target location information is determined to be the second location information.

2. The method according to claim 1, characterized in that The step of determining, when the first signal strength is greater than the second signal strength, that the target location information is the first location information includes: Solving the first positioning data to determine the first position information; The target location information is determined to be the first location information.

3. The method according to claim 2, characterized in that The determining, when the first signal strength is less than or equal to the second signal strength, that the target location information is the second location information includes: Obtaining coordinate data of the outdoor CORS reference station; The second positioning data and the coordinate data are jointly solved to determine the second position information.

4. The method according to claim 3, characterized in that The jointly calculating the second positioning data and the coordinate data to determine the second position information includes: Jointly solving the second positioning data and the coordinate data to determine solved position information; Based on the corrected model, the calculated position information is corrected to determine the second position information.

5. The method according to claim 1, characterized in that The method further comprises: Obtaining an indoor map and an outdoor map of the space where the terminal device is located; Fusing the indoor map with the outdoor map to obtain an initial indoor-outdoor fused map; Loading the target location information into the initial indoor-outdoor fusion map to determine a target indoor-outdoor fusion map; the target indoor-outdoor fusion map includes the target location information; The target indoor and outdoor fusion map is sent to a mobile device.

6. The method according to claim 5, characterized in that The target location information is target location information in coordinate form; The initial indoor-outdoor fusion map is an initial indoor-outdoor fusion vector map; The step of loading the target location information into the initial indoor-outdoor fusion map and determining the target indoor-outdoor fusion map includes: The target location information in the form of coordinates is mapped to the initial indoor-outdoor fusion vector map to determine a target indoor-outdoor fusion map.

7. A target position determination device, characterized in that: The device comprises: a communication unit and a processing unit; The communication unit is used to obtain first positioning data and second positioning data; the first positioning data includes first position information of the mobile device in the room monitored by the indoor UWB base station and a first signal strength of the mobile device in the room; the second positioning data includes second position information of the mobile device in the room monitored by the outdoor CORS base station and a second signal strength of the mobile device in the room; The processing unit is configured to determine that the target location information is the first location information when the first signal strength is greater than the second signal strength; The processing unit is further configured to determine that the target location information is the second location information when the first signal strength is less than or equal to the second signal strength.

8. A target position determination device, characterized in that: include: A processor and a memory; wherein the memory is used to store one or more programs, and the one or more programs include computer-executable instructions. When the device is running, the processor executes the computer-executable instructions stored in the memory to enable the device to perform the method described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: When the computer-executable instructions stored in the computer-readable storage medium are executed by a processor of a target position determination device, the target position determination device is capable of performing the method according to any one of claims 1 to 6.

10. A computer program product, characterized in that The computer program product comprises: a computer program or instructions, and when the computer program or instructions are run on a computer, the computer is caused to perform the method according to any one of claims 1 to 6.

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