Positioning method and device, electronic equipment and storage medium

Abstract

The embodiment of the invention provides a positioning method and device, electronic equipment and a storage medium, and the method comprises the steps: obtaining reference data after obtaining the current position information of terminal equipment; the reference data comprises current motion information, current geographic information and current environment information of the terminal equipment; according to the reference data, evaluating the current position information to obtain an evaluation result corresponding to the current position information; determining predicted position information of the terminal equipment at the next moment according to the current position information and the current motion information; determining a first weight corresponding to the current position information and a second weight corresponding to the predicted position information according to an evaluation result corresponding to the current position information; and according to the first weight, the second weight, the current position information and the predicted position information, determining position information of the terminal equipment after deviation correction. When the terminal equipment is positioned, the terminal equipment does not need to depend on a UWB base station, the UWB base station does not need to be deployed, and the positioning cost of the terminal equipment is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of positioning, and in particular, to a positioning method, a positioning device, an electronic device, and a computer-readable storage medium. Background Art

[0002] Currently, with the development and popularization of flying devices, how to accurately position and cruise is a research topic that needs to be addressed. Currently, the positioning of flying devices is mainly achieved through satellites in combination with UWB (Ultra-Wideband) base stations. However, this method relies on UWB base stations. Therefore, before positioning a flying device, a large number of UWB base stations need to be deployed. The conditions for deploying UWB base stations are relatively harsh and the cost is also high, thus increasing the cost of positioning flying devices. Summary of the Invention

[0003] In view of the above problems, embodiments of the present invention are proposed to provide a positioning method, a positioning device, an electronic device, and a computer-readable storage medium that overcome the above problems or at least partially solve the above problems.

[0004] To solve the above problems, embodiments of the present invention disclose a positioning method, which includes:

[0005] After obtaining the current position information of the terminal device, obtaining reference data; the reference data includes: the current motion information, current geographical information, and current environmental information of the terminal device;

[0006] Evaluating the current position information according to the reference data to obtain an evaluation result corresponding to the current position information;

[0007] Determining the predicted position information of the terminal device at the next moment according to the current position information and the current motion information;

[0008] Determining a first weight corresponding to the current position information and a second weight corresponding to the predicted position information according to the evaluation result corresponding to the current position information;

[0009] Determining the corrected position information of the terminal device according to the first weight, the second weight, the current position information, and the predicted position information.

[0010] Optionally, the evaluating the current position information according to the reference data to obtain an evaluation result corresponding to the current position information includes:

[0011] Obtaining third weights corresponding to the current motion information, current geographical information, and current environmental information of the terminal device respectively;

[0012] Determine the feature vectors corresponding to the current motion information, the current geographic information, and the current environmental information respectively;

[0013] Evaluate the current motion information, the current geographic information, and the current environmental information through a random forest model and the feature vectors corresponding to the current motion information, the current geographic information, and the current environmental information respectively, to obtain the evaluation results corresponding to the current motion information, the current geographic information, and the current environmental information; the evaluation results corresponding to the current motion information, the current geographic information, and the current environmental information characterize the accuracy corresponding to the current motion information, the current geographic information, and the current environmental information;

[0014] Determine the evaluation result corresponding to the current location information according to the third weight corresponding to the current motion information, the current geographic information, and the current environmental information and the evaluation results corresponding to the current motion information, the current geographic information, and the current environmental information; the evaluation result corresponding to the current location information characterizes the accuracy of the current location information.

[0015] Optionally, the current motion information includes: motion trajectory, speed, motion azimuth angle, motion elevation angle, and acceleration; the determining of the predicted location information of the terminal device at the next moment according to the current location information and the current motion information includes:

[0016] Determine the current Cartesian coordinates of the terminal device according to the current location information;

[0017] Determine the change amount of the position information of the terminal device at the next moment according to the speed, the motion azimuth angle, the motion elevation angle, and the acceleration;

[0018] Determine the predicted Cartesian coordinates of the terminal device at the next moment according to the current Cartesian coordinates of the terminal device, the change amount of the position information of the terminal device at the next moment, and the motion trajectory;

[0019] Determine the predicted location information of the terminal device at the next moment according to the predicted Cartesian coordinates of the terminal device at the next moment.

[0020] Optionally, the determining of the predicted Cartesian coordinates of the terminal device at the next moment according to the current Cartesian coordinates of the terminal device, the change amount of the position information of the terminal device at the next moment, and the motion trajectory includes:

[0021] Determine the longitude correction term, the latitude correction term, and the altitude correction term according to the motion trajectory;

[0022] Determine the Cartesian coordinates of the terminal device at the next moment according to the preset longitude influence factor, preset latitude influence factor, preset altitude influence factor, the longitude correction term, the latitude correction term, the altitude correction term, the current Cartesian coordinates of the terminal device, and the change amount of the position information of the terminal device at the next moment.

[0023] Optionally, the determining the corrected position information of the terminal device according to the first weight, the second weight, the current position information, and the predicted position information includes:

[0024] Calculate the product of the first weight and the current position information to obtain a first calculation result;

[0025] Calculate the product of the second weight and the predicted position information to obtain a second calculation result;

[0026] Determine the sum of the first calculation result and the second calculation result as the corrected position information of the terminal device.

[0027] Optionally, the current motion information includes: motion trajectory, speed, motion azimuth angle, motion elevation angle, acceleration, and preset influence factors; the geographical information includes: building name, landmark, and identification identifier; the environmental information includes: longitude and latitude, altitude, air pressure, humidity, temperature, and weather; the determining the feature vectors corresponding to the current motion information, the current geographical information, and the current environmental information respectively includes:

[0028] Determine the feature vectors corresponding to the motion trajectory, the speed, the motion azimuth angle, the motion elevation angle, the acceleration, the preset influence factors, the building name, the landmark, the identification identifier, the longitude and latitude, the altitude, the air pressure, the humidity, the temperature, and the weather respectively;

[0029] The evaluating the current motion information, the current geographical information, and the current environmental information through the random forest model and the feature vectors corresponding to the current motion information, the current geographical information, and the current environmental information respectively to obtain the evaluation results corresponding to the current motion information, the current geographical information, and the current environmental information includes:

[0030] Evaluate the motion trajectory, the speed, the motion azimuth angle, the motion elevation angle, the acceleration, the preset influencing factor, the building name, the landmark, the identification mark, the longitude and latitude, the altitude, the air pressure, the humidity, the temperature, and the weather through a random forest model to obtain the evaluation results corresponding to the motion trajectory, the speed, the motion azimuth angle, the motion elevation angle, the acceleration, the preset influencing factor, the building name, the landmark, the identification mark, the longitude and latitude, the altitude, the air pressure, the humidity, the temperature, and the weather;

[0031] Determining the evaluation result corresponding to the current position information according to the third weight corresponding to the current motion information, the current geographical information, and the current environmental information, and the evaluation result corresponding to the current motion information, the current geographical information, and the current environmental information includes:

[0032] Determine the evaluation result corresponding to the current position information according to the third weight corresponding to the current motion information, the current geographical information, and the current environmental information, and the evaluation results corresponding to the motion trajectory, the speed, the motion azimuth angle, the motion elevation angle, the acceleration, the preset influencing factor, the building name, the landmark, the identification mark, the longitude and latitude, the altitude, the air pressure, the humidity, the temperature, and the weather.

[0033] Optionally, the first weight is proportional to the evaluation result corresponding to the current position information; the sum of the first weight and the second weight is 1.

[0034] An embodiment of the present invention discloses a positioning device, and the device includes:

[0035] An acquisition module, configured to acquire reference data after obtaining the current position information of the terminal device; the reference data includes: the current motion information, the current geographical information, and the current environmental information of the terminal device;

[0036] An evaluation module, configured to evaluate the current position information according to the reference data to obtain an evaluation result corresponding to the current position information;

[0037] A first determination module, configured to determine the predicted position information of the terminal device at the next moment according to the current position information and the current motion information;

[0038] A second determination module, configured to determine the first weight corresponding to the current position information and the second weight corresponding to the predicted position information according to the evaluation result corresponding to the current position information;

[0039] A third determination module, configured to determine the corrected position information of the terminal device according to the first weight, the second weight, the current position information, and the predicted position information.

[0040] Optionally, the evaluation module includes:

[0041] An acquisition sub-module, configured to acquire third weights corresponding to the current motion information, the current geographical information, and the current environmental information of the terminal device respectively;

[0042] A first determination sub-module, configured to determine feature vectors corresponding to the current motion information, the current geographical information, and the current environmental information respectively;

[0043] An evaluation sub-module, configured to evaluate the current motion information, the current geographical information, and the current environmental information through a random forest model and the feature vectors corresponding to the current motion information, the current geographical information, and the current environmental information respectively, so as to obtain evaluation results corresponding to the current motion information, the current geographical information, and the current environmental information; the evaluation results corresponding to the current motion information, the current geographical information, and the current environmental information represent the accuracy corresponding to the current motion information, the current geographical information, and the current environmental information;

[0044] A second determination sub-module, configured to determine the evaluation result corresponding to the current position information according to the third weights corresponding to the current motion information, the current geographical information, and the current environmental information and the evaluation results corresponding to the current motion information, the current geographical information, and the current environmental information; the evaluation result corresponding to the current position information represents the accuracy of the current position information.

[0045] Optionally, the current motion information includes: a motion trajectory, a speed, a motion azimuth angle, a motion elevation angle, and an acceleration; the first determination module includes:

[0046] A third determination sub-module, configured to determine the current Cartesian coordinates of the terminal device according to the current position information;

[0047] A fourth determination sub-module, configured to determine the change amount of the position information of the terminal device at the next moment according to the speed, the motion azimuth angle, the motion elevation angle, and the acceleration;

[0048] A fifth determination sub-module, configured to determine the predicted Cartesian coordinates of the terminal device at the next moment according to the current Cartesian coordinates of the terminal device, the change amount of the position information of the terminal device at the next moment, and the motion trajectory;

[0049] The sixth determination sub-module is configured to determine the predicted position information of the terminal device at the next moment according to the predicted Cartesian coordinates of the terminal device at the next moment.

[0050] Optionally, the fifth determination sub-module includes:

[0051] The first determination unit is configured to determine a longitude correction term, a latitude correction term, and an altitude correction term according to the motion trajectory;

[0052] The second determination unit is configured to determine the Cartesian coordinates of the terminal device at the next moment according to a preset longitude influence factor, a preset latitude influence factor, a preset altitude influence factor, the longitude correction term, the latitude correction term, the altitude correction term, the current Cartesian coordinates of the terminal device, and the change amount of the position information of the terminal device at the next moment.

[0053] Optionally, the third determination module includes:

[0054] The first calculation module is configured to calculate the product of the first weight and the current position information to obtain a first calculation result;

[0055] The second calculation module is configured to calculate the product of the second weight and the predicted position information to obtain a second calculation result;

[0056] The seventh determination sub-module is configured to determine the sum of the first calculation result and the second calculation result as the corrected position information of the terminal device.

[0057] Optionally, the current motion information includes: motion trajectory, speed, motion azimuth angle, motion elevation angle, and acceleration, preset influence factors; the geographical information includes: building name, landmark, and identification mark; the environmental information includes: longitude and latitude, altitude, air pressure, humidity, temperature, and weather; the first determination sub-module includes:

[0058] The third determination unit is configured to determine feature vectors corresponding to the motion trajectory, the speed, the motion azimuth angle, the motion elevation angle, the acceleration, the preset influence factors, the building name, the landmark, the identification mark, the longitude and latitude, the altitude, the air pressure, the humidity, the temperature, and the weather respectively;

[0059] The evaluation sub-module includes:

[0060] An evaluation unit is configured to evaluate the motion trajectory, the speed, the motion azimuth angle, the motion elevation angle, the acceleration, the preset influencing factor, the building name, the landmark, the identification identifier, the longitude and latitude, the altitude, the air pressure, the humidity, the temperature, and the weather through a random forest model, so as to obtain evaluation results corresponding to the motion trajectory, the speed, the motion azimuth angle, the motion elevation angle, the acceleration, the preset influencing factor, the building name, the landmark, the identification identifier, the longitude and latitude, the altitude, the air pressure, the humidity, the temperature, and the weather;

[0061] The second determination sub-module includes:

[0062] A fourth determination unit is configured to determine an evaluation result corresponding to the current location information according to a third weight corresponding to the current motion information, the current geographic information, and the current environmental information, and evaluation results corresponding to the motion trajectory, the speed, the motion azimuth angle, the motion elevation angle, the acceleration, the preset influencing factor, the building name, the landmark, the identification identifier, the longitude and latitude, the altitude, the air pressure, the humidity, the temperature, and the weather.

[0063] Optionally, the first weight is proportional to the evaluation result corresponding to the current location information; the sum of the first weight and the second weight is 1.

[0064] The present invention also discloses an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the steps of the above positioning method are implemented.

[0065] The present invention also discloses a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the above positioning method are implemented.

[0066] The embodiments of the present invention include the following advantages:

[0067] In an embodiment of the present invention, when the current location information of the terminal device is obtained, due to factors such as interference of the positioning signal, it may be impossible to determine the authenticity of the current location information of the terminal device. After obtaining the current location information of the terminal device, the present invention acquires reference data of the terminal device, where the reference data includes: the current motion information, the current geographical information, and the current environmental information of the terminal device. Then, according to the reference data, the current location information is evaluated to obtain a corresponding evaluation result. Next, according to the current location information and the current motion information, the predicted location information of the terminal device at the next moment is determined. Finally, according to the evaluation result, the first weight corresponding to the current location information and the second weight corresponding to the predicted location information are determined, and the corrected location information of the terminal device is determined according to the first weight, the second weight, the current location information, and the predicted location information. Thus, based on the current location information of the terminal device and the reference data, the terminal device can be accurately positioned, avoiding the problem of being unable to determine the authenticity of the positioning information of the terminal device due to factors such as interference of the positioning signal. At the same time, when positioning the terminal device, it is not necessary to rely on a UWB base station, and there is no need to deploy a UWB base station, reducing the positioning cost of the terminal device. BRIEF DESCRIPTION OF THE DRAWINGS

[0068] Figure 1 is a flowchart of the steps of a positioning method provided by an embodiment of the present invention;

[0069] Figure 2 is a flowchart of the training steps of a random forest model provided by an embodiment of the present invention;

[0070] Figure 3 is a schematic diagram of the motion of a terminal device provided by an embodiment of the present invention;

[0071] Figure 4 is a block diagram of the structure of a positioning device provided by an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0072] In order to make the above objects, features, and advantages of the present invention more obvious and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0073] In the related art, when positioning a drone, it is necessary to rely on UWB base stations. Therefore, before positioning the drone, a large number of UWB base stations need to be deployed. However, the conditions for deploying UWB base stations are relatively harsh and the cost is also relatively high, which increases the cost of positioning the drone. To solve the above technical problems, the present invention discloses a positioning method. The core idea is that after obtaining the current position information of the terminal device, reference data is obtained, where the reference data includes: the current motion information, current geographical information, and current environmental information of the terminal device. Then, based on the reference data, the current position information is evaluated to obtain a corresponding evaluation result. Next, based on the current position information and the current motion information, the predicted position information of the terminal device at the next moment is determined. Finally, based on the evaluation result, the first weight corresponding to the current position information and the second weight corresponding to the predicted position information are determined. Based on the first weight, the second weight, the current position information, and the predicted position information, the corrected position information of the terminal device is determined. Thus, based on the current position information of the terminal device and the reference data, the terminal device can be accurately positioned. At the same time, when positioning the terminal device, it does not need to rely on UWB base stations, and there is no need to deploy UWB base stations, reducing the positioning cost of the terminal device.

[0074] Referring to Figure 1 , a step flowchart of a positioning method provided by an embodiment of the present invention is shown. The method may specifically include the following steps:

[0075] Step 101, after obtaining the current position information of the terminal device, obtain reference data; the reference data includes: the current motion information, current geographical information, and current environmental information of the terminal device.

[0076] In an embodiment of the present invention, the terminal device may be a device such as a drone. After the terminal device or an electronic device for positioning the terminal device obtains the current position information of the drone, the reference data of the terminal device may be obtained, where the reference data may include: the current motion information, current geographical information, and current environmental information of the terminal device.

[0077] In the present invention, the terminal device may obtain reference data after obtaining the current position information of the terminal device determined by the positioning device. The positioning device may be a satellite or GPS, etc.

[0078] Step 102, evaluate the current position information according to the reference data to obtain an evaluation result corresponding to the current position information.

[0079] In an embodiment of the present invention, after obtaining the reference data of the terminal device, the current position information of the terminal device may be evaluated according to the reference data to obtain an evaluation result corresponding to the current position information of the terminal device.

[0080] In one embodiment, based on reference data, the current location information is evaluated to obtain an evaluation result corresponding to the current location information, which may include: obtaining third weights corresponding to the current motion information, current geographical information, and current environmental information of the terminal device respectively; determining feature vectors corresponding to the current motion information, current geographical information, and current environmental information respectively; evaluating the current motion information, current geographical information, and current environmental information through a random forest model and the feature vectors corresponding to the current motion information, current geographical information, and current environmental information respectively to obtain an evaluation result corresponding to the current motion information, current geographical information, and current environmental information; the evaluation result corresponding to the current motion information, current geographical information, and current environmental information represents the accuracy corresponding to the current motion information, current geographical information, and current environmental information; according to the third weights corresponding to the current motion information, current geographical information, and current environmental information and the evaluation result corresponding to the current motion information, current geographical information, and current environmental information, determine the evaluation result corresponding to the current location information; the evaluation result corresponding to the current location information represents the accuracy of the current location information.

[0081] Specifically, after obtaining the reference information of the terminal device, the third weights corresponding to the current motion information, current geographical information, and current environmental information of the terminal device can be obtained according to the current location information, current geographical information, and current environmental information in the reference information.

[0082] Then, determine the feature vectors corresponding to the current motion information, current geographical information, and current environmental information respectively, and analyze the feature vectors corresponding to the current motion information, current geographical information, and current environmental information based on a pre-trained random forest model and a preset database to obtain an evaluation result corresponding to the current motion information, current geographical information, and current environmental information, and then determine the evaluation result corresponding to the current location information according to the third weights corresponding to the current motion information, current geographical information, and current environmental information and the evaluation result corresponding to the current motion information, current geographical information, and current environmental information.

[0083] In one embodiment, the current motion information includes: motion trajectory, speed, motion azimuth angle, motion elevation angle, acceleration, preset influence factors; the geographical information includes: building name, landmark, and identification mark; the environmental information includes: longitude and latitude, altitude, air pressure, humidity, temperature, and weather.

[0084] Determining the feature vectors corresponding to the current motion information, current geographical information, and current environmental information respectively may include: determining the feature vectors corresponding to the motion trajectory, speed, motion azimuth angle, motion elevation angle, acceleration, preset influence factors, building name, landmark, identification mark, longitude and latitude, altitude, air pressure, humidity, temperature, and weather respectively.

[0085] Evaluate the current motion information, current geographical information, and current environmental information through a random forest model and feature vectors corresponding to the current motion information, current geographical information, and current environmental information respectively, to obtain evaluation results corresponding to the current motion information, current geographical information, and current environmental information, which may include: evaluate the motion trajectory, speed, motion azimuth angle, motion elevation angle, acceleration, preset influence factors, building name, landmark, identification mark, longitude and latitude, altitude, air pressure, humidity, temperature, and weather through a random forest model to obtain evaluation results corresponding to the motion trajectory, speed, motion azimuth angle, motion elevation angle, acceleration, preset influence factors, building name, landmark, identification mark, longitude and latitude, altitude, air pressure, humidity, temperature, and weather.

[0086] Obtain the evaluation result corresponding to the current location information according to the third weight corresponding to the current motion information, current geographical information, and current environmental information and the evaluation results corresponding to the current motion information, current geographical information, and current environmental information, which may include: determine the evaluation result corresponding to the current location information according to the third weight corresponding to the current motion information, current geographical information, and current environmental information and the evaluation results corresponding to the motion trajectory, speed, motion azimuth angle, motion elevation angle, acceleration, preset influence factors, building name, landmark, identification mark, longitude and latitude, altitude, air pressure, humidity, temperature, and weather.

[0087] Specifically, the current motion information in the present invention may include: motion trajectory, speed, motion azimuth angle, motion elevation angle, acceleration, preset influence factors; the geographical information may include: building name, landmark, and identification mark; the environmental information may include: longitude and latitude, altitude, air pressure, humidity, temperature, and weather.

[0088] First, determine the feature vectors corresponding to each information data in the current motion information, current geographical information, and current environmental information. Then, based on the pre-trained random forest model and the feature vectors corresponding to each information data in the current motion information, current geographical information, and current environmental information, evaluate each information data in the current motion information, current geographical information, and current environmental information to obtain the evaluation results corresponding to each information data in the current motion information, current geographical information, and current environmental information. Then, according to the evaluation results corresponding to each information data in the current motion information, current geographical information, and current environmental information, determine the evaluation result corresponding to the current location information of the terminal device.

[0089] In the present invention, the evaluation result corresponding to the current location information of the terminal device can be calculated through the following formula (1):

[0090]

[0091] Among them, A is the evaluation result corresponding to the current position information of the terminal device; W i is the third weight corresponding to the i-th information data; A i is the evaluation result corresponding to the i-th information data; M i is the random forest model; X i is the feature vector corresponding to the i-th information data; m is the number of information data.

[0092] It should be noted that the third weights corresponding to the current motion information, current geographical information, and current environment of the terminal device in the present invention are the third weights corresponding to each data information in the current motion information, current geographical information, and current environment of the terminal device. For example: if the third weight corresponding to the current motion information is 0.6, then the third weights corresponding to the motion trajectory, speed, motion azimuth angle, motion elevation angle, acceleration, and preset influence factor in the current motion information are all 0.6.

[0093] In the embodiment of the present invention, as Figure 2 shown, a flowchart of the training steps of a random forest model provided by the embodiment of the present invention is shown. When the present invention locates the terminal device, the random forest model can be trained first. When training the model, multiple sample data and multiple corresponding feature vectors can be obtained first, and then bootstrap sampling is performed on the multiple sample data and multiple corresponding feature vectors to obtain multiple training sets and test sets. Then, through the multiple training sets and test sets, and using a voting mechanism to train the pre-trained model, a trained random forest model is obtained.

[0094] Step 103, determine the predicted position information of the terminal device at the next moment according to the current position information and the current motion information.

[0095] In the embodiment of the present invention, after obtaining the evaluation result corresponding to the current position information of the terminal device, the predicted position information of the terminal device at the next moment can be determined according to the current position information and the current motion information of the terminal device.

[0096] In one embodiment, the current motion information may include: motion trajectory, speed, motion azimuth angle, motion elevation angle, and acceleration; determining the predicted position information of the terminal device at the next moment according to the current position information and the current motion information may include: determining the current Cartesian coordinates of the terminal device according to the current position information; determining the change amount of the position information of the terminal device at the next moment according to the speed, motion azimuth angle, motion elevation angle, and acceleration; determining the predicted Cartesian coordinates of the terminal device at the next moment according to the current Cartesian coordinates of the terminal device, the change amount of the position information of the terminal device at the next moment, and the motion trajectory; and determining the predicted position information of the terminal device at the next moment according to the predicted Cartesian coordinates of the terminal device at the next moment.

[0097] Specifically, the coordinates of the current position information of the terminal device are G s (X a , Y a , Z a ). Then, the coordinate transformation can be performed according to the coordinates G s of the terminal device, and the transformed Cartesian coordinates are the current Cartesian coordinates of the terminal device.

[0098] In the present invention, the current Cartesian coordinates of the terminal device can be calculated through the following formula (2):

[0099]

[0100] Wherein, X is the longitude in the current Cartesian coordinates of the terminal device, Y is the latitude in the current Cartesian coordinates of the terminal device, Z is the altitude in the current Cartesian coordinates of the terminal device, R is the radius of the earth, X a is the longitude in the current position information of the terminal device, Y a is the latitude in the current position information of the terminal device, and Z a is the altitude in the current position information of the terminal device.

[0101] After determining the current Cartesian coordinates of the terminal device, the change amount of the position information of the terminal device at the next moment can be determined according to the speed, motion azimuth angle, motion elevation angle, and acceleration of the terminal device. In the present invention, when determining the change amount of the position information of the terminal device at the next moment, the method of calculus can be combined for determination.

[0102] In the present invention, the change amount of the position information of the terminal device at the next moment can be determined through the following formula (3):

[0103]

[0104] Wherein, ΔX is the longitude in the change of the position information of the terminal device at the next moment, ΔY is the latitude in the change of the position information of the terminal device at the next moment, ΔZ is the altitude in the change of the position information of the terminal device at the next moment, and V a is the speed of the terminal device, V a (t) is the speed of the terminal device, α is the azimuth angle of the movement of the terminal device, β is the elevation angle of the movement of the terminal device, and Δt is the time between the current moment and the next moment.

[0105] In the present invention, after integral substitution can be performed, the change in the position information of the terminal device at the next moment can be determined through the following formula (4):

[0106]

[0107] Wherein, ΔX is the longitude in the change of the position information of the terminal device at the next moment, ΔY is the latitude in the change of the position information of the terminal device at the next moment, ΔZ is the altitude in the change of the position information of the terminal device at the next moment, and V 0 is the initial speed of the terminal device, a is the acceleration of the terminal device, t is the movement time of the terminal device, α is the azimuth angle of the movement of the terminal device, β is the elevation angle of the movement of the terminal device, Δt is the time between the current moment and the next moment, and dt is the infinitesimal change of the independent variable in calculus and is not directly calculated.

[0108] After determining the change in the position information of the terminal device at the next moment, the predicted Cartesian coordinates of the terminal device at the next moment can be determined according to the current Cartesian coordinates of the terminal device, the change in the position information of the terminal device at the next moment, and the movement trajectory.

[0109] As Figure 3 shown, a schematic diagram of the movement of a terminal device is shown. Figure 3 Among them, (X a , Y a , Z a ) are the coordinates of the current position information of the terminal device, R is the radius of the earth, α is the azimuth angle of the movement of the terminal device, and β is the elevation angle of the movement of the terminal device.

[0110] In one embodiment, determining the predicted Cartesian coordinates of the terminal device at the next moment according to the current Cartesian coordinates of the terminal device, the change in the position information of the terminal device at the next moment, and the movement trajectory may include: determining a longitude correction term, a latitude correction term, and an altitude correction term according to the movement trajectory; determining the predicted Cartesian coordinates of the terminal device at the next moment according to a preset longitude influence factor, a preset latitude influence factor, a preset altitude influence factor, the longitude correction term, the latitude correction term, the altitude correction term, the current Cartesian coordinates of the terminal device, and the change in the position information of the terminal device at the next moment.

[0111] Specifically, when determining the predicted Cartesian coordinates of the terminal device at the next moment, factors such as wind speed, terrain, and traffic conditions will have a certain impact on the determined results. Therefore, it is possible to combine motion estimation and preset impact factors for adjustment to achieve accurate determination. Among them, the preset impact factors can include: preset longitude impact factor, preset latitude impact factor, and preset altitude impact factor. When determining the predicted Cartesian coordinates of the terminal device at the next moment, the longitude correction term, latitude correction term, and altitude correction term can be determined first according to the motion trajectory, and then the predicted Cartesian coordinates of the terminal device at the next moment can be calculated through the following formula (5):

[0112]

[0113] Among them, X next is the longitude in the predicted Cartesian coordinates of the terminal device at the next moment; Y next is the latitude in the predicted Cartesian coordinates of the terminal device at the next moment; Z next is the altitude in the predicted Cartesian coordinates of the terminal device at the next moment, X is the longitude in the current Cartesian coordinates of the terminal device; Y is the latitude in the current Cartesian coordinates of the terminal device; Z is the altitude in the current Cartesian coordinates of the terminal device; ΔX is the longitude in the change of the position information of the terminal device at the next moment; ΔY is the latitude in the change of the position information of the terminal device at the next moment; ΔZ is the altitude in the change of the position information of the terminal device at the next moment; K X is the preset longitude impact factor; Ky is the preset latitude impact factor; K z is the preset altitude impact factor; Δt is the time between the current moment and the next moment; ΔS x is the longitude correction term; ΔS y is the latitude correction term; ΔS z is the altitude correction term.

[0114] Then, according to the above formula (2), formula (4), and formula (5), the following formula (6) can be obtained, and the predicted Cartesian coordinates of the terminal device at the next moment can be calculated through the following formula (6):

[0115]

[0116] Among them, X next is the longitude in the predicted Cartesian coordinates of the terminal device at the next moment; Y next is the latitude in the predicted Cartesian coordinates of the terminal device at the next moment; Z next is the altitude in the predicted Cartesian coordinates of the terminal device at the next moment, R is the radius of the earth, X a is the longitude in the current position information of the terminal device, Y ais the latitude in the current location information of the terminal device, Z a is the altitude in the current location information of the terminal device, V 0 is the initial velocity of the terminal device, a is the acceleration of the terminal device, t is the movement time of the terminal device, α is the movement azimuth angle of the terminal device, β is the movement elevation angle of the terminal device, Δt is the time between the current moment and the next moment, dt is the infinitesimal change of the independent variable in calculus, not directly calculated, K X is the preset longitude influence factor; Ky is the preset latitude influence factor; K z is the preset altitude influence factor; Δt is the time between the current moment and the next moment; ΔS x is the longitude correction term; ΔS y is the latitude correction term; ΔS z is the altitude correction term.

[0117] After determining the predicted Cartesian coordinates of the terminal device at the next moment, the predicted location information of the terminal device at the next moment can be calculated according to the following formula (7):

[0118]

[0119] Among them, Xa next is the longitude in the predicted location information of the terminal device at the next moment, Ya next is the latitude in the predicted location information of the terminal device at the next moment, Za next is the altitude in the predicted location information of the terminal device at the next moment, a is the acceleration, X next is the longitude in the predicted Cartesian coordinates of the terminal device at the next moment; Y next is the latitude in the predicted Cartesian coordinates of the terminal device at the next moment; Z next is the altitude in the predicted Cartesian coordinates of the terminal device at the next moment, and R is the radius of the earth.

[0120] Step 104, determine the first weight corresponding to the current location information and the second weight corresponding to the predicted location information according to the evaluation result corresponding to the current location information.

[0121] In the embodiment of the present invention, after determining the predicted location information of the terminal device at the next moment, the first weight corresponding to the current location information and the second weight corresponding to the predicted location information of the terminal device can be determined according to the evaluation result corresponding to the current location information of the terminal device.

[0122] In the present invention, the first weight is proportional to the evaluation result corresponding to the current location information, and the sum of the first weight and the second weight is 1. For example, the first weight is w s= A, where A is the evaluation result corresponding to the current location information of the terminal device. Then, the second weight w g = 1 - A.

[0123] Step 105: Determine the corrected location information of the terminal device according to the first weight, the second weight, the current location information, and the predicted location information.

[0124] In the embodiment of the present invention, after determining the first weight corresponding to the current location information of the terminal device and the second weight corresponding to the predicted location information of the terminal device, the corrected location information of the terminal device, that is, the actual location information of the terminal device, can be determined according to the first weight, the second weight, the current location information, and the predicted location information.

[0125] In one embodiment, determining the corrected location information of the terminal device according to the first weight, the second weight, the current location information, and the predicted location information may include: calculating the product of the first weight and the current location information to obtain a first calculation result; calculating the product of the second weight and the predicted location information to obtain a second calculation result; and determining the sum of the first calculation result and the second calculation result as the corrected location information of the terminal device.

[0126] Specifically, the corrected location information of the terminal device is calculated by the following formula (8):

[0127]

[0128] where is the corrected location information of the terminal device, w s is the first weight, w g is the second weight, G s (X a , Y a , Z a ) is the current location information of the terminal device, G(X a_next , Y a_next , Z a_next ) is the predicted location information of the terminal device, in respectively represent the longitude, latitude, and altitude in the corrected location information of the terminal device, and X s (X a , Y a , Z a ) in X a , Y a , Z a respectively represent the longitude, latitude, and altitude in the current location information of the terminal device, and X a_next , Y a_next , Z a_next ) in Xa_next , Y a_next , Z a_next , respectively represent the longitude, latitude, and altitude in the predicted position information of the terminal device.

[0129] Then, substituting the above formula (8) and w s = A and w g = 1 - A, the following formula (9) can be obtained:

[0130]

[0131] Where, is the position information of the terminal device after deviation correction, A is the evaluation result corresponding to the current position information of the terminal device, G s (X a , Y a , Z a ) is the current position information of the terminal device, G(X a_next , Y a_next , Z a_next ) is the predicted position information of the terminal device, in respectively represent the longitude, latitude, and altitude in the position information of the terminal device after deviation correction, G s (X a , Y a , Z a ) in X a , Y a , Z a , respectively represent the longitude, latitude, and altitude in the current position information of the terminal device, G(X a_next , Y a_next , Z a_next ) in X a_next , Y a_next , Z a_next , respectively represent the longitude, latitude, and altitude in the predicted position information of the terminal device.

[0132] Furthermore, according to the above formula (1), formula (7), and formula (9), the following formula (10) can be obtained.

[0133]

[0134] Where, is the position information of the terminal device after deviation correction, in respectively represent the longitude, latitude, and altitude in the position information of the terminal device after deviation correction, W i is the third weight corresponding to the i-th information data, M i is the random forest model, X iis the feature vector corresponding to the i-th information data, m is the number of information data, and G s is the coordinate of the current location information, X a is the longitude in the current location information of the terminal device, Y a is the latitude in the current location information of the terminal device, Z a is the altitude in the current location information of the terminal device, and G is the coordinate of the predicted location information of the terminal device at the next moment, Xa next is the longitude in the predicted location information of the terminal device at the next moment, Ya next is the latitude in the predicted location information of the terminal device at the next moment, Za next is the altitude in the predicted location information of the terminal device at the next moment, a is the acceleration, X next is the longitude in the predicted Cartesian coordinate of the terminal device at the next moment; Y next is the latitude in the predicted Cartesian coordinate of the terminal device at the next moment; Z next is the altitude in the predicted Cartesian coordinate of the terminal device at the next moment, and R is the radius of the earth.

[0135] In the present invention, the corrected position information of the terminal device can be calculated through formula (10).

[0136] To better illustrate the embodiments of the present invention, a specific example is now used for detailed description. After obtaining the current position information of the terminal device, among the obtained reference data, the current motion information of the terminal device is as follows in Table (1):

[0137]

[0138]

[0139] Table (1)

[0140] Among the obtained reference data, the current geographical information of the terminal device is as follows in Table (2):

[0141] Data type Time Building name Landmark Identification mark Geographical information 10:00:05 XX Building Bell and Drum Towers i1 Geographical information 10:00:10 XX Building Jiaxiu Tower i2 Geographical information 10:00:15 XX Building XX Bridge i3 Geographical information 10:00:20 XX Building Jiaxiu Tower i4 Geographical information 10:00:25 XX Building Jiaxiu Tower i5

[0142] Table (2)

[0143] Among the obtained reference data, the current environmental information of the terminal device is as follows in Table (3):

[0144]

[0145] Table (3)

[0146] Then, based on the random forest model, the current location information, current geographical information, and current environmental information of the terminal device are evaluated to obtain the evaluation result A corresponding to the current location information of the terminal device. For example, for the terminal device, the current time point is 10:00:25. At this time, the speed of the terminal device is 11.58 m / s, and the acceleration is 1.81 m / s 2 , the movement azimuth angle is 3°, the movement elevation angle is 52°, and the predicted influence factor is 0.71%. The terminal device is located at longitude 106.65611, latitude 26.42916, altitude 1002 meters, air pressure 1015 hPa, humidity 60%, temperature 18.67 °C, the weather is cloudy. The terminal device is near a building named XX Building, the nearby landmark is Jiaxiu Tower, and the specific identification identifier is i5. The third weight corresponding to the current movement information is 0.3, the third weight corresponding to the current geographical information is 0.3, and the third weight corresponding to the current environmental information is 0.4. The evaluation result for the current movement information is 0.9, the evaluation result for the current geographical information is 0.8, and the evaluation result for the current environmental information is 0.85. Then, according to the above formula (1), it can be calculated that A = 0.3 * 0.9 + 0.3 * 0.8 + 0.4 * 0.85 = 0.85, that is, the evaluation result corresponding to the current location information of the terminal device is 0.85.

[0147] The coordinates of the current location information of the terminal device are (106.65611, 26.42916, 1002), and the time from the current time to the next moment is 1 second. Then, according to the initial velocity of 11.58 m / s and the acceleration of 1.81 m / s 2 , the velocity at the next moment can be calculated as 11.58 m + 1.81 * 1 = 13.39 m / s. The movement azimuth angle is 3°, and the movement elevation angle is 52°. For example, after calculation and conversion using Cartesian coordinates, the coordinates of the predicted location information at the next moment are (106.6561813, 26.42916665, 1012.54). According to the evaluation result corresponding to the current location information of the terminal device, the first weight corresponding to the current location information is determined to be 0.5, and the second weight corresponding to the predicted location information is 0.5. Then, according to the first weight, the second weight, the current location information, and the predicted location information, the coordinates of the corrected location information of the terminal device are calculated as: 0.5 * (106.65611, 26.42916, 1002) + 0.5 * (106.6561813, 26.42916665, 1012.54) = (106.65614565, 26.429163325, 1007.27).

[0148] In an embodiment of the present invention, after obtaining the current location information of the terminal device, reference data is acquired; the reference data includes: the current motion information, current geographical information, and current environmental information of the terminal device; based on the reference data, the current location information is evaluated to obtain an evaluation result corresponding to the current location information; according to the current location information and the current motion information, the predicted location information of the terminal device at the next moment is determined; according to the evaluation result corresponding to the current location information, a first weight corresponding to the current location information and a second weight corresponding to the predicted location information are determined; according to the first weight, the second weight, the current location information, and the predicted location information, the corrected location information of the terminal device is determined. Thus, based on the current location information of the terminal device and the reference data, the terminal device can be accurately positioned. At the same time, when positioning the terminal device, it does not rely on a UWB base station, and there is no need to deploy a UWB base station, reducing the positioning cost of the terminal device.

[0149] It should be noted that for the method embodiments, for the sake of simple description, they are all expressed as a series of action combinations. However, those skilled in the art should know that the embodiments of the present invention are not limited by the described action sequences, because according to the embodiments of the present invention, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily essential for the embodiments of the present invention.

[0150] Refer to Figure 4 , which shows a structural block diagram of a positioning device provided by an embodiment of the present invention, and specifically may include the following modules:

[0151] An acquisition module 401, configured to acquire reference data after obtaining the current location information of the terminal device; the reference data includes: the current motion information, current geographical information, and current environmental information of the terminal device;

[0152] An evaluation module 402, configured to evaluate the current location information based on the reference data to obtain an evaluation result corresponding to the current location information;

[0153] A first determination module 403, configured to determine the predicted location information of the terminal device at the next moment according to the current location information and the current motion information;

[0154] A second determination module 404, configured to determine a first weight corresponding to the current location information and a second weight corresponding to the predicted location information according to the evaluation result corresponding to the current location information;

[0155] A third determination module 405, configured to determine the corrected position information of the terminal device according to the first weight, the second weight, the current position information, and the predicted position information.

[0156] In an embodiment, the evaluation module 402 includes:

[0157] An acquisition sub-module, configured to acquire third weights corresponding to the current motion information, the current geographic information, and the current environmental information of the terminal device respectively;

[0158] A first determination sub-module, configured to determine eigenvectors corresponding to the current motion information, the current geographic information, and the current environmental information respectively;

[0159] An evaluation sub-module, configured to evaluate the current motion information, the current geographic information, and the current environmental information through a random forest model and the eigenvectors corresponding to the current motion information, the current geographic information, and the current environmental information respectively, to obtain evaluation results corresponding to the current motion information, the current geographic information, and the current environmental information; the evaluation results corresponding to the current motion information, the current geographic information, and the current environmental information represent the accuracies corresponding to the current motion information, the current geographic information, and the current environmental information;

[0160] A second determination sub-module, configured to determine the evaluation result corresponding to the current position information according to the third weights corresponding to the current motion information, the current geographic information, and the current environmental information and the evaluation results corresponding to the current motion information, the current geographic information, and the current environmental information; the evaluation result corresponding to the current position information represents the accuracy of the current position information.

[0161] In an embodiment, the current motion information includes: a motion trajectory, a speed, a motion azimuth angle, a motion elevation angle, and an acceleration; the first determination module 403 includes:

[0162] A third determination sub-module, configured to determine the current Cartesian coordinates of the terminal device according to the current position information;

[0163] A fourth determination sub-module, configured to determine the change amount of the position information of the terminal device at the next moment according to the speed, the motion azimuth angle, the motion elevation angle, and the acceleration;

[0164] A fifth determination sub-module, configured to determine the predicted Cartesian coordinates of the terminal device at the next moment according to the current Cartesian coordinates of the terminal device, the change amount of the position information of the terminal device at the next moment, and the motion trajectory;

[0165] The sixth determination sub-module is configured to determine the predicted position information of the terminal device at the next moment according to the predicted Cartesian coordinates of the terminal device at the next moment.

[0166] In one embodiment, the fifth determination sub-module includes:

[0167] The first determination unit is configured to determine a longitude correction term, a latitude correction term, and an altitude correction term according to the motion trajectory;

[0168] The second determination unit is configured to determine the Cartesian coordinates of the terminal device at the next moment according to a preset longitude influence factor, a preset latitude influence factor, a preset altitude influence factor, the longitude correction term, the latitude correction term, the altitude correction term, the current Cartesian coordinates of the terminal device, and the change amount of the position information of the terminal device at the next moment.

[0169] In one embodiment, the third determination module 405 includes:

[0170] The first calculation module is configured to calculate the product of the first weight and the current position information to obtain a first calculation result;

[0171] The second calculation module is configured to calculate the product of the second weight and the predicted position information to obtain a second calculation result;

[0172] The seventh determination sub-module is configured to determine the sum of the first calculation result and the second calculation result as the position information of the terminal device after deviation correction.

[0173] In one embodiment, the current motion information includes: motion trajectory, speed, motion azimuth angle, motion elevation angle, acceleration, and preset influence factors; the geographic information includes: building name, landmark, and identification identifier; the environmental information includes: longitude and latitude, altitude, air pressure, humidity, temperature, and weather; the first determination sub-module includes:

[0174] The third determination unit is configured to determine feature vectors corresponding to the motion trajectory, the speed, the motion azimuth angle, the motion elevation angle, the acceleration, the preset influence factors, the building name, the landmark, the identification identifier, the longitude and latitude, the altitude, the air pressure, the humidity, the temperature, and the weather respectively;

[0175] The evaluation sub-module includes:

[0176] An evaluation unit for evaluating the motion trajectory, the speed, the motion azimuth angle, the motion elevation angle, the acceleration, the preset influencing factor, the building name, the landmark, the identification mark, the longitude and latitude, the altitude, the air pressure, the humidity, the temperature, and the weather through a random forest model to obtain the evaluation results corresponding to the motion trajectory, the speed, the motion azimuth angle, the motion elevation angle, the acceleration, the preset influencing factor, the building name, the landmark, the identification mark, the longitude and latitude, the altitude, the air pressure, the humidity, the temperature, and the weather;

[0177] The second determination sub-module includes:

[0178] A fourth determination unit for determining the evaluation result corresponding to the current position information according to the third weight corresponding to the current motion information, the current geographical information, and the current environmental information, and the evaluation results corresponding to the motion trajectory, the speed, the motion azimuth angle, the motion elevation angle, the acceleration, the preset influencing factor, the building name, the landmark, the identification mark, the longitude and latitude, the altitude, the air pressure, the humidity, the temperature, and the weather.

[0179] In an embodiment, the first weight is proportional to the evaluation result corresponding to the current position information; the sum of the first weight and the second weight is 1.

[0180] In an embodiment of the present invention, an acquisition module is configured to acquire reference data after obtaining the current position information of the terminal device; the reference data includes: the current motion information, the current geographical information, and the current environmental information of the terminal device; an evaluation module is configured to evaluate the current position information according to the reference data to obtain the evaluation result corresponding to the current position information; a first determination module is configured to determine the predicted position information of the terminal device at the next moment according to the current position information and the current motion information; a second determination module is configured to determine the first weight corresponding to the current position information and the second weight corresponding to the predicted position information according to the evaluation result corresponding to the current position information; a third determination module is configured to determine the corrected position information of the terminal device according to the first weight, the second weight, the current position information, and the predicted position information. Thus, the terminal device can be accurately positioned according to the current position information of the terminal device and the reference data. At the same time, when positioning the terminal device, it does not need to rely on a UWB base station, and there is no need to deploy a UWB base station, reducing the positioning cost of the terminal device.

[0181] For the apparatus embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and for the related parts, please refer to the partial description of the method embodiment.

[0182] An embodiment of the present invention further provides an electronic device, including:

[0183] It includes a processor, a memory, and a computer program stored on the memory and capable of running on the processor. When the computer program is executed by the processor, it implements each process of the above-mentioned embodiment of the positioning method and can achieve the same technical effects. To avoid repetition, it will not be elaborated here.

[0184] An embodiment of the present invention further provides a computer-readable storage medium. A computer program is stored on the computer-readable storage medium. When the computer program is executed by the processor, it implements each process of the above-mentioned embodiment of the positioning method and can achieve the same technical effects. To avoid repetition, it will not be elaborated here.

[0185] Each embodiment in this specification is described in a progressive manner. The key point of each embodiment is to illustrate the differences from other embodiments. For the same or similar parts among the embodiments, reference can be made to each other.

[0186] Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, a device, or a computer program product. Therefore, the embodiments of the present invention can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the embodiments of the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk memories, CD-ROMs, optical memories, etc.) containing computer-usable program codes.

[0187] The embodiments of the present invention are described with reference to the flowcharts and / or block diagrams of the methods, terminal devices (systems), and computer program products according to the embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram can be implemented by computer program instructions, and the combination of the processes and / or blocks in the flowchart and / or block diagram can also be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal devices generate a device for implementing the functions specified in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0188] These computer program instructions can also be stored in a computer-readable memory that can guide a computer or other programmable data processing terminal devices to work in a specific manner, so that the instructions stored in the computer-readable memory generate a manufactured product including an instruction device, and the instruction device implements the functions in Figure 1 one process or multiple processes and / or blocks Figure 1The functions specified in one or more boxes.

[0189] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device, so that a series of operation steps are executed on the computer or other programmable terminal device to generate a computer-implemented process. Thus, the instructions executed on the computer or other programmable terminal device provide for implementing the steps of the functions specified in one or more processes and / or boxes Figure 1 One process or more processes and / or boxes Figure 1 The steps of the functions specified in one box or more boxes.

[0190] Although the preferred embodiments of the embodiments of the present invention have been described, those skilled in the art can make additional changes and modifications once they learn the basic creative concept. Therefore, the appended claims are intended to be construed to include the preferred embodiments and all changes and modifications falling within the scope of the embodiments of the present invention.

[0191] Finally, it should also be noted that in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or terminal device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or terminal device. Without further limitation, an element defined by the statement "comprising one..." does not exclude the presence of additional identical elements in the process, method, article or terminal device comprising the element.

[0192] The above has introduced in detail a positioning method, a positioning device, an electronic device and a computer-readable storage medium provided by the present invention. Specific examples are used in this text to elaborate on the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to the present invention.

Claims

1. A positioning method, characterized in that: The method comprises: After obtaining the current location information of the terminal device, obtaining reference data; the reference data includes: current movement information, current geographic information, and current environmental information of the terminal device; According to the reference data, the current location information is evaluated to obtain an evaluation result corresponding to the current location information; Determining predicted position information of the terminal device at the next moment according to the current position information and the current motion information; Determine, according to the evaluation result corresponding to the current position information, a first weight corresponding to the current position information and a second weight corresponding to the predicted position information; The corrected position information of the terminal device is determined based on the first weight, the second weight, the current position information and the predicted position information.

2. The positioning method according to claim 1, characterized in that: The step of evaluating the current location information according to the reference data to obtain an evaluation result corresponding to the current location information includes: Acquire third weights corresponding to current motion information, current geographic information, and current environmental information of the terminal device respectively; Determine feature vectors corresponding to the current motion information, the current geographic information, and the current environmental information respectively; The current motion information, the current geographic information and the current environmental information are evaluated by using a random forest model and the feature vectors corresponding to the current motion information, the current geographic information and the current environmental information, respectively, to obtain evaluation results corresponding to the current motion information, the current geographic information and the current environmental information; the evaluation results corresponding to the current motion information, the current geographic information and the current environmental information characterize the accuracy of the current motion information, the current geographic information and the current environmental information; Based on the third weights corresponding to the current motion information, the current geographic information and the current environmental information and the evaluation results corresponding to the current motion information, the current geographic information and the current environmental information, the evaluation result corresponding to the current position information is determined; the evaluation result corresponding to the current position information represents the accuracy of the current position information.

3. The positioning method according to claim 1, characterized in that: The current motion information includes: motion trajectory, speed, motion azimuth, motion elevation and acceleration; the step of determining the predicted position information of the terminal device at the next moment according to the current position information and the current motion information includes: Determining the current Cartesian coordinates of the terminal device according to the current location information; Determine the change in the position information of the terminal device at the next moment according to the speed, the movement azimuth, the movement elevation and the acceleration; Determine the predicted Cartesian coordinates of the terminal device at the next moment according to the current Cartesian coordinates of the terminal device, the change in the position information of the terminal device at the next moment, and the motion trajectory; The predicted position information of the terminal device at the next moment is determined according to the predicted Cartesian coordinates of the terminal device at the next moment.

4. The positioning method according to claim 3, characterized in that: The step of determining the predicted Cartesian coordinates of the terminal device at the next moment according to the current Cartesian coordinates of the terminal device, the change in the position information of the terminal device at the next moment, and the motion trajectory includes: Determining a longitude correction term, a latitude correction term, and an altitude correction term according to the motion trajectory; Determine the Cartesian coordinates of the terminal device at the next moment based on the preset longitude influence factor, the preset latitude influence factor, the preset altitude influence factor, the longitude correction item, the latitude correction item, the altitude correction item, the current Cartesian coordinates of the terminal device and the change in the position information of the terminal device at the next moment.

5. The positioning method according to claim 1, characterized in that: The determining, according to the first weight, the second weight, the current location information, and the predicted location information, the location information of the terminal device after deviation correction includes: Calculate the product of the first weight and the current position information to obtain a first calculation result; Calculating the product of the second weight and the predicted position information to obtain a second calculation result; The sum of the first calculation result and the second calculation result is determined as the position information of the terminal device after correction.

6. The positioning method according to claim 2, characterized in that: The current motion information includes: motion trajectory, speed, motion azimuth, motion elevation and acceleration, and preset influencing factors; the geographic information includes: building name, landmark and identification mark; the environmental information includes: latitude and longitude, altitude, air pressure, humidity, temperature and weather; the determining of feature vectors corresponding to the current motion information, the current geographic information and the current environmental information respectively includes: Determine feature vectors corresponding to the motion trajectory, the speed, the motion azimuth, the motion elevation, the acceleration, the preset influencing factor, the building name, the landmark, the identification mark, the longitude and latitude, the altitude, the air pressure, the humidity, the temperature, and the weather, respectively; The current motion information, the current geographic information, and the current environmental information are evaluated by using a random forest model and the feature vectors corresponding to the current motion information, the current geographic information, and the current environmental information, respectively, to obtain evaluation results corresponding to the current motion information, the current geographic information, and the current environmental information, including: The motion trajectory, the speed, the motion azimuth, the motion elevation, the acceleration, the preset influencing factor, the building name, the landmark, the identification mark, the longitude and latitude, the altitude, the air pressure, the humidity, the temperature and the weather are evaluated by a random forest model to obtain an evaluation result corresponding to the motion trajectory, the speed, the motion azimuth, the motion elevation, the acceleration, the preset influencing factor, the building name, the landmark, the identification mark, the longitude and latitude, the altitude, the air pressure, the humidity, the temperature and the weather; The obtaining, according to the third weight corresponding to the current motion information, the current geographic information and the current environmental information and the evaluation results corresponding to the current motion information, the current geographic information and the current environmental information, the evaluation result corresponding to the current location information comprises: Determine the evaluation result corresponding to the current location information based on the third weight corresponding to the current motion information, the current geographic information and the current environmental information, and the evaluation results corresponding to the motion trajectory, the speed, the motion azimuth, the motion elevation, the acceleration, the preset influencing factor, the building name, the landmark, the identification mark, the longitude and latitude, the altitude, the air pressure, the humidity, the temperature and the weather.

7. The positioning method according to claim 1, characterized in that: The first weight is proportional to the evaluation result corresponding to the current position information; the sum of the first weight and the second weight is 1.

8. A positioning device, characterized in that: The device comprises: An acquisition module, used to acquire reference data after obtaining the current location information of the terminal device; the reference data includes: current movement information, current geographic information, and current environmental information of the terminal device; An evaluation module, used to evaluate the current location information according to the reference data to obtain an evaluation result corresponding to the current location information; A first determination module, used to determine the predicted position information of the terminal device at the next moment according to the current position information and the current motion information; A second determination module, configured to determine a first weight corresponding to the current location information and a second weight corresponding to the predicted location information according to an evaluation result corresponding to the current location information; The third determination module is used to determine the corrected position information of the terminal device according to the first weight, the second weight, the current position information and the predicted position information.

9. An electronic device, characterized in that: include: A processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein when the computer program is executed by the processor, the steps of the positioning method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the positioning method according to any one of claims 1 to 7 are implemented.

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