Positioning method and device, processing equipment, chip and computer readable storage medium

Abstract

The invention discloses a positioning method and device, processing equipment, a chip and a computer readable storage medium. The positioning method comprises the steps that at least one kind of positioning data sent by second equipment is received; if the at least one type of positioning data comprises global navigation satellite system (GNSS) data, determining a position precision factor of the GNSS data; if the position precision factor is smaller than or equal to a first threshold value, determining a positioning result of the second equipment according to the GNSS data; if the position precision factor is greater than a first threshold value, judging whether a coordinate position indicated by the GNSS data is in a three-dimensional space corresponding to the first model or not; the first model is a three-dimensional space model of a preset geographic area; and if the coordinate position indicated by the GNSS data is in the three-dimensional space corresponding to the first model, determining a positioning result of the second equipment according to the first satellite visual information corresponding to the GNSS data and the second satellite visual information corresponding to each coordinate position in the first area range of the three-dimensional space.

Description

Technical Field

[0001] The present application relates to infrastructure and IT support, and in particular to a positioning method, apparatus, processing equipment, chip and computer-readable storage medium. Background Art

[0002] The rapid development of positioning and navigation technology has put forward higher requirements for the performance of location services. The ability to quickly and accurately respond to changes in complex environments has become a difficult problem in the field of navigation and positioning. In the integrated positioning, navigation and timing (PNT) system, the Global Navigation Satellite System (GNSS) is the core and foundation of the integrated PNT system. GNSS is not only the preferred positioning method in open environments, but also an important component of most multi-source fusion positioning systems; however, GNSS satellite signals are very fragile and easily interfered with, especially in densely built urban areas and tree-blocked environments. After being blocked and reflected, satellite signals produce multipath effects and non-line of sight (NLOS) signal reception, resulting in large errors in receiver observations, thereby weakening the reliability and positioning accuracy of the GNSS machine integrated navigation system. In the face of complex positioning environments (such as high-rise buildings in cities) under a wide geographical distribution, how to improve the accuracy of massive positioning data has become an urgent problem to be solved. Summary of the invention

[0003] To solve the above technical problems, the embodiments of the present application provide a positioning method, apparatus, processing device, chip and computer-readable storage medium.

[0004] The present application provides a positioning method, which is applied to a first device. The method includes:

[0005] receiving at least one type of positioning data sent by a second device;

[0006] If the at least one positioning data comprises Global Navigation Satellite System (GNSS) data, determining a position precision factor of the GNSS data;

[0007] If the position precision factor is less than or equal to a first threshold, determining a positioning result of the second device according to the GNSS data;

[0008] If the position accuracy factor is greater than the first threshold, it is determined whether the coordinate position indicated by the GNSS data is within the three-dimensional space corresponding to the first model; the first model is a three-dimensional space model of a preset geographical area; if the coordinate position indicated by the GNSS data is within the three-dimensional space corresponding to the first model, the positioning result of the second device is determined based on the first satellite visible information corresponding to the GNSS data and the second satellite visible information corresponding to each coordinate position within the first area of ​​the three-dimensional space.

[0009] The present application embodiment provides a positioning device, which is applied to a first device; the device includes:

[0010] A first receiving unit, configured to receive at least one type of positioning data sent by a second device;

[0011] A first processing unit is used to determine a position accuracy factor of the GNSS data if the at least one positioning data includes GNSS data; if the position accuracy factor is less than or equal to a first threshold, determine a positioning result of the second device according to the GNSS data; if the position accuracy factor is greater than the first threshold, determine whether the coordinate position indicated by the GNSS data is within a three-dimensional space corresponding to a first model; the first model is a three-dimensional space model of a preset geographical area; if the coordinate position indicated by the GNSS data is within the three-dimensional space corresponding to the first model, determine the positioning result of the second device according to first satellite visible information corresponding to the GNSS data and second satellite visible information corresponding to each coordinate position within the first area of ​​the three-dimensional space.

[0012] The processing device provided in the embodiment of the present application includes: a processor and a memory, the memory is used to store a computer program, and the processor is used to call and run the computer program stored in the memory to execute any one of the above-mentioned positioning methods.

[0013] The chip provided in the embodiment of the present application includes: a processor, which is used to call and run a computer program from a memory, so that a device equipped with the chip executes any one of the above methods.

[0014] The computer-readable storage medium provided in the embodiments of the present application is used to store a computer program, and the computer program enables a computer to execute any one of the above methods.

[0015] The above technical solution of the embodiment of the present application, for the first device, by receiving at least one positioning data sent by the second device; if the at least one positioning data includes global navigation satellite system GNSS data, the location accuracy factor of the GNSS data is determined; if the location accuracy factor is less than or equal to the first threshold, the positioning result of the second device is determined according to the GNSS data; if the location accuracy factor is greater than the first threshold, it is determined whether the coordinate position indicated by the GNSS data is within the three-dimensional space corresponding to the first model; the first model is a three-dimensional space model of a preset geographical area; if the coordinate position indicated by the GNSS data is within the three-dimensional space corresponding to the first model, the positioning result of the second device is determined according to the first satellite visual information corresponding to the GNSS data and the second satellite visual information corresponding to each coordinate position within the first area of ​​the three-dimensional space. In this way, through the joint judgment of the three-dimensional model, at least one positioning data and the location accuracy factor, the accuracy of the positioning data is achieved, the user experience of the terminal user is improved, the user stickiness of the terminal user is increased, and the stable development of the terminal is guaranteed. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings described herein are used to provide further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute improper limitations on the present application.

[0017] Figure 1 This is a flow chart of the positioning method provided in the embodiment of the present application. Figure 1 ;

[0018] Figure 2 This is a flow chart of the positioning method provided in the embodiment of the present application. Figure 2 ;

[0019] Figure 3 This is a flow chart of the positioning method provided in the embodiment of the present application. Figure 3 ;

[0020] Figure 4 is a schematic diagram of the structural composition of a positioning device provided in an embodiment of the present application;

[0021] Figure 5 is a schematic structural diagram of a processing device provided in an embodiment of the present application;

[0022] Figure 6 It is a schematic structural diagram of the chip of an embodiment of the present application. DETAILED DESCRIPTION

[0023] In order to enable a more detailed understanding of the features and technical contents of the embodiments of the present application, the implementation of the embodiments of the present application is described in detail below in conjunction with the accompanying drawings. The attached drawings are for reference only and are not used to limit the embodiments of the present application.

[0024] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0025] In the following description, reference is made to “some embodiments”, which describe a subset of all possible embodiments, but it will be understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0026] It should also be pointed out that the terms "first\second\third" involved in the embodiments of the present application are only used to distinguish similar objects and do not represent a specific ordering of the objects. It can be understood that "first\second\third" can be interchanged in a specific order or sequence where permitted, so that the embodiments of the present application described here can be implemented in an order other than that illustrated or described here.

[0027] In the embodiments of the present application, the term "and / or" is merely a description of the association relationship between associated objects, indicating that three relationships may exist. For example, object A and / or object B may represent three situations: object A exists alone, object A and object B exist at the same time, and object B exists alone.

[0028] In addition, in the embodiments of the present application, “plurality” means two or more than two, unless otherwise clearly and specifically defined.

[0029] The rapid development of positioning and navigation technology has put forward higher requirements for the performance of location services. The ability to quickly and accurately respond to changes in complex environments has become a difficult problem in the field of navigation and positioning. In the integrated positioning, navigation and timing (PNT) system, the Global Navigation Satellite System (GNSS) is the core and foundation of the integrated PNT system. GNSS is not only the preferred positioning method in open environments, but also an important component of most multi-source fusion positioning systems; however, GNSS satellite signals are very fragile and easily interfered with, especially in densely built urban areas and tree-blocked environments. After being blocked and reflected, satellite signals produce multipath effects and non-line of sight (NLOS) signal reception, resulting in large errors in receiver observations, thereby weakening the reliability and positioning accuracy of the GNSS machine integrated navigation system. In the face of complex positioning environments (such as high-rise buildings in cities) under a wide geographical distribution, how to improve the accuracy of massive positioning data has become an urgent problem to be solved.

[0030] In one scheme, a historical training data set is formed by collecting comprehensive information evaluation indicators in different scenarios, and the historical training data set is preprocessed based on a 3D city model and a ray tracing method for classification and critical data elimination. The features of Line of Sight (LOS) signals, NLOS signals, and Multipath Interference (MI) signals are mined from the preprocessed historical training data set to extract a judgment rule for the type of received signals. The initial position and candidate positions are calculated according to the newly received observation data. The signal reception type of the candidate position is first inverted according to the 3D city model and the ray tracing method, and then the simulated pseudorange of the candidate position is inverted. At the same time, the actual signal reception type predicted by the judgment rule for the received signal type is compared, and the candidate positions with the same signal reception type as the actual signal reception type are screened out. The final position information is determined according to the similarity between the simulated pseudorange of the screened candidate positions and the true pseudorange.

[0031] In one scheme, based on the constructed high-precision 3D city model, the precise propagation paths of LOS and NLOS signals are inverted, and consistency evaluation and comprehensive evaluation are performed with the corresponding LOS and NLOS pseudoranges actually received, ultimately achieving high-precision positioning based on point selection weighting.

[0032] In another solution, the original observations collected by the user's GNSS receiver are corrected by using environmental information such as 3D buildings in the surrounding area to improve the positioning accuracy in dense urban areas and improve the service quality of positioning and navigation related content in urban canyon environments.

[0033] These solutions all use 3D cities to help reduce the impact of NLOS errors on positioning results, thereby improving GNSS positioning accuracy. In order to further improve the accuracy of positioning data, the following technical solutions of the embodiments of this application are proposed.

[0034] Figure 1 This is a flow chart of the positioning method provided in the embodiment of the present application. Figure 1 , the method is applied to a first device; Figure 1 As shown, the method comprises the following steps:

[0035] Step 101: Receive at least one type of positioning data sent by a second device.

[0036] Here, the first device receives at least one type of positioning data sent by the second device.

[0037] The second device is a device capable of acquiring positioning data, such as a mobile terminal such as a mobile phone, an IPAD, or a computer. In some specific implementations, the second device may be a student card terminal, which acquires the positioning data of the student card terminal and is also the positioning data of the device or user such as the student using the student card terminal. Of course, this is not limited to this, and the second device may be any other device that acquires positioning data.

[0038] Among them, the positioning data includes GNSS data, WIFI data, LBS data, etc., and can also be other data used for positioning. Receiving at least one positioning data sent by the second device means that the first device obtains the positioning data of the second device, wherein the positioning data can be GNSS data obtained by the second device, or WIFI data, or LBS data, or any combination thereof, and this application does not make specific restrictions on this. If the second device obtains positioning data and obtains GNSS data, WIFI data and LBS data at the same time, the positioning priority from best to worst is GNSS data, WIFI data, and LBS data, wherein LBS data must be sent to the first device each time, and GNSS and WIFI data are sent according to actual conditions. In a specific implementation, if there is GNSS data and WIFI data at the same time, the second device gives priority to sending GNSS data to the first device.

[0039] Step 102: If the at least one positioning data includes Global Navigation Satellite System (GNSS) data, determine the position precision factor of the GNSS data.

[0040] Here, the first device receives at least one positioning data sent by the second device, determines whether the at least one positioning data includes GNSS data, and if GNSS data exists, determines the position dilution of precision (DOP) of the GNSS data, wherein the position dilution of precision refers to the accuracy or error of determining the user's location using the navigation satellite system, and is expressed by the square root of the sum of the latitude, longitude and elevation errors of the location. The smaller the position dilution of precision, the higher the positioning accuracy. In other words, the smaller the position dilution of precision, the more accurately the currently acquired GNSS data can locate the location of the second device, and the quality of the GNSS data can be determined based on the position dilution of precision.

[0041] Wherein, if the at least one positioning data includes the GNSS data, the method further includes:

[0042] Receive first satellite visible information corresponding to the GNSS data sent by the second device, wherein the first satellite visible information includes first time information, number information and position information of the first satellite, the first time is the time when the second device obtains the GNSS data, and the first satellite is the satellite from which the second device obtains the GNSS data.

[0043] Among them, the purpose of obtaining satellite visual information is that when the receiver (such as a terminal) receives satellite signals, it may lose satellite signals in some areas due to building obstruction (high-rise buildings, etc.), tree obstruction, etc. Based on the satellite visual information, the position precision factor can be evaluated; for example, if there is a high-rise building obstructing the user's left hand side, then the satellite signal on the user's left hand side will be lost, and the left side is an invisible area. In other words, the position precision factor of the current GNSS data can be evaluated based on the satellite visual information, so the accuracy of the current GNSS data can also be evaluated, and then it is determined whether to determine the positioning result of the second terminal based on the GNSS data.

[0044] Step 103: If the position precision factor is less than or equal to a first threshold, determining a positioning result of the second device according to the GNSS data.

[0045] Here, the position accuracy factor corresponding to the obtained GNSS data is compared with the first threshold. If the position accuracy factor is less than or equal to the first threshold, it is considered that the positioning accuracy of the GNSS data is high. Therefore, the positioning result of the second device can be directly determined based on the GNSS data, that is, the coordinate position indicated by the GNSS data is used as the positioning result of the second device. The setting of the first threshold can be based on actual conditions, and this application does not make specific limitations on this.

[0046] In a specific implementation, the first threshold can be set to 6. If the value of the position accuracy factor is less than or equal to 6, it is considered that the positioning accuracy of the GNSS data obtained by the second device is good, that is, the positioning of the GNSS data is relatively accurate. Therefore, the positioning result of the second device is determined based on the GNSS data obtained by the second device, that is, the coordinate position indicated by the GNSS data is used as the positioning result of the second device.

[0047] Step 104: If the position accuracy factor is greater than the first threshold, determine whether the coordinate position indicated by the GNSS data is within the three-dimensional space corresponding to the first model; the first model is a three-dimensional space model of a preset geographical area; if the coordinate position indicated by the GNSS data is within the three-dimensional space corresponding to the first model, determine the positioning result of the second device based on the first satellite visible information corresponding to the GNSS data and the second satellite visible information corresponding to each coordinate position within the first area of ​​the three-dimensional space.

[0048] Here, the position precision factor corresponding to the obtained GNSS data is compared with the first threshold. If the position precision factor is greater than the first threshold, it is considered that the positioning accuracy of the GNSS data is low. Therefore, it is determined whether the coordinate position indicated by the GNSS data is within the three-dimensional space corresponding to the first model; the first model is a three-dimensional space model of a preset geographical area; if the coordinate position indicated by the GNSS data is within the three-dimensional space corresponding to the first model, the positioning result of the second device is determined based on the first satellite visual information corresponding to the GNSS data and the second satellite visual information corresponding to each coordinate position within the first area of ​​the three-dimensional space. The setting of the first threshold can be based on actual conditions, and this application does not make specific restrictions on this.

[0049] In a specific embodiment, the first threshold can be set to 6. If the value of the position precision factor is greater than 6, it is considered that the positioning accuracy of the GNSS data obtained by the second device is poor, that is, the positioning of the GNSS data is not very accurate. Therefore, it is determined whether the coordinate position indicated by the GNSS data is within the three-dimensional space corresponding to the first model; the first model is a three-dimensional space model of a preset geographical area; if the coordinate position indicated by the GNSS data is within the three-dimensional space corresponding to the first model, the positioning result of the second device is determined based on the first satellite visible information corresponding to the GNSS data and the second satellite visible information corresponding to each coordinate position within the first area of ​​the three-dimensional space.

[0050] The at least one positioning data further includes non-GNSS data; determining a positioning result of the second device according to first satellite visual information corresponding to the GNSS data and second satellite visual information corresponding to each coordinate position within the first area of ​​the three-dimensional space, including:

[0051] Comparing the first satellite visible information corresponding to the GNSS data with the second satellite visible information corresponding to each coordinate position within a first area range of the three-dimensional space; the first area range is determined based on the coordinate position indicated by the GNSS data;

[0052] If there is at least one coordinate position satisfying the first condition within the first area, determining the positioning result of the second device according to the at least one coordinate position;

[0053] If there is no coordinate position satisfying the first condition within the first area, determining the positioning result of the second device according to the non-GNSS data;

[0054] The first condition is that the second satellite visible information corresponding to the coordinate position is consistent with the first satellite visible information.

[0055] The first model is a three-dimensional spatial model of a preset geographical area. In a specific implementation,

[0056] Use 3D city scanning to pre-set geographical areas for physical modeling;

[0057] Use fast and precise ephemeris products to predict GNSS satellite visibility information at different times of the day within a pre-set geographic area;

[0058] According to the 3D city scanning results, the satellite visual information of different areas in the 3D city scanning area in different time periods and the position precision factor calculation function are constructed.

[0059] Among them, 3D City is a tool for obtaining a three-dimensional spatial model of the environment within a preset geographical area. Therefore, any tool that can obtain a three-dimensional spatial model of the environment within a preset geographical area can be used, and this application does not make specific restrictions on this. In addition, the specific scope of the preset geographical area can be determined based on actual conditions, and this application does not make specific restrictions on this. Any product that can obtain GNSS satellite visual information at various times of the day within the preset geographical area can be used, and this application does not make specific restrictions on this.

[0060] That is to say, the first model is a three-dimensional spatial model of a preset geographical area. At the same time, this model can also obtain satellite visible information of each area in the preset geographical area in different time periods, as well as the function of calculating the corresponding position precision factor.

[0061] Determine whether there is GNSS data in at least one positioning result obtained for the second device. If there is GNSS data, compare the corresponding position precision factor and the first threshold. If the position precision factor is greater than the first threshold, determine whether the coordinate position indicated by the GNSS data is within a preset geographical area. If it is within the preset geographical area, compare the first satellite visible information corresponding to the GNSS data with the second satellite visible information corresponding to each coordinate position within the first area of ​​the first model. If there is at least one coordinate position that meets the first condition within the first area, determine the positioning result of the second device according to the at least one coordinate position. If there is a coordinate position within the first area that does not meet the first condition, determine the positioning result of the second device according to the non-GNSS data. The first condition is that the second satellite visible information corresponding to the coordinate position is consistent with the first satellite visible information. The non-GNSS data is the positioning data other than the GNSS data in the at least one positioning data obtained by the second device.

[0062] In a specific implementation, the first area is an area with the coordinate position indicated by the obtained GNSS data as the origin and the first distance as the radius, wherein the first distance can be set to 200 meters, or can be determined according to the actual situation, and this application does not make specific restrictions on this. Of course, it can also be a rectangular area centered on the coordinates indicated by the GNSS data, and the shape and size of the first area can be determined according to the actual situation, and this application does not make specific restrictions on this.

[0063] The determining the positioning result of the second device according to the at least one coordinate position includes:

[0064] If the at least one coordinate position is one coordinate position, determining a positioning result of the second device according to the coordinate position;

[0065] If the at least one coordinate position is a plurality of coordinate positions, a coordinate position is selected from the plurality of coordinate positions according to the non-GNSS data, and a positioning result of the second device is determined according to the coordinate position.

[0066] If only one coordinate position in the first area corresponds to the second visible satellite information that is consistent with the first visible information, this coordinate position is used as the positioning result of the second device; if two or more coordinate positions in the first area correspond to the second visible satellite information that is consistent with the first satellite visible information, a coordinate position is selected according to the non-GNSS data, and the positioning result of the second device is determined according to the coordinate position. In a specific implementation, a coordinate position closest to the coordinate position indicated by the non-GNSS data is selected, and the positioning result of the second device is determined according to the coordinate position.

[0067] The method further comprises:

[0068] If the coordinate position indicated by the GNSS data is not within the three-dimensional space corresponding to the first model, the weights of the GNSS data and the non-GNSS data are determined according to the position precision factor, and the positioning result of the second device is determined according to the weights, the GNSS data and the non-GNSS data.

[0069] In a specific implementation, if the coordinate position indicated by the GNSS data is not within the three-dimensional space corresponding to the first model, the weights of the GNSS data and the non-GNSS data are determined according to the position precision factor, and can be allocated in a ratio of 1:2, and the positioning result of the second device is determined according to the weight, the GNSS data and the non-GNSS data. In the case of an extremely poor value of the position precision factor, the GNSS weight can be 0, that is, the positioning result of the second device is determined based on the non-GNSS data. The specific allocation weight can be determined based on the actual situation, and this application does not make specific limitations on this.

[0070] The technical solution of the embodiment of the present application proposes a positioning method, for a first device, by receiving at least one positioning data sent by a second device; if the at least one positioning data includes global navigation satellite system GNSS data, the location accuracy factor of the GNSS data is determined; if the location accuracy factor is less than or equal to a first threshold, the positioning result of the second device is determined according to the GNSS data; if the location accuracy factor is greater than the first threshold, the positioning result of the second device is determined according to the at least one positioning data. In this way, through the joint judgment of at least one positioning data and the location accuracy factor, the accuracy of the positioning data is achieved, the user experience of the terminal user is improved, the user stickiness of the terminal user is increased, and the stable development of the terminal is guaranteed.

[0071] Based on the above embodiments, the positioning method provided in the embodiments of the present application is further described. Figure 2 As shown, the method comprises the following steps:

[0072] Step 201: receiving at least one type of positioning data sent by a second device;

[0073] Step 202: If the at least one positioning data does not include GNSS data and includes non-GNSS data;

[0074] Step 203: Determine a positioning result of the second device according to the non-GNSS data.

[0075] In a specific implementation, the non-GNSS data includes WIFI data and location-based service LBS data;

[0076] The determining a positioning result of the second device according to the non-GNSS data includes:

[0077] If the distance between the coordinate position indicated by the WIFI data and the coordinate position indicated by the LBS data is greater than a second threshold, determining a positioning result of the second device according to the LBS data;

[0078] If the distance between the coordinate position indicated by the WIFI data and the coordinate position indicated by the LBS data is less than a third threshold, determining a positioning result of the second device according to the WIFI data;

[0079] The second threshold is greater than the third threshold.

[0080] If at least one of the positioning data acquired by the second device does not contain GNSS data but contains non-GNSS data, the non-GNSS data includes WIFI data and LBS data. LBS data must be sent to the first device every time, but the positioning priorities of GNSS data, WIFI data and LBS data are GNSS data, WIFI data and LBS data in order. Therefore, in the absence of GNSS data, if WIFI data is obtained, the positioning results of WIFI data and LBS data are compared. If the distance between the positioning results of the two is greater than the second threshold, LBS data is selected as the positioning result of the second device. If the distance between the positioning results of WIFI data and LBS data is less than the third threshold, WIFI data is selected as the positioning result of the second device, wherein the second threshold is greater than the third threshold.

[0081] That is to say, LBS data can be used to verify the accuracy of WIFI data. Due to the particularity of WIFI positioning, if the location of the route is changed, but the location of this route in the database is not updated, it will lead to errors in the positioning results. Therefore, it is necessary to compare the distance between the positioning results of WIFI data and LBS data to determine whether the judgment result of WIFI data is accurate. Among them, the second threshold and the third threshold can be set according to the specific situation, and this application does not limit this.

[0082] If the WIFI data is not obtained, the positioning result of the second device is determined according to the LBS data.

[0083] If the WIFI data and the LBS data are obtained, the positioning result of the second device may also be determined directly based on the WIFI data according to the priority of the positioning data.

[0084] The technical solution of the embodiment of the present application proposes a positioning method that does not include GNSS data, receives at least one positioning data sent by a second device; if the at least one positioning data does not include GNSS data and includes non-GNSS data; determines the positioning result of the second device according to the non-GNSS data. In this way, in the absence of GNSS data, the positioning result of the second device can be obtained by using non-GNSS data, achieving a positioning guarantee in the absence of GNSS data, improving the accuracy of positioning data, improving the user experience of terminal users, increasing the user stickiness of terminal users, and ensuring the stable development of terminals.

[0085] The method further includes sending a positioning result of the second device to the second device and / or a third device.

[0086] In a specific embodiment, if the second device needs to know its own location, the first device sends the obtained positioning result to the second device, so that the second device can determine its own position based on the positioning result obtained by the second device. Of course, the first device can also send the positioning result to a third device, so that the third device can determine the position of the second device based on the positioning result obtained by the second device. The third device can be a device that obtains the positioning permission of the second device. In this way, the user using the third device can understand the specific location of the second device, which can be used for monitoring or tracking. Of course, it can also be used for other application scenarios, and this application does not make specific limitations on this.

[0087] Based on the above embodiment, in the application scenario of school, a specific implementation method of a positioning method is as follows:

[0088] The first device is the student card platform, and the second device is the student card terminal. The positioning function of the student card terminal is the core business of the student card platform. As the student card business is established all over the country, the business scale is expanding rapidly. In the vast geographical distribution, facing the complex positioning environment (such as urban high-rise buildings, etc.), how to improve the accuracy of massive positioning data has become an urgent problem to be solved. Only by continuously improving the accuracy of positioning data can we improve the user experience of student card terminal users, increase the user stickiness of student card terminal users, and ensure the stable development of the student card platform.

[0089] At present, the positioning of student card terminals adopts a fusion positioning solution. Its positioning data is mainly composed of GNSS data, WIFI data and LBS data. The positioning priority is GNSS data>WIFI data>LBS data. LBS data must be transmitted every time, and GNSS data and WIFI data are reported according to actual conditions (if there is both GNSS data and WIFI data, GNSS data will be uploaded first). The student card platform collects the fusion positioning data uploaded by the student card terminal and calculates the positioning of the student card terminal based on the following solution:

[0090] If the positioning data includes GNSS data, the GNSS data is used as the positioning data; if the positioning data does not include GNSS data but includes WIFI data, the WIFI data is used as the positioning data first; otherwise, the LBS data is used as the positioning data.

[0091] The current student card positioning solution has the following advantages: the positioning solution is simple to implement and the function is relatively simple to realize; the fusion positioning solution is adopted to improve the robustness of the student card terminal positioning function and try to ensure the positioning function in extreme environments;

[0092] However, it also has the following disadvantages: the student card terminals are mainly used around schools, which is a typical urban environment. GNSS data is easily blocked or interfered with, resulting in failure to locate or large deviations in positioning data; the student card terminals provide GNSS data, but are unable to evaluate the accuracy of GNSS positioning data, resulting in the inability to fully utilize LBS data or WIFI data when there are large deviations in GNSS positioning data; the positioning accuracy of WIFI data or LBS data is low, and the positioning accuracy of WIFI or LBS cannot be effectively improved from the algorithm level.

[0093] Based on this, the positioning method provided in the embodiment of the present application is further described, referring to Figure 3 As shown, the method comprises the following steps:

[0094] Step 301: Use 3D city scanning to obtain physical modeling of the building environment around the school;

[0095] Each school's surrounding building environment has a corresponding 3D model. Select the 3D model corresponding to the school based on the location.

[0096] Step 302: Use fast and precise ephemeris products to predict GNSS satellite visible information around the school;

[0097] The school surrounding area is the building environment around the school scanned in step 301. The specific range can be determined based on actual conditions, and this application does not make any specific restrictions on this.

[0098] Among them, the purpose of establishing satellite visible information is that when a receiver (such as a terminal) receives satellite signals, it may lose satellite signals in some areas due to building obstruction (high-rise buildings, etc.) and tree obstruction. The position precision factor can be evaluated based on the satellite visible information. For example, if there is a high-rise building obstructing the left hand side of the user, the satellite signal on the left hand side of the user will be lost, and the left side will be an invisible area.

[0099] Step 303: construct satellite visual information of different areas in the scanned area at different time periods and a position precision factor calculation function according to the 3D city scan results;

[0100] Step 304: the student card terminal reports the positioning data to the student card platform;

[0101] The positioning data includes GNSS data, WIFI data, and LBS data. If the current terminal can obtain GNSS data, the visible satellite information of the current epoch is reported;

[0102] Step 305: Determine whether the currently reported positioning data contains GNSS data;

[0103] The student card platform receives the positioning data reported by the student card terminal, and determines whether the currently reported positioning data contains GNSS data; if no GNSS data exists, step 306 is executed, otherwise steps 307 to 311 are executed.

[0104] Step 306: using LBS data or WIFI data to determine the location result of the student card terminal;

[0105] If there is no GNSS data in the current reported result, LBS data or WIFI data is used to determine the positioning result of the student card terminal; if the distance between the coordinate position indicated by the current LBS data and the coordinate position indicated by the WIFI data is greater than the second threshold, the coordinate position indicated by the LBS data is selected as the positioning result of the student card terminal; if the distance between the coordinate position indicated by the current LBS data and the coordinate position indicated by the WIFI data is less than the third threshold, the coordinate position indicated by the WIFI data is selected as the positioning result of the student card terminal. The second threshold and the third threshold can be set according to actual conditions, and this application does not make specific limitations on this.

[0106] Step 307: Determine whether the DOP is good;

[0107] If the current reported result contains GNSS data, it is determined whether the DOP is good: when the DOP is less than the first threshold, the DOP is considered good. The first threshold can be set to 6 or can be set according to the actual situation. This application does not make specific restrictions on this. If the DOP is good, step 308 is executed, otherwise, steps 309 to 311 are executed.

[0108] Step 308: directly determining the positioning result of the student card terminal according to the GNSS data;

[0109] If the DOP is good, the positioning result of the student card terminal is directly determined based on the GNSS data, that is, the coordinate position indicated by the GNSS data is used as the positioning result of the student card terminal.

[0110] Step 309: determining whether the coordinate position indicated by the currently reported GNSS data is within the previous 3D city scan range;

[0111] If the DOP is poor; determine whether the coordinate position indicated by the currently reported GNSS data is within the coordinate area of ​​the previous 3D city scan: if the coordinate position is within the 3D city scan range, execute step 310, otherwise execute step 311.

[0112] Step 310: Based on the GNSS data and the 3D city scanning results, search for potential positioning areas with the same visible satellite information nearby, and determine the final positioning result in combination with the LBS data or WIFI data;

[0113] If the reported result is within the 3D city scanning coordinate area, the coordinates of the initial positioning are taken as the origin, and the satellite visible information in the area around the coordinate point at the time of the positioning data reporting is obtained according to the 3D city modeling results in the area around the coordinate point; the satellite visible information in the area around the coordinate point is matched with the satellite visible information of the initial GNSS data. If there are multiple similar matching results, the positioning result of the student card terminal is determined according to the WIFI data or LBS data, and the final positioning result is determined according to the proximity principle;

[0114] Among them, the initial positioning is the coordinate position indicated by the GNSS data obtained by the student card terminal, and the area surrounding the coordinate point is a circular area with the coordinate position indicated by the GNSS data as the center and the first distance as the radius. The specific first distance can be set to 200 meters, or it can be set according to the actual situation. This application does not make specific restrictions on this. Of course, it can also be a rectangular range centered on the coordinate position indicated by the GNSS data. The shape and size of the first area range can be determined according to the actual situation. This application does not make specific restrictions on this. The specific determination method is consistent with the aforementioned embodiment and will not be repeated here.

[0115] Step 311: Reduce the weight of GNSS data and determine the positioning result in combination with LBS data or WIFI data.

[0116] If the reported result is not within the 3D city scan range, the GNSS data weight is determined according to the location precision factor, and the weighted positioning value is calculated in combination with the LBS data or WIFI data. In the case of extremely poor DOP values, the weight of the GNSS data can be 0, that is, the positioning result of the student card terminal is determined based on the LBS data or WIFI data. How to allocate the weights of GNSS data and non-GNSS data can be set according to actual conditions, and this application does not make specific restrictions on this. How to determine the positioning result of the student card terminal based on LBS data or WIFI data is consistent with the previous embodiment and will not be repeated here.

[0117] As the student card business continues to be implemented across the country, the usage scenarios of the positioning function as the core function of the student card are becoming more and more complex. The impact of the complex geographical environment on the positioning data is becoming more and more prominent. Only by improving the accuracy and stability of the positioning data can the student card business be guaranteed to better serve customers and improve the availability, accuracy and stability of the system.

[0118] The embodiment of the present application proposes a positioning method for school scenarios, which uses 3D city scanning of the building environment around the school to perform physical modeling; uses fast and precise ephemeris products to predict the GNSS satellite visual information around the school; constructs satellite visual information of different areas in the scanned area in different time periods and a position precision factor calculation function based on the 3D city scanning results; the student card terminal reports positioning data to the student card platform; determines whether the currently reported positioning data has GNSS data; if the currently reported positioning data does not have GNSS data, uses LBS data or WIFI data to determine the positioning result of the student card terminal; if the currently reported positioning data has GNSS data, determines whether the DOP is good, such as If the DOP is good, the positioning result of the student card terminal is determined directly based on the GNSS data; if the DOP is poor, determine whether the coordinate position indicated by the currently reported GNSS data is within the coordinate area of ​​the previous 3D city scan; if the coordinate position indicated by the currently reported GNSS data is within the coordinate area of ​​the previous 3D city scan, then based on the GNSS data and the 3D city scan results, search for potential positioning areas with the same visible satellite information nearby, and combine the LBS data or WIFI data to make a final positioning result determination; if the coordinate position indicated by the currently reported GNSS data is not within the coordinate area of ​​the previous 3D city scan, then reduce the GNSS data weight, and calculate the positioning result in combination with the LBS data or WIFI data. The embodiment of the present application is a mobile terminal positioning data fusion method based on 3D city and position precision factor, based on the 3D modeling results of the school's surrounding area and the all-weather satellite visible results, to assist the student card platform in making effective judgments and weight adjustments on the GNSS data, LBS data, and WIFI data reported by the student card terminal to calculate the final positioning result. In this way, the embodiment of the present application can significantly reduce the situation where positioning cannot be performed or positioning data has large deviations due to the influence of the geographical environment at a relatively low cost, which will greatly improve the service quality and stability of the student card business; the embodiment of the present application also does not need to update the student card terminal equipment, and has high operability, so it will not cause economic and usage impacts on users, and can achieve a senseless upgrade. The mobile terminal positioning data fusion method proposed in the embodiment of the present application is the core capability of the student card platform. With the development of the student card platform business, it will provide a solid foundation for the core capabilities of the student card platform (electronic fences, trajectory analysis), etc.

[0119] The preferred embodiments of the present application are described in detail above in conjunction with the accompanying drawings. However, the present application is not limited to the specific details in the above embodiments. Within the technical concept of the present application, the technical solution of the present application can be subjected to a variety of simple modifications, and these simple modifications all belong to the protection scope of the present application. For example, the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present application will not further explain various possible combinations. For another example, the various different embodiments of the present application can also be arbitrarily combined, as long as they do not violate the idea of ​​the present application, they should also be regarded as the contents disclosed in the present application. For another example, under the premise of no conflict, the various embodiments and / or the technical features in the various embodiments described in the present application can be arbitrarily combined with the prior art, and the technical solution obtained after the combination should also fall within the protection scope of the present application.

[0120] It should be understood that in the various method embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0121] Based on the same inventive concept as the above embodiments, Figure 4 Schematic diagram of the structure of the positioning device provided in the embodiment of the present application, which is applied to the first terminal, such as Figure 4 As shown, the positioning device includes:

[0122] The first receiving unit 401 is configured to receive at least one type of positioning data sent by the second device;

[0123] The first processing unit 402 is used to determine the position accuracy factor of the GNSS data if the at least one positioning data includes GNSS data; if the position accuracy factor is less than or equal to a first threshold, determine the positioning result of the second device according to the GNSS data; if the position accuracy factor is greater than the first threshold, determine whether the coordinate position indicated by the GNSS data is within the three-dimensional space corresponding to the first model; the first model is a three-dimensional space model of a preset geographical area; if the coordinate position indicated by the GNSS data is within the three-dimensional space corresponding to the first model, determine the positioning result of the second device according to the first satellite visible information corresponding to the GNSS data and the second satellite visible information corresponding to each coordinate position within the first area of ​​the three-dimensional space.

[0124] In some embodiments, the first processing unit 402 is further specifically used to: receive first satellite visible information corresponding to the GNSS data sent by the second device, wherein the first satellite visible information includes first time information, number information and position information of the first satellite, the first time is the time when the second device obtains the GNSS data, and the first satellite is the satellite from which the second device obtains the GNSS data.

[0125] In some embodiments, the first processing unit 402 is specifically used to: compare the first satellite visible information corresponding to the GNSS data with the second satellite visible information corresponding to each coordinate position within the first area range of the three-dimensional space; the first area range is determined based on the coordinate position indicated by the GNSS data; if there is at least one coordinate position that meets the first condition within the first area range, determine the positioning result of the second device according to the at least one coordinate position; if there is no coordinate position that meets the first condition within the first area range, determine the positioning result of the second device according to the non-GNSS data; wherein the first condition is: the second satellite visible information corresponding to the coordinate position is consistent with the first satellite visible information.

[0126] In some embodiments, the first processing unit 402 is also specifically used to: if the at least one coordinate position is one coordinate position, determine the positioning result of the second device according to the coordinate position; if the at least one coordinate position is multiple coordinate positions, select a coordinate position from the multiple coordinate positions according to the non-GNSS data, and determine the positioning result of the second device according to the coordinate position.

[0127] In some embodiments, the first processing unit 402 is specifically used to: if the coordinate position indicated by the GNSS data is not within the three-dimensional space corresponding to the first model, determine the weights of the GNSS data and the non-GNSS data according to the position accuracy factor, and determine the positioning result of the second device according to the weights, the GNSS data and the non-GNSS data.

[0128] In some implementations, the first processing unit 402 is further specifically configured to: if the at least one positioning data does not include GNSS data but includes non-GNSS data, determine the positioning result of the second device according to the non-GNSS data.

[0129] In some embodiments, the first processing unit 402 is further specifically used to: determine the positioning result of the second device based on the non-GNSS data, including: if the distance between the coordinate position indicated by the WIFI data and the coordinate position indicated by the LBS data is greater than a second threshold, determine the positioning result of the second device based on the LBS data; if the distance between the coordinate position indicated by the WIFI data and the coordinate position indicated by the LBS data is less than a third threshold, determine the positioning result of the second device based on the WIFI data; wherein the second threshold is greater than the third threshold.

[0130] In some implementations, the first processing unit 402 is further specifically configured to: send the positioning result of the second device to the second device and / or the third device.

[0131] Those skilled in the art should understand that Figure 4 The functions implemented by each unit in the positioning device shown can be understood by referring to the relevant description of the aforementioned method. Figure 4 The functions of each unit in the positioning device shown can be implemented by a program running on a processor, or by a specific logic circuit.

[0132] Based on the above embodiments, the embodiments of the present application provide a processing device, which can be applied to Figures 1 to 3 In the positioning method provided in the corresponding embodiment, Figure 5 It is a schematic structural diagram of a processing device 500 provided in an embodiment of the present application. Figure 5 The processing device 500 shown includes a processor 501, which can call and run a computer program from a memory to implement the method in the embodiment of the present application.

[0133] Alternatively, if Figure 5 As shown, the processing device 500 may further include a memory 502. The processor 501 may call and run a computer program from the memory 502 to implement the method in the embodiment of the present application.

[0134] The memory 502 may be a separate device independent of the processor 501 , or may be integrated into the processor 501 .

[0135] Alternatively, if Figure 5 As shown, the processing device 500 may further include a transceiver 503, and the processor 501 may control the transceiver 503 to communicate with other devices, specifically, to send information or data to other devices, or to receive information or data sent by other devices.

[0136] The transceiver 503 may include a transmitter and a receiver. The transceiver 503 may further include an antenna, and the number of the antennas may be one or more.

[0137] Optionally, the processing device 500 may specifically be the first device of the embodiment of the present application, and the processing device 500 may implement the corresponding processes implemented by the first device in each method of the embodiment of the present application, which will not be described in detail here for the sake of brevity.

[0138] Figure 6 It is a schematic structural diagram of the chip of an embodiment of the present application. Figure 6 The chip 600 shown includes a processor 601, which can call and run a computer program from a memory to implement the method in the embodiment of the present application.

[0139] Alternatively, if Figure 6 As shown, the chip 600 may further include a memory 602. The processor 601 may call and run a computer program from the memory 602 to implement the method in the embodiment of the present application.

[0140] The memory 602 may be a separate device independent of the processor 601 , or may be integrated into the processor 601 .

[0141] Optionally, the chip 600 may further include an input interface 603. The processor 601 may control the input interface 603 to communicate with other devices or chips, and specifically, may obtain information or data sent by other devices or chips.

[0142] Optionally, the chip 600 may further include an output interface 604. The processor 601 may control the output interface 604 to communicate with other devices or chips, and specifically, may output information or data to other devices or chips.

[0143] Optionally, the chip can be applied to the first device in the embodiment of the present application, and the chip can implement the corresponding processes implemented by the first device in each method of the embodiment of the present application. For the sake of brevity, it will not be repeated here.

[0144] It should be understood that the chip mentioned in the embodiments of the present application can also be called a system-level chip, a system chip, a chip system or a system-on-chip chip, etc.

[0145] It should be understood that the processor of the embodiment of the present application may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method embodiment can be completed by the hardware integrated logic circuit or software instructions in the processor. The above processor can be a general processor, a digital signal processor (Digital Signal Processor, DSP), an application-specific integrated circuit (Application Specific Integrated Circuit, ASIC), a field programmable gate array (Field Programmable Gate Array, FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods, steps and logic block diagrams disclosed in the embodiments of the present application can be implemented or executed. The general processor can be a microprocessor or the processor can also be any conventional processor. The steps of the method disclosed in the embodiment of the present application can be directly embodied as a hardware decoding processor to perform, or the hardware and software modules in the decoding processor are combined and performed. The software module can be located in a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, and other mature storage media in the art. The storage medium is located in the memory, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware.

[0146] It can be understood that the memory in the embodiments of the present application can be a volatile memory or a non-volatile memory, or can include both volatile and non-volatile memories. Among them, the non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory can be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct RAM bus random access memory (DR RAM). It should be noted that the memory of the systems and methods described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0147] It should be understood that the above-mentioned memory is exemplary but not restrictive. For example, the memory in the embodiments of the present application may also be static random access memory (static RAM, SRAM), dynamic random access memory (dynamic RAM, DRAM), synchronous dynamic random access memory (synchronous DRAM, SDRAM), double data rate synchronous dynamic random access memory (double data rate SDRAM, DDR SDRAM), enhanced synchronous dynamic random access memory (enhanced SDRAM, ESDRAM), synchronous link dynamic random access memory (synch link DRAM, SLDRAM) and direct memory bus random access memory (Direct Rambus RAM, DR RAM), etc. That is to say, the memory in the embodiments of the present application is intended to include but not limited to these and any other suitable types of memory.

[0148] An embodiment of the present application also provides a computer-readable storage medium for storing a computer program.

[0149] Optionally, the computer-readable storage medium can be applied to the first device in the embodiments of the present application, and the computer program enables the computer to execute the corresponding processes implemented by the first device in the various methods of the embodiments of the present application. For the sake of brevity, they are not repeated here.

[0150] An embodiment of the present application also provides a computer program product, including computer program instructions.

[0151] Optionally, the computer program product can be applied to the first device in the embodiments of the present application, and the computer program instructions enable the computer to execute the corresponding processes implemented by the first device in the various methods of the embodiments of the present application. For the sake of brevity, they are not repeated here.

[0152] The embodiment of the present application also provides a computer program.

[0153] Optionally, the computer program can be applied to the first device in the embodiments of the present application. When the computer program runs on a computer, the computer executes the corresponding processes implemented by the first device in the various methods of the embodiments of the present application. For the sake of brevity, they are not repeated here.

[0154] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software 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 be beyond the scope of this application.

[0155] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0156] In the several embodiments provided in the present application, it should be understood that the disclosed systems, 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 units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection 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.

[0157] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0158] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0159] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0160] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A positioning method, It is characterized in that Applied to a first device, the method includes: receiving at least one type of positioning data sent by a second device; If the at least one positioning data comprises Global Navigation Satellite System (GNSS) data, determining a position precision factor of the GNSS data; If the position precision factor is less than or equal to a first threshold, determining a positioning result of the second device according to the GNSS data; If the position precision factor is greater than the first threshold, it is determined whether the coordinate position indicated by the GNSS data is within the three-dimensional space corresponding to the first model; the first model is a three-dimensional space model of a preset geographical area; if the coordinate position indicated by the GNSS data is within the three-dimensional space corresponding to the first model, the positioning result of the second device is determined based on the first satellite visible information corresponding to the GNSS data and the second satellite visible information corresponding to each coordinate position within the first area of ​​the three-dimensional space.

2. The method according to claim 1, It is characterized in that If the at least one positioning data includes the GNSS data, the method further includes: Receive first satellite visible information corresponding to the GNSS data sent by the second device, wherein the first satellite visible information includes first time information, number information and position information of the first satellite, the first time is the time when the second device obtains the GNSS data, and the first satellite is the satellite from which the second device obtains the GNSS data.

3. The method according to claim 1, It is characterized in that The at least one positioning data further includes non-GNSS data; and determining the positioning result of the second device according to the first satellite visible information corresponding to the GNSS data and the second satellite visible information corresponding to each coordinate position within the first area of ​​the three-dimensional space includes: Comparing the first satellite visible information corresponding to the GNSS data with the second satellite visible information corresponding to each coordinate position within a first area range of the three-dimensional space; the first area range is determined based on the coordinate position indicated by the GNSS data; If there is at least one coordinate position satisfying the first condition within the first area, determining the positioning result of the second device according to the at least one coordinate position; If there is no coordinate position satisfying the first condition within the first area, determining the positioning result of the second device according to the non-GNSS data; The first condition is that the second satellite visible information corresponding to the coordinate position is consistent with the first satellite visible information.

4. The method according to claim 3, It is characterized in that The determining the positioning result of the second device according to the at least one coordinate position includes: If the at least one coordinate position is one coordinate position, determining a positioning result of the second device according to the coordinate position; If the at least one coordinate position is a plurality of coordinate positions, a coordinate position is selected from the plurality of coordinate positions according to the non-GNSS data, and a positioning result of the second device is determined according to the coordinate position.

5. The method according to claim 3, It is characterized in that The method further comprises: If the coordinate position indicated by the GNSS data is not within the three-dimensional space corresponding to the first model, the weights of the GNSS data and the non-GNSS data are determined according to the position precision factor, and the positioning result of the second device is determined according to the weights, the GNSS data and the non-GNSS data.

6. The method according to claim 1, It is characterized in that The method further comprises: If the at least one positioning data does not include GNSS data but includes non-GNSS data, a positioning result of the second device is determined according to the non-GNSS data.

7. The method according to claim 3 or 6, It is characterized in that The non-GNSS data includes WIFI data and location-based service LBS data; The determining a positioning result of the second device according to the non-GNSS data includes: If the distance between the coordinate position indicated by the WIFI data and the coordinate position indicated by the LBS data is greater than a second threshold, determining a positioning result of the second device according to the LBS data; If the distance between the coordinate position indicated by the WIFI data and the coordinate position indicated by the LBS data is less than a third threshold, determining a positioning result of the second device according to the WIFI data; The second threshold is greater than the third threshold.

8. A positioning device, It is characterized in that Applied to a first device, the apparatus comprises: A first receiving unit, configured to receive at least one type of positioning data sent by a second device; A first processing unit is configured to determine a position accuracy factor of the GNSS data if the at least one positioning data includes GNSS data; if the position accuracy factor is less than or equal to a first threshold, determine a positioning result of the second device based on the GNSS data; if the position accuracy factor is greater than the first threshold, determine whether the coordinate position indicated by the GNSS data is within a three-dimensional space corresponding to a first model; the first model is a three-dimensional space model of a preset geographical area; if the coordinate position indicated by the GNSS data is within the three-dimensional space corresponding to the first model, determine the positioning result of the second device based on first satellite visible information corresponding to the GNSS data and second satellite visible information corresponding to each coordinate position within the first area of ​​the three-dimensional space.

9. A processing device, It is characterized in that include: A processor and a memory, the memory being used to store a computer program, the processor being used to call and run the computer program stored in the memory to execute the method according to any one of claims 1 to 7.

10. A chip, It is characterized in that include: A processor, configured to call and run a computer program from a memory, so that a device equipped with the chip executes a method as claimed in any one of claims 1 to 7.

11. A computer-readable storage medium, It is characterized in that Used to store a computer program, wherein the computer program causes a computer to execute the method according to any one of claims 1 to 7.

Images