A positioning state determination method and apparatus, a positioning device, and an electronic device

Abstract

This application provides a positioning state determination method, apparatus, positioning device, and electronic device, relating to the field of positioning technology. The method includes: acquiring the original positioning state output by an RTK sensor at each positioning time in the device to be positioned; based on the acquired original positioning state, determining a time period within a transition region from a second region to the first region, from a time period within a first region; and determining the target positioning state within this time period as a first transition state; and / or, determining the time period within the transition region from the first region to the second region, and determining the target positioning state within this time period as a second transition state; wherein the positioning accuracy represented by the transition state is less than the positioning accuracy represented by the original positioning state when in the first region, and greater than the positioning accuracy represented by the original positioning state when in the second region. Thus, the positioning state can be accurately determined.

Description

Technical Field

[0001] This application relates to the field of positioning technology, and in particular to a method, apparatus, positioning device, and electronic device for determining positioning status. Background Technology

[0002] RTK (Real-time kinematic) technology is a commonly used positioning technique that uses RTK sensors to locate the device being positioned. RTK sensors output the device's location information (e.g., latitude, longitude, and altitude) and a positioning status that characterizes the accuracy of that location information. In open areas, RTK sensors can achieve positioning accuracy at the centimeter level. However, in real-world applications, environmental factors such as tall buildings, bridges, mountains, and trees can obstruct satellite signals, reducing positioning accuracy. Furthermore, in the presence of obstructions, the positioning status output by the RTK sensor often fails to accurately reflect the positioning accuracy. Therefore, relying solely on the positioning status to determine the accuracy of the RTK sensor's output, and using the resulting location information, yields low accuracy. Thus, accurately determining the positioning status that characterizes the positioning accuracy of the RTK sensor's output becomes a crucial problem to solve. Summary of the Invention

[0003] The purpose of this application is to provide a positioning state determination method, apparatus, positioning device, and electronic device to accurately determine the positioning state, which characterizes the positioning accuracy of the position information output by an RTK sensor. The specific technical solution is as follows:

[0004] A first aspect of this application provides a method for determining a positioning state, the method comprising:

[0005] The original positioning status output by the RTK sensor at each positioning time in the device to be positioned is obtained; wherein, the positioning status at any positioning time is used to characterize the positioning accuracy of the position information output by the RTK sensor at that positioning time.

[0006] Based on the original positioning status at each positioning time, the time period during which the device to be positioned is in the transition area from the second area to the first area is determined from the time period during which the device to be positioned is in the first area, and this time period is taken as the first transition time period; and the target positioning status at each positioning time within the first transition time period is determined as the first transition state.

[0007] And / or,

[0008] Based on the original positioning status at each positioning time, the time period during which the device to be positioned is in the transition area from the first area to the second area is determined from the time period during which the device to be positioned is in the first area, and this time period is taken as the second transition time period; and the target positioning status at each positioning time within the second transition time period is determined as the second transition state.

[0009] The positioning accuracy represented by the first transition state and the second transition state is less than the positioning accuracy represented by the original positioning state when the device to be positioned is in the first area, and is greater than the positioning accuracy represented by the original positioning state when it is in the second area.

[0010] Optionally, the original positioning state of the device to be located when it is in the first region is a floating-point solution state, and the original positioning state when it is in the second region is a pseudo-range solution state.

[0011] Based on the original positioning status at each acquired positioning time, the process of determining the time period during which the device to be positioned is in the transition area from the second area to the first area, within the time period during which the device is in the first area, is defined as the first transition time period; and the target positioning status at each positioning time within the first transition time period is defined as the first transition state, including:

[0012] If the original positioning state at the current positioning time is the floating-point solution state and satisfies the first condition, the target positioning state at the current positioning time is determined to be the first transition state; wherein, the first condition includes: the original positioning state at the previous positioning time is the pseudo-range solution state.

[0013] If the original positioning state at the current positioning time is the floating-point solution state and does not satisfy the first and second conditions, determine whether the current positioning time has reached the first termination time; wherein, the second condition includes: the speed of the device to be positioned at the current positioning time is abnormal based on the position information output by the RTK sensor, and the original positioning state at the previous positioning time is not the pseudo-range solution state; reaching the first termination time means: the latest time since the first condition was met has reached a preset time;

[0014] If the current positioning time reaches the first termination time, the target positioning state at the current positioning time is determined to be the floating-point solution state; otherwise, the target positioning state at the current positioning time is determined to be the first transition state.

[0015] And / or,

[0016] Based on the original positioning status at each acquired positioning time, the process of determining the time period during which the device to be positioned is in the transition area from the first area to the second area, within the time period during which the device is in the first area, is defined as the second transition time period; and the target positioning status at each positioning time within the second transition time period is defined as the second transition state, including:

[0017] If the original positioning state at the current positioning time is the floating-point solution state and the second condition is met, the target positioning state at the current positioning time is determined to be the second transition state; wherein, the second condition includes: the speed of the device to be positioned at the current positioning time is abnormal based on the position information output by the RTK sensor, and the original positioning state at the previous positioning time is not the pseudo-range solution state.

[0018] If the original positioning state at the current positioning time is the floating-point solution state and does not satisfy the first condition and the second condition, determine whether the current positioning time has reached the second termination time; wherein, the first condition includes: the original positioning state at the previous positioning time is the pseudo-range solution state; reaching the second termination time means: the latest time since the second condition was met has reached a preset time;

[0019] If the current positioning time reaches the second termination time, the target positioning state at the current positioning time is determined to be the floating-point solution state; otherwise, the target positioning state at the current positioning time is determined to be the second transition state.

[0020] Optionally, for any termination time, the following steps can be used to determine whether the current positioning time has reached that termination time:

[0021] Determine the latest time when the conditions indicated by the termination time are met, and calculate the duration between the determined time and the current positioning time; if the calculated duration reaches the preset duration, determine that the current positioning time has reached the termination time; if the calculated duration does not reach the preset duration, determine that the current positioning time has not reached the termination time.

[0022] or,

[0023] The system acquires the position information output by the RTK sensor when the conditions indicated by the termination time are met for the latest time, and calculates the distance between the acquired position information and the position represented by the position information output by the RTK sensor at the current positioning time. If the calculated distance reaches a preset distance, the system determines that the current positioning time has reached the termination time. If the calculated distance does not reach the preset distance, the system determines that the current positioning time has not reached the termination time.

[0024] Optionally, the method further includes:

[0025] For each positioning moment when the device to be positioned is outside the first area, the target positioning state at that positioning moment is determined as the original positioning state at that positioning moment.

[0026] Optionally, the device to be located may also include a preset sensor with a positioning method different from that of the RTK sensor, and the method further includes:

[0027] Using the positioning accuracy represented by the target positioning state at each positioning time, the position information output by the RTK sensor and the preset sensor at that positioning time is fused to obtain the positioning result of the device to be positioned at that positioning time; wherein, for any positioning time, the fusion weight of the position information output by the RTK sensor during fusion is positively correlated with the positioning accuracy represented by the target positioning state at that positioning time.

[0028] Optionally, the step of fusing the position information output by the RTK sensor and the preset sensor at each positioning time, based on the positioning accuracy characterized by the target positioning state, to obtain the positioning result of the device to be positioned at that positioning time, includes:

[0029] By using the front end of the SLAM (Simultaneous Localization and Mapping) algorithm and the positioning accuracy represented by the target positioning state at each positioning time, the position information output by the RTK sensor and the preset sensor at that positioning time is fused to obtain the front end positioning result of the device to be positioned at that positioning time.

[0030] The method further includes:

[0031] Through the backend of the SLAM algorithm, from the sub-time periods in which the target positioning state is determined to be the second transition state within the historical time period, the sub-time periods in which the target positioning state at the end time is the pseudo-range solution state are determined, and these are taken as the sub-time periods to be processed.

[0032] For each sub-time period to be processed, a specified time before the end time of the sub-time period to be processed is determined, and the start time of the sub-time period to be processed is updated to the specified time; wherein, the duration between the specified time and the end time of the sub-time period to be processed is a preset duration, or, the distance between the specified time and the position represented by the position information output by the RTK sensor at the current positioning time is a preset distance;

[0033] Update the target location status at each moment within the latest pending sub-time period to the second transition state;

[0034] Using the positioning accuracy characterized by the target positioning status at each moment within each sub-time period to be processed, the position information output by the RTK sensor and the preset sensor at each moment within the sub-time period to be processed is fused to obtain the back-end positioning result of the device to be positioned at each moment within the sub-time period to be processed.

[0035] Obtain the front-end positioning results for each moment within the historical time period, excluding the latest sub-time period to be processed, and combine them with the back-end positioning results for each moment within the latest sub-time periods to be processed to obtain the back-end positioning results for each moment within the historical time period.

[0036] Optionally, for any given positioning time, the fusion weight of the position information output by the RTK sensor during fusion is negatively correlated with the accuracy factor output by the RTK sensor at that positioning time.

[0037] Optionally, for any given positioning time, the following steps are performed: using the positioning accuracy characterized by the target positioning state at that positioning time, the position information output by the RTK sensor and the preset sensor at that positioning time is fused to obtain the positioning result of the device to be positioned at that positioning time:

[0038] Using the positioning accuracy characterized by the target positioning state at this positioning moment, the covariance matrix at this positioning moment is constructed according to a preset formula; wherein, the preset formula is as follows:

[0039]

[0040] st

[0041] cov x =cov y =(hdop*eq) 2

[0042] cov z =(vdop*eq) 2

[0043] cov represents the covariance matrix at that positioning time, hdop represents the horizontal accuracy factor output by the RTK sensor at that positioning time, vdop represents the vertical accuracy factor output by the RTK sensor at that positioning time, and eq represents the positioning error at that positioning time; the positioning error at that positioning time is negatively correlated with the positioning accuracy characterized by the target positioning state at that positioning time.

[0044] Using a preset location information fusion algorithm and combining the covariance matrix at the positioning time, the location information output by the RTK sensor and the preset sensor at the positioning time is fused to obtain the positioning result of the device to be positioned at the positioning time.

[0045] Optionally, the abnormal speed of the device to be located at the current positioning time is characterized as follows: the speed of the device to be located at the current positioning time is greater than the speed output by the speed sensor in the device to be located at the current positioning time, or the speed of the device to be located at the current positioning time is greater than the maximum driving speed supported by the device to be located.

[0046] A second aspect of this application also provides a positioning status determination device, the device comprising:

[0047] The original positioning state acquisition module is used to acquire the original positioning state output by the RTK sensor at each positioning time in the device to be positioned; wherein, the positioning state at any positioning time is used to characterize the positioning accuracy of the position information output by the RTK sensor at that positioning time.

[0048] The transition state determination module is used to determine, based on the original positioning state at each positioning time, the time period during which the device to be positioned is in the transition area from the second area to the first area within the time period when the device to be positioned is in the first area, as the first transition time period; and to determine the target positioning state at each positioning time within the first transition time period as the first transition state.

[0049] And / or,

[0050] Based on the original positioning status at each positioning time, the time period during which the device to be positioned is in the transition area from the first area to the second area is determined from the time period during which the device to be positioned is in the first area, and this time period is taken as the second transition time period; and the target positioning status at each positioning time within the second transition time period is determined as the second transition state.

[0051] The positioning accuracy represented by the first transition state and the second transition state is less than the positioning accuracy represented by the original positioning state when the device to be positioned is in the first area, and is greater than the positioning accuracy represented by the original positioning state when it is in the second area.

[0052] Optionally, the original positioning state of the device to be located when it is in the first region is a floating-point solution state, and the original positioning state when it is in the second region is a pseudo-range solution state.

[0053] The transition state determination module is specifically used to determine the target positioning state at the current positioning time as a first transition state if the original positioning state at the current positioning time is the floating-point solution state and satisfies a first condition; wherein, the first condition includes: the original positioning state at the previous positioning time is the pseudo-range solution state.

[0054] If the original positioning state at the current positioning time is the floating-point solution state and does not satisfy the first and second conditions, determine whether the current positioning time has reached the first termination time; wherein, the second condition includes: the speed of the device to be positioned at the current positioning time is abnormal based on the position information output by the RTK sensor, and the original positioning state at the previous positioning time is not the pseudo-range solution state; reaching the first termination time means: the latest time since the first condition was met has reached a preset time;

[0055] If the current positioning time reaches the first termination time, the target positioning state at the current positioning time is determined to be the floating-point solution state; otherwise, the target positioning state at the current positioning time is determined to be the first transition state.

[0056] And / or,

[0057] The transition state determination module is specifically used to determine the target positioning state at the current positioning time as the second transition state if the original positioning state at the current positioning time is the floating-point solution state and the second condition is met; wherein, the second condition includes: the speed of the device to be positioned at the current positioning time is abnormal based on the position information output by the RTK sensor, and the original positioning state at the previous positioning time is not the pseudo-range solution state.

[0058] If the original positioning state at the current positioning time is the floating-point solution state and does not satisfy the first condition and the second condition, determine whether the current positioning time has reached the second termination time; wherein, the first condition includes: the original positioning state at the previous positioning time is the pseudo-range solution state; reaching the second termination time means: the latest time since the second condition was met has reached a preset time;

[0059] If the current positioning time reaches the second termination time, the target positioning state at the current positioning time is determined to be the floating-point solution state; otherwise, the target positioning state at the current positioning time is determined to be the second transition state.

[0060] Optionally, for any termination time, the following steps can be used to determine whether the current positioning time has reached that termination time:

[0061] Determine the latest time when the conditions indicated by the termination time are met, and calculate the duration between the determined time and the current positioning time; if the calculated duration reaches the preset duration, determine that the current positioning time has reached the termination time; if the calculated duration does not reach the preset duration, determine that the current positioning time has not reached the termination time.

[0062] or,

[0063] The system acquires the position information output by the RTK sensor when the conditions indicated by the termination time are met for the latest time, and calculates the distance between the acquired position information and the position represented by the position information output by the RTK sensor at the current positioning time. If the calculated distance reaches a preset distance, the system determines that the current positioning time has reached the termination time. If the calculated distance does not reach the preset distance, the system determines that the current positioning time has not reached the termination time.

[0064] Optionally, the device further includes:

[0065] The positioning status determination module is used to determine the target positioning status at each positioning time when the device to be positioned is outside the first area as the original positioning status at that positioning time.

[0066] Optionally, the device to be located may also include a preset sensor with a positioning method different from that of the RTK sensor, and the device further includes:

[0067] The location information fusion module is used to fuse the location information output by the RTK sensor and the preset sensor at each positioning time using the positioning accuracy represented by the target positioning state at each positioning time, so as to obtain the positioning result of the device to be positioned at that positioning time; wherein, for any positioning time, the fusion weight of the location information output by the RTK sensor is positively correlated with the positioning accuracy represented by the target positioning state at that positioning time.

[0068] Optionally, the location information fusion module is specifically used to fuse the location information output by the RTK sensor and the preset sensor at each positioning time using the positioning accuracy represented by the target positioning state at each positioning time through the front end of the SLAM algorithm, so as to obtain the front end positioning result of the device to be positioned at that positioning time.

[0069] The device further includes:

[0070] The sub-time period determination module is used to determine, through the backend of the SLAM algorithm, the sub-time period in which the target positioning state at the end time is the pseudo-range solution state from the sub-time periods in which the target positioning state has been determined to be the second transition state in the historical time period, and to take it as the sub-time period to be processed.

[0071] The sub-time period update module is used to determine a specified time before the end time of each sub-time period to be processed, and update the start time of the sub-time period to be processed to the specified time; wherein, the duration between the specified time and the end time of the sub-time period to be processed is a preset duration, or, the distance between the specified time and the position represented by the position information output by the RTK sensor at the current positioning time is a preset distance.

[0072] The positioning status update module is used to update the target positioning status at each moment within the latest pending sub-time period to the second transitional state.

[0073] The back-end positioning result fusion module is used to fuse the position information output by the RTK sensor and the preset sensor at each moment in each sub-time period of the current processing sub-time period by using the positioning accuracy characterized by the target positioning status at each moment in the current sub-time period of the processing sub-time period to obtain the back-end positioning result of the device to be positioned at each moment in the sub-time period of the processing sub-time period.

[0074] The backend positioning result determination module is used to obtain the frontend positioning results at each moment within the historical time period, excluding the latest sub-time period to be processed, and combine them with the backend positioning results at each moment within the latest sub-time periods to be processed to obtain the backend positioning results at each moment within the historical time period.

[0075] Optionally, for any given positioning time, the fusion weight of the position information output by the RTK sensor during fusion is negatively correlated with the accuracy factor output by the RTK sensor at that positioning time.

[0076] Optionally, for any given positioning time, the following steps are performed: using the positioning accuracy characterized by the target positioning state at that positioning time, the position information output by the RTK sensor and the preset sensor at that positioning time is fused to obtain the positioning result of the device to be positioned at that positioning time:

[0077] Using the positioning accuracy characterized by the target positioning state at this positioning moment, the covariance matrix at this positioning moment is constructed according to a preset formula; wherein, the preset formula is as follows:

[0078]

[0079] st

[0080] cov x =cov y =(hdop*eq) 2

[0081] cov z =(vdop*eq) 2

[0082] cov represents the covariance matrix at that positioning time, hdop represents the horizontal accuracy factor output by the RTK sensor at that positioning time, vdop represents the vertical accuracy factor output by the RTK sensor at that positioning time, and eq represents the positioning error at that positioning time; the positioning error at that positioning time is negatively correlated with the positioning accuracy characterized by the target positioning state at that positioning time.

[0083] Using a preset location information fusion algorithm and combining the covariance matrix at the positioning time, the location information output by the RTK sensor and the preset sensor at the positioning time is fused to obtain the positioning result of the device to be positioned at the positioning time.

[0084] Optionally, the abnormal speed of the device to be located at the current positioning time is characterized as follows: the speed of the device to be located at the current positioning time is greater than the speed output by the speed sensor in the device to be located at the current positioning time, or the speed of the device to be located at the current positioning time is greater than the maximum driving speed supported by the device to be located.

[0085] A third aspect of this application also provides a positioning device, comprising:

[0086] RTK sensors are used to output the raw positioning status at each positioning moment;

[0087] A processor for executing any of the positioning state determination methods described above.

[0088] A fourth aspect of this application also provides an electronic device, comprising:

[0089] Memory, used to store computer programs;

[0090] When a processor executes a program stored in memory, it implements any of the above-described positioning state determination methods.

[0091] A fifth aspect of this application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements any of the above-described positioning state determination methods.

[0092] A sixth aspect of this application also provides a computer program product containing instructions that, when run on a computer, causes the computer to execute any of the positioning state determination methods described above.

[0093] Beneficial effects of the embodiments in this application:

[0094] The positioning state determination method provided in this application can acquire the original positioning state output by the RTK sensor at each positioning time in the device to be positioned; wherein, the positioning state at any positioning time is used to characterize the positioning accuracy of the position information output by the RTK sensor at that positioning time; based on the acquired original positioning state at each positioning time, the time period during which the device to be positioned is in the transition area from the second area to the first area is determined from the time period during which the device to be positioned is in the first area, as the first transition time period; and the target positioning state at each positioning time within the first transition time period is determined as the first transition state; and / or, based on the acquired original positioning state at each positioning time, the time period during which the device to be positioned is in the transition area from the first area to the second area is determined from the time period during which the device to be positioned is in the first area, as the second transition time period; and the target positioning state at each positioning time within the second transition time period is determined as the second transition state; wherein, the positioning accuracy characterized by the first transition state and the second transition state is less than the positioning accuracy characterized by the original positioning state when the device to be positioned is in the first area, and is greater than the positioning accuracy characterized by the original positioning state when the device to be positioned is in the second area.

[0095] Based on the above processing, the positioning accuracy represented by the positioning state output by the RTK sensor when the device is in the second region (i.e., the original positioning state) is higher than that represented by the original positioning state when the device is in the first region. Within the first region, when the device is in the transition zone from the second region to the first region (which can be called the first transition zone), i.e., when the positioning accuracy changes from low to high, and when it is in the transition zone from the first region to the second region (which can be called the second transition zone), i.e., when the positioning accuracy changes from high to low, unstable positioning accuracy may occur. In this case, the positioning accuracy represented by the original positioning state is often higher than the actual positioning accuracy and cannot accurately reflect the actual positioning accuracy. For the time period when the device is in the first region, the time period when the device is in the first transition zone (i.e., the first transition time period) and / or the time period when the device is in the second transition zone (i.e., the second transition time period) can be determined based on the original positioning state at each positioning moment. That is, the transition time period where the positioning accuracy is unstable can be determined.

[0096] Furthermore, the target positioning state at each positioning moment within the first transition time period can be defined as the first transition state, and the target positioning state at each positioning moment within the second transition time period can be defined as the second transition state. Compared to the positioning accuracy represented by the original positioning state when in the first region, the positioning accuracy represented by the transition state is lower; however, compared to the positioning accuracy represented by the original positioning state when in the second region, the positioning accuracy represented by the transition state is higher. This means that during the transition time period when positioning accuracy is unstable, the positioning accuracy of the transition state can more accurately reflect the actual positioning accuracy. In other words, it is possible to accurately determine the positioning state that represents the positioning accuracy of the position information output by the RTK sensor, thereby accurately reflecting the positioning accuracy.

[0097] Of course, implementing any product or method of this application does not necessarily require achieving all of the advantages described above at the same time. Attached Figure Description

[0098] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other embodiments can be obtained based on these drawings.

[0099] Figure 1 This is a schematic diagram of the data link when an RTK sensor is in operation;

[0100] Figure 2 This is a schematic diagram of a first method for determining the positioning status provided in an embodiment of this application;

[0101] Figure 3 A trend chart of location status change is provided in an embodiment of this application;

[0102] Figure 4 An example of an occurrence provided in this application embodiment Figure 3 The trend shown is a schematic diagram of the driving mode of the device to be located;

[0103] Figure 5 This is a second flowchart illustrating the positioning status determination method provided in the embodiments of this application;

[0104] Figure 6 A flowchart illustrating the process of determining the end time of a transition state, as provided in an embodiment of this application;

[0105] Figure 7a A schematic diagram of the state axis of the front end and the back end within a historical time period is provided for an embodiment of this application;

[0106] Figure 7b Provided for the embodiments of this application Figure 7aA schematic diagram of the state axis showing the target positioning state determined at the front end in the state axis diagram;

[0107] Figure 7c Provided for the embodiments of this application Figure 7a A schematic diagram of the state axis showing the target positioning state determined at the rear end in the state axis diagram.

[0108] Figure 8 This is a schematic diagram of a positioning status determination device provided in an embodiment of this application;

[0109] Figure 9 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0110] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art based on this application are within the scope of protection of this application.

[0111] RTK (Real-Time Kinematic) technology is a commonly used positioning technique that uses RTK sensors embedded in a device to achieve localization. This device can be a mobile robot equipped with RTK sensors, such as a lawnmower or a driverless delivery vehicle. See also... Figure 1 , Figure 1 This is a schematic diagram of the data link when an RTK sensor is operating. The fixed station 102 can also be called the reference station, and the rover station 103 is the device to be positioned. Both the fixed and rover stations can receive satellite signals transmitted by satellite 101, and the fixed station 102 can send its own observed data and station information to the rover station 103. The rover station 103 can calculate the positioning result based on the received data from the fixed station 102 and the satellite signals, combined with the principle of relative positioning, to achieve positioning. Link 1 represents the communication link between satellite 101 and fixed station 102, link 2 represents the communication link between satellite 101 and rover station 103, and link 3 represents the communication link between fixed station 102 and rover station 103.

[0112] RTK sensors, while outputting the location information of the device to be located (e.g., latitude, longitude, and altitude), can also output a positioning status that characterizes the positioning accuracy of the output location information. However, in real-world applications, complex environmental factors can obstruct satellite signals, reducing positioning accuracy. For example, environmental factors can... Figure 1Link 2 in the process is obstructed. Furthermore, in the presence of obstruction, the positioning status output by the RTK sensor often fails to accurately reflect the positioning accuracy of the output location information. Therefore, using the positioning information output by the RTK sensor to determine the positioning result of the device to be located, based on the positioning accuracy represented by the positioning status output by the RTK sensor, results in low accuracy.

[0113] To accurately determine the positioning state, which characterizes the positioning accuracy of the position information output by the RTK sensor, embodiments of this application provide a positioning state determination method, see [link to relevant documentation]. Figure 2 , Figure 2 A first flowchart illustrating the positioning status determination method provided in this application embodiment, the method comprising:

[0114] Step S201: Obtain the original positioning status output by the RTK sensor at each positioning time in the device to be positioned.

[0115] The positioning status at any given positioning time is used to characterize the positioning accuracy of the position information output by the RTK sensor at that positioning time.

[0116] Step S202: Based on the original positioning status at each acquired positioning time, determine the time period during which the device to be positioned is in the transition area from the second area to the first area, within the time period during which the device to be positioned is in the first area, as the first transition time period; and determine the target positioning status at each positioning time within the first transition time period as the first transition state; and / or, based on the original positioning status at each acquired positioning time, determine the time period during which the device to be positioned is in the transition area from the first area to the second area, within the time period during which the device to be positioned is in the first area, as the second transition time period; and determine the target positioning status at each positioning time within the second transition time period as the second transition state.

[0117] The positioning accuracy represented by the first transition state and the second transition state is less than the positioning accuracy represented by the original positioning state when the device to be positioned is in the first area, and is greater than the positioning accuracy represented by the original positioning state when it is in the second area.

[0118] Based on the above processing, the positioning accuracy represented by the positioning state output by the RTK sensor when the device is in the second region (i.e., the original positioning state) is higher than that represented by the original positioning state when the device is in the first region. Within the first region, when the device is in the transition zone from the second region to the first region (which can be called the first transition zone), i.e., when the positioning accuracy changes from low to high, and when it is in the transition zone from the first region to the second region (which can be called the second transition zone), i.e., when the positioning accuracy changes from high to low, unstable positioning accuracy may occur. In this case, the positioning accuracy represented by the original positioning state is often higher than the actual positioning accuracy and cannot accurately reflect the actual positioning accuracy. For the time period when the device is in the first region, the time period when the device is in the first transition zone (i.e., the first transition time period) and / or the time period when the device is in the second transition zone (i.e., the second transition time period) can be determined based on the original positioning state at each positioning moment. That is, the transition time period where the positioning accuracy is unstable can be determined.

[0119] Furthermore, the target positioning state at each positioning moment within the first transition time period can be defined as the first transition state, and the target positioning state at each positioning moment within the second transition time period can be defined as the second transition state. Compared to the positioning accuracy represented by the original positioning state when in the first region, the positioning accuracy represented by the transition state is lower; however, compared to the positioning accuracy represented by the original positioning state when in the second region, the positioning accuracy represented by the transition state is higher. This means that during the transition time period when positioning accuracy is unstable, the positioning accuracy of the transition state can more accurately reflect the actual positioning accuracy. In other words, it is possible to accurately determine the positioning state that represents the positioning accuracy of the position information output by the RTK sensor, thereby accurately reflecting the positioning accuracy.

[0120] Regarding step S201, the device to be located, i.e., the device currently requiring positioning, can be a mobile robot equipped with RTK sensors. The RTK sensors in the device to be located output both position information and positioning status. The RTK sensors can output data periodically; for example, the output frequency can be 1Hz or 10Hz. The moment the RTK sensor outputs data each time can be called the positioning moment. The positioning status at any given moment can be used to characterize the positioning accuracy of the position information output by the RTK sensor at that moment, also known as the state of the position solution. Higher positioning accuracy means higher accuracy of the position information at that moment. The positioning status output by the RTK sensor at the current positioning moment in the device to be located can be obtained as the initial positioning status.

[0121] For step S202, for ease of subsequent description, the step of determining the first transition time period and the first transition state in step S202 can be referred to as step A, and the step of determining the second transition time period and the second transition state can be referred to as step B. That is, step S202 may include step A and / or step B. The specific implementation of step A can be referred to the relevant descriptions of steps A1-A3 in the subsequent embodiments, and the specific implementation of step B can be referred to the relevant descriptions of steps B1-B3 in the subsequent embodiments.

[0122] Compared to the positioning accuracy represented by the original positioning state when the device is in the second region, the positioning accuracy represented by the original positioning state when the device is in the first region is higher. For example, the degree of obstruction of the signal reception range when the device is in the first region can be less than the degree of obstruction of the signal reception range when the device is in the second region. Within the first region, when the device is in the transition zone from the second region to the first region (which can be called the first transition zone), i.e., when the positioning accuracy changes from low to high, and when it is in the transition zone from the first region to the second region (which can be called the second transition zone), i.e., when the positioning accuracy changes from high to low, unstable positioning accuracy may occur. For example, when the device passes by the side of a tall building, it will continuously move closer to the obstruction and then move away from it. During the process of the device moving away from the obstruction, the positioning accuracy changes from low to high, which may be within the first transition zone. During the process of the device moving closer to the obstruction, the positioning accuracy changes from high to low, which may be within the second transition zone.

[0123] In this situation, the positioning accuracy represented by the original positioning state is often higher than the actual positioning accuracy and cannot accurately reflect the actual positioning accuracy. For the time period when the device to be positioned is in the first region, the time period when the device is in the first transition region (i.e., the first transition time period) can be determined from this time period based on the original positioning state at each positioning moment. Alternatively, the time period when the device is in the second transition region (i.e., the second transition time period) can be determined from this time period based on the original positioning state at each positioning moment. That is, the transition time period where the positioning accuracy is unstable is determined.

[0124] It can be determined that the target positioning state at each positioning time within the first transition period is the first transition state, and the target positioning state at each positioning time within the second transition period is the second transition state. Compared with the positioning accuracy represented by the original positioning state when in the first region, the positioning accuracy represented by the first transition state and the second transition state is lower, and compared with the positioning accuracy represented by the original positioning state when in the second region, the positioning accuracy represented by the first transition state and the second transition state is higher.

[0125] In this way, during the transition period when positioning accuracy is unstable, the positioning accuracy in the transition state can more accurately reflect the actual positioning accuracy. That is, it is possible to accurately determine the positioning state that characterizes the positioning accuracy of the position information output by the RTK sensor, so as to accurately reflect the positioning accuracy.

[0126] In one embodiment, the original positioning state of the device to be located when it is in the first region is a floating-point solution state, and the original positioning state when it is in the second region is a pseudo-range solution state.

[0127] Step A may include:

[0128] Step A1: If the original positioning state at the current positioning time is a floating-point solution state and the first condition is met, determine the target positioning state at the current positioning time as the first transition state.

[0129] The first condition includes: the original positioning state at the previous positioning time is a pseudo-range solution state;

[0130] Step A2: If the original positioning state at the current positioning time is a floating-point solution state and does not meet the first and second conditions, determine whether the current positioning time has reached the first termination time;

[0131] The second condition includes: the speed of the device to be located at the current positioning time is abnormal, based on the position information output by the RTK sensor, and the original positioning state at the previous positioning time is not a pseudo-range solution state; reaching the first termination time means that the latest time that the first condition is met has reached a preset time since the current positioning time.

[0132] Step A3: If the current positioning time reaches the first termination time, determine the target positioning state of the current positioning time as the floating-point solution state; otherwise, determine the target positioning state of the current positioning time as the first transition state.

[0133] And / or,

[0134] Step B may include:

[0135] Step B1: If the original positioning state at the current positioning time is a floating-point solution state and the second condition is met, determine the target positioning state at the current positioning time as the second transition state.

[0136] The second condition includes: the speed of the device to be located at the current positioning time is abnormal, based on the position information output by the RTK sensor, and the original positioning state at the previous positioning time is not a pseudo-range solution state.

[0137] Step B2: If the original positioning state at the current positioning time is a floating-point solution state and does not satisfy the first and second conditions, determine whether the current positioning time has reached the second termination time;

[0138] The first condition includes: the original positioning state at the previous positioning time is a pseudo-range solution state; reaching the second termination time means: the latest time that the second condition is met is within a preset time from the current positioning time;

[0139] Step B3: If the current positioning time reaches the second termination time, determine the target positioning state of the current positioning time as the floating-point solution state; otherwise, determine the target positioning state of the current positioning time as the second transition state.

[0140] In this embodiment, the positioning states output by the RTK sensor, in order of increasing positioning accuracy, can include: no solution, single-point solution (E1), pseudorange solution (E2), floating-point solution (E5), and fixed solution (E4). The positioning state output by the RTK sensor is affected by the degree of obstruction in the signal reception range of the device to be positioned. As shown in Table 1, Table 1 illustrates the number of satellites receiving signals from the RTK sensor, the output positioning state, the positioning error of the output location information, and the scene description of the scene where the device to be positioned is located under different degrees of obstruction.

[0141] Table 1

[0142]

[0143]

[0144] Taking the third row of Table 1 as an example, when the signal reception range of the device to be located is blocked by 10-30%, that is, when a small portion of the sky is blocked, the degree of obstruction can be called slight obstruction, and the number of satellites that can receive signals is 15-20. The positioning status output by the RTK sensor in the device to be located can be E4 or E5, and the positioning error is within 0.5m. In this case, the scene where the device to be located is located can be described as 10-30m from the base of a tall building, 5-10m from the base of a short building, or under a dense tree. That is, in this case, the device to be located is often located 10-30m from the base of a tall building, 5-10m from the base of a short building, or under a dense tree. A tall building can refer to more than 10 stories, and a short building can refer to 3 stories or less, including villas. The positioning error of different RTK sensors can be different; the positioning error in Table 1 is only one example.

[0145] If the device to be located is in the first region at the current positioning time, that is, the original positioning state at the current positioning time is a floating-point solution state, it is possible to determine whether the original positioning state output by the RTK sensor in the previous positioning time was a pseudorange solution state, i.e., to determine whether the original positioning state output by the RTK sensor at the previous positioning time was a pseudorange solution state, and to determine if the velocity of the device to be located at the current positioning time is abnormal based on the position information output by the RTK sensor. For example, a function of the position and time of the device to be located can be constructed based on the position information output by the RTK sensor, and the velocity of the device to be located at the current positioning time can be calculated using differentiation operations.

[0146] The following methods can be used to determine if the speed is abnormal:

[0147] In one implementation, the speed (which can be represented as Vmax1) output by the speed sensor in the device to be located at the current positioning moment can be obtained, and the speed of the device at the current positioning moment can be compared with Vmax1. If the speed of the device at the current positioning moment is greater than Vmax1, it indicates that the speed of the device at the current positioning moment is abnormal. Otherwise, the speed is normal. That is, an abnormal speed of the device at the current positioning moment is characterized by the speed of the device at the current positioning moment being greater than the speed output by the speed sensor in the device at the current positioning moment.

[0148] In another implementation, the maximum speed supported by the device to be located (which can be represented as Vmax2) can be obtained, and the speed of the device at the current positioning moment can be compared with Vmax2. If the speed of the device at the current positioning moment is greater than Vmax2, it indicates that the speed of the device at the current positioning moment is abnormal. Otherwise, the speed is normal. That is, an abnormal speed of the device at the current positioning moment is characterized by the speed of the device at the current positioning moment being greater than the maximum speed supported by the device.

[0149] Based on the above processing, it is possible to determine whether the speed of the device under test at the current positioning moment is abnormal, either by the speed sensor output at the current positioning moment or by the maximum speed supported by the device. This ensures that the positioning status at the current positioning moment can be determined subsequently based on whether the speed is abnormal.

[0150] If the previous initial positioning state output by the RTK sensor was a pseudo-range solution state (i.e., satisfying the first condition), it indicates that the current positioning moment is a transition from a pseudo-range solution state with relatively low positioning accuracy to a floating-point solution state with relatively high positioning accuracy. Therefore, the target positioning state at the current positioning moment can be determined as the first transition state (which can be represented as E25). When the initial positioning state output by the RTK sensor changes, the positioning accuracy often needs a period of time to stabilize. In this case, the initial positioning state output by the RTK sensor cannot accurately reflect the actual positioning accuracy. Compared to the positioning accuracy represented by the initial positioning state (i.e., the floating-point solution state) output at the current positioning moment, the actual positioning accuracy is lower, and compared to the positioning accuracy represented by the previous initial positioning state (i.e., the pseudo-range solution state), the actual positioning accuracy is higher. Accordingly, the positioning accuracy represented by the first transition state can be set to be less than the positioning accuracy represented by the floating-point solution state, but greater than the positioning accuracy represented by the pseudo-range solution state.

[0151] If the speed of the device to be located at the current positioning moment is abnormal, based on the position information output by the RTK sensor, a positioning lock is lost, and the position information output by the RTK sensor undergoes a sudden change. The trajectory of the position represented by the position information output by the RTK sensor exhibits a rapid random walk, indicating that the positioning accuracy of the position information output by the RTK sensor is low. In this case, the positioning accuracy represented by the floating-point solution state is often higher than the actual positioning accuracy. Fluctuations in positioning accuracy often occur before and after the moment when the original positioning state output by the RTK sensor changes. If the speed is abnormal and the original positioning state output by the RTK sensor in the previous step was not a pseudorange solution state (i.e., the second condition is met), it indicates that there is a fluctuation in positioning accuracy at the current positioning moment. Furthermore, the current positioning moment is not in a state of transition from the pseudorange solution state to the floating-point solution state, but rather in a state of transition from the floating-point solution state to the pseudorange solution state. It can be determined that the target positioning state at the current positioning moment is the second transition state (which can be represented as E52). At the current positioning moment, the actual positioning accuracy is lower than that represented by the floating-point solution state, but higher than that represented by the pseudorange solution state. Correspondingly, the positioning accuracy of the second transition state representation can be set to be less than that of the floating-point solution state representation, but greater than that of the pseudo-range solution state representation.

[0152] If the target positioning state at the current positioning time is determined to be the first transitional state, and the target positioning state at the previous positioning time is not the first transitional state, then the current positioning time can be the start time of the first transitional state; that is, the target positioning state begins to be in the first transitional state from the current positioning time. Similarly, if the target positioning state at the current positioning time is determined to be the second transitional state, and the target positioning state at the previous positioning time is not the second transitional state, then the current positioning time can be the start time of the second transitional state; that is, the target positioning state begins to be in the second transitional state from the current positioning time.

[0153] See Figure 3 , Figure 3 This is a trend diagram illustrating the change in positioning state provided in an embodiment of this application. As the device to be positioned moves into an obstructed area, the initial positioning state output by the RTK sensor in the device gradually changes from E4 (fixed solution state), E5 (floating-point solution state), and E2 (pseudorange solution state) to E1 (single-point solution state), indicating that the positioning accuracy of the position information output by the RTK sensor gradually decreases. Conversely, as the device moves out of the obstructed area, the initial positioning state output by the RTK sensor gradually changes from E1 (single-point solution state), E2 (pseudorange solution state), and E5 (floating-point solution state) to E4 (fixed solution state), indicating that the positioning accuracy of the position information output by the RTK sensor gradually increases.

[0154] For a period of time before switching from E5 to E2, the device to be located is in the transition zone from the first area to the second area, i.e., the second transition state (E52). For a period of time after switching from E2 to E5, the device to be located is in the transition zone from the second area to the first area, i.e., the first transition state (E25). When the original positioning state output by the RTK sensor is E4 or E5, the positioning accuracy meets the application requirements, and the positioning error is small. The time period when the original positioning state output is E4 or E5 can be called the usable interval of the position information output by the RTK sensor. When the original positioning state output by the RTK sensor is E1 or E2, the positioning accuracy does not meet the application requirements, and the positioning error is large. The time period when the original positioning state output is E1 or E2 can be called the unusable interval of the position information output by the RTK sensor.

[0155] See Figure 4 , Figure 4 An example of an occurrence provided in this application embodiment Figure 3 The illustrated trend represents a schematic diagram of the movement mode of the device to be located. The movement mode of the device to be located through obstructed areas may include... Figure 4The two methods are: Method 1 and Method 2. In Method 1, the device to be located passes by the side of a tall building from below; for example, this can occur in a bow-shaped layout or edge-based mapping. In Method 2, the device to be located gradually approaches the base of the tall building and then turns back, moving away from the tall building. For example, this can occur in a bow-shaped U-turn layout. Both methods involve continuously approaching and then moving away from the obstruction, corresponding to... Figure 3 The process of moving into the occlusion and then moving out of the occlusion.

[0156] Fluctuations in positioning accuracy often occur before and after a change in the original positioning state output by the RTK sensor; that is, the fluctuation in positioning accuracy can last for a period of time. Therefore, a first transition state and a second transition state can be set to last for a certain period. Correspondingly, each time the first or second condition is met, a certain period of time is required before the transition state determined by the first or second condition ends. The transition state determined by the first condition is the first transition state, and the transition state determined by the second condition is the second transition state. If the original positioning state at the current positioning time is a floating-point solution state and does not meet the first or second condition, the current positioning time may still be within the duration of the first or second transition state. Therefore, it is possible to determine whether the current positioning time has reached the first termination time to determine whether the first transition state has ended, i.e., to determine whether the current positioning time is the end time of the first transition state. Alternatively, it is possible to determine whether the current positioning time has reached the second termination time to determine whether the second transition state has ended, i.e., to determine whether the current positioning time is the end time of the second transition state. The latest positioning time that meets the first condition can be called the first reference time, and the latest positioning time that meets the second condition can be called the second reference time. Accordingly, reaching the first termination time can indicate that the first reference time has reached a preset time from the current positioning time, and reaching the second termination time can indicate that the second reference time has reached a preset time from the current positioning time.

[0157] If the first condition is met in the latest positioning, it can be determined whether the current positioning time has reached the first termination time, thus determining whether the first transition state has ended. If the current positioning time reaches the first termination time, it means that the first reference time has reached a preset duration from the current positioning time, that is, the duration of the first transition state has been reached. The first transition state ends, and the target positioning state at the current positioning time can be determined as the original positioning state (i.e., the floating-point solution state) at the current positioning time. If the current positioning time has not reached the first termination time, it means that the first reference time has not reached the preset duration from the current positioning time, that is, the duration of the first transition state has not been reached, and the first transition state has not ended. In other words, the target positioning state determined at the previous positioning time is the first transition state, and correspondingly, the target positioning state at the current positioning time can be determined as the target positioning state determined at the previous positioning time, i.e., the first transition state.

[0158] After each time the first condition is met and the target positioning state is determined to be the first transition state, the positioning time at which the first condition is met can be used as the latest first reference time. Based on the latest first reference time, it can be determined whether the first termination time has been reached. For any instance where the first condition is met, if the first condition is not met within a preset time period starting from the latest first reference time, that is, the first termination time has been reached, it can be determined that the current continuous first transition state has ended. That is, the period between the latest first reference time and the positioning time at which the first termination time has been reached is the first transition state. For example, at each positioning time within the preset time period starting from the latest first reference time, it is determined whether the first condition is met. If the first condition is met again within the preset time period starting from the latest first reference time, the positioning time at which the first condition is met is used as the latest first reference time to update the first reference time. Based on the updated first reference time, it can be determined whether the first termination time has been reached.

[0159] If the second condition is met in the latest positioning, it can be determined whether the current positioning time has reached the second termination time, thus determining whether the second transition state has ended. For details, refer to the process described above for determining whether the first transition state has ended. In this case, the target positioning state determined in the previous positioning time is the second transition state.

[0160] In this way, the first or second transition state can be maintained for a period of time until the positioning accuracy is relatively stable, so as to further ensure that the positioning accuracy is relatively stable when the target positioning state is a floating-point solution state, and ensure that the determined target positioning state can more accurately reflect the actual positioning accuracy.

[0161] The condition indicated by the first termination time is the first condition, and the condition indicated by the second termination time is the second condition. Reaching either the first or second termination time signifies that a preset time has elapsed since the last time the condition indicated by that termination time was met. This limitation on reaching the termination time is merely an effect limitation, not a limitation on the steps for determining whether the current positioning time has reached the termination time. In other words, when actually determining whether the current positioning time has reached the termination time, it is not necessarily about determining whether the preset time has elapsed since the last time the condition indicated by that termination time was met. For example, the determination of whether the current positioning time has reached the termination time can be made in the following way:

[0162] In one implementation, the determination of whether the termination time has been reached can be based on the time elapsed between the latest location time that met the conditions indicated by the termination time and the current location time. The latest time that met the conditions indicated by the termination time (i.e., the reference time) can be determined, and the time elapsed between the reference time and the current location time can be calculated. If the calculated time elapsed reaches a preset time, the current location time is determined to have reached the termination time. If the calculated time elapsed does not reach the preset time, the current location time is determined not to have reached the termination time. For example, the preset time elapsed could be 9 seconds or 10 seconds.

[0163] Taking the first termination time as an example, based on this implementation method, after each time the first condition is met and the target positioning state is determined to be the first transition state, the positioning time at which the first condition is met can be used as the latest first reference time, and timing can start from the latest first reference time. If no new first condition is met before the timing duration reaches the preset duration, the first termination time is reached and the first transition state ends. If the timing duration has not reached the preset duration and the first condition is met again, the first termination time has not been reached, and the state is still in the first transition state. The latest positioning time at which the first condition is met can be used as the latest first reference time, and timing can restart from the latest first reference time.

[0164] In another implementation, since the distance traveled by the device to be located can also represent the passage of time, a certain distance between the latest reference time and the current positioning time can also indicate that a preset time has elapsed since the latest reference time. That is, the distance between the latest reference time and the current positioning time can be used to determine whether the termination time has been reached. The position information output by the RTK sensor at the latest reference time can be obtained, and the distance between the obtained position information and the position represented by the position information output by the RTK sensor at the current positioning time can be calculated. If the calculated distance reaches the preset distance, the current positioning time is determined to have reached the termination time. If the calculated distance does not reach the preset distance, the current positioning time is determined not to have reached the termination time. The preset distance can be calculated based on the average speed of the device to be located and the preset time. For example, the product of the average speed of the device to be located and the preset time can be used to obtain the preset distance, such as 10m or 11m.

[0165] Based on the above processing, the termination time can be determined according to the duration or distance of the transition, thus confirming the end of the transition state. This ensures that the transition state can last for a period of time, guaranteeing relatively stable positioning accuracy after its end. At this point, the positioning accuracy represented by the floating-point solution state can reflect the actual positioning accuracy, and the target positioning state can be determined as the floating-point solution state. In other words, this further ensures the accurate determination of the positioning state representing the position information output by the RTK sensor, accurately reflecting the positioning accuracy.

[0166] Furthermore, by combining the termination time with the determination of the target positioning state, it can be ensured that the first or second transition state has a certain duration, thus obtaining a preventative interval (which can be called the preventative interval) to wait for the RTK positioning algorithm to converge, that is, to wait for the positioning accuracy to be relatively stable, so that the original positioning state output by the RTK sensor can accurately reflect the positioning accuracy. The device to be positioned can leave the occlusion area within the preventative interval. In this case, the original positioning state output by the RTK sensor can reach a stable floating-point solution state (i.e., E5) or a fixed solution state (i.e., E4). The device to be positioned can also wander and work in the occlusion area within the preventative interval. In this case, the original positioning state output by the RTK sensor can be an unstable floating-point solution state, and the determined target positioning state is the second transition state (i.e., E52). Alternatively, the device to be positioned can also enter an area with more severe occlusion within the preventative interval. In this case, the original positioning state output by the RTK sensor can be a pseudorange solution state (i.e., E2), the positioning accuracy of the position information output by the RTK sensor is low, and the position information output by the RTK sensor is unusable.

[0167] In one embodiment, the positioning status determination method further includes:

[0168] For each positioning moment when the device to be positioned is outside the first area, the target positioning state at that positioning moment is determined as the original positioning state at that positioning moment.

[0169] In this embodiment, the device to be located is outside the first region, meaning that the original positioning state of the device at each positioning moment outside the first region is a state other than the floating-point solution state. In this case, the positioning accuracy at each positioning moment is relatively stable, and the positioning accuracy represented by the original positioning state can reflect the actual positioning accuracy. Accordingly, for each positioning moment when the device to be located is outside the first region, the target positioning state at that positioning moment can be determined as the original positioning state at that positioning moment. In this way, it can be further ensured that the positioning state representing the positioning accuracy of the position information output by the RTK sensor can be accurately determined, so as to accurately reflect the positioning accuracy.

[0170] See Figure 5 , Figure 5 This is a second flowchart illustrating the positioning status determination method provided in an embodiment of this application. The method includes:

[0171] Step S501: Acquire the data output by the RTK sensor. That is, step S201 in the above embodiment.

[0172] Step S502: The original positioning state is E1 or E2. That is, the original positioning state at the current positioning time is either a single-point solution state or a pseudorange solution state.

[0173] Step S503: Determine the target positioning state as E1 or E2. That is, determine the target positioning state at the current positioning time as the original positioning state at the current positioning time. If the original positioning state at the current positioning time is a single-point solution state, determine the target positioning state at the current positioning time as a single-point solution state. If the original positioning state at the current positioning time is a pseudorange solution state, determine the target positioning state at the current positioning time as a pseudorange solution state.

[0174] Step S504: The original positioning state is E5. That is, the original positioning state at the current positioning moment is a floating-point solution state.

[0175] Step S505: Was the previous time step E2? That is, determine whether the first condition is met. If not, proceed to step S506; if yes, proceed to step S509.

[0176] Step S506: Is the speed normal? That is, determine whether the second condition is met. If not, proceed to step S507; if yes, proceed to step S508.

[0177] Step S507: Set the target positioning state to E52. That is, determine the target positioning state at the current positioning moment as the second transition state.

[0178] Step S508: Target positioning state is maintained at E5. That is, the target positioning state at the current positioning moment is determined to be a floating-point solution state.

[0179] Step S509: Set the target positioning state to E25. That is, determine the target positioning state at the current positioning moment as the first transition state.

[0180] Step S510: The original positioning state is E4. That is, the original positioning state at the current positioning time is a fixed solution state.

[0181] Step S511: Determine the target positioning state as E4. That is, determine the target positioning state at the current positioning moment as a fixed solution state.

[0182] See Figure 6 , Figure 6 This is a flowchart illustrating a method for determining the end time of a transition state, as provided in an embodiment of this application. It includes the following steps:

[0183] Step S601: The target positioning state at the previous positioning time was E52. That is, the target positioning state at the previous positioning time was the second transition state, and the second condition was met in the latest iteration.

[0184] Step S602: Determine if the distance or time requirement is met. That is, if the original positioning state at the current positioning time is a floating-point solution state, does not meet the first and second conditions, and the target positioning state at the previous positioning time is the second transitional state, determine if the current positioning time has reached the second termination time. If not, i.e., the second termination time has not been reached, then it is determined that the second transitional state has not ended, and step S603 is executed. If yes, i.e., the second termination time has been reached, then it is determined that the second transitional state has ended, and step S604 is executed.

[0185] Step S603: State maintenance E52. That is, determine the target positioning state at the current positioning time as the target positioning state determined at the previous positioning time, i.e., the second transition state.

[0186] Step S604: Switch back to state E5. That is, determine the target positioning state at the current positioning moment as a floating-point solution state.

[0187] Step S605: The target positioning state at the previous positioning time was E25. That is, the target positioning state at the previous positioning time was the first transition state, and the first condition was met in the latest positioning.

[0188] Step S606: Determine if distance or time conditions are met. That is, if the original positioning state at the current positioning time is a floating-point solution state, does not meet the first and second conditions, and the target positioning state at the previous positioning time is the first transitional state, determine if the current positioning time has reached the first termination time. If not, i.e., the first termination time has not been reached, then it is determined that the first transitional state has not ended, and step S607 is executed. If yes, i.e., the first termination time has been reached, then it is determined that the first transitional state has ended, and step S604 is executed.

[0189] Step S607: State maintenance E25. That is, determine the target positioning state at the current positioning time as the target positioning state determined at the previous positioning time, i.e., the first transition state.

[0190] In one embodiment, the device to be located is further provided with a preset sensor whose positioning method is different from that of the RTK sensor. The method further includes: using the positioning accuracy characterized by the target positioning state at each positioning time, fusing the position information output by the RTK sensor and the preset sensor at that positioning time to obtain the positioning result of the device to be located at that positioning time.

[0191] Specifically, for any given positioning time, the fusion weight of the position information output by the RTK sensor during fusion is positively correlated with the positioning accuracy represented by the target positioning state at that positioning time.

[0192] In this embodiment, the device to be located also includes a preset sensor with a positioning method different from that of the RTK sensor. The preset sensor can be one or more types. For example, the preset sensor may include at least one of a visual sensor, a radar sensor, and an inertial sensor. For any given positioning time, the positioning accuracy represented by the target positioning state at that time can be used to determine the fusion weight of the position information output by the RTK sensor during fusion. The higher the positioning accuracy represented by the target positioning state at that time, the more accurate the position information output by the RTK sensor at that time, and the higher the fusion weight of the position information output by the RTK sensor at that time.

[0193] Furthermore, for each positioning moment, the positioning accuracy characterized by the target positioning state at that moment can be used to fuse the position information output by the RTK sensor and the preset sensor at that moment, thus obtaining the positioning result of the device to be positioned at that moment. The target positioning state at each positioning moment can accurately characterize the positioning accuracy of the position information output by the RTK sensor. Therefore, by utilizing accurate positioning accuracy, a highly accurate positioning result can be obtained. By accurately determining the positioning state that characterizes the positioning accuracy of the position information output by the RTK sensor, and accurately reflecting the positioning accuracy, we can ensure that accurate positioning results are obtained, thereby improving the positioning accuracy of the device to be positioned.

[0194] In one embodiment, for any given positioning time, the fusion weight of the position information output by the RTK sensor during fusion is negatively correlated with the accuracy factor output by the RTK sensor at that positioning time.

[0195] In this embodiment, for any given positioning time, the fusion weight of the position information output by the RTK sensor at that positioning time can be determined by combining the accuracy factor of the RTK sensor output at that positioning time. The smaller the accuracy factor of the RTK sensor output at that positioning time, the more accurate the position information output by the RTK sensor at that positioning time, and the higher the fusion weight of the position information output by the RTK sensor at that positioning time. Thus, the fusion weight can be further determined by combining the accuracy factor of the RTK sensor output, further ensuring the accuracy of the fusion weight, and thus further improving the accuracy of the positioning result obtained by fusion, that is, further improving the positioning accuracy of the device to be positioned.

[0196] In one embodiment, the positioning accuracy represented by the target positioning state at each positioning time is used to fuse the position information output by the RTK sensor and the preset sensor at that positioning time to obtain the positioning result of the device to be positioned at that positioning time. This includes: using the front end of the SLAM algorithm, the positioning accuracy represented by the target positioning state at each positioning time is used to fuse the position information output by the RTK sensor and the preset sensor at that positioning time to obtain the front end positioning result of the device to be positioned at that positioning time.

[0197] The method also includes:

[0198] Step 1: Using the backend of the SLAM algorithm, from the sub-time periods in the historical time period where the target localization state is in the second transition state, determine the sub-time periods at the end where the target localization state is in the pseudo-range solution state, and use these sub-time periods as the sub-time periods to be processed.

[0199] Step 2: For each sub-time period to be processed, determine the specified time before the end time of the sub-time period to be processed, and update the start time of the sub-time period to the specified time.

[0200] The duration between the specified time and the end time of the sub-time period to be processed is a preset duration, or the distance between the specified time and the location represented by the location information output by the RTK sensor at the current positioning time is a preset distance.

[0201] Step 3: Update the target positioning status of each time period in the latest pending sub-time period to the second transition state.

[0202] Step 4: Using the positioning accuracy represented by the target positioning status at each moment in the latest sub-time period, fuse the position information output by the RTK sensor and the preset sensor at each moment in the sub-time period to obtain the back-end positioning result of the device to be positioned at each moment in the sub-time period.

[0203] Step 5: Obtain the front-end positioning results for each moment within the historical time period, excluding the latest sub-time period to be processed, and combine them with the back-end positioning results for each moment within the latest sub-time periods to be processed to obtain the back-end positioning results for each moment within the historical time period.

[0204] In this embodiment, for each positioning time, the front end of the SLAM algorithm can utilize the positioning accuracy represented by the target positioning state at that time to fuse the position information output by the RTK sensor and the preset sensor at that time, thereby obtaining the front-end positioning result of the device to be positioned at that time. In this way, the front end can determine the positioning result of the device to be positioned (i.e., the front-end positioning result) in real time to meet real-time positioning requirements.

[0205] The backend of the SLAM algorithm can acquire the target positioning status over historical time periods. From the sub-time periods where the target positioning status is determined to be in the second transition state, it can identify the sub-time periods where the target positioning status at the end of the current time period is in the pseudo-range solution state, and these are designated as the sub-time periods to be processed. For each sub-time period to be processed, a designated time can be obtained by determining a time point preceding the current sub-time period and whose duration between this time point and its end is a preset duration. Alternatively, a designated time point can be determined based on a time point where the distance between the position represented by the RTK sensor output information preceding the current sub-time period and the position represented by the RTK sensor output information at the current positioning time is a preset distance (this can be called a candidate time point). When there is only one candidate time point, it can be used as the designated time point. When there are multiple candidate times points, the candidate time point closest to the current positioning time can be selected as the designated time point.

[0206] Throughout the process of determining the target's location status, if the determination of whether the current location time has reached the termination condition is based on duration, then the determination of the specified time will also be based on duration. If the determination of whether the current location time has reached the termination condition is based on distance, then the determination of the specified time will also be based on distance. After obtaining the specified time, the start time of the sub-time period to be processed can be updated to the specified time.

[0207] Furthermore, the target positioning status at each moment within the latest processing sub-time period can be updated to the second transitional state. In this way, the target positioning status for a period of time before the moment of switching from the floating-point solution state to the pseudorange solution state can be accurately updated to the second transitional state, thereby expanding the prevention interval and ensuring that the finally determined prevention interval can include the interval where the positioning accuracy is unstable. This further ensures the accuracy of the target positioning status at each moment within the historical time period, so as to accurately reflect the positioning accuracy.

[0208] The positioning accuracy, represented by the target positioning status at each moment within the latest processing sub-time period, can be used to fuse the position information output by the RTK sensor and the preset sensor at each moment within that sub-time period, thus obtaining the back-end positioning result of the device to be positioned at each moment within that sub-time period. By combining this with the front-end positioning results at each moment within a historical time period (excluding the latest processing sub-time period), the back-end positioning results at each moment within that historical time period can be obtained. The positioning accuracy represented by the target positioning status at each moment within the latest processing sub-time period accurately represents the positioning accuracy of the position information output by the RTK sensor at each moment within that sub-time period. Therefore, using accurate positioning accuracy, a highly accurate back-end positioning result can be obtained. That is, a highly accurate back-end positioning result can be obtained by further combining the front-end positioning result. Subsequently, the back-end positioning result can be used for loop closure detection, correction of accumulated errors, route adjustment, and other operations, further ensuring the accuracy of subsequent operations.

[0209] See Figures 7a-7c , Figure 7a This is a schematic diagram of the state axis of the front end and the back end during a historical time period provided in an embodiment of this application. The original positioning state changes from E5 through E2 to E1. In the interval where E5 is located, the front end determines two segments of E52. The back end determines that the second segment of E52 determined by the front end can be updated to obtain a new second segment of E52. Figure 7b Provided for the embodiments of this application Figure 7a A schematic diagram of the state axis showing the target positioning state determined at the front end. Figure 7c Provided for the embodiments of this application Figure 7a The diagram shows the state axis diagram of the target positioning state determined by the backend. For the second segment E52, the backend can determine a certain period of time before the switch from E5 to E2, and update the target positioning state to E52 during that period.

[0210] In one embodiment, for any given positioning time, the following steps can be used to fuse the position information output by the RTK sensor and the preset sensor at that positioning time, based on the positioning accuracy represented by the target positioning state at that positioning time, to obtain the positioning result of the device to be positioned at that positioning time:

[0211] Using the positioning accuracy characterized by the target positioning state at that positioning time, construct the covariance matrix at that positioning time according to a preset formula.

[0212] The preset formula is as follows:

[0213]

[0214] st

[0215] cov x =cov y =(hdop*eq) 2

[0216] cov z =(vdop*eq) 2

[0217] cov represents the covariance matrix at that positioning time, hdop represents the horizontal accuracy factor output by the RTK sensor at that positioning time, vdop represents the vertical accuracy factor output by the RTK sensor at that positioning time, and eq represents the positioning error at that positioning time. The positioning error at that positioning time is negatively correlated with the positioning accuracy represented by the target positioning state at that positioning time.

[0218] Using a preset location information fusion algorithm, and combining the covariance matrix at the positioning time, the location information output by the RTK sensor and the preset sensor at the positioning time is fused to obtain the positioning result of the device to be positioned at the positioning time.

[0219] In this embodiment, the RTK sensor can also output a horizontal accuracy factor and a vertical accuracy factor, where the vertical accuracy factor can be twice the horizontal accuracy factor. For any given positioning time, the positioning error at that time is negatively correlated with the positioning accuracy represented by the target positioning state at that time. For example, the fixed solution state (E4) can have eq = 0.01, the floating-point solution state (E5) can have eq = 0.1, the first transition state (E25) can have eq = 10, the second transition state (E52) can have eq = 10, and in other states, eq can be set to infinity, indicating a large positioning error and that the position information output by the RTK sensor is unusable.

[0220] The preset location information fusion algorithm can be a Kalman filter algorithm or an extended Kalman filter algorithm. For any given positioning time, the preset location information fusion algorithm, combined with the covariance matrix of that positioning time, fuses the position information output by the RTK sensor and the preset sensor at that positioning time to obtain the positioning result of the device to be positioned at that positioning time. For example, the covariance matrix corresponding to the preset sensor can be determined based on the positioning accuracy of the position information output by the preset sensor. The position information output by the preset sensor at that positioning time and the corresponding covariance matrix can be used as predicted values, and the position information output by the RTK sensor and the corresponding covariance matrix can be used as observed values. The Kalman gain is calculated based on the predicted values ​​and the observed values. The predicted values ​​are then adjusted based on the Kalman gain and the observed values ​​to achieve the fusion of the position information output by the RTK sensor and the preset sensor at that positioning time, thus obtaining the positioning result of the device to be positioned at that positioning time.

[0221] When location information is fused through the front end of the SLAM algorithm, the resulting localization is the front-end localization result in the above embodiment. When location information is fused through the back end of the SLAM algorithm, the resulting localization is the back-end localization result in the above embodiment.

[0222] Based on the above processing, it is possible to further ensure that the positioning state, which accurately represents the positioning accuracy of the position information output by the RTK sensor, can be accurately determined, so as to accurately reflect the positioning accuracy and obtain accurate positioning results, thereby improving the positioning accuracy of the device to be positioned.

[0223] Based on the same inventive concept, this application also provides a positioning status determination device, see [link to relevant documentation]. Figure 8 , Figure 8 This is a schematic diagram of a positioning status determination device provided in an embodiment of this application. The device includes:

[0224] The original positioning state acquisition module 801 is used to acquire the original positioning state output by the RTK sensor at each positioning time in the device to be positioned; wherein, the positioning state at any positioning time is used to characterize the positioning accuracy of the position information output by the RTK sensor at that positioning time.

[0225] The transition state determination module 802 is used to determine, based on the original positioning state at each positioning time, the time period during which the device to be positioned is in the first region and transitions from the second region to the first region, as the first transition time period; and to determine the target positioning state at each positioning time within the first transition time period as the first transition state.

[0226] And / or,

[0227] Based on the original positioning status at each positioning time, the time period during which the device to be positioned is in the transition area from the first area to the second area is determined from the time period during which the device to be positioned is in the first area, and this time period is taken as the second transition time period; and the target positioning status at each positioning time within the second transition time period is determined as the second transition state.

[0228] The positioning accuracy represented by the first transition state and the second transition state is less than the positioning accuracy represented by the original positioning state when the device to be positioned is in the first area, and is greater than the positioning accuracy represented by the original positioning state when it is in the second area.

[0229] Based on the positioning state determination device provided in this application embodiment, the positioning accuracy represented by the original positioning state when the device to be positioned is in the first region is higher than the positioning accuracy represented by the positioning state output by the RTK sensor when the device to be positioned is in the second region (i.e., the original positioning state). Within the first region, when the device to be positioned is in the transition region from the second region to the first region (which can be called the first transition region), i.e., when the positioning accuracy changes from low to high, and when it is in the transition region from the first region to the second region (which can be called the second transition region), i.e., when the positioning accuracy changes from high to low, unstable positioning accuracy may occur. In this case, the positioning accuracy represented by the original positioning state is often higher than the actual positioning accuracy and cannot accurately reflect the actual positioning accuracy. For the time period when the device to be positioned is in the first region, the time period when the device to be positioned is in the first transition region (i.e., the first transition time period) and / or the time period when the device to be positioned is in the second transition region (i.e., the second transition time period) can be determined from the original positioning state at each positioning moment. That is, the transition time period with unstable positioning accuracy is determined.

[0230] Furthermore, the target positioning state at each positioning moment within the first transition time period can be defined as the first transition state, and the target positioning state at each positioning moment within the second transition time period can be defined as the second transition state. Compared to the positioning accuracy represented by the original positioning state when in the first region, the positioning accuracy represented by the transition state is lower; however, compared to the positioning accuracy represented by the original positioning state when in the second region, the positioning accuracy represented by the transition state is higher. This means that during the transition time period when positioning accuracy is unstable, the positioning accuracy of the transition state can more accurately reflect the actual positioning accuracy. In other words, it is possible to accurately determine the positioning state that represents the positioning accuracy of the position information output by the RTK sensor, thereby accurately reflecting the positioning accuracy.

[0231] In one embodiment, the original positioning state of the device to be located when it is in the first region is a floating-point solution state, and the original positioning state when it is in the second region is a pseudo-range solution state.

[0232] The transition state determination module 802 is specifically used to determine the target positioning state at the current positioning time as a first transition state if the original positioning state at the current positioning time is the floating-point solution state and satisfies a first condition; wherein, the first condition includes: the original positioning state at the previous positioning time is the pseudo-range solution state.

[0233] If the original positioning state at the current positioning time is the floating-point solution state and does not satisfy the first and second conditions, determine whether the current positioning time has reached the first termination time; wherein, the second condition includes: the speed of the device to be positioned at the current positioning time is abnormal based on the position information output by the RTK sensor, and the original positioning state at the previous positioning time is not the pseudo-range solution state; reaching the first termination time means: the latest time since the first condition was met has reached a preset time;

[0234] If the current positioning time reaches the first termination time, the target positioning state at the current positioning time is determined to be the floating-point solution state; otherwise, the target positioning state at the current positioning time is determined to be the first transition state.

[0235] And / or,

[0236] The transition state determination module 802 is specifically used to determine the target positioning state at the current positioning time as the second transition state if the original positioning state at the current positioning time is the floating-point solution state and the second condition is met; wherein, the second condition includes: the speed of the device to be positioned at the current positioning time is abnormal based on the position information output by the RTK sensor, and the original positioning state at the previous positioning time is not the pseudo-range solution state.

[0237] If the original positioning state at the current positioning time is the floating-point solution state and does not satisfy the first condition and the second condition, determine whether the current positioning time has reached the second termination time; wherein, the first condition includes: the original positioning state at the previous positioning time is the pseudo-range solution state; reaching the second termination time means: the latest time since the second condition was met has reached a preset time;

[0238] If the current positioning time reaches the second termination time, the target positioning state at the current positioning time is determined to be the floating-point solution state; otherwise, the target positioning state at the current positioning time is determined to be the second transition state.

[0239] In one embodiment, for any termination time, the following steps are used to determine whether the current positioning time has reached that termination time:

[0240] Determine the latest time when the conditions indicated by the termination time are met, and calculate the duration between the determined time and the current positioning time; if the calculated duration reaches the preset duration, determine that the current positioning time has reached the termination time; if the calculated duration does not reach the preset duration, determine that the current positioning time has not reached the termination time.

[0241] or,

[0242] The system acquires the position information output by the RTK sensor when the conditions indicated by the termination time are met for the latest time, and calculates the distance between the acquired position information and the position represented by the position information output by the RTK sensor at the current positioning time. If the calculated distance reaches a preset distance, the system determines that the current positioning time has reached the termination time. If the calculated distance does not reach the preset distance, the system determines that the current positioning time has not reached the termination time.

[0243] In one embodiment, the apparatus further includes:

[0244] The positioning status determination module is used to determine the target positioning status at each positioning time when the device to be positioned is outside the first area as the original positioning status at that positioning time.

[0245] In one embodiment, the device to be located further includes a preset sensor with a positioning method different from that of the RTK sensor, and the device further includes:

[0246] The location information fusion module is used to fuse the location information output by the RTK sensor and the preset sensor at each positioning time using the positioning accuracy represented by the target positioning state at each positioning time, so as to obtain the positioning result of the device to be positioned at that positioning time; wherein, for any positioning time, the fusion weight of the location information output by the RTK sensor is positively correlated with the positioning accuracy represented by the target positioning state at that positioning time.

[0247] In one embodiment, the location information fusion module is specifically used to fuse the location information output by the RTK sensor and the preset sensor at each positioning time using the positioning accuracy represented by the target positioning state at each positioning time through the front end of the SLAM algorithm, so as to obtain the front end positioning result of the device to be positioned at that positioning time.

[0248] The device further includes:

[0249] The sub-time period determination module is used to determine, through the backend of the SLAM algorithm, the sub-time period in which the target positioning state at the end time is the pseudo-range solution state from the sub-time periods in which the target positioning state has been determined to be the second transition state in the historical time period, and to take it as the sub-time period to be processed.

[0250] The sub-time period update module is used to determine a specified time before the end time of each sub-time period to be processed, and update the start time of the sub-time period to be processed to the specified time; wherein, the duration between the specified time and the end time of the sub-time period to be processed is a preset duration, or, the distance between the specified time and the position represented by the position information output by the RTK sensor at the current positioning time is a preset distance.

[0251] The positioning status update module is used to update the target positioning status at each moment within the latest pending sub-time period to the second transitional state.

[0252] The back-end positioning result fusion module is used to fuse the position information output by the RTK sensor and the preset sensor at each moment in each sub-time period of the current processing sub-time period by using the positioning accuracy characterized by the target positioning status at each moment in the current sub-time period of the processing sub-time period to obtain the back-end positioning result of the device to be positioned at each moment in the sub-time period of the processing sub-time period.

[0253] The backend positioning result determination module is used to obtain the frontend positioning results at each moment within the historical time period, excluding the latest sub-time period to be processed, and combine them with the backend positioning results at each moment within the latest sub-time periods to be processed to obtain the backend positioning results at each moment within the historical time period.

[0254] In one embodiment, for any given positioning time, the fusion weight of the position information output by the RTK sensor during fusion is negatively correlated with the accuracy factor output by the RTK sensor at that positioning time.

[0255] In one embodiment, for any given positioning time, the following steps are performed to fuse the position information output by the RTK sensor and the preset sensor at that positioning time, using the positioning accuracy characterized by the target positioning state at that positioning time, to obtain the positioning result of the device to be positioned at that positioning time:

[0256] Using the positioning accuracy characterized by the target positioning state at this positioning moment, the covariance matrix at this positioning moment is constructed according to a preset formula; wherein, the preset formula is as follows:

[0257]

[0258] st

[0259] cov x =cov y =(hdop*eq) 2

[0260] cov z =(vdop*eq) 2

[0261] cov represents the covariance matrix at that positioning time, hdop represents the horizontal accuracy factor output by the RTK sensor at that positioning time, vdop represents the vertical accuracy factor output by the RTK sensor at that positioning time, and eq represents the positioning error at that positioning time; the positioning error at that positioning time is negatively correlated with the positioning accuracy characterized by the target positioning state at that positioning time.

[0262] Using a preset location information fusion algorithm and combining the covariance matrix at the positioning time, the location information output by the RTK sensor and the preset sensor at the positioning time is fused to obtain the positioning result of the device to be positioned at the positioning time.

[0263] In one embodiment, the abnormal speed of the device to be located at the current positioning time is characterized as follows: the speed of the device to be located at the current positioning time is greater than the speed output by the speed sensor in the device to be located at the current positioning time, or the speed of the device to be located at the current positioning time is greater than the maximum driving speed supported by the device to be located.

[0264] This application also provides a positioning device, including:

[0265] RTK sensors are used to output the raw positioning status at each positioning moment;

[0266] The processor is used to execute any of the positioning state determination methods in the above embodiments.

[0267] This application also provides an electronic device, such as... Figure 9 As shown, it includes:

[0268] Memory 901 is used to store computer programs;

[0269] When processor 902 executes a program stored in memory 901, it performs the following steps:

[0270] The original positioning status output by the RTK sensor at each positioning time in the device to be positioned is obtained; wherein, the positioning status at any positioning time is used to characterize the positioning accuracy of the position information output by the RTK sensor at that positioning time.

[0271] Based on the original positioning status at each positioning time, the time period during which the device to be positioned is in the transition area from the second area to the first area is determined from the time period during which the device to be positioned is in the first area, and this time period is taken as the first transition time period; and the target positioning status at each positioning time within the first transition time period is determined as the first transition state.

[0272] And / or,

[0273] Based on the original positioning status at each positioning time, the time period during which the device to be positioned is in the transition area from the first area to the second area is determined from the time period during which the device to be positioned is in the first area, and this time period is taken as the second transition time period; and the target positioning status at each positioning time within the second transition time period is determined as the second transition state.

[0274] The positioning accuracy represented by the first transition state and the second transition state is less than the positioning accuracy represented by the original positioning state when the device to be positioned is in the first area, and is greater than the positioning accuracy represented by the original positioning state when it is in the second area.

[0275] Furthermore, the aforementioned electronic device may also include a communication bus and / or a communication interface, with the processor 902, communication interface, and memory 901 communicating with each other via the communication bus.

[0276] The communication bus mentioned in the above electronic devices can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus can be divided into address bus, data bus, control bus, etc. For ease of illustration, only one thick line is used to represent it in the diagram, but this does not mean that there is only one bus or one type of bus.

[0277] The communication interface is used for communication between the aforementioned electronic devices and other devices.

[0278] The memory may include random access memory (RAM) or non-volatile memory (NVM), such as at least one disk storage device. Optionally, the memory may also be at least one storage device located remotely from the aforementioned processor.

[0279] The processors mentioned above can be general-purpose processors, including central processing units (CPUs), network processors (NPs), etc.; they can also be 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, or discrete hardware components.

[0280] In another embodiment provided in this application, a computer-readable storage medium is also provided, which stores a computer program that, when executed by a processor, implements the steps of any of the above-described positioning state determination methods.

[0281] In another embodiment provided in this application, a computer program product containing instructions is also provided, which, when run on a computer, causes the computer to execute any of the positioning state determination methods described above.

[0282] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially 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, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a solid-state drive (SSD), etc.

[0283] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0284] The various embodiments in this specification are described in a related manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the embodiments of apparatus, electronic devices, storage media, and program products are basically similar to the method embodiments, so the descriptions are relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0285] The above description is merely a preferred embodiment of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application are included within the scope of protection of this application.

Claims

1. A method of determining a positioning state, characterized by, The method includes: The original positioning status output by the real-time dynamic positioning (RTK) sensor in the device to be positioned at each positioning time is obtained; wherein, the positioning status at any positioning time is used to characterize the positioning accuracy of the position information output by the RTK sensor at that positioning time. Based on the original positioning status at each positioning time, the time period during which the device to be positioned is in the transition area from the second area to the first area is determined from the time period during which the device to be positioned is in the first area, and this time period is taken as the first transition time period; and the target positioning status at each positioning time within the first transition time period is determined as the first transition state. Based on the original positioning status at each positioning time, the time period during which the device to be positioned is in the transition area from the first area to the second area is determined from the time period during which the device to be positioned is in the first area, and this time period is taken as the second transition time period; and the target positioning status at each positioning time within the second transition time period is determined as the second transition state. The positioning accuracy represented by the first transition state and the second transition state is less than the positioning accuracy represented by the original positioning state when the device to be positioned is in the first area, and is greater than the positioning accuracy represented by the original positioning state when it is in the second area.

2. The method of claim 1, wherein, The original positioning state of the device to be located when it is in the first region is a floating-point solution state, and the original positioning state when it is in the second region is a pseudo-range solution state. Based on the original positioning status at each positioning time, the time period during which the device to be positioned is in the transition area from the second area to the first area is determined from the time period during which the device to be positioned is in the first area, and this time period is taken as the first transition time period. And determine the target positioning state at each positioning time within the first transition period as the first transition state, including: If the original positioning state at the current positioning time is the floating-point solution state and satisfies the first condition, the target positioning state at the current positioning time is determined to be the first transition state; wherein, the first condition includes: the original positioning state at the previous positioning time is the pseudo-range solution state. If the original positioning state at the current positioning time is the floating-point solution state and does not satisfy the first and second conditions, determine whether the current positioning time has reached the first termination time; wherein, the second condition includes: the speed of the device to be positioned at the current positioning time is abnormal based on the position information output by the RTK sensor, and the original positioning state at the previous positioning time is not the pseudo-range solution state; reaching the first termination time means: the latest time since the first condition was met has reached a preset time; If the current positioning time reaches the first termination time, the target positioning state at the current positioning time is determined to be the floating-point solution state; otherwise, the target positioning state at the current positioning time is determined to be the first transition state. And / or, Based on the original positioning status at each acquired positioning time, the process of determining the time period during which the device to be positioned is in the transition area from the first area to the second area, within the time period during which the device is in the first area, is defined as the second transition time period; and the target positioning status at each positioning time within the second transition time period is defined as the second transition state, including: If the original positioning state at the current positioning time is the floating-point solution state and the second condition is met, the target positioning state at the current positioning time is determined to be the second transition state; wherein, the second condition includes: the speed of the device to be positioned at the current positioning time is abnormal based on the position information output by the RTK sensor, and the original positioning state at the previous positioning time is not the pseudo-range solution state. If the original positioning state at the current positioning time is the floating-point solution state and does not satisfy the first condition and the second condition, determine whether the current positioning time has reached the second termination time; wherein, the first condition includes: the original positioning state at the previous positioning time is the pseudo-range solution state; reaching the second termination time means: the latest time since the second condition was met has reached a preset time; If the current positioning time reaches the second termination time, the target positioning state at the current positioning time is determined to be the floating-point solution state; otherwise, the target positioning state at the current positioning time is determined to be the second transition state.

3. The method of claim 2, wherein, For any given termination time, determine whether the current positioning time has reached that termination time by following these steps: Determine the latest time when the conditions indicated by the termination time are met, and calculate the duration between the determined time and the current positioning time; if the calculated duration reaches the preset duration, determine that the current positioning time has reached the termination time; if the calculated duration does not reach the preset duration, determine that the current positioning time has not reached the termination time. or, The system acquires the position information output by the RTK sensor when the conditions indicated by the termination time are met for the latest time, and calculates the distance between the acquired position information and the position represented by the position information output by the RTK sensor at the current positioning time. If the calculated distance reaches a preset distance, the system determines that the current positioning time has reached the termination time. If the calculated distance does not reach the preset distance, the system determines that the current positioning time has not reached the termination time.

4. The method of claim 1, wherein, The method further includes: For each positioning moment when the device to be positioned is outside the first area, the target positioning state at that positioning moment is determined as the original positioning state at that positioning moment.

5. The method according to any one of claims 1 to 4, characterized in that, The device to be located also includes a preset sensor with a positioning method different from that of the RTK sensor, and the method further includes: Using the positioning accuracy represented by the target positioning state at each positioning time, the position information output by the RTK sensor and the preset sensor at that positioning time is fused to obtain the positioning result of the device to be positioned at that positioning time; wherein, for any positioning time, the fusion weight of the position information output by the RTK sensor during fusion is positively correlated with the positioning accuracy represented by the target positioning state at that positioning time.

6. The method of claim 5, wherein, The method of fusing the position information output by the RTK sensor and the preset sensor at each positioning time, based on the positioning accuracy characterized by the target positioning state at each positioning time, to obtain the positioning result of the device to be positioned at that positioning time includes: By using the front end of the SLAM algorithm for simultaneous localization and mapping, and utilizing the positioning accuracy represented by the target positioning state at each positioning time, the position information output by the RTK sensor and the preset sensor at that positioning time is fused to obtain the front end positioning result of the device to be positioned at that positioning time. The method further includes: Through the backend of the SLAM algorithm, from the sub-time periods in which the target positioning state is determined to be the second transition state within the historical time period, the sub-time periods in which the target positioning state at the end time is the pseudo-range solution state are determined, and these are taken as the sub-time periods to be processed. For each sub-time period to be processed, a specified time before the end time of the sub-time period to be processed is determined, and the start time of the sub-time period to be processed is updated to the specified time; wherein, the duration between the specified time and the end time of the sub-time period to be processed is a preset duration, or, the distance between the specified time and the position represented by the position information output by the RTK sensor at the current positioning time is a preset distance; Update the target location status at each moment within the latest pending sub-time period to the second transition state; Using the positioning accuracy characterized by the target positioning status at each moment within each sub-time period to be processed, the position information output by the RTK sensor and the preset sensor at each moment within the sub-time period to be processed is fused to obtain the back-end positioning result of the device to be positioned at each moment within the sub-time period to be processed. Obtain the front-end positioning results for each moment within the historical time period, excluding the latest sub-time period to be processed, and combine them with the back-end positioning results for each moment within the latest sub-time periods to be processed to obtain the back-end positioning results for each moment within the historical time period.

7. The method of claim 6, wherein, For any given positioning time, the fusion weight of the position information output by the RTK sensor during fusion is negatively correlated with the accuracy factor output by the RTK sensor at that positioning time.

8. The method of claim 7, wherein, For any given positioning time, the following steps are performed: using the positioning accuracy characterized by the target positioning state at that positioning time, the position information output by the RTK sensor and the preset sensor at that positioning time is fused to obtain the positioning result of the device to be positioned at that positioning time: Using the positioning accuracy characterized by the target positioning state at this positioning moment, the covariance matrix at this positioning moment is constructed according to a preset formula; wherein, the preset formula is as follows: ； This represents the covariance matrix at that positioning time. This represents the horizontal accuracy factor output by the RTK sensor at that positioning moment. This represents the vertical accuracy factor output by the RTK sensor at that positioning moment. This indicates the positioning error at that positioning moment; the positioning error at that positioning moment is negatively correlated with the positioning accuracy represented by the target positioning state at that positioning moment. Using a preset location information fusion algorithm and combining the covariance matrix at the positioning time, the location information output by the RTK sensor and the preset sensor at the positioning time is fused to obtain the positioning result of the device to be positioned at the positioning time.

9. The method of claim 2, wherein, The abnormal speed of the device to be located at the current positioning time is characterized by: the speed of the device to be located at the current positioning time being greater than the speed output by the speed sensor in the device to be located at the current positioning time, or the speed of the device to be located at the current positioning time being greater than the maximum driving speed supported by the device to be located.

10. A positioning state determination apparatus characterized by comprising: The device includes: The original positioning state acquisition module is used to acquire the original positioning state output by the RTK sensor at each positioning time in the device to be positioned; wherein, the positioning state at any positioning time is used to characterize the positioning accuracy of the position information output by the RTK sensor at that positioning time. The transition state determination module is used to determine, based on the original positioning state at each positioning time, the time period during which the device to be positioned is in the transition area from the second area to the first area within the time period when the device to be positioned is in the first area, as the first transition time period; and to determine the target positioning state at each positioning time within the first transition time period as the first transition state. Based on the original positioning status at each positioning time, the time period during which the device to be positioned is in the transition area from the first area to the second area is determined from the time period during which the device to be positioned is in the first area, and this time period is taken as the second transition time period; and the target positioning status at each positioning time within the second transition time period is determined as the second transition state. The positioning accuracy represented by the first transition state and the second transition state is less than the positioning accuracy represented by the original positioning state when the device to be positioned is in the first area, and is greater than the positioning accuracy represented by the original positioning state when it is in the second area.

11. A positioning device, characterized by include: RTK sensors are used to output the raw positioning status at each positioning moment; A processor for performing the method according to any one of claims 1-9.

12. An electronic device, comprising: include: Memory, used to store computer programs; A processor, when executing a program stored in memory, implements the method described in any one of claims 1-9.

13. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the method described in any one of claims 1-9.

14. A computer program product, characterised in that, When the computer program product is run on a computer, the computer causes the computer to perform the method according to any one of claims 1-9.

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