Positioning method and device, electronic equipment, storage medium and computer program product

Abstract

The invention relates to a positioning method and device, electronic equipment, a storage medium and a computer program product. The method comprises the following steps: acquiring information of a plurality of track points of movement of the terminal equipment, and determining part of the track points as first positioning points; in response to the first instruction, determining and displaying a reference motion track according to the plurality of first positioning points; the reference motion trail comprises a reference motion direction. And acquiring a track point of the terminal device along the reference motion direction as a second positioning point. And determining and displaying the current movement track state according to the position relationship between the reference movement track and the second positioning point. In this way, the number of the screened first positioning points is small, the calculation amount of the reference movement track is reduced, and the sensitivity and accuracy of judging whether the current movement track is yawed or not based on the reference movement track can be improved.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of navigation, and in particular, to a positioning method and device, electronic equipment, storage medium and computer program product. BACKGROUND

[0002] In the related art, in an outdoor sports scenario, in order to ensure the safety of a user, some electronic devices with positioning and navigation functions can be used to provide a reference route for the movement of the user, helping the user to successfully return to the starting point. However, in the process of obtaining the position information of the positioning, the number of obtained positioning points is large, and the calculation amount is large, which affects the timeliness and accuracy of the electronic device in displaying the positioning information, and is likely to cause the problems of positioning drift or jump. SUMMARY

[0003] To overcome the problems in the related art, the present disclosure provides a positioning method, a positioning device, electronic equipment, a storage medium and a computer program product.

[0004] According to a first aspect of an embodiment of the present disclosure, a positioning method is provided, including: obtaining a plurality of trajectory point information of a terminal device moving, and determining part of the trajectory points in the plurality of trajectory points as first positioning points. In response to a first instruction, a reference movement trajectory is determined and displayed according to a plurality of the first positioning points; the reference movement trajectory includes a reference movement direction. A trajectory point of the terminal device along the reference movement direction is obtained as a second positioning point. A current movement trajectory state is determined and displayed according to the position relationship between the reference movement trajectory and the second positioning point.

[0005] In some embodiments, the obtaining a plurality of trajectory point information of a terminal device moving, and determining part of the trajectory points in the plurality of trajectory points as first positioning points, includes: determining a trajectory point obtained when a collection function is started as a starting first positioning point. A first trajectory point under the condition that the distance between the current first positioning point and the subsequent plurality of trajectory points is greater than or equal to a first preset distance is determined as a first positioning point.

[0006] In some embodiments, the obtaining a trajectory point of the terminal device along the reference movement direction as a second positioning point, includes: obtaining a trajectory point of the terminal device along the reference movement direction as the second positioning point at intervals of a first time period. The interval duration of adjacent two second positioning points is the same, and / or the interval duration between adjacent two second positioning points is less than the interval duration between adjacent two first positioning points.

[0007] In some embodiments, the trajectory point information comprises longitude information and latitude information of the trajectory point, and / or altitude information. The sequentially determining a first trajectory point as a first positioning point when a distance between the current first positioning point and a subsequent trajectory point is greater than a first preset distance comprises: performing spherical distance calculation according to information of two trajectory points to obtain a distance value in a three-dimensional space of the two trajectory points; and determining the first positioning point according to the first preset distance and the distance value in the three-dimensional space.

[0008] In some embodiments, the trajectory point information comprises time information of collecting the trajectory point. The determining and displaying a reference motion trajectory according to at least part of the first positioning points in response to a first instruction comprises: determining the reference motion direction of the reference motion trajectory according to time information of the first positioning points in a reverse order of time; and determining a trajectory point obtained when the collecting function is started as a first positioning point at an end point of the reference motion trajectory in the reference motion direction.

[0009] In some embodiments, the determining and displaying a current moving trajectory state according to a position relationship between the reference motion trajectory and the second positioning point comprises: determining whether the current moving trajectory deviates and performing a first warning prompt according to a distance between a current second positioning point and a previous second positioning point and a first threshold value; and the first threshold value is a maximum distance between two adjacent second positioning points meeting an application condition.

[0010] In some embodiments, the trajectory point information comprises longitude information and latitude information of the trajectory point, and / or altitude information. The determining and displaying a current moving trajectory state according to a position relationship between the reference motion trajectory and the second positioning point comprises: determining a shortest distance between a current second positioning point and the first positioning point in the reference motion trajectory; and determining whether the current moving trajectory deviates and performing a second warning prompt according to the shortest distance and a second threshold value; and the second threshold value is greater than the first threshold value.

[0011] In some embodiments, the determining and displaying a current moving trajectory state according to a position relationship between the reference motion trajectory and the second positioning point comprises: after performing a first warning prompt, determining whether the terminal device continuously deviates within a preset time period; a time length of the preset time period is greater than a time length of determining at least two second positioning points; if yes, performing a second warning prompt after the preset time period ends; and if no, continuing to determine and display whether the current moving trajectory deviates and performing a warning prompt according to the position relationship between the reference motion trajectory and the second positioning point.

[0012] In some embodiments, the method further comprises: determining whether there is a missing part of the trajectory route according to a distance between two adjacent first positioning points and a second preset distance, and giving a warning; the second preset distance is greater than the first preset distance.

[0013] In some embodiments, the determining and displaying of the current moving trajectory state according to the positional relationship between the reference moving trajectory and the second positioning point comprises: determining and displaying an actual route of the current moving trajectory according to the second positioning point information; the actual route of the current moving trajectory comprises a yaw route having a deviation from the reference moving trajectory.

[0014] In some embodiments, the obtaining of the trajectory point of the terminal device along the reference moving direction as the second positioning point comprises: determining and displaying longitude information, latitude information, and / or altitude information of the current second positioning point.

[0015] In some embodiments, the determining and displaying of the current moving trajectory state according to the positional relationship between the reference moving trajectory and the second positioning point comprises: determining and displaying at least one of the following information: a remaining moving distance, a remaining moving time, an arrival time, and an altitude change amount, according to the position information of the current second positioning point and the position information of the first positioning point at the end point of the reference moving trajectory.

[0016] According to a second aspect of the embodiments of the present disclosure, a positioning device is provided. The positioning device comprises: an obtaining module, a calculating module, a warning module, and a displaying module.

[0017] The obtaining module is configured to collect trajectory point information of a terminal device, the trajectory point information comprising at least one of the following: longitude information and latitude information of the trajectory point, altitude information, and collection time information. The calculating module is configured to determine a plurality of first positioning points, and determine a reference moving trajectory according to the first positioning points in response to a first instruction. The obtaining module is further configured to collect a second positioning point of the terminal device along a reference moving direction of the reference moving trajectory. The calculating module is further configured to determine a positional relationship between the second positioning point and the reference moving trajectory.

[0018] The warning module is configured to give a warning prompt for a current moving trajectory state according to the positional relationship between the second positioning point and the reference moving trajectory determined by the calculating module. The displaying module is configured to display the reference moving trajectory, and display a current moving trajectory state of the terminal device along the reference moving direction.

[0019] In some embodiments, the computing module is further configured to determine the interval between two adjacent first positioning points, and determine the size relationship between the interval between the two adjacent first positioning points and a second preset interval. The warning module is further configured to warn about the partial trajectory route loss according to the size relationship between the interval between the two adjacent first positioning points and the second preset interval determined by the computing module.

[0020] According to a third aspect of the embodiments of the present disclosure, an electronic device is provided. The electronic device includes a processor and a memory for storing computer programs or instructions. The processor executes the computer programs or instructions to implement the steps of the method provided in any of the embodiments.

[0021] According to a fourth aspect of the embodiments of the present disclosure, a non-transitory computer readable storage medium is provided. The storage medium stores computer programs or instructions, which, when executed by a processor, implement the steps of the method provided in any of the embodiments.

[0022] According to a fifth aspect of the embodiments of the present disclosure, a computer program product is provided. The computer program product includes computer programs or instructions. When the computer programs or instructions are executed by a processor, the steps of the method provided in any of the above embodiments are implemented.

[0023] The technical solutions provided by the embodiments of the present disclosure can include the following beneficial effects:

[0024] By screening the acquired trajectory points and removing part of the trajectory points, the remaining trajectory points are determined as first positioning points. In this way, the calculation amount of the reference motion trajectory determined according to the first positioning points is significantly reduced compared to the calculation amount of the route determined according to all trajectory points, which is conducive to quickly calculating the reference motion trajectory. Among them, since the number of trajectory points used for the reference motion trajectory is reduced, it is also conducive to reducing the adverse effects on the calculation speed of the reference motion trajectory due to the limitation of the product performance (for example, including the joint action of hardware and software) of the terminal device caused by too large calculation amount. In addition, it is also conducive to reducing the adverse effects on the accuracy of the route of the reference motion trajectory caused by the time error of the acquired trajectory points due to the different paths of the reflection or refraction of the information of the trajectory points in the environment. In this way, the sensitivity and accuracy of judging whether the current moving trajectory is off course based on the reference motion trajectory are improved.

[0025] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0026] The accompanying drawings, which are incorporated herein and constitute part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, further serve to explain the principles of the present disclosure.

[0027] Figure 1 is a flowchart of a positioning method according to an example embodiment Figure 1 .

[0028] Figure 2 is a flowchart of a positioning method according to an example embodiment Figure 2 .

[0029] Figure 3 is a functional information diagram showing a position relationship between a reference movement path and a second positioning point according to an example embodiment Figure 1 .

[0030] Figure 4 is a functional information diagram showing a position relationship between a reference movement path and a second positioning point according to an example embodiment Figure 2 .

[0031] Figure 5 is a functional information diagram showing a position relationship between a reference movement path and a second positioning point according to an example embodiment Figure 3 .

[0032] Figure 4 is a functional information diagram showing a position relationship between a reference movement path and a second positioning point according to an example embodiment Figure 7 .

[0033] Figure 8 is a block diagram of a positioning apparatus according to an example embodiment.

[0034] Figure 1 is a block diagram of an electronic device according to an example embodiment. DETAILED DESCRIPTION

[0035] The example embodiments will be described in detail herein with reference to the accompanying drawings. The following description is presented in terms of examples to provide a description of embodiments consistent with the present disclosure. However, these embodiments do not represent all or the only embodiments consistent with the present disclosure. Rather, they are merely examples of apparatuses and methods consistent with aspects of the present disclosure as detailed in the appended claims.

[0036] In the related art, in an outdoor sports scenario, in order to ensure the safety of a user, some electronic devices with positioning and navigation functions can be used to provide a reference route for the movement of the user, and help the user to successfully return to the starting point. However, in the process of obtaining the position information of the positioning, the number of obtained positioning points is large, and the calculation amount is large, which affects the timeliness and accuracy of the electronic device in displaying the positioning information, and easily leads to the problems of positioning drift or jump.

[0037] For example, in the navigation process of returning based on an original track, some electronic devices cannot quickly prompt when the user deviates, so as to correct the direction of the user. For another example, due to the limited product performance of the electronic device, the calculation amount of the collected positioning point information is large, the operation of the electronic device produces lag or the displayed positioning point information jumps; or due to the large number of collected positioning point information, there is an error in the collected information, which leads to positioning drift. These situations will all lead to the fact that the user cannot effectively judge whether the current route of movement belongs to the safe route range. Especially when the user moves in an outdoor and unfamiliar scene, the user cannot be effectively and quickly prompted with warning information.

[0038] Figure 1 is a flowchart of a positioning method according to an example embodiment. As shown in Figure 1 , the positioning method can be used in a wearable terminal device.

[0039] In an example, the wearable device can obtain movement information of a wearer during movement, wherein the movement information at least includes a movement position. In some embodiments, the wearable device is configured with a Global Positioning System (GPS) receiver, and the GPS receiver includes a code correlation receiver, a square receiver, a hybrid receiver, a multi-channel receiver, a sequential channel receiver, and a multiplex channel receiver, etc. which can receive GPS satellite signals. After the GPS receiver receives the GPS signal sent by the GPS satellite, the propagation time of the GPS signal from the GPS satellite to the GPS receiver is determined through signal processing procedures such as signal amplification, frequency conversion, and phase-locked processing, and the position of the GPS receiver is determined according to the propagation time and the position of the GPS satellite, so as to determine the movement position of the wearer.

[0040] In an example, the wearable terminal device includes a watch. After the wearer wears the watch, the wearer can perform sports, and the watch can obtain the position information of the wearer through the GPS satellite and perform corresponding processing. Then, the watch can also provide return navigation information for the wearer through the Global Navigation Satellite System (GNSS), and provide the wearer with related information of the return path and the original path and warning prompts.

[0041] As Figure 2 shown, the method mainly includes steps S10-S40.

[0042] In step S10, a plurality of trajectory point information of the terminal device movement is acquired, and part of the trajectory points in the plurality of trajectory points is determined as a first positioning point.

[0043] It can be understood that the plurality of trajectory point information of the terminal device movement refers to the trajectory point information of the wearer wearing the terminal device. For example, the trajectory point information includes the longitude information and latitude information of the trajectory point, and / or the altitude information. For another example, the trajectory point information also includes time information of collecting the trajectory point.

[0044] By screening out part of the trajectory points acquired, the remaining part of the trajectory point information is stored and determined as the first positioning point, which facilitates the use of the first positioning point in subsequent operations to calculate the reference motion trajectory. In this way, the number of trajectory points used to calculate the reference motion trajectory is reduced, the calculation amount is reduced, and the adverse effects of the product performance (for example, including the joint action of hardware and software) of the terminal device on the calculation speed and accuracy of the reference motion trajectory are reduced.

[0045] In some embodiments, S10: acquiring a plurality of trajectory point information of the terminal device movement, and determining part of the trajectory points in the plurality of trajectory points as a first positioning point includes steps S11 and S12.

[0046] As Figure 3 shown, in step S11, the trajectory point acquired when the collection function is started is determined as the starting first positioning point.

[0047] In the case that the terminal device starts the positioning function, the current position information can be determined by the GPS satellite, and stored as the first positioning point. Wherein, "the terminal device starts the positioning function" can represent that the wearer needs to mark the current location as a reference starting point (or called as the end point of the return path), so as to facilitate the subsequent target navigation based on the starting point (see (b) in Figure 3 ).

[0048] In addition, in the case that the terminal device starts the positioning function, the starting point position may not be stored or marked due to signal interference (see (c) in Figure 2 ), and the current environment can be acquired by the GPS satellite to obtain other reference paths for marking the starting point position.

[0049] As Figure 1 shown, in step S12, the first trajectory point is determined as the first positioning point when the distance between the current first positioning point and the subsequent plurality of trajectory points is greater than or equal to the first preset distance.

[0050] For example, according to the position information of the first starting positioning point, the first trajectory point with a distance greater than or equal to the first preset distance from the first starting positioning point (i.e., the first starting positioning point) is screened from the subsequently acquired multiple trajectory points, and is determined as a second first positioning point.

[0051] Then, according to the position information of the second first positioning point, the first trajectory point with a distance greater than or equal to the first preset distance from the second first positioning point (i.e., the second first positioning point) is screened from the subsequently acquired multiple trajectory points, and is determined as a third first positioning point.

[0052] By analogy, multiple first positioning points are stored and determined in sequence until the terminal device starts the return function.

[0053] It should be noted that the trajectory point collected when the terminal device starts the return function is also stored as a first positioning point. In this case, the distance between the trajectory point collected when the terminal device starts the return function and the previous first positioning point does not need to be compared with the first preset distance. That is, even if the distance between the trajectory point collected when the terminal device starts the return function and the previous first positioning point is less than the first preset distance, the trajectory point information still needs to be stored. In this way, after the return function is started, the trajectory point collected when the terminal device starts the return function can be used as the starting point of the reference motion trajectory for the return reference.

[0054] The specific value of the first preset distance can be adjusted according to the geographical location environment of the wearer. For example, in an environment with a small road slope and simple road conditions, the data range of the first preset distance can be increased; or in an environment with a large road slope and complex road conditions, the data range of the first preset distance can be reduced.

[0055] For example, the value range of the first preset distance can include 6-8 meters. For example, the first preset distance includes 6 meters. In this way, the distance between two adjacent first positioning points is greater than or equal to 6 meters.

[0056] In some embodiments, S12: sequentially determining the first trajectory point with a distance greater than the first preset distance between the current first positioning point and the subsequent multiple trajectory points as the first positioning point includes steps S121 and S122.

[0057] In step S121, spherical distance calculation is performed according to the information of the two trajectory points to obtain the distance value in the three-dimensional space of the two trajectory points.

[0058] For example, the trajectory point information includes the longitude information and the latitude information of the trajectory point, and the altitude information. The distance between two adjacent trajectory points can be a distance value in a three-dimensional space.

[0059] In step S122, the first positioning point is determined based on the first preset spacing and the spacing value in three-dimensional space.

[0060] For example, the first preset spacing can also be a spacing value in three-dimensional space. In this way, determining a first positioning point by calculating the spherical distance using longitude, latitude, and altitude can avoid the situation where two trajectory points determined by longitude and latitude meet the requirements for determining the first positioning point in a two-dimensional plane, but not in an altitude view. This can improve the similarity or accuracy between the route of the reference motion trajectory determined by the selected first positioning point and the actual route.

[0061] like Figure 2 As shown, in step S20, in response to the first instruction, a reference motion trajectory is determined based on a plurality of first positioning points; the reference motion trajectory includes a reference motion direction.

[0062] For example, in response to a first instruction, the return-to-home function of the terminal device is activated when the wearer needs to return to home. The "first instruction" may include an instruction to activate the return-to-home function, or it may include an instruction to calculate a reference motion trajectory. The "reference motion direction" may include the endpoint location marker of the return route (e.g., the reference motion trajectory) and the endpoint location (i.e., the initial positioning point mentioned in the example above).

[0063] It is understood that determining a reference motion trajectory based on multiple first positioning points can include all of the first positioning points, or it can include only a portion of the multiple first positioning points. For example, depending on the application scenario of the positioning method, the number of first positioning points and the range of coordinate positions of these first positioning points participating in the reference motion trajectory determination method can be set according to requirements. For instance, in an outdoor environment without planned roads, the reference motion trajectory can be determined based on all the first positioning points, which helps improve the integrity of the outdoor movement route and facilitates better safety when returning to base based on the reference motion trajectory. As another example, in a scenario involving movement on planned urban roads, the reference motion trajectory can be determined based on only a portion of the first positioning points; this disclosure does not impose specific limitations in this regard.

[0064] In some embodiments, the trajectory point information includes the time information for collecting the trajectory points.

[0065] Step S20: In response to the first instruction, determining the reference motion trajectory based on at least a portion of the multiple first positioning points includes step S21.

[0066] In step S21, the reference motion direction of the reference motion trajectory is determined in reverse order of time based on the time information of multiple first positioning points.

[0067] The trajectory point acquired when the collection function is started is determined as a first positioning point at an end point of the reference motion trajectory along a reference motion direction.

[0068] It can be understood that the plurality of first positioning points of the reference motion trajectory include the trajectory point acquired when the collection function is started, the trajectory point determined when the return function is started, and a plurality of first positioning points located therebetween.

[0069] A direction can be determined according to the reverse order of the collection times of the plurality of first positioning points, which is represented as the reference motion direction. The trajectory point acquired when the collection function is started, that is, the first positioning point with the earliest collection time among the collection times of the plurality of first positioning points, is determined as the end point of the reference motion trajectory.

[0070] In some embodiments, as shown in Figure 3 The positioning method further includes a step S50 of determining whether there is a missing part of the trajectory route and giving a warning according to the distance between the two adjacent first positioning points and a second preset distance. The second preset distance is greater than the first preset distance.

[0071] It can be understood that the above condition for determining the first positioning point is that, based on the position of the currently determined first positioning point, the trajectory point with the first positioning point in the three-dimensional space between the first and the first positioning point is greater than the first preset distance. Here, there is no limit to the distance between the two first positioning points. There may be a problem of too large distance between the two adjacent first positioning points due to environmental obstructions. Therefore, the judgment of the missing route of the reference motion trajectory can be performed preferentially before the return.

[0072] For example, if the distance between the two adjacent first positioning points is greater than the second preset distance, it is determined that there is a missing part of the trajectory route of the reference motion trajectory, and a warning can be given. Or, if the distance between the two adjacent first positioning points is less than or equal to the second preset distance, it is determined that there is no missing trajectory route of the reference motion trajectory, and no warning is needed. That is, the distance between the two adjacent first positioning points of the reference motion trajectory is within the range of the first preset distance and the second preset distance, which indicates that the reference motion trajectory is normal.

[0073] In some embodiments, as shown in Figure 1 (a) and (d) of FIG. 7, the positioning method further includes: based on the reference motion trajectory, if the distance between the start point and the end point of the reference motion trajectory is large, such as the straight-line distance or the route length between the start point and the end point of the reference motion trajectory exceeds 100 kilometers, it is prompted that the current return navigation function is abnormal and cannot perform navigation.

[0074] As shown in Figure 1As shown, in step S30, the trajectory points of the terminal device along the reference motion direction are obtained as the second positioning points.

[0075] For example, the number of the second positioning points can be all the trajectory points of the terminal device along the reference motion direction that are obtained. Here, the collection time interval of the trajectory points for determining the second positioning points can be the same as or different from the collection time interval of the trajectory points for determining the first positioning points in the above examples, and can be adjusted according to actual products and application scenarios, which are not specifically limited in the examples provided by the present disclosure. For example, the collection time interval of the trajectory points for determining the second positioning points can be the same as the collection time interval of the trajectory points for determining the first positioning points in the above examples, and both are 1 second.

[0076] In some embodiments, obtaining the trajectory points of the terminal device along the reference motion direction as the second positioning points includes step S31: obtaining the trajectory points of the terminal device along the reference motion direction as the second positioning points at intervals of a first time period. Wherein, the interval duration of the adjacent two second positioning points is the same, and / or the interval duration between the adjacent two second positioning points is less than the interval duration between the adjacent two first positioning points.

[0077] For example, the trajectory points of the terminal device are obtained at intervals of a first time period and are determined as the second positioning points. By uniformly collecting the trajectory points from the time perspective, the accuracy of the actual moving trajectory of the wearer represented by the second positioning points is improved. For example, the duration of the first time period is 1 second.

[0078] In addition, the time interval for determining the second positioning points is the first time period, where the "first time period" can represent the type of the time interval for obtaining the adjacent two second positioning points, and does not specifically limit the specific duration of the time interval for obtaining the adjacent two second positioning points. It can be adjusted according to the change of the application environment of the terminal device.

[0079] For another example, the interval duration between the adjacent two second positioning points is less than the interval duration between the adjacent two first positioning points. For example, in the case where the collection time interval of the trajectory points for determining the second positioning points is the same as the collection time interval of the trajectory points for determining the first positioning points in the above examples (for example, both are 1 second), the adjacent two first positioning points are two trajectory points selected from a plurality of continuous trajectory points, so that the interval duration between the adjacent two first positioning points is greater than 1 second; the interval duration between the adjacent two second positioning points can be 1 second, or can be less than the interval duration between the adjacent two first positioning points. In this way, by making the collection density of the second positioning points less than the collection density of the first positioning points, the accuracy of judging whether the second positioning points deviate from the reference motion trajectory determined by the first positioning points is improved.

[0080] like Figure 3 As shown, in step S40, the current movement trajectory status is determined and displayed based on the positional relationship between the reference movement trajectory and the second positioning point.

[0081] For example, such as Figure 3 (a)~ Figure 4 of (e) Figure 4 (a)~ Figure 5 of (h) Figure 5 (a) and Figure 6 (b) and Figure 6 (a)~ Figure 4 As shown in (c), the current movement trajectory status can include whether the current second positioning point is skewed compared to the reference movement trajectory (see [reference]). Figure 5 (e) and Figure 3 (b)); may also include information based on the current location of the second positioning point (e.g., longitude, latitude, and / or altitude, see [reference]). Figure 4 The remaining motion distance is determined by comparing the position information of the first positioning point at the end of the reference motion trajectory (b) with that of the first positioning point at the end of the reference motion trajectory (see [reference]). Figure 6 (g) and Figure 6 (a)~ Figure 4 (c) of), remaining exercise time (see Figure 6 (d) and Figure 6 (a)~ Figure 6 (c) of), arrival time (see Figure 6 (a)~ Figure 5 (c) and altitude change (see Figure 5 (a) and Figure 6 (b) and Figure 6 (a)~ Figure 5 At least one of the information in (c)).

[0082] In addition, see Figure 5 (g) and Figure 3 In (h), it is possible to display only the reference motion trajectory and the current real-time position relationship based on the second positioning point in a way that does not require map data.

[0083] It should be noted that, Figure 3 (a)~ Figure 4 of (e) Figure 4 (a)~ Figure 5 of (h) Figure 5 (a) and Figure 6 (b) and Figure 6 (a)~ Figures 3-6As shown in Figure (c), the current movement trajectory status (e.g., the location information of the second positioning point) can be displayed on different display pages. The data shown in the figure is an exemplary demonstration of different data types and does not limit the specific application scenarios of this disclosure embodiment. Further examples regarding the location information of the second positioning point and the positional relationship between the second positioning point and the reference movement trajectory can be found in subsequent examples. Figure 2 I will not go into details.

[0084] In some embodiments, such as Figure 4 As shown, step S40: Determining the current movement trajectory state based on the positional relationship between the reference movement trajectory and the second positioning point includes steps S41, S42, S43, S44 and S45.

[0085] For example, such as Figure 4 (a)~ Figure 4 As shown in (c), after confirming whether the information of the second positioning point has been successfully acquired and displayed, the information is displayed and updated based on the positional relationship between the current second positioning point and the reference motion trajectory. Then, steps S41, S42, S43, S44, and S45 are executed, and the results are displayed (see [reference]). Figure 4 (d) Figure 2 (f)

[0086] like Figure 2 As shown, in step S41, based on the distance between the current second positioning point and the previous second positioning point, and a first threshold, it is determined whether the current movement trajectory has deviated and a warning is issued. The first threshold is the maximum distance between two adjacent second positioning points that meet the application conditions.

[0087] The aforementioned "application conditions" can refer to the conditions under which the terminal device represents different movement speeds in different scenarios. For example, the second positioning point of the terminal device changes as the wearer moves, and the wearer's movement method can be walking or using a mobile device (such as a car or bicycle). Thus, under different application conditions, the numerical range of the first threshold will differ even if the acquisition time interval between two adjacent second positioning points is the same. For example, if the acquisition time interval between two adjacent second positioning points is the same and is 1 second, and the wearer is walking, the corresponding numerical range of the first threshold can be set to 1 meter to 10 meters. As another example, if the acquisition time interval between two adjacent second positioning points is the same and is 1 second, and the wearer is cycling, the corresponding numerical range of the first threshold can be set to 60 meters to 80 meters. It is understood that the numerical range of the first threshold is provided as an exemplary reference and does not limit the actual value under any particular application condition.

[0088] For example, if the distance between the current second positioning point and the previous second positioning point is greater than or equal to the first threshold value, it is determined that the current movement trajectory deviates and a warning prompt is given.

[0089] If the distance between the current second positioning point and the previous second positioning point is less than the first threshold value, it is determined that the current movement trajectory does not deviate.

[0090] For example, the time interval for obtaining the second positioning point is 1 second, and the first threshold value can be set to 60-80 meters. For example, the value of the first threshold value can be set to 70 meters.

[0091] If the distance between the current second positioning point and the previous second positioning point is greater than or equal to 70 meters, it is determined that the current movement trajectory deviates and a warning prompt is given; otherwise, it is determined that the current movement trajectory does not deviate.

[0092] In addition, the position coordinates of the above-mentioned second positioning point can include a floating range, which is beneficial to improve the collection accuracy of the second positioning point.

[0093] For example, the warning prompt can include at least one of a pop-up display, a sound (a loudspeaker or a voice broadcast), and a vibration mode. The present disclosure does not limit this. The warning mode in the subsequent examples can also use at least one of a pop-up display, a sound, and a vibration mode. The warning prompt modes used in different embodiments can be the same or different.

[0094] Based on the above step S41, it can be determined whether the current movement trajectory of the wearer deviates. The subsequent steps S42 and S43 can be further determinations based on step S42 to improve the accuracy of the deviation determination; or they can be another way of determining whether the current movement trajectory of the wearer deviates independently of step S41. The examples provided by the present application do not limit the execution order of steps S41, S42, and S43.

[0095] As shown in FIG. 4, in step S42, the shortest distance between the current second positioning point and the first positioning point in the reference movement trajectory is determined. Figure 2

[0096] For example, according to the position information of all first positioning points in the reference movement trajectory, the distances between the current second positioning point and all first positioning points are calculated, and the shortest distance is determined.

[0097] As shown in FIG. 4, in step S43, according to the shortest distance and a second threshold value, it is determined whether the current movement trajectory deviates and a warning prompt is given; wherein the second threshold value is greater than the first threshold value. Figure 2

[0098] ​​For example, if the shortest distance is greater than or equal to the second threshold, the current movement trajectory is determined to be off track and a warning is issued. For instance, the second threshold could be set to 100 meters (the first threshold could be set to 70 meters). A shortest distance greater than 100 meters indicates a deviation from the current movement trajectory and a warning is issued.

[0099] If the shortest distance is less than the second threshold, it can be determined whether the current movement trajectory is off course according to step S41. The specific steps will not be repeated here.

[0100] like Figure 3 As shown, in step S44, after the first warning is issued, it is determined whether the terminal device continues to deviate from its course within a preset time period. The preset time period is longer than the time period for determining at least three second positioning points.

[0101] If yes, execute the second warning prompt after the preset time period ends; if no, continue to determine whether the current movement trajectory has deviated based on the positional relationship between the reference movement trajectory and the second positioning point and issue a warning prompt.

[0102] For example, the preset duration includes 2 seconds to 10 seconds. For instance, the preset duration is 2 seconds. Also, based on the time interval for acquiring trajectory points along the reference motion direction of the reference motion trajectory obtained by the terminal device, for example, the duration for the second positioning point is determined to be 1 second.

[0103] After the first warning is issued, the system checks the second location point for deviation every second. For example, if the current second location point is deviated and a warning is issued, if the next second location point (i.e., the first second location point after the warning location point) is also deviated, no warning is issued yet. Instead, the system checks the second second location point after the warning location point. If the deviation is found, a second warning is issued.

[0104] Understandably, for example, the preset duration is 2 seconds, and the duration for determining the second positioning point is 1 second. After the first warning is issued, the system checks for deviation of the second positioning point every second. Thus, within the preset duration, if there is a deviation relative to the first second positioning point after the warning, no warning is issued initially; the system then checks the second second positioning point after the warning, and if there is no deviation, no second warning is issued. Considering the short warning interval between two adjacent deviations, this does not reduce the wearer's accuracy in judging deviation.

[0105] In step S45, the actual route of the current movement trajectory is determined and displayed based on multiple second positioning point information; the actual route of the current movement trajectory includes a yaw route that deviates from the reference movement trajectory.

[0106] For example, an actual route can be determined and displayed according to the plurality of second positioning point information, so that whether the yawing occurs can be intuitively displayed by the degree of overlap or whether the actual route overlaps with the reference motion trajectory.

[0107] For another example, a straight line route between the current second positioning point and the first positioning point at the end point of the reference motion trajectory can be determined and displayed (see Figure 7 (e)), for example, the straight line route between the current second positioning point and the first positioning point at the end point connected by a dashed line can provide the wearer with the approximate direction of the return.

[0108] Figure 7 FIG. 7 is a structural block diagram of a positioning device 700 according to an example embodiment.

[0109] As shown in FIG. 7, the device 700 mainly includes an acquisition module 701, a calculation module 702, a pre-warning module 703, and a display module 704. Figure 3

[0110] The acquisition module 701 is configured to collect trajectory point information of the movement of the terminal device. The trajectory point information includes at least one of longitude information and latitude information, altitude information, and collection time information of the trajectory point.

[0111] The calculation module 702 is configured to determine a plurality of first positioning points, and determine a reference motion trajectory according to the first positioning points in response to a first instruction.

[0112] The acquisition module 701 is further configured to collect a second positioning point of the terminal device along a reference motion direction of the reference motion trajectory.

[0113] The calculation module 702 is further configured to determine the positional relationship between the second positioning point and the reference motion trajectory.

[0114] The pre-warning module 703 is configured to pre-warn the current movement trajectory state according to the positional relationship between the second positioning point and the reference motion trajectory determined by the calculation module. For example, the pre-warning manner includes at least one of a pop-up display, a sound (a loudspeaker or a voice broadcast), and a vibration manner. The present disclosure does not limit this. The pre-warning manners adopted by different examples can be the same or different.

[0115] The display module 704 is configured to display the reference motion trajectory and display the current movement trajectory state of the terminal device along the reference motion direction. For example, the current movement trajectory state includes at least one of the remaining motion distance, the remaining motion time, the arrival time, and the altitude change amount determined according to the positional information of the current second positioning point and the first positioning point at the end point of the reference motion trajectory.

[0116] For example, as shown in FIG. 8, the device 700 further includes a first positioning point determination module 801, a second positioning point determination module 802, a reference motion trajectory determination module 803, a pre-warning module 804, and a display module 805.​Figure 3 (a)~ Figure 4 of (e) Figure 4 (a)~ Figure 5 of (h) Figure 5 (a) and Figure 6 (b) and Figure 6 (a)~ Figure 3 As shown in (c), the display module 704 can display the current movement trajectory status through different display pages. The data shown in the figure is an exemplary demonstration of different data types and does not limit the specific scenarios in which this embodiment of the disclosure is applied.

[0117] For example, such as Figure 3 (a)~ Figure 4 The view page shown in (e) primarily displays the straight line between the current second positioning point and the endpoint of the reference motion trajectory. It can also display the position information of the current second positioning point.

[0118] For example, such as Figure 4 (a)~ Figure 5 The view shown in (h) displays the actual movement trajectory of the current second positioning point during the return process. It can also display the location information of the current second positioning point.

[0119] For example, such as Figure 5 (a) and Figure 6 The view page shown in (b) displays the position information of the current second positioning point on the elevation profile of the reference motion trajectory.

[0120] For example, such as Figure 6 (a)~ Figure 8 The view page shown in (c) mainly displays the positional relationship between the current second positioning point and the end point of the reference motion trajectory, and provides data information such as the remaining motion distance, remaining motion time, and arrival time.

[0121] In some embodiments, the calculation module 702 is further configured to: determine the distance between two adjacent first positioning points, and determine the relationship between the distance between two adjacent first positioning points and a second preset distance.

[0122] The early warning module 703 is also configured to provide early warning prompts for partial trajectory route missing based on the relationship between the distance between two adjacent first positioning points determined by the calculation module 702 and the second preset distance.

[0123] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0124] Figure 8is a block diagram of an electronic device 800 according to an exemplary embodiment. The electronic device 800 can be, for example, a mobile phone, a computer, a digital broadcasting terminal, a message transmitting / receiving device, a game console, a tablet device, a medical device, a fitness device, a personal digital assistant, or the like.

[0125] Referring to ​ The electronic device 800 can include one or more of the following components: a processing component 802, a memory 804, a power supply component 806, a multimedia component 808, an audio component 810, an input / output (I / O) interface 812, a sensor component 814, and a communication component 816.

[0126] The processing component 802 generally controls the overall operation of the electronic device 800 such as the operation associated with display, telephone calls, data communications, camera operations, and recording operations. The processing component 802 can include one or more processors 820 to execute instructions to complete all or a part of steps of the methods described above. In addition, the processing component 802 can include one or more modules to facilitate interaction between the processing component 802 and other components. For example, the processing component 802 can include a multimedia module to facilitate the interaction between the multimedia component 808 and the processing component 802.

[0127] The memory 804 is configured to store various types of data to support the operations of the electronic device 800. Examples of these data include at least one of instructions for at least one application or method operating on the electronic device 800, contact data, phonebook data, messages, pictures, and videos. The memory 804 can be implemented by any type of volatile or nonvolatile memory, or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, a magnetic disc, or an optical disc.

[0128] The power supply component 806 supplies power for the various components of the electronic device 800. The power supply component 806 can include at least one of a power supply management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the electronic device 800.

[0129] The multimedia component 808 includes a screen providing an output interface between the electronic device 800 and a user. In some embodiments, the screen can include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the screen includes a touch panel, the screen can be implemented as a touch screen to receive an input signal from a user. The touch panel includes one or more touch sensors to sense a touch, a slide and a gesture on the touch panel. The touch sensor can not only sense a boundary of a touching or a sliding action, but also detect duration and pressure related to the touching or sliding action. In some embodiments, the multimedia component 808 includes a front camera and / or a rear camera. When the electronic device 800 is in an operating mode, such as a shooting mode or a video mode, the front camera and / or the rear camera can receive external multimedia data. Each of the front camera and the rear camera can be a fixed optical lens system or have a focal length and optical zoom capability.

[0130] The audio component 810 is configured to output and / or input an audio signal. For example, the audio component 810 includes a microphone (MIC) configured to receive an external audio signal when the electronic device 800 is in an operating mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signal can be further stored in the memory 804 or transmitted via the communication component 816. In some embodiments, the audio component 810 also includes a speaker for outputting an audio signal.

[0131] The I / O interface 812 provides an interface between the processing component 802 and peripheral interface modules, which can be a keypad, a click wheel, and buttons, etc. The buttons can include, but are not limited to, a home button, a volume button, a start button, and a lock button.

[0132] The sensor component 814 includes one or more sensors for providing status assessments for various aspects of the electronic device 800. For example, the sensor component 814 can detect an open / closed position of the electronic device 800, relative positioning of components, such as a display and a keypad of the electronic device 800, a change in position of the electronic device 800 or a component of the electronic device 800, presence or absence of user contact with the electronic device 800, orientation or acceleration / deceleration / g-force and temperature changes of the electronic device 800. The sensor component 814 can include an accelerometer for measuring a tilt or motion of the electronic device 800. The sensor component 814 can also include a proximity sensor configured to detect presence of nearby objects without any physical contact. The sensor component 814 can further include a light sensor, such as a complementary metal oxide semiconductor (CMOS) or charge coupled device (CCD) image sensor, for use in imaging applications. In some embodiments, the sensor component 814 can further include at least one of an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, and a temperature sensor, among others.

[0133] The communication component 816 is configured to facilitate wired or wireless communication between the electronic device 800 and other devices. The electronic device 800 can access a wireless network based on a communication standard, such as Wi-Fi, 4G, 5G, or a combination thereof. In an example embodiment, the communication component 816 receives broadcast signals or broadcast-related information from an external broadcast management system via a broadcast channel. In an example embodiment, the communication component 816 can further include a Near Field Communication (NFC) module to facilitate short-range communication. For example, the NFC module can be implemented based on Radio Frequency Identification (RFID) techniques, Infrared Data Association (IrDA) techniques, Ultra-WideBand (UWB) techniques, Bluetooth (BT) techniques, and other techniques.

[0134] In exemplary embodiments, the electronic device 800 can be implemented by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, micro-controllers, microprocessors, or other electronic elements.

[0135] For example, the electronic device 800 includes a processor and a memory for storing computer programs or instructions. The processor executes the computer programs or instructions to implement the steps of the positioning method provided in any of the examples described above. For example, the method includes obtaining a plurality of trajectory point information of a terminal device moving, and determining part of the trajectory points in the plurality of trajectory points as first positioning points. In response to a first instruction, a reference motion trajectory is determined and displayed according to the plurality of first positioning points; the reference motion trajectory includes a reference motion direction. A trajectory point of the terminal device along the reference motion direction is obtained as a second positioning point. A current moving trajectory state is determined and displayed according to the position relationship between the reference motion trajectory and the second positioning point.

[0136] In exemplary embodiments, a non-transitory computer-readable storage medium including instructions, such as the memory 804 including executable instructions or computer programs, is also provided, which can be executed by the processor 820 of the electronic device 800 to complete the above method. For example, the non-transitory computer-readable storage medium can be a ROM, a Random Access Memory (RAM), a Compact Disc Read-Only Memory (CD-ROM), a magnetic tape, a floppy disk, and an optical data storage device, etc.

[0137] A kind of non-transitory computer readable storage medium, when the instruction in the storage medium is executed by the processor of mobile terminal, enable mobile terminal to execute the steps of the positioning method provided by any one of the examples of the embodiment of the present disclosure described above, for example, the method includes obtaining the multiple track point information of terminal equipment movement, and determine part of track point in multiple track points as first positioning point.Responding to first instruction, according to multiple first positioning points, determine and display reference motion trajectory;Reference motion trajectory includes reference motion direction.Get the track point of terminal equipment along reference motion direction as second positioning point.According to the positional relationship of reference motion trajectory and second positioning point, determine and display current moving track state.

[0138] The embodiment of the present disclosure provides a kind of computer program product, which includes: computer program or executable instruction, the computer program or executable instruction is stored in computer readable storage medium.The processor of computer equipment reads the computer program or executable instruction from computer readable storage medium, processor executes the computer program or executable instruction, so that the computer equipment executes the steps of the positioning method provided by any one of the examples of the embodiment of the present disclosure described above, for example, the method includes obtaining the multiple track point information of terminal equipment movement, and determine part of track point in multiple track points as first positioning point.Responding to first instruction, according to multiple first positioning points, determine and display reference motion trajectory;Reference motion trajectory includes reference motion direction.Get the track point of terminal equipment along reference motion direction as second positioning point.According to the positional relationship of reference motion trajectory and second positioning point, determine and display current moving track state.

[0139] Other embodiments of the present disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the features disclosed herein. The present disclosure is intended to cover any and all variations of the present disclosure that come within the scope of the features set forth in the claims and that fall within the scope of the general principles disclosed herein. The specification and examples are illustrative only and not restrictive of the true scope and spirit of the present disclosure, which is set forth in the following claims.

[0140] It should be understood that the present disclosure is not limited to the precise structures described and shown in the drawings, and that various modifications and changes can be made without departing from its scope. The scope of the present disclosure is limited only by the claims appended hereto.

Claims

1. A positioning method, characterized by, The method comprises: acquiring a plurality of trajectory point information of terminal device movement, and determining part of the trajectory points in the plurality of trajectory points as first positioning points; in response to a first instruction, determining and displaying a reference motion trajectory according to the plurality of first positioning points; the reference motion trajectory comprises a reference motion direction; acquiring a trajectory point of the terminal device along the reference motion direction as a second positioning point; determining and displaying a current movement trajectory state according to the position relationship between the reference motion trajectory and the second positioning point.

2. The method of claim 1, wherein, The method comprises: determining a trajectory point acquired when a collection function is started as a starting first positioning point; sequentially determining a first trajectory point as a first positioning point when a distance between the current first positioning point and subsequent plurality of trajectory points is greater than or equal to a first preset distance.

3. The method of claim 1, wherein, The method comprises: acquiring a trajectory point of the terminal device along the reference motion direction as the second positioning point at intervals of a first time period; the interval time length of adjacent two second positioning points is the same, and / or the time length of the first time period is less than the interval time length between adjacent two first positioning points.

4. The method of claim 2, wherein, The trajectory point information comprises longitude information and latitude information of the trajectory point, and / or altitude information; The method comprises: performing spherical distance calculation according to the information of two trajectory points to obtain a three-dimensional space distance value of the two trajectory points; determining the first positioning point according to the first preset distance and the three-dimensional space distance value.

5. The method of claim 2, wherein, The trajectory point information comprises time information of collecting the trajectory point; The method comprises: determining the reference motion direction of the reference motion trajectory according to the time information of the plurality of first positioning points in reverse order of time; and determining the trajectory point acquired when the collection function is started as a first positioning point at the terminal point of the reference motion trajectory along the reference motion direction.

6. The method of claim 1, wherein, The method comprises: determining whether the current movement trajectory deviates and giving a warning prompt according to the distance between the current second positioning point and the previous second positioning point and a first threshold value; the first threshold value is the maximum distance between adjacent two second positioning points meeting an application condition.

7. The method according to claim 1 or 6, characterized in that, The trajectory point information comprises longitude information and latitude information of the trajectory point, and / or altitude information; The method comprises: determining the shortest distance between the current second positioning point and the first positioning point in the reference motion trajectory; According to the shortest distance and a second threshold, it is determined whether the current moving track is deviated and a warning prompt is given; wherein the second threshold is greater than the first threshold.

8. The method of claim 7, wherein, The current moving track state is determined and displayed according to the position relationship between the reference moving track and the second positioning point, comprising: After the first warning prompt is executed, it is determined whether the terminal device is continuously deviated within a preset time period; the preset time period is greater than the time period for determining the at least two second positioning points; If yes, the second warning prompt is executed after the preset time period ends; If no, it is continuously determined and displayed according to the position relationship between the reference moving track and the second positioning point whether the current moving track is deviated and a warning prompt is given.

9. The method of claim 2, wherein, The method further comprises: According to the interval between adjacent two first positioning points and a second preset interval, it is determined whether there is a missing part of the track route and a warning is given; the second preset interval is greater than the first preset interval.

10. The method of claim 1, wherein, The current moving track state is determined and displayed according to the position relationship between the reference moving track and the second positioning point, comprising: According to the second positioning point information, the actual route of the current moving track is determined and displayed; the actual route of the current moving track comprises a deviated route having a deviation from the reference moving track.

11. The method of claim 1, wherein, The second positioning point of the terminal device along the reference moving direction is acquired, comprising: the longitude information, the latitude information, and / or the altitude information of the current second positioning point are determined and displayed; And / or, The current moving track state is determined and displayed according to the position relationship between the reference moving track and the second positioning point, comprising: According to the position information of the current second positioning point and the position information of the first positioning point at the end of the reference moving track, at least one of the remaining moving distance, the remaining moving time, the arrival time, and the altitude change amount is determined and displayed.

12. A positioning device, characterized by Comprise: An acquisition module is configured to collect track point information of a terminal device, the track point information comprising at least one of longitude information and latitude information of the track point, altitude information, and collection time information; A calculation module is configured to determine a plurality of first positioning points, and in response to a first instruction, determine a reference moving track according to the first positioning points; The acquisition module is further configured to collect a second positioning point of the terminal device along a reference moving direction of the reference moving track; the calculation module is further configured to determine a position relationship between the second positioning point and the reference moving track; A warning module is configured to give a warning prompt for a current moving track state according to the position relationship between the second positioning point and the reference moving track determined by the calculation module; A display module is configured to display the reference moving track and display a current moving track state of the terminal device along the reference moving direction.

13. The positioning device of claim 12, wherein, The calculation module is further configured to determine an interval between adjacent two first positioning points, and determine a size relationship between the interval and a second preset interval. The early warning module is further configured to give a pre-warning prompt for a part of the track route missing according to a size relationship between the interval between two adjacent first positioning points determined by the calculation module and a second preset interval.

14. An electronic device, comprising: Comprise: a processor; a memory for storing computer programs or instructions; wherein the processor executes the computer programs or instructions to implement the steps of the method of any one of claims 1 to 11.

15. A non-transitory computer-readable storage medium storing computer programs or instructions, characterized in that, When the computer programs or instructions in the storage medium are executed by the processor, the steps of the method of any one of claims 1 to 11 are implemented.

16. A computer program product comprising computer programs or instructions, characterized in that, The computer programs or instructions are executed by the processor to implement the steps of the method of any one of claims 1 to 11.

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