Fusion positioning method and computer readable storage medium

Abstract

The invention discloses a fusion positioning method and a computer readable storage medium, and the method comprises the steps: obtaining the positioning data of each positioning method according to a common positioning period; calculating the current positioning distance of each positioning method according to the current positioning data and the previous positioning data of each positioning method; calculating a current distance weight coefficient of each positioning method, and respectively storing the current distance weight coefficient in a corresponding distance weight sequence; according to the latest distance weight sequence corresponding to each positioning method, calculating a current weight mean value and a current weight standard deviation corresponding to each positioning method, and determining a current weight range corresponding to each positioning method; adding the positioning methods of which the current distance weight coefficients are in the corresponding current weight range into a credible method set; and calculating a current credible positioning result according to the current distance weight coefficient and the current positioning data of each positioning method in the credible method set. According to the method, the types and the number of positioning methods are not limited, effective fusion can be realized, and the positioning performance is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of positioning, and particularly to a positioning method and a computer-readable storage medium for fusion positioning. Background Art

[0002] Accurate positioning, especially indoor positioning information, has considerable social and economic value in applications such as indoor navigation. Currently, there are many technical means for indoor positioning, including methods based on wireless signals such as WiFi, BT (Bluetooth), and ultrasonic positioning, as well as positioning methods based on sensors such as gyroscopes, accelerometers, and barometric gait meters, and visual positioning methods based on light, images, etc. Due to the complex indoor environment, such as uneven indoor facilities, it is a huge challenge to obtain accurate indoor positioning by a single method. To obtain accurate positioning results, it is an ideal method to perform positioning by fusing multiple positioning methods. However, because different methods have great differences in positioning principles and have their own advantages in different situations, it is relatively difficult to perform unified fusion of all methods.

[0003] Traditional fusion positioning methods can only perform the fusion of two or several kinds of positioning. For example, the combination of GPS and DR positioning is disclosed in the patent document with the publication number CN1908587A, and the fusion of geomagnetic field and WIFI signal positioning is disclosed in the patent document with the publication number CN103630873B, etc. Since various positioning methods have their own advantages, errors, and suitable usage scenarios, how to unify and apply dozens of positioning methods, automatically eliminate their respective application disadvantages, achieve complementary advantages, and improve positioning performance is a problem to be solved. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a positioning method and a computer-readable storage medium for fusion positioning, which can achieve effective fusion regardless of the type and quantity of positioning methods and ensure positioning performance.

[0005] To solve the above technical problem, the technical solution adopted by the present invention is: a positioning method for fusion, including:

[0006] Obtaining the positioning data of each positioning method according to a preset common positioning period;

[0007] Calculating the current positioning distance of each positioning method according to the current positioning data and the previous positioning data of each positioning method;

[0008] Calculating the current distance weight coefficient of each positioning method according to the current positioning distance of each positioning method, and respectively storing it in the distance weight sequence corresponding to each positioning method;

[0009] Calculate the current weight mean and the current weight standard deviation corresponding to each positioning method according to the latest distance weight sequence corresponding to each positioning method, and determine the current weight range corresponding to each positioning method according to the current weight mean and the current weight standard deviation corresponding to each positioning method;

[0010] Add the positioning methods with the current distance weight coefficient within the corresponding current weight range to the set of reliable methods;

[0011] Calculate the current reliable positioning result according to the current distance weight coefficient and the current positioning data of each positioning method in the set of reliable methods.

[0012] The present invention also provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the above-mentioned method is implemented.

[0013] The beneficial effects of the present invention are as follows: By calculating the distance weight coefficient according to the distance between adjacent positioning positions of different positioning methods, the relatively stable error relationship between different positioning methods can be reflected; By filtering the distance weight coefficients of each positioning method, outliers in the positioning process are eliminated, ensuring that methods with larger errors will not accidentally obtain larger weights, thereby effectively ensuring the accuracy of the positioning result; By performing weighted fusion on the positioning data of reliable positioning methods, a reliable fused positioning result can be obtained. The present invention can effectively solve the problem of unified fusion of multiple positioning methods, and better positioning performance can be achieved through combined positioning of the results. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 is a flowchart of a fusion positioning method of the present invention;

[0015] Figure 2 is a flowchart of the method in the first embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0016] To describe in detail the technical content, the achieved objectives and the effects of the present invention, the following is described in detail in conjunction with the embodiments and with reference to the accompanying drawings.

[0017] Please refer to Figure 1 , a fusion positioning method, including:

[0018] Obtain the positioning data of each positioning method according to a preset common positioning period;

[0019] Calculate the current positioning distance of each positioning method according to the current positioning data and the previous positioning data of each positioning method;

[0020] Calculate the current distance weight coefficient of each positioning method according to the current positioning distance of each positioning method, and save them to the distance weight sequences corresponding to the respective positioning methods;

[0021] According to the latest distance weight sequences corresponding to the respective positioning methods, calculate the current weight mean and the current weight standard deviation corresponding to each positioning method, and determine the current weight range corresponding to each positioning method according to the current weight mean and the current weight standard deviation corresponding to each positioning method;

[0022] Add the positioning methods whose current distance weight coefficients are within the corresponding current weight ranges to the set of reliable methods;

[0023] Calculate the current reliable positioning result according to the current distance weight coefficients and the current positioning data of the respective positioning methods in the set of reliable methods.

[0024] As can be seen from the above description, the beneficial effect of the present invention is that effective fusion can be achieved regardless of the types and quantities of positioning methods, ensuring the positioning performance.

[0025] Further, after calculating the current reliable positioning result according to the current distance weight coefficients and the current positioning data of the respective positioning methods in the set of reliable methods, it further includes:

[0026] Empty the set of reliable methods.

[0027] As can be seen from the above description, the reliable positioning methods need to be re-determined each time positioning is performed.

[0028] Further, before obtaining the positioning data of the respective positioning methods according to the preset common positioning period, it further includes:

[0029] Determine the least common multiple as the common positioning period according to the positioning periods of the respective positioning methods.

[0030] As can be seen from the above description, it is ensured that the positioning data at the same moment of different positioning methods are fused each time positioning fusion is performed.

[0031] Further, when calculating the current positioning distance of each positioning method according to the current positioning data and the previous positioning data of each positioning method, specifically:

[0032] Calculate the current distance of each positioning method according to the distance calculation formula, and the distance calculation formula is d ik =||m ik -m i(k-1) ||, where m ik represents the positioning data obtained by the i-th positioning method in the k-th common positioning period, m i(k-1) represents the positioning data obtained by the i-th positioning method in the (k - 1)-th common positioning period, and d ik represents the positioning distance between the i-th positioning method in the k-th period and the (k - 1)-th period.

[0033] Further, calculate the current distance weight coefficients of each positioning method according to the current positioning distances of each positioning method, and save them to the distance weight sequences corresponding to each positioning method respectively, specifically as follows:

[0034] Calculate the reciprocals of the current positioning distances of each positioning method to obtain the current distance reciprocals of each positioning method;

[0035] Calculate the ratio of the current distance reciprocal of a certain positioning method to the sum of the current distance reciprocals of each positioning method to obtain the current distance weight coefficient of the certain positioning method, and save it to the distance weight sequence corresponding to the certain positioning method.

[0036] As can be seen from the above description, the distance weight coefficient can reflect the relatively stable error relationship between different positioning methods. Each positioning method has its own error. The positioning method with a larger self-error has a larger position jump between the front and back moments, and its weight coefficient is smaller. The positioning method with a smaller self-error has a smaller position jump between the front and back moments, and its weight coefficient is larger.

[0037] Further, calculate the current weight mean and the current weight standard deviation corresponding to each positioning method according to the latest distance weight sequences corresponding to each positioning method, and determine the current weight range corresponding to each positioning method according to the current weight mean and the current weight standard deviation corresponding to each positioning method, specifically as follows:

[0038] Calculate the average value and the standard deviation according to the distance weight coefficients in the latest distance weight sequence corresponding to a certain positioning method as the current weight mean and the current weight standard deviation of the certain positioning method;

[0039] Determine the current weight range corresponding to the certain positioning method according to the current weight mean of the certain positioning method and the current weight standard deviation multiplied by a preset multiple.

[0040] Further, the current credible positioning result is

[0041]

[0042] where A k represents the credible positioning result of the kth common positioning cycle, Q represents the set of credible methods, w ik represents the distance weight coefficient corresponding to the ith positioning method in the kth common positioning cycle, and (x ik , y ik ) represents the positioning data of the ith positioning method in the kth common positioning cycle.

[0043] The present invention also provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the above-mentioned method is implemented.

[0044] Embodiment 1

[0045] Please refer to Figure 2 , Embodiment 1 of the present invention is: a fusion positioning method, which can be applied to an indoor environment. As Figure 2 shown, it includes the following steps:

[0046] S1: Obtain the positioning data of each positioning method according to a preset common positioning period.

[0047] Assume that a total of n positioning methods m i (i = 1, 2,..., n) are integrated on a certain terminal. These positioning methods have the same positioning period, that is, the common positioning period T. If there is no common positioning period, the least common multiple of the positioning periods of these positioning methods is taken as the common positioning period.

[0048] S2: Calculate the current positioning distance of each positioning method according to the current positioning data and the previous positioning data of each positioning method.

[0049] That is, calculate the distance between the current positioning position and the previous positioning position of each positioning method. Specifically, assume that the positioning data obtained by the i-th positioning method in the current common positioning period (that is, the k-th common positioning period) is m ik =(x ik , y ik ), and the positioning data obtained in the previous common positioning period (that is, the k-1-th common positioning period) is m i(k-1) =(x i(k-1) , y i(k-1) ), then the current positioning distance of this positioning method is d ik =||m ik -m i(k-1) ||.

[0050] S3: Calculate the current distance weight coefficient of each positioning method according to the current positioning distance of each positioning method, and save them to the distance weight sequences corresponding to each positioning method respectively.

[0051] Specifically, first calculate the reciprocal of the current positioning distance of each positioning method as the current distance reciprocal of each positioning method, that is, a ik =1 / d ik , where a ik represents the distance reciprocal of the i-th positioning method corresponding to the k-th common positioning period.

[0052] Then, calculate the ratio of the current reciprocal distance of this positioning method to the sum of the current reciprocal distances of each positioning method to obtain the current distance weight coefficient of this positioning method, that is:

[0053]

[0054] where, w ik represents the distance weight coefficient corresponding to the i-th positioning method in the k-th common positioning cycle. It can be seen that the sum of the distance weight coefficients corresponding to all positioning methods in the same common positioning cycle is 1.

[0055] Each positioning method has its own error. Even if the actual position remains unchanged, the positioning results collected at different times will also vary. For a positioning method with a larger self-error, the position jump between adjacent times is also larger, and its weight coefficient is smaller; for a positioning method with a smaller self-error, the position jump between adjacent times is also smaller, and its weight coefficient is larger.

[0056] Finally, add the current distance weight coefficient of each positioning method to the corresponding distance weight sequence. At this time, the distance weight sequence corresponding to the i-th positioning method is w i =[w i1 , w i2 , ……, w ik .

[0057] S4: According to the latest distance weight sequences corresponding to each positioning method, calculate the current weight mean and the current weight standard deviation corresponding to each positioning method, and determine the current weight range corresponding to each positioning method according to the current weight mean and the current weight standard deviation corresponding to each positioning method.

[0058] Specifically, calculate the average value and the standard deviation according to the distance weight coefficients in the latest distance weight sequence corresponding to a positioning method, and use them as the current weight mean E ik and the current weight standard deviation D ik of this positioning method; then determine the current weight range corresponding to this positioning method according to the current weight mean and the current weight standard deviation multiplied by a preset multiple of this positioning method.

[0059] In this embodiment, the preset multiple is 2, that is, the current weight range corresponding to the i-th positioning method is [E ik -2D ik , E ik +2D ik .

[0060] S5: Add the positioning methods whose current distance weight coefficients are within the corresponding current weight ranges to the set of reliable methods.

[0061] Specifically, if the current distance weight coefficient of a positioning method is within the current weight range corresponding to the positioning method, then add the positioning method to the set of reliable methods.

[0062] If the current distance weight coefficient of a certain positioning method is within the corresponding current weight range, it indicates that the error of this positioning method is relatively stable compared with other positioning methods, and the current distance weight coefficient of this positioning method can be trusted. Add this positioning method to the set Q of reliable methods; otherwise, it indicates that the relative error of this positioning method is relatively large compared with other positioning methods, and the credibility of the current distance weight coefficient of this positioning method is low.

[0063] By filtering the distance weight coefficients of each positioning method, it is ensured that methods with large errors will not accidentally obtain large weights, thereby effectively ensuring the accuracy of the positioning result.

[0064] S6: Calculate the current reliable positioning result according to the current distance weight coefficients and current positioning data of each positioning method in the set of reliable methods.

[0065] That is, obtain the distance weight coefficients and positioning data corresponding to the k-th common positioning period of all positioning methods in the set Q of reliable methods, and calculate the positioning result A based on the reliable distance weights k , and the calculation formula is:

[0066]

[0067] S7: Clear the set of reliable methods. Then continue to obtain the positioning data of each positioning method in the next common positioning period, and calculate the next reliable positioning result, so as to continuously calculate the fused positioning result.

[0068] This embodiment uses the positioning distances of different positioning methods at different times to construct the distance weight coefficients of different positioning methods, and records the time change sequence of the distance weight coefficients. In the distance weight sequence, the threshold range is determined according to the mean value and twice the standard deviation, and the credibility of the distance weight coefficients is automatically judged according to the threshold range. Then, the positioning data of the reliable positioning methods are weighted and fused to obtain a reliable fused positioning result.

[0069] This embodiment can be applicable to any type and number of positioning methods to achieve effective fusion. Moreover, the more positioning methods are used and the longer the positioning time is, the longer the accumulated distance weight sequence will be, and the better the positioning performance will be.

[0070] Embodiment 2

[0071] This embodiment is a computer-readable storage medium corresponding to the above embodiment, on which a computer program is stored. When the program is executed by a processor, it implements the steps of a fusion positioning method in the above embodiment and can achieve the same technical effects, which will not be repeated here.

[0072] In summary, for a fusion positioning method and a computer-readable storage medium provided by the present invention, by calculating the distance weight coefficient according to the distance between adjacent positioning positions of different positioning methods, the relatively stable error relationship between different positioning methods can be reflected; by filtering the distance weight coefficients of each positioning method, outliers in the positioning process are eliminated, ensuring that methods with larger errors will not accidentally obtain large weights, thereby effectively ensuring the accuracy of the positioning result; by weighted fusion of the positioning data of reliable positioning methods, a reliable fusion positioning result can be obtained. The present invention can effectively solve the problem of unified fusion of multiple positioning methods, regardless of the type and number of positioning methods, and effective fusion can be achieved. Moreover, the more positioning methods are used, the longer the positioning time, the longer the accumulated distance weight sequence, and the better the positioning performance.

[0073] The above are only the embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent transformation made by using the content of the specification and drawings of the present invention, or directly or indirectly applied in the related technical fields, shall be equally included in the patent protection scope of the present invention.

Claims

1. A fusion positioning method, characterized in that, it includes: Obtain the positioning data of each positioning method according to a preset common positioning period; Calculate the current positioning distance of each positioning method according to the current positioning data and the previous positioning data of each positioning method; Calculate the current distance weight coefficient of each positioning method according to the current positioning distance of each positioning method, and save them to the distance weight sequences corresponding to the respective positioning methods; Calculate the current weight mean and the current weight standard deviation corresponding to each positioning method according to the latest distance weight sequences corresponding to the respective positioning methods, and determine the current weight range corresponding to each positioning method according to the current weight mean and the current weight standard deviation corresponding to each positioning method; Add the positioning methods whose current distance weight coefficients are within the corresponding current weight ranges to the set of trusted methods; Calculate the current trusted positioning result according to the current distance weight coefficients and the current positioning data of the positioning methods in the set of trusted methods.

2. The fusion positioning method according to claim 1, characterized in that, after calculating the current trusted positioning result according to the current distance weight coefficients and the current positioning data of the positioning methods in the set of trusted methods, it further includes: Clear the set of trusted methods.

3. The fusion positioning method according to claim 1, characterized in that, before obtaining the positioning data of each positioning method according to a preset common positioning period, it further includes: Determine the least common multiple as the common positioning period according to the positioning periods of the respective positioning methods.

4. The fusion positioning method according to claim 1, characterized in that, the calculation of the current positioning distance of each positioning method according to the current positioning data and the previous positioning data of each positioning method is specifically: According to the distance calculation formula, calculate the current distance of each positioning method. The distance calculation formula is d ik = ||m ik - m i(k-1) ||, where m ik represents the positioning data obtained by the i-th positioning method in the k-th common positioning cycle, and m i(k-1) represents the positioning data obtained by the i-th positioning method in the (k - 1)-th common positioning cycle. d ik represents the positioning distance between the k-th cycle and the (k - 1)-th cycle of the i-th positioning method.

5. The fusion positioning method according to claim 1, characterized in that, the calculation of the current distance weight coefficient of each positioning method according to the current positioning distance of each positioning method and the saving of them to the distance weight sequences corresponding to the respective positioning methods are specifically: Calculate the reciprocal of the current positioning distance of each positioning method to obtain the current distance reciprocal of each positioning method; Calculate the ratio of the current distance reciprocal of a certain positioning method to the sum of the current distance reciprocals of each positioning method to obtain the current distance weight coefficient of the certain positioning method, and save it to the distance weight sequence corresponding to the certain positioning method.

6. The fusion positioning method according to claim 1, characterized in that, the calculation of the current weight mean and the current weight standard deviation corresponding to each positioning method according to the latest distance weight sequences corresponding to the respective positioning methods and the determination of the current weight range corresponding to each positioning method according to the current weight mean and the current weight standard deviation corresponding to each positioning method are specifically: Calculate the average value and the standard deviation according to the distance weight coefficients in the latest distance weight sequence corresponding to a certain positioning method as the current weight mean and the current weight standard deviation of the certain positioning method; Determine the current weight range corresponding to the certain positioning method according to the current weight mean of the certain positioning method and the current weight standard deviation of a preset multiple.

7. The fusion positioning method according to claim 1, characterized in that, The current trusted positioning result is Among them, A k represents the reliable positioning result of the k-th co-localization period, Q represents the set of reliable methods, w ik represents the distance weight coefficient of the i-th positioning method corresponding to the k-th co-localization period, (x ik , y ik ) represents the positioning data of the i-th positioning method in the k-th co-localization period.

8. A computer-readable storage medium, having a computer program stored thereon, characterized in that when the program is executed by a processor, the method according to any one of claims 1-7 is implemented.

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