Positioning trajectory optimization method and computer readable storage medium
By calculating the average speed of the position point of the vehicle satellite positioning system and correcting the reference point correction, the positioning drift problem is solved, and the accuracy and completeness of the positioning trajectory are improved.
Patent Information
- Application Number
- CN202311775758.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2023-12-21
- Publication Date
- 2025-07-22
AI Technical Summary
Existing vehicle satellite positioning systems are prone to positioning loss or drift when blind spots or weak signals, resulting in inaccurate historical trajectory. Adding sensors or platform-assisted map processing will increase costs.
By calculating the average velocity of the current position point and marking the suspected drift point, correcting the position point with the correction reference point, and performing position point compensation when necessary, generating a position track.
Without increasing costs, improve the accuracy and completeness of the positioning trajectory and reduce the pressure on platform data processing.
Smart Images
Figure CN120352901A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of positioning, and in particular to an optimization method for a positioning trajectory and a computer-readable storage medium. Background Art
[0002] Currently, vehicle satellite positioning system in-vehicle terminals or devices often need to collect satellite positioning data. When the in-vehicle terminal enters a blind area or the positioning signal is weak, it is prone to situations such as inability to position or longitude and latitude drift. When viewing the vehicle's historical trajectory, there are often problems such as position loss, or deviation of the route, jumping of position points, or a large straight line being pulled, which affects user experience. The usual approach is to add additional sensors, or to assist in filtering and correcting the trajectory through the platform-assisted map. However, the former increases the cost of the in-vehicle terminal, and the latter increases the data processing pressure on the platform. Summary of the Invention
[0003] The technical problem to be solved by the present invention is: to provide an optimization method for a positioning trajectory and a computer-readable storage medium, which can improve the accuracy of the positioning trajectory without increasing costs.
[0004] To solve the above technical problem, the technical solution adopted by the present invention is: an optimization method for a positioning trajectory, including:
[0005] Obtaining positioning data according to a preset positioning period, where the positioning data includes longitude and latitude, speed, and direction;
[0006] Taking the longitude and latitude in the current positioning data as the current position point, and calculating the current average speed according to the current position point, the latest valid position point, and the positioning period;
[0007] If the current average speed is less than or equal to a preset first speed threshold, then mark the current position point as a valid position point;
[0008] If the current average speed is greater than the preset first speed threshold, then mark the current position point as a suspected drift point, and take the latest valid position point as the correction reference point;
[0009] Determine the current correction position point according to the positioning data corresponding to the correction reference point and the positioning period, and mark the current correction position point as a valid position point;
[0010] According to a preset reporting period, report the latest valid position point, and generate a positioning trajectory according to the reported valid position points.
[0011] 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 method is implemented.
[0012] The beneficial effects of the present invention are as follows: By directly performing position correction based on the positioning data, the accuracy of the positioning trajectory can be greatly improved without increasing costs, and at the same time, the pressure on the platform data processing is also reduced. BRIEF DESCRIPTION OF THE DRAWINGS
[0013] Figure 1 is a flowchart of an optimization method for a positioning trajectory of the present invention;
[0014] Figure 2 is a flowchart of a method for correcting position points in the first embodiment of the present invention;
[0015] Figure 3 is a flowchart of a method for reporting and compensating position points in the first embodiment of the present invention;
[0016] Figure 4 is a schematic diagram of a positioning trajectory before optimization;
[0017] Figure 5 is a schematic diagram of a positioning trajectory after optimization. DETAILED DESCRIPTION OF THE EMBODIMENTS
[0018] In order to describe in detail the technical content, achieved objectives and effects of the present invention, the following is a detailed description in conjunction with the embodiments and accompanied by the drawings.
[0019] Please refer to Figure 1 , an optimization method for a positioning trajectory, comprising:
[0020] Obtain positioning data according to a preset positioning period, where the positioning data includes longitude and latitude, speed, and direction;
[0021] Take the longitude and latitude in the current positioning data as the current position point, and calculate the current average speed according to the current position point, the latest valid position point, and the positioning period;
[0022] If the current average speed is less than or equal to a preset first speed threshold, mark the current position point as a valid position point;
[0023] If the current average speed is greater than the preset first speed threshold, mark the current position point as a suspected drift point, and use the latest valid position point as the correction reference point;
[0024] Determine the current correction position point according to the positioning data corresponding to the correction reference point and the positioning period, and mark the current correction position point as a valid position point;
[0025] Report the latest valid position point according to a preset reporting period, and generate a positioning trajectory based on the reported valid position points.
[0026] As can be seen from the above description, the beneficial effects of the present invention are as follows: The accuracy of the positioning trajectory can be improved without increasing costs.
[0027] Further, taking the longitude and latitude in the current positioning data as the current position point, and calculating the current average speed according to the current position point, the latest valid position point, and the positioning period, specifically:
[0028] Taking the longitude and latitude in the current positioning data as the current position point, calculating the current moving distance according to the current position point and the latest valid position point, and calculating the current average speed according to the current moving distance and the positioning period.
[0029] Further, before marking the current position point as a suspected drift point, it further includes:
[0030] Judging whether the previous position point is marked as a suspected drift point, where the previous position point is the longitude and latitude in the previous positioning data;
[0031] If not, then execute the step of marking the current position point as a suspected drift point;
[0032] If so, calculate the first linear speed according to the current position point, the previous position point, and the positioning period, and calculate the abnormal duration according to the current position point, the number of consecutive position points marked as suspected drift points before it, and the positioning period;
[0033] If the first linear speed is greater than a preset second speed threshold and the abnormal duration is less than or equal to a preset first time threshold, then execute the step of marking the current position point as a suspected drift point, otherwise mark the current position point as a valid position point.
[0034] As can be seen from the above description, when the previous position point is marked as a suspected drift point, if the linear speed between the current position point and the previous position point is within the normal range, or the abnormal duration is too long, the current position point is still marked as a valid position point to avoid the trajectory being untrustworthy due to the lack of original data for a long time.
[0035] Further, determining the current correction position point according to the positioning data corresponding to the correction reference point and the positioning period, specifically:
[0036] Calculating the correction distance corresponding to the current correction position point according to the speed in the positioning data corresponding to the correction reference point and the positioning period, and determining the current correction position point according to the direction in the positioning data corresponding to the correction reference point and the correction distance.
[0037] As described above, multiply the speed in the previous positioning data by the positioning period to obtain the corrected distance, and then, with the latest valid position point as the reference point, combine the direction and the corrected distance in the previous positioning data to determine the current corrected position point.
[0038] Further, before marking the current corrected position point as a valid position point, it further includes:
[0039] Calculate the correction duration according to the number of consecutive corrected position points before the current corrected position point and the positioning period.
[0040] If the correction duration is less than or equal to a preset second time threshold, then execute the step of marking the current corrected position point as a valid position point.
[0041] If the correction duration is greater than the preset second time threshold, then accumulate the corrected distances corresponding to the current corrected position point and the consecutive corrected position points before it to obtain the continuous corrected distance.
[0042] Calculate the drift straight-line distance according to the current position point and the latest valid position point that is not a corrected position point, and calculate the drift average speed according to the drift straight-line distance and the correction duration.
[0043] If the absolute value of the difference between the continuous corrected distance and the drift straight-line distance is less than a preset distance threshold, or the drift average speed is less than or equal to a preset third speed threshold, then cancel the suspected drift point mark of the current position point and mark the current position point as a valid position point; otherwise, execute the step of marking the current corrected position point as a valid position point.
[0044] As described above, if the correction time is too long, and the distance deviation between the current position point and the starting reference point (i.e., the latest valid position point that is not a corrected position point) is within a certain range, or the speed between the two points is within the normal range, then cancel the suspected drift point mark of the current position point and mark it as a valid position point, so as to avoid the trajectory deviating from the normal route due to long-term correction.
[0045] Further, the reporting of the latest valid position point according to the preset reporting period is specifically as follows:
[0046] Judge whether the positioning status is valid according to the preset reporting period.
[0047] If the positioning status is invalid, then increment the unreported times by one, and the initial value of the unreported times is zero.
[0048] If the positioning status is valid, then judge whether the unreported times are greater than zero.
[0049] If not, report the latest valid location point;
[0050] If so, perform location point compensation between the latest valid location point and the previously reported valid location point according to the unreported times or a preset interval distance; report the latest valid location point and clear the unreported times to zero.
[0051] Further, performing location point compensation between the latest valid location point and the previously reported valid location point according to the unreported times specifically includes:
[0052] Taking the n - equal - division points of the line segment between the latest valid location point and the previously reported valid location point as supplementary location points, where n is the value after adding one to the unreported times;
[0053] Determine the times corresponding to each supplementary location point in sequence according to the time of the previously reported valid location point and the reporting period.
[0054] Further, performing location point compensation between the latest valid location point and the previously reported valid location point according to a preset interval distance specifically includes:
[0055] Determine a location point at every preset interval distance on the line segment between the latest valid location point and the previously reported valid location point as a supplementary location point;
[0056] Determine the times corresponding to each supplementary location point respectively according to the current time, the time of the previously reported valid location point, the distance between the latest valid location point and the previously reported valid location point, and the interval distance.
[0057] Further, generating a positioning trajectory based on the reported valid location points specifically includes:
[0058] Generate a positioning trajectory based on the reported valid location points and the supplementary location points.
[0059] As can be seen from the above description, by performing location point compensation, the trajectory missing due to long - time non - positioning can be made up, position point jumps can be avoided, and the integrity of the positioning trajectory can be ensured.
[0060] The present invention also proposes a computer - readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the above - described method is implemented.
[0061] Embodiment 1
[0062] Please refer to Figures 2 - 5, Embodiment 1 of the present invention is: an optimization method for positioning trajectories, which can be applied to in-vehicle terminals. This method mainly includes two parts. The first part is the correction of position points, and the second part is the reporting and compensation of position points, and a positioning trajectory is generated.
[0063] As Figure 2 shown, the first part includes the following steps:
[0064] S101: Obtain positioning data according to a preset positioning period. The positioning data includes longitude, latitude, speed, and direction.
[0065] In this embodiment, the in-vehicle terminal system is equipped with a satellite positioning module, a communication module, etc. Information such as longitude, latitude, speed, and positioning valid flag is obtained through the positioning data output by the satellite positioning module. The positioning period is 1 s, that is, positioning data is obtained once per second.
[0066] Furthermore, when the in-vehicle terminal obtains positioning data, it first judges whether the positioning state is valid, and only obtains positioning data when the positioning state is valid.
[0067] S102: Use the longitude and latitude in the current positioning data as the current position point, and calculate the current average speed according to the current position point, the latest valid position point, and the positioning period.
[0068] Specifically, use the longitude and latitude in the current positioning data as the current position point curdot, calculate the distance between the two points according to the current position point curdot and the latest valid position point predot as the current moving distance space, and divide the current moving distance space by the time difference between the two points (i.e., the positioning period) to obtain the current average speed vt.
[0069] Furthermore, in this embodiment, the latest valid position point is generally the previous position point or its corrected position point. Then, when obtaining positioning data for the first time, since the valid position point has not been determined yet, the longitude and latitude in the first positioning data can be directly marked as the valid position point.
[0070] S103: Judge whether the current average speed is less than or equal to a preset first speed threshold. If so, execute step S104; if not, execute step S105.
[0071] In this embodiment, the first speed threshold is 160 km / h, that is, judge whether vt ≤ 160 km / h holds.
[0072] S104: Mark the current position point as a valid position point. Then continue to obtain the next positioning data for analysis, that is, continue to execute step S101.
[0073] S105: Determine whether the previous position point is marked as a suspected drift point. The previous position point is the longitude and latitude in the previous positioning data. If so, execute step S106; if not, execute step S108.
[0074] S106: Calculate the first linear velocity based on the current position point, the previous position point, and the positioning period, and calculate the abnormal duration based on the current position point, the number of consecutive position points marked as suspected drift points before it, and the positioning period.
[0075] Specifically, calculate the straight-line distance between the current position point and the previous position point, and then divide this straight-line distance by the positioning period to obtain the first linear velocity.
[0076] At the same time, count the number of consecutive position points marked as suspected drift points before the current position point. For example, assume that three consecutive position points are A, B, and C, where A is marked as a valid position point, B is marked as a suspected drift point, and C is the current position point. Then the number of position points counted at this time is 2; then multiply this number of position points by the positioning period to obtain the abnormal duration.
[0077] S107: Determine whether the first linear velocity is greater than the preset second velocity threshold and whether the abnormal duration is less than or equal to the preset first time threshold. If so, execute step S108; if not, that is, the first linear velocity ≤ the second velocity threshold, or the abnormal duration > the first time threshold, then execute step S104.
[0078] In this embodiment, the second velocity threshold is 160 km / h; the first time threshold can be 10 minutes.
[0079] That is to say, when the previous position point is marked as a suspected drift point, it is necessary to analyze the linear velocity and the abnormal duration between the current position point and the previous position point. If the speed is not within the normal range and the abnormal duration has not exceeded the preset first time threshold, mark the current position point as a suspected drift point. If the speed is within the normal range, or the abnormal duration is too long, do not correct the current position point and still mark the current position point as a valid position point, so as to avoid marking the original position point as a drift position point for a long time, resulting in an untrustworthy trajectory.
[0080] S108: Mark the current position point as a suspected drift point.
[0081] S109: Use the latest valid position point as the calibration reference point, and determine the current calibration position point according to the positioning data corresponding to the calibration reference point and the positioning period.
[0082] Specifically, obtain the positioning data corresponding to the latest valid position point. In this embodiment, each time the positioning data is obtained, its original position point or the corrected position point is marked as the valid position point. Therefore, here, obtain the speed and direction in the previous positioning data, then multiply the speed by the positioning period to obtain the correction distance corresponding to the current corrected position point. Then, taking the latest valid position point as the base point, determine a position point according to the direction and the correction distance in the previous positioning data as the current corrected position point.
[0083] S110: Calculate the correction duration according to the current corrected position point, the number of consecutive corrected position points before it, and the positioning period.
[0084] That is, count the number of position points that are continuously marked as suspected drift points and corrected, and then multiply this number by the positioning period to obtain the correction duration. For example, assume that three consecutive position points are A, B, and C respectively. A is marked as the valid position point, B is marked as the suspected drift point, B’ is the corrected position point corresponding to B, C is the current position point and is also marked as the suspected drift point, and C’ is the current corrected position point. Then the correction duration at this time is 2 positioning periods.
[0085] It can be seen that the correction duration in this step can be considered to be consistent with the abnormal duration in step S106.
[0086] S111: Determine whether the correction duration is greater than a preset second time threshold. If so, execute step S112; if not, execute step S115.
[0087] In this embodiment, the second time threshold can be 30s.
[0088] S112: Accumulate the correction distances corresponding to the current corrected position point and the consecutive corrected position points before it to obtain the continuous correction distance; at the same time, calculate the drift straight-line distance according to the current position point and the latest valid position point that is not the corrected position point, and calculate the drift average speed according to the drift straight-line distance and the correction duration. Calculate the continuous correction distance, the drift straight-line distance, and the drift average speed
[0089] For example, still taking the above three position points A, B, and C as an example, the continuous correction distance at this time is AB’ + B’C’. The latest valid position point that is not the corrected position point at this time is A, and the drift straight-line distance is the straight-line distance AC between point A and point C. Divide AC by the correction duration (i.e., 2 positioning periods) to obtain the drift average speed.
[0090] S113: Determine whether the absolute value of the difference between the continuous correction distance and the drift straight-line distance is less than a preset distance threshold, or whether the drift average speed is less than or equal to a preset third speed threshold. If so, execute step S114; if not, that is, the absolute value of the difference between the continuous correction distance and the drift straight-line distance ≥ the distance threshold and the drift average speed > the third speed threshold, then execute step S115.
[0091] In this embodiment, the third speed threshold is 160 km / h.
[0092] S114: Cancel the suspected drift point mark of the current position point and mark the current position point as a valid position point. Then continue to obtain the next positioning data for analysis, that is, continue to execute step S101.
[0093] That is to say, if the correction time is too long, and the distance deviation between the current position point and the starting reference point (that is, the latest valid position point that is not a correction position point) is within a certain range, or the speed between the current position point and the starting reference point is within the normal range, then cancel the suspected drift point mark of the current position point and mark it as a valid position point, so as to avoid the trajectory deviating from the normal route due to long-term correction.
[0094] S115: Mark the current correction position point as a valid position point. Then continue to obtain the next positioning data for analysis, that is, continue to execute step S101.
[0095] That is to say, if the correction time has not exceeded a certain time, that is, the correction has just started, then the correction position point can be marked as a valid position point, or although the correction time has exceeded a certain time, but the distance deviation between the current position point and the starting reference point is too large, and the speed between the two points is not within the normal range, then the correction position point is still marked as a valid position point.
[0096] As Figure 3 shown, the second part includes the following steps:
[0097] S201: According to the preset reporting period, determine whether the positioning status is valid. If so, execute step S203; if not, execute step S202.
[0098] In this embodiment, the reporting period can be 30 s, that is, the latest valid position point is reported every 30 s.
[0099] S202: Increment the unreported times by one, and the initial value of the unreported times is zero.
[0100] S203: Determine whether the number of unreported times is greater than zero. If so, execute step S205. If not, that is, the number of unreported times is equal to zero, which means the positioning status was valid during the previous reporting period and there was a reported valid location point, then execute step S204.
[0101] S204: Report the latest valid location point; then execute step S207.
[0102] S205: Perform location point compensation between the latest valid location point and the previously reported valid location point according to the number of unreported times or a preset interval distance.
[0103] In this embodiment, location point compensation can be performed in two ways.
[0104] The first way is to perform location point compensation based on the number of unreported times. Specifically, divide the line segment between the latest valid location point and the previously reported valid location point into n equal parts, and use the n equal division points as supplementary location points, where n is the value obtained by adding one to the number of unreported times; then, according to the time of the previously reported valid location point and the reporting period, sequentially determine the times corresponding to each supplementary location point, that is, use the times corresponding to the reporting periods of the intermediate invalid positioning status and unreported valid location points as the reporting times corresponding to each supplementary location point.
[0105] For example, assume the reporting period is 1 minute. A valid location point A was reported at 10:00, no valid location points were reported at 10:01 and 10:02, and a valid location point D was reported at 10:03. Then the number of unreported times at this time is 2. Divide the line segment between A and D into three equal parts, and use the two equal division points as supplementary location points. The time corresponding to the supplementary location point closer to A is 10:01, and the time corresponding to the supplementary location point closer to D is 10:02.
[0106] The second way is to perform location point compensation based on a preset interval distance. Specifically, determine a location point at every preset interval distance on the line segment between the latest valid location point and the previously reported valid location point as a supplementary location point; then, according to the current time, the time of the previously reported valid location point, the distance between the latest valid location point and the previously reported valid location point, and the interval distance, respectively determine the times corresponding to each supplementary location point.
[0107] In this embodiment, the preset interval distance can be 1 km. That is, starting from the last reported valid position point, in the direction of the latest valid position point, a supplementary position point is determined every 1 km. Then, the distance and time difference between the last reported valid position point and the latest valid position point are calculated, and in combination with the distance between each supplementary position point and the last reported valid position point, the time difference between each supplementary position point and the last reported valid position point is calculated proportionally, so as to calculate the time corresponding to each supplementary position point.
[0108] By performing position point compensation, the trajectory missing due to long-term non-positioning can be made up, position point jumps can be avoided, and the integrity of the positioning trajectory can be ensured.
[0109] S206: Report the latest valid position point and clear the unreported times.
[0110] S207: Generate a positioning trajectory based on the reported valid position points and supplementary position points.
[0111] As Figures 4 - 5 shown, Figures 4 - 5 are respectively the schematic diagrams of the positioning trajectories before and after optimization. It can be seen that this embodiment can filter out drift points well, making the positioning trajectory clearer.
[0112] This embodiment directly performs position deviation correction and compensation based on the positioning data dynamically output by the positioning module itself. Without increasing costs, it can greatly improve the accuracy and integrity of the positioning trajectory, and at the same time reduce the pressure on platform data processing.
[0113] Embodiment 2
[0114] 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 realizes each step of the optimization method of the positioning trajectory in the above embodiment and can achieve the same technical effect, which will not be repeated here.
[0115] In summary, a method and a computer-readable storage medium for optimizing a positioning trajectory provided by the present invention directly perform position deviation correction and compensation based on the positioning data dynamically output by the positioning module itself. Without increasing costs, it can greatly improve the accuracy and integrity of the positioning trajectory, and at the same time reduce the pressure on platform data processing.
[0116] 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 related technical fields, shall be included in the patent protection scope of the present invention by the same token.
Claims
1. An optimization method for a positioning trajectory, characterized in that, Including: Obtaining positioning data according to a preset positioning period, where the positioning data includes longitude and latitude, speed, and direction; Taking the longitude and latitude in the current positioning data as the current position point, and calculating the current average speed according to the current position point, the latest valid position point, and the positioning period; If the current average speed is less than or equal to a preset first speed threshold, mark the current position point as a valid position point; If the current average speed is greater than the preset first speed threshold, mark the current position point as a suspected drift point, and use the latest valid position point as the correction reference point; Determine the current correction position point according to the positioning data corresponding to the correction reference point and the positioning period, and mark the current correction position point as a valid position point; Report the latest valid position point according to a preset reporting period, and generate a positioning trajectory based on the reported valid position points.
2. The optimization method of the positioning trajectory according to claim 1, wherein The step of taking the longitude and latitude in the current positioning data as the current position point and calculating the current average speed according to the current position point, the latest valid position point, and the positioning period is specifically: Taking the longitude and latitude in the current positioning data as the current position point, calculating the current moving distance according to the current position point and the latest valid position point, and calculating the current average speed according to the current moving distance and the positioning period.
3. The optimization method of the positioning trajectory according to claim 1, characterized in that Before marking the current position point as a suspected drift point, it further includes: Judging whether the previous position point is marked as a suspected drift point, where the previous position point is the longitude and latitude in the previous positioning data; If not, execute the step of marking the current position point as a suspected drift point; If so, calculate the first linear speed according to the current position point, the previous position point, and the positioning period, and calculate the abnormal duration according to the current position point, the number of consecutive position points marked as suspected drift points before it, and the positioning period; If the first linear speed is greater than a preset second speed threshold and the abnormal duration is less than or equal to a preset first time threshold, execute the step of marking the current position point as a suspected drift point, otherwise mark the current position point as a valid position point.
4. The optimization method of the positioning trajectory according to claim 1, characterized in that The step of determining the current correction position point according to the positioning data corresponding to the correction reference point and the positioning period is specifically: Calculating the correction distance corresponding to the current correction position point according to the speed in the positioning data corresponding to the correction reference point and the positioning period, and determining the current correction position point according to the correction reference point, the direction in its corresponding positioning data, and the correction distance.
5. The optimization method of the positioning trajectory according to claim 4, characterized in that Before marking the current correction position point as a valid position point, it further includes: Calculating the correction duration according to the current correction position point, the number of consecutive correction position points before it, and the positioning period; If the correction duration is less than or equal to a preset second time threshold, execute the step of marking the current correction position point as a valid position point; If the correction duration is greater than the preset second time threshold, accumulate the correction distances corresponding to the current correction position point and the consecutive correction position points before it to obtain the continuous correction distance; Calculate the drift straight-line distance based on the current position point and the latest valid position point that is not a calibration position point, and calculate the drift average speed according to the drift straight-line distance and the calibration duration; If the absolute value of the difference between the continuous calibration distance and the drift straight-line distance is less than a preset distance threshold, or the drift average speed is less than or equal to a preset third speed threshold, cancel the suspected drift point mark of the current position point and mark the current position point as a valid position point; otherwise, perform the step of marking the current calibration position point as a valid position point.
6. The optimization method of the positioning trajectory according to claim 1, wherein The reporting of the latest valid position point according to the preset reporting period is specifically as follows: Judge whether the positioning status is valid according to the preset reporting period; If the positioning status is invalid, increment the unreported count by one, and the initial value of the unreported count is zero; If the positioning status is valid, judge whether the unreported count is greater than zero; If not, report the latest valid position point; If so, perform position point compensation between the latest valid position point and the previously reported valid position point according to the unreported count or the preset interval distance; Report the latest valid position point and clear the unreported count.
7. The optimization method of the positioning trajectory according to claim 6, characterized in that, The position point compensation between the latest valid position point and the previously reported valid position point according to the unreported count is specifically as follows: Use the n-equal division points of the line segment between the latest valid position point and the previously reported valid position point as supplementary position points, where n is the value after incrementing the unreported count by one; Determine the corresponding time of each supplementary position point in sequence according to the time of the previously reported valid position point and the reporting period.
8. The optimization method of the positioning trajectory according to claim 6, characterized in that The position point compensation between the latest valid position point and the previously reported valid position point according to the preset interval distance is specifically as follows: Determine a position point at every preset interval distance on the line segment between the latest valid position point and the previously reported valid position point as a supplementary position point; Determine the corresponding time of each supplementary position point respectively according to the current time, the time of the previously reported valid position point, the distance between the latest valid position point and the previously reported valid position point, and the interval distance.
9. The optimization method of the positioning trajectory according to claim 7 or 8, characterized in that The generation of the positioning trajectory according to the reported valid position point is specifically as follows: Generate a positioning trajectory according to the reported valid position point and the supplementary position point.
10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by a processor, it implements the method according to any one of claims 1-9.