Positioning method, device and system

Abstract

Provided are a positioning method, device and system, which relate to the technical field of communications, the method comprising: acquiring a visual positioning result of a high confidence target in a target area and wireless measurement information of each UE; determining a positioning result of first UE corresponding to the high-confidence target in the UE according to the visual positioning result of the high-confidence target; correcting the wireless measurement information of the second UE according to the positioning result of the first UE and the wireless measurement information of the first UE, and determining the positioning result of the second UE according to the corrected wireless measurement information of the second UE; the second UE is the UE except the first UE in the UE. According to the technical scheme provided by the invention, the positioning precision can be improved, and user requirements can be better met.

Description

Technical Field

[0001] This application relates to the field of communication technologies, and in particular, to a positioning method, device, and system. Background Art

[0002] Currently, the demand for indoor positioning has penetrated into various fields such as enterprise services, government, and public services. Among them, in many scenarios, such as working scenarios in mining areas, thermal power plants, tunnels, etc., high requirements are imposed on positioning accuracy.

[0003] A commonly used indoor positioning technology is wireless positioning technology based on wireless networks such as wireless cellular or wireless fidelity (Wi-Fi) networks. Wireless positioning technologies include positioning technologies based on time of arrival (TOA), positioning technologies based on angle of arrival (AOA), combined positioning technologies based on TOA and AOA, etc. Among them, the positioning accuracy of wireless positioning technology depends on the measurement accuracy of wireless measurement parameters (such as TOA, AOA, etc.).

[0004] However, in real scenarios, due to the complexity of the environment and the limitations of hardware, there are always certain errors in the measured parameters. These errors have little impact in medium and low-precision scenarios, but have a relatively large impact in scenarios with high positioning accuracy requirements, resulting in the positioning accuracy being difficult to meet user needs. Summary of the Invention

[0005] In view of this, this application provides a positioning method, device, and system for improving positioning accuracy to better meet user needs.

[0006] To achieve the above objective, in a first aspect, an embodiment of this application provides a positioning method applied to a fusion positioning device. The method includes:

[0007] Obtain the visual positioning result of a high-confidence target in a target area and the wireless measurement information of each UE;

[0008] Determine the positioning result of a first UE corresponding to the high-confidence target among each UE according to the visual positioning result of the high-confidence target;

[0009] According to the positioning result of the first UE and the wireless measurement information of the first UE, correct the wireless measurement information of a second UE, and determine the positioning result of the second UE according to the corrected wireless measurement information of the second UE; the second UE is a UE other than the first UE among each UE.

[0010] Among them, the fusion positioning device can be specifically integrated into the vision positioning device or the wireless positioning device, or can be independent of the vision positioning device and the wireless positioning device.

[0011] The positioning method provided by the embodiments of this application combines vision positioning technology and wireless positioning technology, uses the positioning results of high-confidence targets in the vision positioning system to determine the positioning results of the first UE corresponding to the high-confidence targets in the wireless positioning system, and corrects the wireless measurement information of other UEs in the wireless positioning system. Furthermore, wireless positioning is performed based on the corrected results, which can improve the wireless positioning accuracy and better meet user requirements.

[0012] In a possible implementation manner of the first aspect, the determining the positioning results of the first UEs corresponding to the high-confidence targets among the UEs according to the positioning results of the high-confidence targets includes:

[0013] Obtain the visual features of the high-confidence target;

[0014] Determine the first UE corresponding to the high-confidence target according to the visual features of the high-confidence target and the association mapping information; the association mapping information indicates the corresponding relationship between the UE and the visual features;

[0015] Determine the positioning results of the corresponding first UE according to the positioning results of the high-confidence target.

[0016] In the above implementation manner, determining the first UE corresponding to the high-confidence target based on the association mapping information requires less data sources and processing resources and has higher accuracy.

[0017] In a possible implementation manner of the first aspect, the determining the positioning results of the first UEs corresponding to the high-confidence targets among the UEs according to the positioning results of the high-confidence targets includes:

[0018] Obtain the visual positioning trajectory of the high-confidence target and the wireless positioning trajectories of the UEs within the first time period;

[0019] Determine the UE corresponding to the wireless positioning trajectory that matches the visual positioning trajectory of the high-confidence target as the first UE corresponding to the high-confidence target;

[0020] Determine the positioning results of the corresponding first UE according to the positioning results of the high-confidence target.

[0021] In the above implementation manner, determining the first UE corresponding to the high-confidence target based on the positioning trajectory can better apply to various scenarios, so the applicable range is relatively wide.

[0022] In a possible implementation of the first aspect, the method further includes:

[0023] Determine the correspondence between the low-confidence targets in the target area and the second UE;

[0024] According to the positioning result of the second UE, correct the visual positioning result of the corresponding low-confidence target.

[0025] Through the above implementation, the visual positioning result of the low-confidence target can be corrected, so as to better solve some positioning and tracking problems of the low-confidence target. For example, for a target blocked in the video (i.e., a low-confidence target), after correction, its more accurate position can be obtained, so as to realize the multi-target tracking process of vision.

[0026] In a possible implementation of the first aspect, the determining the correspondence between the low-confidence targets in the target area and the second UE includes:

[0027] Obtain the visual features of the low-confidence targets in the target area;

[0028] According to the visual features of the low-confidence targets and the association mapping information, determine the correspondence between the low-confidence targets and the second UE; the association mapping information indicates the correspondence between the UE and the features.

[0029] In the above implementation, determining the correspondence between the low-confidence targets and the second UE based on the association mapping information requires less data sources and processing resources and has higher accuracy.

[0030] In a possible implementation of the first aspect, the determining the correspondence between the low-confidence targets in the target area and the second UE includes:

[0031] Obtain the visual positioning trajectory of the low-confidence targets and the wireless positioning trajectory of the second UE in the second time period;

[0032] According to the visual positioning trajectory of the low-confidence targets and the wireless positioning trajectory of the second UE, determine the correspondence between the low-confidence targets and the second UE, where the trajectories of the corresponding low-confidence targets and the second UE match.

[0033] In the above implementation, determining the correspondence between the low-confidence targets and the second UE based on the positioning trajectory can better apply to various scenarios, so the applicable range is relatively wide.

[0034] In a possible implementation of the first aspect, the visual positioning result of the high-confidence target is received from a visual positioning device; after the fusion positioning device determines a low-confidence target corresponding to the second UE, it sends the positioning result of the second UE corresponding to the low-confidence target to the visual positioning device, and corrects the visual positioning result of the low-confidence target through the visual positioning device.

[0035] In the above implementation, the fusion positioning device is independent of the visual positioning device, so the performance requirements for the visual positioning device are relatively low; by correcting the visual positioning result of the low-confidence target through the visual positioning device, the correction process of the visual positioning result can be more convenient, and the processing resources of the fusion positioning device can be saved, reducing the processing performance requirements for the fusion positioning device.

[0036] In a possible implementation of the first aspect, the positioning result of the first UE is the positioning result of the corresponding high-confidence target. This can reduce the computational complexity and save processing resources.

[0037] In a possible implementation of the first aspect, the correction of the wireless measurement information of the second UE according to the positioning result of the first UE and the wireless measurement information of the first UE includes:

[0038] Determine the wireless measurement error corresponding to the wireless measurement information according to the positioning result of the first UE and the wireless measurement information of the first UE;

[0039] Correct the wireless measurement information of the second UE according to the wireless measurement error.

[0040] In a possible implementation of the first aspect, the wireless measurement information of each UE is received from a wireless positioning device; after the fusion positioning device determines the wireless measurement error, it sends the wireless measurement error to the wireless positioning device, and after the wireless positioning device corrects the wireless measurement information of the second UE according to the wireless measurement error, it receives the corrected wireless measurement information of the second UE sent by the wireless positioning device.

[0041] In the above implementation, correcting the wireless measurement information through the wireless positioning device can reduce the processing performance requirements for the fusion positioning device.

[0042] In a possible implementation of the first aspect, the wireless measurement information of each UE is received from a wireless positioning device; after the fusion positioning device determines the wireless measurement error, it sends the wireless measurement error to the wireless positioning device. The wireless positioning device corrects the wireless measurement information of a second UE according to the wireless measurement error, and after determining the positioning result of the second UE according to the corrected wireless measurement information of the second UE, it receives the positioning result of the second UE sent by the wireless positioning device.

[0043] In the above implementation, the process of correcting the wireless measurement information of the second UE and the positioning process by the wireless positioning device can reduce the processing performance requirements for the fusion positioning device.

[0044] In a possible implementation of the first aspect, the wireless measurement error is used to indicate: the difference in arrival time measurement errors between network devices, and / or, the arrival angle measurement error of a network device.

[0045] In a possible implementation of the first aspect, there are multiple high-confidence targets. This can improve the accuracy of the wireless measurement information correction result and the accuracy of the wireless positioning result.

[0046] In a second aspect, an embodiment of the present application provides a positioning method applied to a wireless positioning device. The method includes:

[0047] Sending the wireless measurement information of each UE in a target area to a fusion positioning device;

[0048] Receiving the wireless measurement error sent by the fusion positioning device, where the wireless measurement error is determined by the fusion positioning device based on the visual positioning result of high-confidence targets in the target area and the wireless measurement information of a first UE corresponding to the high-confidence targets among each UE;

[0049] Correcting the wireless measurement information of a second UE according to the wireless measurement error, where the second UE is a UE other than the first UE among each UE;

[0050] Determining the positioning result of the second UE according to the corrected wireless measurement information of the second UE.

[0051] In a possible implementation of the second aspect, after the wireless positioning device corrects the wireless measurement information of the second UE, it sends the corrected wireless measurement information of the second UE to the fusion positioning device, and the fusion positioning device determines the positioning result of the second UE according to the corrected wireless measurement information of the second UE.

[0052] Thirdly, an embodiment of the present application provides a positioning method applied to a wireless positioning device. The method includes:

[0053] Sending wireless measurement information of each UE in a target area to a fusion positioning device;

[0054] Receiving the corrected wireless measurement information of a second UE sent by the fusion positioning device. The corrected wireless measurement information of the second UE is obtained by the fusion positioning device based on the positioning result of a high-confidence target sent by a vision positioning device and the wireless measurement information of a first UE corresponding to the high-confidence target among each UE, and correcting the wireless measurement information of the second UE; the second UE is a UE other than the first UE among each UE;

[0055] Determining the positioning result of the second UE according to the corrected wireless measurement information of the second UE.

[0056] Fourthly, an embodiment of the present application provides a positioning method applied to a vision positioning device. The method includes:

[0057] Sending the vision positioning result of a high-confidence target in a target area to a fusion positioning device;

[0058] Receiving the positioning result of a second UE corresponding to a low-confidence target in the target area sent by the fusion positioning device; the positioning result of the second UE is determined by the fusion positioning device based on the positioning result of the high-confidence target and the wireless measurement information of a first UE corresponding to the high-confidence target among each UE, correcting the wireless measurement information of the second UE, and then determining according to the corrected wireless measurement information of the second UE; the second UE is a UE other than the first UE among each UE;

[0059] Correcting the vision positioning result of the low-confidence target according to the positioning result of the second UE corresponding to the low-confidence target.

[0060] Fifthly, an embodiment of the present application provides a positioning device applied to a fusion positioning device. The device includes:

[0061] A transceiver module, configured to obtain the vision positioning result of a high-confidence target in a target area and the wireless measurement information of each UE;

[0062] A processing module, configured to determine the positioning result of a first UE corresponding to the high-confidence target among each of the UEs according to the visual positioning result of the high-confidence target; and correct the radio measurement information of a second UE according to the positioning result of the first UE and the radio measurement information of the first UE, and determine the positioning result of the second UE according to the corrected radio measurement information of the second UE; the second UE is the UE other than the first UE among each of the UEs.

[0063] In a possible implementation manner of the fifth aspect, the processing module is specifically configured to:

[0064] Obtain the visual features of the high-confidence target;

[0065] Determine the first UE corresponding to the high-confidence target according to the visual features of the high-confidence target and the association mapping information; the association mapping information indicates the corresponding relationship between the UE and the visual features;

[0066] Determine the positioning result of the corresponding first UE according to the positioning result of the high-confidence target.

[0067] In a possible implementation manner of the fifth aspect, the processing module is specifically configured to:

[0068] Obtain the visual positioning trajectory of the high-confidence target and the radio positioning trajectories of each of the UEs within a first time period;

[0069] Determine the UE corresponding to the radio positioning trajectory that matches the visual positioning trajectory of the high-confidence target as the first UE corresponding to the high-confidence target;

[0070] Determine the positioning result of the corresponding first UE according to the positioning result of the high-confidence target.

[0071] In a possible implementation manner of the fifth aspect, the processing module is further configured to:

[0072] Determine the correspondence between the low-confidence target and the second UE in the target area;

[0073] Correct the visual positioning result of the corresponding low-confidence target according to the positioning result of the second UE.

[0074] In a possible implementation manner of the fifth aspect, the processing module is specifically configured to:

[0075] Obtain the visual features of the low-confidence target in the target area;

[0076] Determine the correspondence between the low-confidence target and the second UE according to the visual features of the low-confidence target and the association mapping information; the association mapping information indicates the correspondence between the UE and the features.

[0077] In a possible implementation manner of the fifth aspect, the processing module is specifically configured to:

[0078] Obtain the visual positioning trajectory of the low-confidence target and the wireless positioning trajectory of the second UE within a second time period;

[0079] Determine the correspondence between the low-confidence target and the second UE according to the visual positioning trajectory of the low-confidence target and the wireless positioning trajectory of the second UE, where the trajectories of the corresponding low-confidence target and the second UE match.

[0080] In a possible implementation manner of the fifth aspect, the visual positioning result of the high-confidence target is received from a visual positioning device; the processing module is specifically configured to: after determining the low-confidence target corresponding to the second UE, send the positioning result of the second UE corresponding to the low-confidence target to the visual positioning device through the transceiver module, and correct the visual positioning result of the low-confidence target through the visual positioning device.

[0081] In a possible implementation manner of the fifth aspect, the positioning result of the first UE is the positioning result of the corresponding high-confidence target.

[0082] In a possible implementation manner of the fifth aspect, the processing module is specifically configured to:

[0083] Determine the wireless measurement error corresponding to the wireless measurement information according to the positioning result of the first UE and the wireless measurement information of the first UE;

[0084] Correct the wireless measurement information of the second UE according to the wireless measurement error.

[0085] In a possible implementation manner of the fifth aspect, the wireless measurement information of each UE is received from a wireless positioning device; the processing module is specifically configured to: after determining the wireless measurement error, send the wireless measurement error to the wireless positioning device through the transceiver module, and after the wireless positioning device corrects the wireless measurement information of the second UE according to the wireless measurement error, receive the corrected wireless measurement information of the second UE sent by the wireless positioning device through the transceiver module.

[0086] In a possible implementation of the fifth aspect, the wireless measurement information of each UE is received from a wireless positioning device; the processing module is specifically configured to: after determining the wireless measurement error, send the wireless measurement error to the wireless positioning device through the transceiver module, and have the wireless positioning device correct the wireless measurement information of a second UE according to the wireless measurement error, and after determining the positioning result of the second UE according to the corrected wireless measurement information of the second UE, receive the positioning result of the second UE sent by the wireless positioning device through the transceiver module.

[0087] In a possible implementation of the fifth aspect, the wireless measurement error is used to indicate: the difference between the time-of-arrival measurement errors between network devices, and / or, the angle-of-arrival measurement error of a network device.

[0088] In a possible implementation of the fifth aspect, there are multiple high-confidence targets.

[0089] In a sixth aspect, an embodiment of the present application provides a positioning device applied to a wireless positioning device, and the device includes:

[0090] A transceiver module, configured to send the wireless measurement information of each UE in a target area to a fusion positioning device; and receive the wireless measurement error sent by the fusion positioning device, where the wireless measurement error is determined by the fusion positioning device based on the visual positioning result of high-confidence targets in the target area and the wireless measurement information of a first UE corresponding to the high-confidence targets among the UEs.

[0091] A processing module, configured to correct the wireless measurement information of a second UE according to the wireless measurement error, where the second UE is a UE other than the first UE among the UEs; and determine the positioning result of the second UE according to the corrected wireless measurement information of the second UE.

[0092] In a possible implementation of the second aspect, the processing module is specifically configured to: after correcting the wireless measurement information of the second UE, send the corrected wireless measurement information of the second UE to the fusion positioning device through the transceiver module, and have the fusion positioning device determine the positioning result of the second UE according to the corrected wireless measurement information of the second UE.

[0093] In a seventh aspect, an embodiment of the present application provides a positioning device applied to a wireless positioning device, and the device includes:

[0094] A transceiver module, configured to send wireless measurement information of each UE in a target area to a fusion positioning device; and receive the corrected wireless measurement information of a second UE sent by the fusion positioning device, where the corrected wireless measurement information of the second UE is obtained by the fusion positioning device based on the positioning result of a high-confidence target sent by a vision positioning device and the wireless measurement information of a first UE corresponding to the high-confidence target among each UE, and correcting the wireless measurement information of the second UE; the second UE is a UE other than the first UE among each UE;

[0095] A processing module, configured to determine the positioning result of the second UE according to the corrected wireless measurement information of the second UE.

[0096] In a eighth aspect, an embodiment of the present application provides a positioning device, applied to a vision positioning device, the device includes:

[0097] A transceiver module, configured to send the vision positioning result of a high-confidence target in a target area to a fusion positioning device; and receive the positioning result of a second UE corresponding to a low-confidence target in the target area sent by the fusion positioning device; the positioning result of the second UE is determined by the fusion positioning device based on the positioning result of the high-confidence target and the wireless measurement information of a first UE corresponding to the high-confidence target among each UE, correcting the wireless measurement information of the second UE, and then determining according to the corrected wireless measurement information of the second UE; the second UE is a UE other than the first UE among each UE;

[0098] A processing module, configured to correct the vision positioning result of the low-confidence target according to the positioning result of the second UE corresponding to the low-confidence target.

[0099] In a ninth aspect, an embodiment of the present application provides a positioning device, including: a memory and a processor, the memory is used to store a computer program; the processor is configured to execute the method described in the first aspect or any implementation manner of the first aspect when calling the computer program.

[0100] In a tenth aspect, an embodiment of the present application provides a positioning system, including: a fusion positioning device, a wireless positioning device, and a vision positioning device, the fusion positioning device is used to implement the method described in the first aspect, the wireless positioning device is used to implement the method described in the second aspect, and the vision positioning device is used to implement the method described in the third aspect.

[0101] In an eleventh aspect, an embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the method described in the first aspect or any implementation manner of the first aspect.

[0102] In a twelfth aspect, an embodiment of the present application provides a computer program product. When the computer program product runs on a positioning device, it causes the positioning device to execute the method described in the first aspect or any implementation manner of the first aspect.

[0103] In a thirteenth aspect, an embodiment of the present application provides a chip system, including a processor. The processor is coupled to a memory, and the processor executes a computer program stored in the memory to implement the method described in the first aspect or any implementation manner of the first aspect. Herein, the chip system may be a single chip or a chip module composed of multiple chips.

[0104] It can be understood that for the beneficial effects of the second aspect to the thirteenth aspect, reference may be made to the relevant descriptions in the first aspect, which will not be elaborated herein. BRIEF DESCRIPTION OF THE DRAWINGS

[0105] Figure 1 It is a schematic diagram of the positioning principle of the TOA-based wireless positioning technology provided by an embodiment of the present application;

[0106] Figure 2 It is a schematic diagram of the positioning principle of the wireless positioning technology based on TOA and AOA provided by an embodiment of the present application;

[0107] Figure 3 It is a schematic diagram of an application scenario provided by an embodiment of the present application;

[0108] Figure 4 It is a schematic flowchart of a positioning method provided by an embodiment of the present application;

[0109] Figure 5 It is a schematic diagram of a wireless positioning scenario provided by an embodiment of the present application;

[0110] Figure 6 It is a schematic flowchart of another positioning method provided by an embodiment of the present application;

[0111] Figure 7 It is a schematic structural diagram of a positioning device provided by an embodiment of the present application;

[0112] Figure 8 It is a schematic structural diagram of a positioning device provided by an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0113] The embodiments of the present application will be described below with reference to the accompanying drawings in the embodiments of the present application. The terms used in the embodiments part of the present application are only used to explain the specific embodiments of the present application, rather than to limit the present application. These specific embodiments may be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments.

[0114] In current positioning technologies, outdoor positioning is mainly based on satellite positioning systems, such as the Global Positioning System (GPS). However, in indoor environments and industrial parks, GPS signals are easily blocked, affecting positioning accuracy. Therefore, other positioning technologies are often used for positioning.

[0115] When positioning in indoor environments or industrial parks, etc., a commonly used technology is wireless positioning technology based on wireless networks such as wireless cellular or Wi-Fi networks. Wireless positioning technology mainly measures some parameters of the wireless signals transmitted between the transmitter and the receiver, and then uses a specific algorithm based on the obtained wireless measurement information to estimate the position of the user equipment (UE). Among them, the measurement parameters generally include TOA, AOA, and signal strength, etc. When performing wireless positioning, one measurement parameter can be used for positioning, or multiple measurement parameters can be combined for positioning. Two wireless positioning technologies are exemplarily described below.

[0116] Figure 1 The schematic diagram of the positioning principle of the TOA-based wireless positioning technology provided by the embodiment of this application is shown in Figure 1 As shown, the position of the UE can be determined by the distances between the UE and multiple network devices. Exemplarily, the network devices in this scenario include base stations BS1, BS2, and BS3. Each base station can measure the transmission time of the received signal between the UE and the base station, that is, the time of arrival TOA (here are TOA1, TOA2, and TOA3 respectively); then the distances between the UE and the base stations can be calculated using the measured TOA (the product of TOA and the speed of light). As Figure 1 shown, the distances measured by the three base stations from the UE are r1, r2, and r3 respectively. Then, three circles are drawn with the three base stations as the centers and the distances measured by each base station as the radii. The intersection position of the three circles is the position of the UE.

[0117] Figure 2 The schematic diagram of the positioning principle of the TOA and AOA-based wireless positioning technology provided by the embodiment of this application is shown in Figure 2 As shown, the network device, here exemplarily the base station (BS), can measure the transmission time of the received signal between the UE and the BS, that is, the time of arrival TOA; and can measure the incident angle of the received signal through the antenna array, that is, the angle of arrival AOA. Then, the BS can calculate the distance R between the UE and the BS using the measured TOA, where R = TOA * c, c is the speed of light; the BS then calculates according to the measured AOA (that is Figure 2α) in it determines the location of the UE by the line-circle intersection method. It can be understood that the UE is located at the intersection of the ray L and the circle C, where the ray L has the BS as an endpoint and the angle with the due north direction is α; the circle C has the BS as the center and a radius of R. In the case where the TOA and AOA measured by multiple BSs can be obtained, the most matching UE location can also be obtained through the least squares method or the optimization algorithm, etc.

[0118] It can be seen that the positioning accuracy of the wireless positioning technology depends on the measurement accuracy of the positioning measurement parameters (such as TOA, AOA, etc.). If the measured TOA and AOA are unbiased, then the positioning result is accurate. However, in the real scenario, due to the complexity of the environment and the limitations of the hardware, there will always be certain errors in the measured parameters.

[0119] Taking TOA as an example, the measured TOA is the propagation time of the signal from the UE to the BS, but this wireless measurement information actually consists of three parts:

[0120]

[0121] Among them, represents the measured transmission time, TOA represents the true air interface transmission time, and TAE UE represents the time arrival error (TAE) on the UE side, that is, the system delay error, and TAE BS represents the TAE on the BS side, and these errors are mainly caused by the time asynchronization of the system, the transmission time from the baseband to the transmitting end, etc.

[0122] These errors have little impact in the medium and low precision scenarios, but in the scenarios with relatively high positioning accuracy requirements such as the meter level and sub-meter level, they will also reach about the meter level, which has a relatively large impact on the overall positioning accuracy and makes it difficult to meet the user's requirements for positioning accuracy. Similarly, for the measurement of AOA, similar errors will also occur, such as the channel error between antennas, the error caused by the placement position of the antennas, etc., which will also differ from the true AOA by several degrees or even dozens of degrees, thus affecting the positioning accuracy. Other measurement parameters, such as signal strength, will also have similar errors. Due to the occurrence of these errors, the positioning accuracy can only reach the meter level at most.

[0123] When performing positioning in an indoor environment or an industrial park environment, another commonly used technology is visual positioning technology. Cameras are deployed in many factory areas and industrial parks, so that video image data can be obtained through the cameras, and then the UE can be visually positioned through the video images. Specifically, algorithms such as object detection can be used to identify the object corresponding to the UE in the video image, and then the pixel position of the object in the video image is converted into a spatial geographical position to obtain the position of the UE in the real environment. The positioning accuracy of visual positioning can generally reach the sub-meter level accuracy in a direct environment.

[0124] Visual positioning technology can better identify relatively clear objects in video images. However, if the object is blocked or there is a situation of multi-object cross-overlap, it will affect the accuracy of object detection, thus affecting the positioning result.

[0125] Based on this, the embodiment of the present application provides a positioning method. By fusing two positioning technologies, using the positioning results of high-confidence objects in the visual positioning system, the positioning results of the UE corresponding to the high-confidence objects are determined, and the wireless measurement information of the UE corresponding to the low-confidence objects in the wireless positioning system is corrected and wirelessly positioned, thereby improving the positioning accuracy of wireless positioning.

[0126] In the embodiment of the present application, the estimated / predicted position is called positioning, which can be understood as determining the coordinates in the physical space (i.e., the coordinates of the UE), and the coordinates can be two-dimensional coordinates or three-dimensional coordinates. In the embodiment of the present application, the two-dimensional coordinates are taken as an example for exemplary illustration.

[0127] The positioning scheme of the embodiment of the present application can be applied to a scenario where a visual positioning system and a wireless positioning system are deployed. Figure 3 Exemplarily, a schematic diagram of an application scenario is shown, as Figure 3 shown. In this scenario, the visual positioning system includes a visual positioning device 11 and a camera 12, and the wireless positioning system includes a wireless positioning device 21, a network device 22, and a UE 23. A fusion positioning device 30 may also be included in this scenario.

[0128] It should be understood that Figure 3 It is only a simplified schematic diagram for easy understanding. The number of each device in this scenario can be one or more. In the figure, it is only an exemplary illustration with three cameras and three UEs, and one for each of the other devices. It is not used to limit the present application.

[0129] Among them, the camera 12 is used to collect video images of the scene; the visual positioning device 11 can identify the object corresponding to the UE 23 in the video image collected by the camera 12 by using algorithms such as object detection, and position and track the UE 23.

[0130] The target recognized by the visual positioning device 11 may specifically be the UE 23, or may also be the user carrying the UE 23. The UE 23 may also be referred to as a terminal device, a mobile terminal, etc. The UE 23 may be a mobile phone, a tablet computer, a wearable device, an access card, or other devices with data transmission functions, etc. The embodiments of the present application do not make specific limitations on the specific technologies and specific device forms adopted by the UE 23.

[0131] The wireless network adopted in the wireless positioning system may be various wireless cellular networks or wireless communication networks such as Wi-Fi networks, or may also be a sensor network such as Bluetooth or ultra-wide band (UWB), etc. For the convenience of description, the embodiments of the present application take the wireless communication network as an example for exemplary description.

[0132] Among them, the network device 22 is a device with wireless transceiver functions or a chip that can be set in the device. The device may be: a base station (BS), an evolved node B (eNB), a home base station, an access point (AP) in a wireless fidelity (Wi-Fi) system, a wireless relay node, a wireless backhaul node, a transmission point (TP), or a transmission and reception point (TRP), etc.; it may also be a gNB in the NR system, or a wireless controller in the CRAN system; it may also be a component or a part of the device that constitutes the base station, such as a central unit (CU), a distributed unit (DU), or a baseband unit (BBU), etc.

[0133] The network device 22 and the UE 23 can send and receive signals to each other. The network device 22 can measure some parameters of the wireless signals transmitted between the network device 22 and the UE 23 to obtain wireless measurement information. The wireless measurement information may include TOA, AOA, and / or signal strength, etc. The wireless positioning device 21 can collect the wireless measurement information measured by the network device 22 and perform wireless positioning on the UE 23 based on the collected wireless measurement information.

[0134] It can be understood that in some embodiments, UE23 can also measure relevant parameters of the wireless signal transmitted between network device 22 and UE23, and wireless positioning device 21 can also obtain wireless measurement information from UE23; in other embodiments, wireless positioning device 21 can also be integrated in network device 22, that is, network device 22 can not only communicate with UE23 wirelessly, but also locate UE23. For the convenience of understanding, in the embodiments of this application, subsequent examples will be described by taking wireless positioning device 21 independent of network device 22 as an example.

[0135] The fusion positioning device 24 can obtain the visual positioning results of high-confidence targets from the visual positioning device 11 and the wireless measurement information of each UE23 from the wireless positioning device 21; then determine the wireless positioning results of the corresponding UE23 according to the visual positioning results of the high-confidence targets, and correct the wireless measurement information and perform wireless positioning on the UE23 corresponding to the non-high-confidence targets.

[0136] In some embodiments, the fusion positioning device 24 can also send the positioning results of the UE23 corresponding to the non-high-confidence targets to the visual positioning device, and the visual positioning device can use this to correct the visual positioning results of the non-high-confidence targets.

[0137] Among them, the fusion positioning device 24 can be a device independent of the visual positioning device and the wireless positioning device 21, or can be integrated in the visual positioning device or the wireless positioning device 21; or, some functions of the fusion positioning device 24 can be executed by the visual positioning device or the wireless positioning device 21. For the convenience of understanding, in the embodiments of this application, the fusion positioning device 24 independent of the visual positioning device and the wireless positioning device 21 is mainly used as an example for exemplary description.

[0138] The positioning process described in the embodiments of this application will be described in detail below.

[0139] Figure 4 It is a schematic flow chart of a positioning method provided by an embodiment of this application. As Figure 4 shown, the positioning process provided by the embodiment of this application can include the following steps:

[0140] S101. The visual positioning device sends the visual positioning results of the high-confidence targets in the target area to the fusion positioning device.

[0141] Specifically, one or more cameras can be installed in the target area to collect video images of the area. The visual positioning device can obtain the video images collected by the cameras and then perform target detection on the UEs in the video images. Among them, the target area can be any range of indoor or outdoor areas, such as a factory area or a park area; the target corresponding to the UE can be the UE or the user carrying the UE.

[0142] The vision positioning device can perform target detection using any relevant target detection algorithm, identify the candidate bounding boxes corresponding to each target, determine the detection bounding boxes corresponding to each target from the identified candidate bounding boxes, and obtain the target detection result.

[0143] Among them, algorithms such as non-maximum suppression (NMS), Soft-NMS, and Adaptive NMS can be used to remove redundant bounding boxes, and select the candidate bounding boxes with high confidence from the candidate bounding boxes of each target as the detection bounding boxes corresponding to each target.

[0144] The target detection result can include the position information and confidence of the detection bounding box corresponding to each target. Among them, the position information of the detection bounding box can include the center point coordinates of the detection bounding box, or other methods can also be used to represent the position information of the detection bounding box. For example, the position information of the detection bounding box can be represented by the midpoint coordinates of the lower edge of the detection bounding box; the position information of the detection bounding box can also include other parameters, such as the height and width of the detection bounding box. This embodiment does not make special limitations on this. The confidence can characterize the credibility of the target being located at the corresponding position of the detection bounding box.

[0145] Among them, the position information of the positioning point corresponding to the target in the video image can be the center point coordinates or the midpoint coordinates of the lower edge of the above detection bounding box, etc. This coordinate refers to the pixel coordinates of the positioning point in the video image; after the vision positioning device determines the pixel coordinates of the positioning points corresponding to each target, it can convert the pixel coordinates into spatial coordinates (such as the above Cartesian coordinates) according to the coordinate conversion relationship between the calibrated pixel coordinates and spatial coordinates, and obtain the vision positioning results of each target.

[0146] In addition, the vision positioning device can select one or more high-confidence targets according to the confidence of each target. Among them, the confidence of each target can be sorted from high to low, and the highest or the first few confidences corresponding to the targets can be selected as high-confidence targets; or, the targets with confidence greater than the target score can also be determined as high-confidence targets. The remaining targets can be used as low-confidence targets. For the convenience of description, mainly one high-confidence target will be used as an example for illustrative description hereinafter.

[0147] After the vision positioning device determines the high-confidence target, it can send the vision positioning result of the high-confidence target to the fusion positioning device.

[0148] S102. The wireless positioning device sends the wireless measurement information of each UE in the target area to the fusion positioning device.

[0149] The wireless positioning device can obtain the wireless measurement information of each UE in the target area from the network device or the UE as described above. Among them, the wireless measurement information can include TOA, AOA, and / or signal strength, etc. Then, the wireless positioning device can send the wireless measurement information of each UE to the fusion positioning device.

[0150] S103. The fusion positioning device determines the positioning results of the high-confidence UEs corresponding to the high-confidence target among each UE according to the visual positioning results of the high-confidence target.

[0151] After receiving the visual positioning results of the high-confidence target sent by the visual positioning device and the wireless measurement information of each UE sent by the wireless positioning device, the fusion positioning device can determine the UE corresponding to the high-confidence target (hereinafter referred to as the high-confidence UE), and then determine the positioning results of the high-confidence UE according to the visual positioning results of the high-confidence target.

[0152] As an optional implementation manner, the association mapping information can be established in advance, and the high-confidence UE corresponding to the high-confidence target can be determined according to the association mapping information.

[0153] Among them, the visual positioning device can obtain the visual features of the target corresponding to the UE. Based on this, the association mapping information can indicate the corresponding relationship between the UE and the visual features. Correspondingly, the visual positioning device can send the visual features of the high-confidence target in addition to sending the visual positioning results of the high-confidence target to the fusion positioning device; the fusion positioning device can determine the high-confidence UE corresponding to the high-confidence target according to the visual features of the high-confidence target and the association mapping information.

[0154] In a specific implementation, the UE in the association mapping information can be indicated by its identity number (identity, ID) in the wireless positioning system, that is, the association mapping information can record the corresponding relationship between the ID of the UE and the visual features. After obtaining the visual features of the high-confidence target, the fusion positioning device can search for the visual features that match the visual features of the high-confidence target in the association mapping information, and determine the ID corresponding to the matched visual features as the target ID. The UE corresponding to the target ID is the high-confidence UE.

[0155] Among them, the ID of the UE can be the international mobile equipment identity (IMEI), the international mobile subscriber identity (IMSI), or other identification codes that can identify the UE.

[0156] When performing visual feature matching, relevant feature matching methods can be adopted. For example, the matching visual features can be determined according to the similarity. The specific feature matching process is not particularly limited here.

[0157] When the visual positioning device sends the visual features of the high-confidence target, it can be sent together with the visual positioning result of the high-confidence target, or sent successively. This is not particularly limited here.

[0158] As another alternative implementation, the high-confidence UE corresponding to the high-confidence target can be determined according to the trajectory of the high-confidence target in the visual positioning system (referred to as the visual positioning trajectory here) and the trajectory of the UE in the wireless positioning system (referred to as the wireless positioning trajectory here).

[0159] Specifically, the visual positioning device can send the visual positioning trajectory of the high-confidence target within a period of time (referred to as the first time period here) to the fusion positioning device, and the wireless positioning device can send the wireless positioning trajectories of each UE within the first time period to the fusion positioning device. This trajectory contains the initial wireless positioning results obtained by the wireless positioning device performing wireless positioning based on the collected wireless measurement information.

[0160] After the fusion positioning device obtains the visual positioning trajectory of the high-confidence target and the wireless positioning trajectories of each UE, it can perform trajectory matching on the visual positioning trajectory and the wireless positioning trajectories, and determine the UE corresponding to the wireless positioning trajectory that matches the visual positioning trajectory of the high-confidence target as the high-confidence UE corresponding to the high-confidence target.

[0161] Among them, the first time period can be a recent period of time; the visual positioning device can send the visual positioning trajectory of the high-confidence target at the same time as sending the visual positioning result of the high-confidence target, or send the visual positioning result and the visual positioning trajectory of the high-confidence target successively. Similarly, the wireless positioning device can send the wireless positioning trajectories of each UE at the same time as sending the wireless measurement information of each UE, or send the wireless measurement information and the wireless positioning trajectories of each UE successively.

[0162] The trajectory matching is similar to the above-mentioned feature matching, and relevant matching algorithms can be adopted, such as the matching algorithm based on similarity, to determine the wireless positioning trajectory that matches the visual positioning trajectory of the high-confidence target. The specific trajectory matching process is not particularly limited here.

[0163] In the above two implementation methods, the method based on the associated mapping information requires less data sources and processing resources and has higher accuracy; the method based on the positioning trajectory has a wider application range and can be selected according to needs during specific implementation. Of course, other methods can also be used to determine the correspondence between the high-confidence target and the UE, and the embodiments of the present application do not make special limitations on this.

[0164] After determining the high-confidence UEs corresponding to the high-confidence targets, the positioning results of the high-confidence UEs can be determined according to the visual positioning results of the high-confidence targets.

[0165] Among them, the confidence level of the object detection result of the high-confidence target is relatively high. Correspondingly, the visual positioning result is relatively accurate. Based on this, the visual positioning result of the high-confidence target can be determined as the positioning result of the high-confidence UE.

[0166] Of course, other methods can also be used to determine the positioning results of the high-confidence UEs. In some embodiments, other parameters can be combined, for example, the historical positioning results of the high-confidence targets or high-confidence UEs, to determine the current positioning results of the high-confidence UEs. Exemplarily, the positioning result at the current moment can be predicted according to the historical positioning results of the high-confidence UEs, and then the average value of the predicted positioning result and the visual positioning result can be used as the current positioning result of the high-confidence UE.

[0167] It can be understood that when the visual positioning device sends the visual positioning result and the wireless positioning device sends the wireless measurement information, timestamp information can be carried to indicate the positioning time; the fusion positioning device can determine the visual positioning data (i.e., the data sent by the visual positioning device) and the wireless positioning data (i.e., the data sent by the wireless positioning device) belonging to the same positioning period (or positioning cycle) according to the timestamp, and then determine the positioning result of the UE during this positioning period accordingly. When the positioning frequency is not high, the fusion positioning device can also determine the positioning periods corresponding to each positioning cycle according to the positioning frequency, and the visual positioning data and the wireless positioning data received during the same positioning period are the visual positioning data and the wireless positioning data belonging to the same positioning period.

[0168] S104. The fusion positioning device estimates the wireless measurement error according to the positioning result of the high-confidence UE and the wireless measurement information.

[0169] After the fusion positioning device determines the positioning result of the high-confidence UE, it can use the positioning result of the high-confidence UE and the wireless measurement information to estimate the wireless measurement error in the wireless positioning system.

[0170] Exemplarily, as Figure 5 shown, in the wireless positioning system, the network devices include AP1, AP2, and AP3, and the user devices include UEa and UEb. Among them, UEa is the high-confidence UE corresponding to the high-confidence target, and its positioning result, that is, the position coordinate w a = [x a , y a; UEb is a UE with low confidence, that is, a low-confidence UE. It can be understood that both high-confidence UEs and low-confidence UEs can include one or more. For the sake of convenience of description, one is taken as an example for illustrative description here.

[0171] Based on the coordinates w of UEa a and the coordinates w1 of AP1, the air interface distance STOA from UEa to AP1 can be calculated 1a (w a , w1). Using the same method, the air interface distance STOA from UEa to AP2 can be calculated 2a (w a , w2) and the air interface distance STOA from UEa to AP3 3a (w a , w3). In addition, the measurement distance between UEa and AP1 can be calculated through the wireless measurement information that is, the TOA measured between UEa and AP1. Similarly, the measurement distance between UEa and AP2 can be calculated The measurement distance between UEa and AP3 Since there are transmission delays on the sending side and the receiving side in wireless transmission, there is an error between the measurement distance and the air interface distance. Corresponding to the aforementioned wireless measurement information, the measurement distance actually also consists of three parts. See formula (2) for details:

[0172]

[0173] Among them, STAE a represents the distance measurement error corresponding to the arrival time error on the UE side, and STAE n represents the distance measurement error corresponding to the arrival time error on the AP n side, and n = {1, 2, 3}.

[0174] To eliminate the above distance measurement error, the measurement distances in the above formula (2) can be subtracted pairwise. For example, subtract from Subtract from The following formula (3) can be obtained:

[0175]

[0176] As shown in the above formula (3), there is no longer a distance measurement error on the UE side in the formula. Since and STOA na (w a , w nThey are all known quantities. Therefore, the values of STAE2 - STAE1 and STAE3 - STAE1 can be obtained respectively. These two values represent the difference in distance measurement errors between AP2 and AP1, and the difference in distance measurement errors between AP3 and AP1 respectively. This value can indicate the difference in arrival time errors between AP2 and AP1 and the difference in arrival time errors between AP3 and AP1. Subsequently, the difference in distance measurement errors between the above-mentioned APs can be used to correct the wireless measurement information of the low-confidence UE.

[0177] Similarly, for AOA, due to problems such as phase deviation and synchronization between antennas, errors may also occur, which can be expressed by the following formula:

[0178]

[0179] Where represents the measured arrival angle of UEa relative to AP1, and θ 1a (w a , w1) represents the arrival angle calculated through the positions of UEa and AP1, and ε1 represents the arrival angle measurement error on the AP1 side.

[0180] According to the above formula (4), the arrival angle measurement error ε1 on the AP1 side can be calculated. Similarly, the arrival angle measurement error ε2 on the AP2 side and the arrival angle measurement error ε3 on the AP3 side can be calculated.

[0181] In summary, according to the positioning results and wireless measurement information of high-confidence UEs, combined with the position coordinates of multiple network devices, the wireless measurement errors in the wireless positioning system can be calculated. The wireless measurement errors can include the difference in distance measurement errors corresponding to the arrival time errors between network devices, and / or the arrival angle measurement errors of network devices.

[0182] It can be understood that errors corresponding to other wireless measurement information (such as signal strength) can also be calculated using a similar principle. For the sake of convenience of description, in the embodiments of this application, TOA and AOA are mainly used as examples for illustrative description.

[0183] S105. The fusion positioning device sends the wireless measurement error to the wireless positioning device.

[0184] After determining the wireless measurement error, the fusion positioning device can send it to the wireless positioning device for the wireless positioning device to correct the wireless measurement information.

[0185] S106. The wireless positioning device corrects the wireless measurement information of the low-confidence UE according to the wireless measurement error.

[0186] After receiving the wireless measurement error sent by the fusion positioning device, the wireless positioning device can correct the wireless measurement information of UEs other than the high-confidence UEs (i.e., low-confidence UEs).

[0187] Continuing with the above Figure 5 as an example, the wireless measurement errors estimated by the fusion positioning device include the distance measurement errors STAE2 - STAE1 and STAE3 - STAE1 between network devices, and the distance measurement error of the low-confidence UE (i.e., UEb) can be eliminated by this value. Specifically, referring to the above formula (3), the relationship between the radio interface distance measurement difference, the measurement distance difference, and the distance measurement error difference between network devices corresponding to UEb can be determined:

[0188]

[0189] In the above formula (5), STAE2 - STAE1 and STAE3 - STAE1 are known quantities, is the measured distance corresponding to the time of arrival from UEb to AP n Thus, through the above formula (5) and these known quantities, STOA 2b (w b , w2) - STOA 1b (w b , w1) and STOA 3b (w b , w3) - STOA 1b (w b , w1) can be calculated. These two values respectively represent the difference between the radio interface distance from UEb to AP2 and the radio interface distance from UEb to AP1, and the difference between the radio interface distance from UEb to AP3 and the radio interface distance from UEb to AP1. These two values do not include the distance measurement errors on the UE side and the AP side. Therefore, the position of UEb solved based on these two values will be more accurate.

[0190] Similarly, for AOA, the arrival angle measurement information of UEb to each AP can be corrected by the arrival angle measurement errors ε1, ε2, and ε3 on the AP side. Specifically:

[0191]

[0192] where θ nb represents the corrected arrival angle of UEb relative to AP n , represents the measured arrival angle of UEb relative to AP n .

[0193] In summary, after receiving the wireless measurement error, the wireless positioning device can correct the measured distance and / or angle of arrival corresponding to the arrival time of the low-confidence UE. It can be understood that a similar principle can also be used to correct other wireless measurement information (such as signal strength).

[0194] In addition, it can be understood that the naming of some terms in the embodiments of this application is only an example. In some embodiments, other names can also be used. For example, the high-confidence UE can also be referred to as the first UE, and the low-confidence UE can be referred to as the second UE.

[0195] S107. The wireless positioning device determines the positioning result of the low-confidence UE according to the corrected wireless measurement information of the low-confidence UE.

[0196] After correcting the wireless measurement information of the low-confidence UE, the wireless positioning device can perform wireless positioning on the low-confidence UE according to the corrected wireless measurement information to determine the positioning result of the low-confidence UE.

[0197] Specifically, a wireless positioning method based on TOA and / or AOA, or a wireless positioning method based on signal strength, etc. can be used for wireless positioning. Correspondingly, relevant positioning algorithms can be used to determine the positioning result of the low-confidence UE.

[0198] Continuing with TOA and AOA as examples, for the wireless positioning method based on TOA, the difference in the radio interface distances between the low-confidence UE and different APs can be determined through the wireless measurement information of at least 3 APs, and the hyperbola intersection positioning method can be used to determine the positioning result of the low-confidence UE. For example, in the scenario shown above Figure 5 the values of STOA 2b (w b ,w2)-STOA 1b (w b ,w1) and STOA 3b (w b ,w3)-STOA 1b (w b ,w1) can be used to determine the positioning result of UEb by using the hyperbola intersection positioning method.

[0199] For the wireless positioning method based on AOA, the AOA of the corrected low-confidence UE relative to the AP can be determined through the wireless measurement information of at least two APs, and the double-ray intersection method can be used to determine the positioning result of the low-confidence UE. For example, in the scenario shown above Figure 5 the corrected θ 1b , θ 2b and θ 3bFor two of these values, the double-ray intersection method is used to determine the positioning result of UEb.

[0200] For the wireless positioning method based on TOA and AOA, through the wireless measurement information of at least one AP, a similar formula transformation method as above can be used to eliminate the distance measurement error on the AP side, obtain the relationship between the air interface distance and the distance measurement error between the low-confidence UE and the high-confidence UE, and the AOA of the corrected low-confidence UE relative to the AP can be determined. Then, methods such as the line-circle intersection method, the least squares method, or the optimization algorithm can be used to determine the positioning result of the low-confidence UE. Other wireless positioning methods are similar. The specific method of wireless positioning based on the corrected wireless measurement information can refer to relevant wireless positioning algorithms and will not be elaborated here.

[0201] It can be understood that when there are multiple high-confidence UEs, the wireless positioning error or the positioning result of the low-confidence UE can be determined by methods such as the average value method according to the positioning results of the multiple high-confidence UEs. For example, first determine the wireless positioning error corresponding to each high-confidence UE, then calculate the average value of the wireless positioning errors, and then perform measurement correction and positioning on the low-confidence UE according to the error average value; or, first determine the wireless positioning error based on the positioning results of each high-confidence UE, and then determine the positioning result of the low-confidence UE, and then average the various positioning results of the determined low-confidence UE to obtain the final positioning result of the low-confidence UE. Of course, other methods can also be used to determine the positioning result of the low-confidence UE, and the embodiments of the present application do not make special limitations on this.

[0202] S108. The wireless positioning device sends the positioning result of the low-confidence UE to the fusion positioning device.

[0203] After the wireless positioning device determines the positioning result of the low-confidence UE, it can send it to the fusion positioning device. It can be understood that in some embodiments, the wireless positioning device may also not send the positioning result of the low-confidence UE to the fusion positioning device.

[0204] In some embodiments, the visual positioning result of the low-confidence target can be corrected through the following steps.

[0205] S109. The fusion positioning device determines the correspondence between the low-confidence target and the low-confidence UE in the target area.

[0206] After receiving the positioning result of the low-confidence UE sent by the wireless positioning device, the fusion positioning device can determine the correspondence between the low-confidence UE and the low-confidence target.

[0207] Similar to the high-confidence UEs corresponding to the determined high-confidence targets, as an alternative implementation, the correspondence between the low-confidence UEs and the low-confidence targets can be determined based on the association mapping information.

[0208] Among them, the specific implementation of the association mapping information can refer to the relevant description in the previous step S103 and will not be elaborated here. The vision positioning device can send the visual features of the low-confidence targets in the target area to the fusion positioning device. After the fusion positioning device obtains the visual features of the low-confidence targets, for each low-confidence target, it can search in the association mapping information for the visual features that match the visual features of the low-confidence target, and the UE corresponding to the matched visual features is the low-confidence UE corresponding to the low-confidence target. Alternatively, for each low-confidence UE, it can search in the association mapping information for the visual features corresponding to the low-confidence UE, and the low-confidence target whose visual features match the visual features corresponding to the low-confidence UE is the low-confidence target corresponding to the low-confidence UE. Or, it can also match the ID of the low-confidence UE and the visual features of the low-confidence target in the association mapping information, and determine the low-confidence UE and the low-confidence target with the same matched correspondence as the corresponding low-confidence UE and low-confidence target.

[0209] Among them, when the vision positioning device sends the visual features of the low-confidence targets, it can send them together with the visual features of the high-confidence targets or send them successively, and no special limitation is made here.

[0210] As another alternative implementation, the correspondence between the low-confidence UEs and the low-confidence targets can be determined according to the visual positioning trajectory of the low-confidence targets and the wireless positioning trajectory of the low-confidence UEs.

[0211] Similar to step S103, the vision positioning device can send the visual positioning trajectory of the low-confidence targets within a period of time (referred to as the second period here) to the fusion positioning device, and the wireless positioning device can send the wireless positioning trajectory of the low-confidence UEs within the second period to the fusion positioning device. This trajectory contains the wireless positioning results obtained by the wireless positioning device for wireless positioning based on the collected wireless measurement information and / or the corrected wireless measurement information.

[0212] After the fusion positioning device obtains the visual positioning trajectory of the low-confidence targets and the wireless positioning trajectory of the low-confidence UEs, it can perform trajectory matching on the visual positioning trajectory and the wireless positioning trajectory. For each low-confidence UE, it determines the low-confidence target corresponding to the visual positioning trajectory that matches the wireless positioning trajectory of the low-confidence UE as the low-confidence target corresponding to the low-confidence UE.

[0213] Among them, the second time period may be the same as or different from the first time period. The process of the visual positioning device sending the visual positioning trajectory of the low-confidence target and the process of sending the visual positioning trajectory of the high-confidence target may be executed sequentially or synchronously; the wireless positioning device may send the wireless positioning trajectory of the low-confidence UE after determining the positioning result of the low-confidence UE, or the wireless positioning device may no longer send the wireless positioning trajectory of the low-confidence UE. The fusion positioning device may directly use the wireless positioning trajectories of each UE sent by the wireless positioning device when determining the high-confidence UE.

[0214] It can be understood that when the fusion positioning device determines the correspondence between the low-confidence UE and the low-confidence target, it can be performed after determining the positioning result of the low-confidence UE, or it can be performed before determining the positioning result of the low-confidence UE. In some embodiments, the fusion positioning device may synchronously determine the correspondence between the low-confidence UE and the low-confidence target during the process of determining the high-confidence UE.

[0215] S110. The fusion positioning device sends the positioning result of the low-confidence UE corresponding to the low-confidence target to the visual positioning device.

[0216] After the fusion positioning device determines the correspondence between the low-confidence UE and the low-confidence target, it may send the positioning results of the low-confidence UEs corresponding to each low-confidence target to the visual positioning device according to this correspondence.

[0217] S111. The visual positioning device corrects the visual positioning result of the corresponding low-confidence target according to the positioning result of the low-confidence UE.

[0218] After receiving the positioning result of the low-confidence UE corresponding to the low-confidence target, the visual positioning device can use the positioning result of the low-confidence UE to correct the visual positioning result of the corresponding low-confidence target.

[0219] Specifically, the visual positioning result of the low-confidence target can be directly replaced with the positioning result of the corresponding low-confidence UE, or in a manner similar to that of determining the positioning result of the high-confidence UE described above, the current visual positioning result of the low-confidence target can be corrected by combining the historical positioning results of the low-confidence target.

[0220] The visual positioning device corrects the visual positioning result of the low-confidence target through the positioning result of the low-confidence UE, which can well solve some positioning and tracking problems of the low-confidence target. For example, for a target blocked in the video (i.e., the low-confidence target), after correction, a more accurate position of it can be obtained, so that the multi-target tracking process of vision can be realized.

[0221] The above positioning process, by combining the advantages of the two positioning technologies, can achieve high-precision positioning results in the target area. For wireless positioning, the positioning accuracy can be improved from meter level to sub-meter level. For visual positioning, positioning and tracking from single target to multiple targets can be achieved.

[0222] The above positioning process can be performed once every period of time. When the positioning interval is long, the wireless positioning device can also correct the wireless measurement information subsequently obtained within the positioning interval according to the wireless measurement error, and then determine the wireless positioning result of each UE based on the corrected wireless measurement information. In addition, the visual positioning result of the low-confidence target can also be used as a new high-confidence target after correction, and used in the correction process of the wireless measurement information of the next positioning period.

[0223] It is understandable that, among the above steps, there is no strict timing execution relationship between step S101 and step S102, and the two can be executed successively or simultaneously; in some embodiments, steps S109 to S111 may not be executed.

[0224] In addition, some of the above steps may also be performed on different positioning devices. Two other possible implementations are exemplarily described below.

[0225] like Figure 6 As shown, the visual positioning device sends the visual positioning result of the high-confidence target in the target area to the fusion positioning device (step S201), and the wireless positioning device sends the wireless measurement information of each UE in the target area to the fusion positioning device (step S202). After the fusion positioning device receives the visual positioning result of the high-confidence target and the wireless measurement information of each UE, it determines the positioning result of the high-confidence UE corresponding to the high-confidence target in each UE according to the visual positioning result of the high-confidence target (step S203), and then estimates the wireless measurement error according to the positioning result and wireless measurement information of the high-confidence UE (step S204).

[0226] Different from the above Figure 4 In the illustrated embodiment, in this embodiment, after estimating the wireless measurement error, the fusion positioning device can correct the wireless measurement information of the low-confidence UE according to the wireless measurement error (step S205).

[0227] In some implementations, the fusion positioning device can send the corrected wireless measurement information of the low-confidence UE to the wireless positioning device (step S2061a); after the wireless positioning device receives the corrected wireless measurement information of the low-confidence UE, it determines the positioning result of the low-confidence UE based on the corrected wireless measurement information of the low-confidence UE (step S2061b), and then can send the positioning result of the low-confidence UE to the wireless positioning device (step S2061c).

[0228] In some implementations, the integrated positioning device may directly determine the positioning result of the low-confidence UE based on the corrected radio measurement information of the low-confidence UE (step S2062).

[0229] Similar to Figure 4 In the illustrated embodiment, after the integrated positioning device obtains the positioning result of the low-confidence UE, it may determine the correspondence between the low-confidence target and the low-confidence UE in the target area (step S207), and then may send the positioning result of the low-confidence UE corresponding to the low-confidence target to the visual positioning device (step S208). After receiving the positioning result of the low-confidence UE corresponding to the low-confidence target, the visual positioning device may correct the visual positioning result of the corresponding low-confidence target according to the positioning result of the low-confidence UE (step S209).

[0230] For the specific implementation process of the above steps, reference may be made to the description of step S102 in the above Figure 1 illustrated embodiment, which will not be elaborated herein.

[0231] As mentioned above, the functions of the integrated positioning device may also be fully or partially integrated in the visual positioning device or the radio positioning device, that is, in the various implementation manners shown above Figure 4 and Figure 6 the processes performed by the integrated positioning device may also be fully or partially performed by the visual positioning device or the radio positioning device, which may be specifically selected according to the performance of the visual positioning device and the radio positioning device. The embodiments of the present application do not make special limitations thereto.

[0232] The positioning method provided by the embodiments of the present application combines the visual positioning technology and the radio positioning technology, uses the positioning result of the high-confidence target in the visual positioning system to determine the positioning result of the first UE corresponding to the high-confidence target in the radio positioning system, corrects the radio measurement information of other UEs in the radio positioning system, and then performs radio positioning based on the corrected result, which can improve the radio positioning accuracy and better meet the user requirements.

[0233] Based on the same concept, as an implementation of the above method, the embodiments of the present application provide a positioning device. The device embodiments correspond to the foregoing method embodiments. For the convenience of reading, the device embodiments will not elaborate on the details in the foregoing method embodiments one by one, but it should be clear that the device in this embodiment can correspondingly implement all the contents in the foregoing method embodiments.

[0234] Figure 7 is a schematic structural diagram of the positioning device provided by the embodiments of the present application. As Figure 7 shown, the device provided in this embodiment includes: a transceiver module 110 and a processing module 120.

[0235] In a possible implementation, the positioning device is used to execute each process and step corresponding to the integrated positioning device in the above method embodiments.

[0236] Among them, the transceiver module 110 is used to support the integrated positioning device to execute operations related to the communication process with other positioning devices in the above embodiments and / or other processes of the technologies described herein.

[0237] The processing module 120 is used to support the integrated positioning device to execute the processing operations in each method step in the above embodiments and / or other processes of the technologies described herein.

[0238] In another possible implementation, the positioning device is used to execute each process and step corresponding to the wireless positioning device in the above method embodiments.

[0239] Among them, the transceiver module 110 is used to support the wireless positioning device to execute operations related to the communication process with other positioning devices in the above embodiments and / or other processes of the technologies described herein.

[0240] The processing module 120 is used to support the wireless positioning device to execute the processing operations in each method step in the above embodiments and / or other processes of the technologies described herein.

[0241] In yet another possible implementation, the positioning device is used to execute each process and step corresponding to the vision positioning device in the above method embodiments.

[0242] Among them, the transceiver module 110 is used to support the vision positioning device to execute operations related to the communication process with other positioning devices in the above embodiments and / or other processes of the technologies described herein.

[0243] The processing module 120 is used to support the vision positioning device to execute the processing operations in each method step in the above embodiments and / or other processes of the technologies described herein.

[0244] The device provided in this embodiment can execute the above method embodiments, and its implementation principle and technical effects are similar, which will not be elaborated here.

[0245] Those skilled in the art can clearly understand that, for the convenience and conciseness of description, only the above division of each functional unit and module is used as an example. In actual applications, the above functions can be allocated to different functional units and modules according to needs, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment can be integrated into a processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit. In addition, the specific names of each functional unit and module are only for the convenience of mutual distinction and do not limit the protection scope of this application. The specific working processes of the units and modules in the above device can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated herein.

[0246] The embodiment of this application also provides a positioning device. Figure 8 FIG. is a schematic structural diagram of the positioning device provided by the embodiment of this application. Optionally, for the convenience of description, Figure 8 only the main components of the positioning device are shown. As Figure 8 shown, the positioning device provided in this embodiment includes: a processor 210, a memory 220, and a transceiver 230. The processor 210, the memory 220, and the transceiver 230 communicate with each other through an internal connection path.

[0247] Among them, the positioning device can specifically be the integrated positioning device, wireless positioning device, or visual positioning device in the above embodiment.

[0248] In a possible implementation manner, the positioning device is used to execute each process and step corresponding to the integrated positioning device in the above method.

[0249] In another possible implementation manner, the positioning device is used to execute each process and step corresponding to the wireless positioning device in the above method.

[0250] In still another possible implementation manner, the positioning device is used to execute each process and step corresponding to the visual positioning device in the above method.

[0251] Specifically, the processor 210 can be used to execute the instructions stored in the memory 220, and when the processor 210 executes the instructions stored in the memory 220, the processor 210 is used to execute each step and / or process of the foregoing method embodiments corresponding to the integrated positioning device, wireless positioning device, or visual positioning device.

[0252] The memory 220 can be used to store instructions, software programs, and data, such as various data like the visual positioning results, wireless measurement information, and association mapping information described in the above method embodiments.

[0253] The transceiver 230 can include a transmitter and a receiver. The transmitter can be used to implement each step and / or process corresponding to the transceiver 230 for performing a transmission action, and the receiver can be used to implement each step and / or process corresponding to the transceiver 230 for performing a reception action.

[0254] Those skilled in the art can understand that, for the sake of convenience of description, Figure 8 only one memory 220 and one processor 210 are shown. In an actual positioning device, there may be multiple processors 210 and multiple memories 220. The memory 220 can also be referred to as a storage medium or a storage device, etc., and the embodiments of the present application do not limit this.

[0255] For example, the processor 210 can include a baseband processor and a central processor. The baseband processor is mainly used to process communication protocols and communication data, and the central processor is mainly used to control the entire positioning device, execute software programs, and process the data of software programs. Figure 8 The processor 210 in [the relevant context] integrates the functions of the baseband processor and the central processor. Those skilled in the art can understand that the baseband processor and the central processor can also be independent processors interconnected through technologies such as a bus. Those skilled in the art can understand that the positioning device can include multiple baseband processors to adapt to different network modes, the positioning device can include multiple central processors to enhance its processing ability, and various components of the positioning device can be connected through various buses. The baseband processor can also be expressed as a baseband processing circuit or a baseband processing chip. The central processor can also be expressed as a central processing circuit or a central processing chip. The function of processing communication protocols and communication data can be built into the processor 210 or stored in a storage unit in the form of a software program, and the processor 210 executes the software program to implement the baseband processing function.

[0256] It should be understood that in the embodiments of the present application, the processor 210 may be a central processing unit (CPU), and the processor 210 may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0257] It should also be understood that the memory 220 in the embodiments of the present application may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable ROM (PROM), an EPROM, an electrically erasable programmable ROM (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example but not limitation, many forms of RAM are available, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchlink DRAM (SLDRAM), and direct rambus RAM (DR RAM).

[0258] The positioning device provided in this embodiment can execute the respective steps and / or processes corresponding to the integrated positioning device, wireless positioning device, or vision positioning device in the above method embodiment. The implementation principle and technical effects are similar and will not be elaborated here.

[0259] The embodiments of the present application also provide a positioning system, including the aforementioned integrated positioning device, wireless positioning device, and vision positioning device.

[0260] An embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the method described in the above method embodiment is implemented.

[0261] An embodiment of the present application also provides a computer program product. When the computer program product runs on a positioning device, the positioning device is caused to execute the method described in the above method embodiment.

[0262] An embodiment of the present application also provides a chip system, including a processor. The processor is coupled to a memory, and the processor executes a computer program stored in the memory to implement the method described in the above method embodiment. Wherein, the chip system may be a single chip or a chip module composed of multiple chips.

[0263] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions described in the embodiments of the present application are generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions may be stored in a computer-readable storage medium or transmitted through the computer-readable storage medium. The computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center in a wired manner (such as coaxial cable, optical fiber, digital subscriber line) or a wireless manner (such as infrared, wireless, microwave, etc.). The computer-readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server or data center that includes one or more integrated available media. The available medium may be a magnetic medium (such as a floppy disk, hard disk, or magnetic tape), an optical medium (such as a DVD), or a semiconductor medium (such as a solid state disk (SSD)), etc.

[0264] Those of ordinary skill in the art can understand all or part of the processes in the methods of the above embodiments. These processes can be completed by relevant hardware instructed by a computer program. The program can be stored in a computer-readable storage medium. When the program is executed, it may include the processes of the above method embodiments. The foregoing storage medium may include: ROM or random access memory RAM, magnetic disk, or optical disk, etc., which can store program codes of various kinds.

[0265] The naming or numbering of steps appearing in this application does not mean that the steps in the method flow must be executed in the chronological / logical order indicated by the naming or numbering. The named or numbered process steps can be changed in the order of execution according to the technical purpose to be achieved, as long as the same or similar technical effects can be achieved.

[0266] In the above embodiments, the descriptions of the respective embodiments each have their own emphasis. For parts not detailed or recorded in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0267] In the embodiments provided in this application, it should be understood that the disclosed devices / apparatuses and methods can be implemented in other ways. For example, the device / apparatus embodiments described above are merely illustrative. For example, the division of the modules or units is only a logical function division, and there can be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection to each other can be through some interfaces, and the indirect coupling or communication connection of the devices or units can be in electrical, mechanical or other forms.

[0268] It should be understood that in the description of this application specification and the appended claims, the terms "include", "comprise", "have" and any variations thereof are intended to cover non-exclusive inclusion, all meaning "including but not limited to", unless otherwise specifically emphasized in other ways. For example, a process, method, system, product or device that includes a series of steps or modules does not have to be limited to those steps or modules clearly listed, but may include other steps or modules not clearly listed or inherent to these processes, methods, products or devices.

[0269] In the description of this application, unless otherwise specified, " / " means that the objects associated before and after are in an "or" relationship. For example, A / B can represent A or B; the "and / or" in this application is used to describe the association relationship of the associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. Among them, A and B can be singular or plural.

[0270] Moreover, in the description of this application, unless otherwise specified, "a plurality of" means two or more than two. "At least one of the following" or its similar expressions refer to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b, or c can represent: a, b, c, a - b, a - c, b - c, or a - b - c, where a, b, c can be single or multiple.

[0271] As used in the specification of this application and the appended claims, the term "if" may be construed, depending on the context, as "when", "once", "in response to determining", or "in response to detecting". Similarly, the phrases "if determined" or "if [described condition or event] is detected" may be construed, depending on the context, to mean "once determined", "in response to determining", "once [described condition or event] is detected", or "in response to detecting [described condition or event]".

[0272] In addition, in the description of the specification of this application and the appended claims, the terms "first", "second", etc. are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence, nor can they be construed as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. It should be understood that such data may be interchanged under appropriate circumstances so that the embodiments described herein can be implemented in an order other than that shown or described herein; the features defined with "first" and "second" may explicitly or implicitly include at least one of such features.

[0273] In the embodiments of this application, words such as "exemplarily" or "for example" are used to represent examples, illustrations, or explanations. Any embodiment or design described as "exemplarily" or "for example" in the embodiments of this application should not be construed as being more preferred or having more advantages than other embodiments or designs. Rather, the use of words such as "exemplarily" or "for example" is intended to present the relevant concepts in a specific manner.

[0274] The reference to "one embodiment" or "some embodiments" etc. described in the specification of this application means that a specific feature, structure, or characteristic described in connection with that embodiment is included in one or more embodiments of this application. Thus, statements such as "in one embodiment", "in some embodiments", "in other some embodiments", "in still other embodiments", etc. that appear in different places in this specification do not necessarily all refer to the same embodiment, but rather mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of this application and are not intended to limit them; although this application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A positioning method, characterized in that, Applied to a fusion positioning device, the method includes: Obtain the visual positioning results of high-confidence targets and the radio measurement information of each UE in the target area; Determine the positioning result of the first UE corresponding to the high-confidence target among each of the UEs according to the visual positioning result of the high-confidence target; Correct the radio measurement information of the second UE according to the positioning result of the first UE and the radio measurement information of the first UE, and determine the positioning result of the second UE according to the corrected radio measurement information of the second UE; the second UE is the UE other than the first UE among each of the UEs.

2. The method according to claim 1, characterized in that The determining the positioning result of the first UE corresponding to the high-confidence target among each of the UEs according to the positioning result of the high-confidence target includes: Obtain the visual features of the high-confidence target; Determine the first UE corresponding to the high-confidence target according to the visual features of the high-confidence target and the association mapping information; the association mapping information indicates the correspondence between the UE and the visual features; Determine the positioning result of the corresponding first UE according to the positioning result of the high-confidence target.

3. The method according to claim 1, wherein The determining the positioning result of the first UE corresponding to the high-confidence target among each of the UEs according to the positioning result of the high-confidence target includes: Obtain the visual positioning trajectory of the high-confidence target and the radio positioning trajectories of each of the UEs within a first time period; Determine the UE corresponding to the radio positioning trajectory that matches the visual positioning trajectory of the high-confidence target as the first UE corresponding to the high-confidence target; Determine the positioning result of the corresponding first UE according to the positioning result of the high-confidence target.

4. The method according to any one of claims 1 to 3, characterized in that The method further includes: Determine the correspondence between the low-confidence targets in the target area and the second UE; Correct the visual positioning results of the corresponding low-confidence targets according to the positioning result of the second UE.

5. The method according to claim 4, characterized in that, The determining the correspondence between the low-confidence targets in the target area and the second UE includes: Obtain the visual features of the low-confidence targets in the target area; Determine the correspondence between the low-confidence targets and the second UE according to the visual features of the low-confidence targets and the association mapping information; the association mapping information indicates the correspondence between the UE and the features.

6. The method according to claim 4, wherein The determining the correspondence between the low-confidence targets in the target area and the second UE includes: Obtain the visual positioning trajectory of the low-confidence target and the radio positioning trajectory of the second UE within a second time period; Determine the correspondence between the low-confidence target and the second UE according to the visual positioning trajectory of the low-confidence target and the radio positioning trajectory of the second UE, where the trajectories of the corresponding low-confidence target and the second UE match.

7. The method according to any one of claims 4-6, characterized in that The visual positioning result of the high-confidence target is received from a visual positioning device; after the fusion positioning device determines the low-confidence target corresponding to the second UE, it sends the positioning result of the second UE corresponding to the low-confidence target to the visual positioning device, and corrects the visual positioning result of the low-confidence target through the visual positioning device.

8. The method according to any one of claims 1 to 7, characterized in that, The positioning result of the first UE is the positioning result of the corresponding high-confidence target.

9. The method according to claim 1, wherein The method for correcting the wireless measurement information of the second UE according to the positioning result of the first UE and the wireless measurement information of the first UE includes: Determining a wireless measurement error corresponding to the wireless measurement information according to the positioning result of the first UE and the wireless measurement information of the first UE; Correcting the wireless measurement information of the second UE according to the wireless measurement error.

10. The method according to claim 9, characterized in that, The wireless measurement information of each UE is received from a wireless positioning device; after the fusion positioning device determines the wireless measurement error, it sends the wireless measurement error to the wireless positioning device, and after the wireless positioning device corrects the wireless measurement information of the second UE according to the wireless measurement error, it receives the corrected wireless measurement information of the second UE sent by the wireless positioning device.

11. The method according to claim 9, characterized in that, The wireless measurement information of each UE is received from a wireless positioning device; after the fusion positioning device determines the wireless measurement error, it sends the wireless measurement error to the wireless positioning device, and after the wireless positioning device corrects the wireless measurement information of the second UE according to the wireless measurement error and determines the positioning result of the second UE according to the corrected wireless measurement information of the second UE, it receives the positioning result of the second UE sent by the wireless positioning device.

12. The method according to any one of claims 9-11, characterized in that, The wireless measurement error is used to indicate: the difference between the time-of-arrival measurement errors between network devices, and / or, the angle-of-arrival measurement error of a network device.

13. The method according to any one of claims 1 to 12, characterized in that, The high-confidence target includes multiple targets.

14. A positioning method, characterized in that, When applied to a wireless positioning device, the method includes: Sending the wireless measurement information of each UE in the target area to a fusion positioning device; Receiving the wireless measurement error sent by the fusion positioning device, where the wireless measurement error is determined by the fusion positioning device based on the visual positioning result of the high-confidence target in the target area and the wireless measurement information of the first UE corresponding to the high-confidence target among each UE; Correcting the wireless measurement information of the second UE according to the wireless measurement error, where the second UE is the UE other than the first UE among each UE; Determining the positioning result of the second UE according to the corrected wireless measurement information of the second UE.

15. The method according to claim 14, characterized in that After the wireless positioning device corrects the wireless measurement information of the second UE, it sends the corrected wireless measurement information of the second UE to the fusion positioning device, and the fusion positioning device determines the positioning result of the second UE according to the corrected wireless measurement information of the second UE.

16. A positioning method, characterized in that, When applied to a wireless positioning device, the method includes: Sending the wireless measurement information of each UE in the target area to a fusion positioning device; Receive the corrected radio measurement information of the second UE sent by the fusion positioning device, where the corrected radio measurement information of the second UE is obtained by the fusion positioning device based on the positioning result of the high-confidence target sent by the vision positioning device and the radio measurement information of the first UE corresponding to the high-confidence target among each of the UEs, and correcting the radio measurement information of the second UE; the second UE is the UE other than the first UE among each of the UEs; Determine the positioning result of the second UE according to the corrected radio measurement information of the second UE.

17. A positioning method, characterized in that, Applied to a vision positioning device, the method includes: Send the vision positioning result of the high-confidence target in the target area to the fusion positioning device; Receive the positioning result of the second UE corresponding to the low-confidence target in the target area sent by the fusion positioning device; the positioning result of the second UE is determined by the fusion positioning device based on the positioning result of the high-confidence target and the radio measurement information of the first UE corresponding to the high-confidence target among each of the UEs, correcting the radio measurement information of the second UE, and then determining according to the corrected radio measurement information of the second UE; the second UE is the UE other than the first UE among each of the UEs; Correct the vision positioning result of the low-confidence target according to the positioning result of the second UE corresponding to the low-confidence target.

18. A positioning device, characterized in that, Includes: A memory and a processor, the memory is used to store a computer program; the processor is used to execute the method according to any one of claims 1-17 when calling the computer program.

19. A positioning system, characterized in that, Includes: A fusion positioning device, a wireless positioning device, and a vision positioning device, the fusion positioning device is used to execute the method according to any one of claims 1-13, the wireless positioning device is used to execute the method according to any one of claims 14-16, and the vision positioning device is used to execute the method according to claim 17.

20. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, the method according to any one of claims 1-17 is implemented.

21. A computer program product, characterized in that, When the computer program product runs on an electronic device, the electronic device is caused to execute the method according to any one of claims 1-17.

22. A chip system, characterized in that, The chip system includes a processor, the processor is coupled to the memory, and the processor executes the computer program stored in the memory to implement the method according to any one of claims 1-17.

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