Positioning method and device based on space-time reference, electronic equipment and storage medium

Abstract

The invention provides a positioning method and device based on a space-time reference, electronic equipment and a storage medium. The method comprises the steps of obtaining a first positioning parameter of Beidou positioning and a second positioning parameter of Bluetooth positioning in response to determining that the terminal equipment is located in a transition area between an outdoor area and an indoor area; determining an initial reference point position of an outdoor reference point in the Beidou positioning system if a joint positioning condition is satisfied according to the first positioning parameter and the second positioning parameter, and determining a target base station position of a Bluetooth base station in the Beidou positioning system based on the initial reference point position; taking the initial reference point position and the target base station position as initial edge network equipment positions, and determining a combined target edge network equipment position; and determining a first position of the terminal device in the Beidou positioning system and a second position of the terminal device relative to the Bluetooth base station based on the position of the target edge network device, and performing fusion processing on the first position and the second position to obtain a target position of the terminal device.

Description

Technical Field

[0001] This disclosure relates to the field of data processing technology, and in particular to a positioning method, apparatus, electronic device and storage medium based on a spatiotemporal reference. Background Technology

[0002] Positioning technology has become an indispensable key support in many fields. Outdoor positioning mainly relies on the Global Navigation Satellite System (GNSS), while indoor positioning mainly uses methods such as Bluetooth positioning. A combination of BeiDou and Bluetooth positioning is used to locate areas between outdoors and indoors. However, collaborative positioning still suffers from inconsistencies in location data between outdoor and indoor areas.

[0003] In view of this, how to unify the regional location data between outdoor and indoor areas has become an urgent technical problem to be solved. Summary of the Invention

[0004] In view of this, the purpose of this disclosure is to provide a positioning method, device, electronic device and storage medium based on a spatiotemporal reference to solve or partially solve the above-mentioned technical problems.

[0005] To achieve the above objectives, the first aspect of this disclosure proposes a positioning method based on a spatiotemporal reference, applied to a positioning system based on a spatiotemporal reference, the system comprising: an outdoor reference point located in an outdoor area and a Bluetooth base station located in an indoor area; the method comprising: In response to determining that the terminal device is located in the transition area between the outdoor area and the indoor area, the first positioning parameter of BeiDou positioning and the second positioning parameter of Bluetooth positioning are obtained; If the joint positioning conditions are met based on the first positioning parameters and the second positioning parameters, then the initial reference point position of the outdoor reference point in the BeiDou positioning system is determined, and the target base station position of the Bluetooth base station in the BeiDou positioning system is determined based on the initial reference point position. The initial reference point location and the target base station location are used as the initial edge network device locations, and the combined target edge network device locations are determined based on the initial reference point location and the target base station location. Based on the location of the target edge network device, the first position of the terminal device in the BeiDou positioning system and the second position of the terminal device relative to the Bluetooth base station are determined. The first position and the second position are then fused to obtain the target position of the terminal device.

[0006] Based on the same inventive concept, the second aspect of this disclosure proposes a positioning device based on a spatiotemporal reference, comprising: an outdoor reference point set in an outdoor area and a Bluetooth base station set in an indoor area; The positioning parameter acquisition module is configured to acquire a first positioning parameter of BeiDou positioning and a second positioning parameter of Bluetooth positioning in response to determining that the terminal device is located in a transition area between the outdoor area and the indoor area. The first location determination module is configured to determine the initial reference point position of the outdoor reference point in the BeiDou positioning system based on the first positioning parameters and the second positioning parameters to meet the joint positioning conditions, and to determine the target base station position of the Bluetooth base station in the BeiDou positioning system based on the initial reference point position. The second location determination module is configured to use the initial reference point location and the target base station location as the initial edge network device location, and determine the combined target edge network device location based on the initial reference point location and the target base station location; The joint positioning module is configured to determine the first position of the terminal device in the BeiDou positioning system and the second position of the terminal device relative to the Bluetooth base station based on the position of the target sidenet device, and to perform fusion processing on the first position and the second position to obtain the target position of the terminal device.

[0007] Based on the same inventive concept, a third aspect of this disclosure proposes an electronic device including a memory, a processor, and a computer program stored in the memory and executable by the processor, wherein the processor implements the method described above when executing the computer program.

[0008] Based on the same inventive concept, a fourth aspect of this disclosure provides a non-transitory computer-readable storage medium that stores computer instructions for causing a computer to perform the methods described above.

[0009] As can be seen from the above, the present disclosure provides a positioning method, apparatus, electronic device, and storage medium based on a spatiotemporal reference. When the terminal device is located in a transitional area between an outdoor and indoor area, it acquires first positioning parameters from BeiDou positioning and second positioning parameters from Bluetooth positioning. Thus, based on the first and second positioning parameters, it can accurately determine whether the joint positioning conditions of BeiDou and Bluetooth positioning are met. If the joint positioning conditions are met based on the first and second positioning parameters, the initial reference point position of the outdoor reference point in the BeiDou positioning system is determined, and the target base station position of the Bluetooth base station in the BeiDou positioning system is determined based on the initial reference point position. The initial reference point position and the target base station position are used as the initial sidenet device position, and the combined target sidenet device position is determined based on the initial reference point position and the target base station position. Thus, when using BeiDou positioning and Bluetooth positioning for joint positioning, the outdoor reference point and the Bluetooth base station can be unified into the same coordinate system, thereby achieving data unification of the target position in the transitional area. Based on the target sidenet device position, the first position of the terminal device in the BeiDou positioning system and the second position of the terminal device relative to the Bluetooth base station are determined, and the first and second positions are fused to obtain the target position of the terminal device. In this way, by fusing the first and second positions, the target position is more accurate and the data consistency of the target position is guaranteed. Attached Figure Description

[0010] To more clearly illustrate the technical solutions in this disclosure or related technologies, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the accompanying drawings described below are only embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0011] Figure 1 This is a flowchart of a spatiotemporal reference-based positioning method according to an embodiment of the present disclosure; Figure 2 This is a schematic diagram of the indoor and outdoor coordinate transfer method according to an embodiment of the present disclosure; Figure 3 This is a schematic diagram of the indoor and outdoor areas and transition areas according to an embodiment of the present disclosure; Figure 4 This is a flowchart illustrating the transition region determination process according to an embodiment of the present disclosure. Figure 5 This is a flowchart of an adaptive filtering embodiment of the present disclosure; Figure 6 This is a schematic diagram of the structure of a positioning device based on a spatiotemporal reference according to an embodiment of this disclosure; Figure 7 This is a schematic diagram of the structure of an electronic device according to an embodiment of the present disclosure. Detailed Implementation

[0012] To make the objectives, technical solutions, and advantages of this disclosure clearer, the following detailed description is provided in conjunction with specific embodiments and the accompanying drawings.

[0013] It should be noted that, unless otherwise defined, the technical or scientific terms used in the embodiments of this disclosure should have the ordinary meaning understood by one of ordinary skill in the art to which this disclosure pertains. The terms "first," "second," and similar terms used in the embodiments of this disclosure do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0014] Based on the background description, positioning technology is a crucial component of information technology, playing a fundamental role in many fields such as smart cities, the Internet of Things, and public safety. However, traditional positioning technologies face a significant challenge in practical applications: outdoor environments primarily rely on Global Navigation Satellite Systems (GNSS), such as the BeiDou Navigation Satellite System. While these systems can provide high-precision positioning at the meter to centimeter level outdoors, their signals cannot penetrate buildings, rendering them largely ineffective in indoor or underground environments. On the other hand, indoor positioning technologies such as Bluetooth, Wireless Fidelity (Wi-Fi), and Ultra Wide Band (UWB) can provide location services indoors—for example, Bluetooth can achieve meter-level positioning by deploying beacons—but their signal coverage is limited, making it difficult to extend to vast outdoor areas. Furthermore, the different coordinate systems, signal interfaces, and positioning principles of various positioning methods result in independent indoor and outdoor location information, failing to form a continuous and unified spatial service system. This fragmented situation leads to a sharp decline in user experience when crossing indoor-outdoor boundaries, with location services experiencing interruptions and jumps, making it difficult to meet the growing demand for seamless and continuous positioning in scenarios such as smart logistics, personnel navigation, and emergency management.

[0015] Therefore, promoting the integration of BeiDou and Bluetooth technologies to build a unified indoor and outdoor spatial information processing method is particularly urgent. Its core objective is to leverage BeiDou's high precision and wide coverage advantages outdoors, and Bluetooth's low power consumption and ease of deployment indoors, through collaborative networking, time synchronization, and unified coordinate conversion, to form a location service solution that covers the entire area, seamlessly switches between different locations, and is standardized.

[0016] In related technologies, the BeiDou indoor-outdoor integrated positioning system primarily employs a multi-modal device collaborative architecture to address the last-mile challenge of switching between indoor and outdoor positioning modes. The core design of this solution is based on integrating an indoor positioning unit with a mobile terminal, a 5G base station, a cloud server, and a satellite positioning module, achieving seamless integration of indoor and outdoor positioning through a dynamic switching mechanism. However, these technologies largely focus on the physical connection at the signal switching level and have not yet solved the core problem of unifying indoor and outdoor spatial information, thus hindering the system's deep application in scenarios requiring full-domain spatial perception, such as intelligent transportation and autonomous driving.

[0017] The relevant indoor and outdoor integrated positioning technology has the following technical problems: (1) Heterogeneous positioning data (e.g., Beidou satellite signals and 5G base station ranging data) have systematic deviations in terms of spatiotemporal reference and error model, and related indoor and outdoor integrated positioning technologies mostly focus on switching between different signals; (2) Location data is difficult to represent uniformly at the levels of building structure mapping and path continuity expression; (3) The technology for unifying relevant indoor and outdoor spatial information is costly and difficult to implement.

[0018] As mentioned above, how to unify the regional location data between outdoor and indoor areas has become an important research question.

[0019] Based on the above description, such as Figure 1 As shown, the spatiotemporal reference-based positioning method proposed in this embodiment is applied to a spatiotemporal reference-based positioning system, which includes: an outdoor reference point set in an outdoor area and a Bluetooth base station set in an indoor area; the method includes: Step 101: In response to determining that the terminal device is located in the transition area between the outdoor area and the indoor area, obtain the first positioning parameters of BeiDou positioning and the second positioning parameters of Bluetooth positioning.

[0020] In practical implementation, a differential reference station (i.e., an outdoor reference point) is set up in the outdoor area. Real-Time Kinematic (RTK) positioning terminal equipment is used to achieve high-precision BeiDou positioning. Bluetooth positioning is used in the indoor area to collect location data. After collection, post-processing software is used to obtain the measurement results of different points and the actual results on the map. The location information of the terminal equipment is then displayed on the backend display screen. In this embodiment, the relevant systems and equipment include: BeiDou satellite positioning system, positioning beacon, positioning terminal, differential reference station, server, and backend personal computer (PC), etc.

[0021] The system determines whether the terminal device is located in a transitional area between outdoor and indoor areas. When the terminal device is located outdoors, BeiDou positioning is used as the reference, employing centimeter-level and millimeter-level services provided by the outdoor reference point service system. Differential data from the outdoor reference points is received via the network for high-precision positioning. BeiDou positioning uses the CGCS2000 coordinate system. The origin of BeiDou positioning is the Earth's center of mass (including the ocean and atmosphere); the Z-axis points from the origin to the Earth's reference pole at epoch 2000.0; the X-axis points from the origin to the intersection of the Greenwich reference meridian and the Earth's equatorial plane (epoch 2000.0); the Y-axis forms a right-handed orthogonal coordinate system with the Z and X axes. The ellipsoidal parameters used in the CGCS2000 national geodetic coordinate system include the semi-major axis, flattening, Earth's gravitational constant, and Earth's rotational angular velocity. The semi-major axis is... Flatness The Earth's gravitational constant is The Earth's rotational angular velocity is .

[0022] When the terminal device is located in the transition area between outdoor and indoor areas, it acquires the first positioning parameters from BeiDou positioning and the second positioning parameters from Bluetooth positioning. The positioning method for the transition area is determined based on the first and second positioning parameters. The first positioning parameter is a parameter related to the positioning accuracy of the BeiDou positioning method, and the second positioning parameter is a parameter related to the positioning accuracy of the Bluetooth positioning method.

[0023] If the first positioning parameter meets the preset BeiDou positioning conditions, the positioning method for the transition area is determined to be BeiDou positioning. If the first positioning parameter does not meet the preset BeiDou positioning conditions but the second positioning parameter meets the preset Bluetooth positioning conditions, the positioning method for the transition area is determined to be Bluetooth positioning. If both the first and second positioning parameters do not meet the preset BeiDou positioning conditions, the positioning method for the transition area is determined to be joint positioning. Joint positioning refers to using both BeiDou and Bluetooth positioning to locate the terminal device in the transition area.

[0024] Step 102: Based on the first positioning parameters and the second positioning parameters, if the joint positioning conditions are met, then determine the initial reference point position of the outdoor reference point in the BeiDou positioning system, and determine the target base station position of the Bluetooth base station in the BeiDou positioning system based on the initial reference point position.

[0025] In practice, if the first positioning parameter does not meet the preset BeiDou positioning conditions and the second positioning parameter does not meet the preset Bluetooth positioning conditions, then the first positioning parameter and the second positioning parameter are determined to meet the joint positioning conditions, and the positioning method in the transition area is determined to be joint positioning.

[0026] When using joint positioning to locate terminal devices located in transition areas, the initial reference point position of the outdoor reference point in the BeiDou positioning system is determined, and the target base station position of the Bluetooth base station in the BeiDou positioning system is determined based on the initial reference point position.

[0027] The initial reference point position is the absolute position of the outdoor reference point within the BeiDou positioning system. The target base station position is the relative position of the Bluetooth base station with respect to the outdoor reference point; that is, the target base station position is the Bluetooth base station position after unifying the coordinate system of the Bluetooth base station and the outdoor reference point.

[0028] Step 103: Use the initial reference point location and the target base station location as the initial edge network device location, and determine the combined target edge network device location based on the initial reference point location and the target base station location.

[0029] In practice, the initial reference point location and the target base station location are used as the initial edge network device locations, and the combined target edge network device locations are determined based on the initial reference point location and the target base station location.

[0030] The edge network equipment includes outdoor reference points and Bluetooth base stations. The initial edge network equipment location includes the initial reference point location and the target base station location. The target edge network equipment location is the location of either the outdoor reference point or the Bluetooth base station after unifying the coordinate system of the outdoor reference point and the Bluetooth base station.

[0031] Step 104: Based on the location of the target edge network device, determine the first position of the terminal device in the BeiDou positioning system and the second position of the terminal device relative to the Bluetooth base station, and perform fusion processing on the first position and the second position to obtain the target position of the terminal device.

[0032] In specific implementation, when performing joint positioning on terminal devices in the transition area, the first position and first confidence level of the terminal device in the BeiDou positioning system are determined based on the position of the target sidenet device, and the second position and second confidence level of the terminal device relative to the Bluetooth base station are determined based on the position of the target sidenet device. The first position and the second position are fused according to the first confidence level and the second confidence level to obtain the target position of the terminal device.

[0033] This disclosure addresses the technical bottleneck of inconsistent spatiotemporal references in indoor and outdoor positioning systems under complex scenarios by proposing a unified indoor and outdoor spatial information architecture based on the BeiDou spatiotemporal reference. The method constructs a three-zone collaborative technology system: ① In open outdoor areas, BeiDou carrier phase differential technology is used to establish a centimeter-level absolute coordinate reference through precise ephemeris calculation and ionospheric delay compensation algorithms; ② In the transition area between indoor and outdoor areas, positioning terminals are deployed, and RTK positioning technology is used to measure the absolute position of the positioning terminal devices; ③ In the indoor area, Bluetooth base stations are deployed, and the positioning accuracy of the reference points is improved through the adjustment method of the measurement sidenet, establishing a mapping relationship between indoor and outdoor coordinates. This method innovatively constructs a spatiotemporal reference synchronization mechanism, achieving high-precision indoor and outdoor positioning while solving the problem of spatiotemporal information continuity between outdoor and indoor trajectory points of the device.

[0034] Through the above embodiments, when the terminal device is located in the transition area between the outdoor and indoor areas, it acquires the first positioning parameters of BeiDou positioning and the second positioning parameters of Bluetooth positioning. This allows for accurate determination of whether the joint positioning conditions of BeiDou and Bluetooth positioning are met based on the first and second positioning parameters. If the joint positioning conditions are met based on the first and second positioning parameters, the initial reference point position of the outdoor reference point in the BeiDou positioning system is determined, and the target base station position of the Bluetooth base station in the BeiDou positioning system is determined based on the initial reference point position. The initial reference point position and the target base station position are used as the initial sidenet device position, and the combined target sidenet device position is determined based on the initial reference point position and the target base station position. Thus, when using BeiDou and Bluetooth positioning for joint positioning, the outdoor reference point and the Bluetooth base station can be unified into the same coordinate system, thereby achieving data unification of the target position in the transition area. Based on the target sidenet device position, the first position of the terminal device in the BeiDou positioning system and the second position of the terminal device relative to the Bluetooth base station are determined. The first and second positions are then fused to obtain the target position of the terminal device. This fusion of the first and second positions makes the obtained target position more accurate and ensures data unification of the target position.

[0035] In some embodiments, step 102 includes: Step 1021: Determine the initial reference point position of the outdoor reference point in the BeiDou positioning system. , in, For the first The initial reference point position of an outdoor reference point in the BeiDou positioning system. For the first The coordinates of an outdoor reference point in the first direction of the BeiDou positioning system. For the first The coordinates of an outdoor reference point in the second direction of the BeiDou positioning system. For the first The coordinates of an outdoor reference point in the third-party upward direction of the BeiDou positioning system. This represents the total number of outdoor reference points.

[0036] Step 1022: Determine the initial base station position of the Bluetooth base station in the BeiDou positioning system based on the initial reference point position. , in, For the first The initial base station location of each Bluetooth base station in the BeiDou positioning system. For the first The initial reference point position of an outdoor reference point in the BeiDou positioning system. For from the first The outdoor reference point points to the first Unit vector of a Bluetooth base station, For the first The distance between the Bluetooth base station and the inside of the wall. For the first The Bluetooth base station and the first The wall thickness between each outdoor reference point.

[0037] Step 1023: By controlling the terminal device to move within the transition area, the absolute positions of the terminal device in the BeiDou positioning system are obtained.

[0038] Step 1024: Based on the absolute position of each terminal and the initial base station position, determine the relative position of the terminal device with respect to the Bluetooth base station. , in, Move the terminal device to the first At the position relative to the first The relative positions of terminals of each Bluetooth base station Move the terminal device to the first The location is the absolute position of the terminal in the BeiDou positioning system. For the first The initial base station location of each Bluetooth base station in the BeiDou positioning system. For the terminal device relative to the first The observation error of each Bluetooth base station This represents the total number of positions the terminal device moves to within the transition area. This represents the total number of Bluetooth base stations.

[0039] Step 1025: Using a least-squares adjustment model, based on the relative positions of multiple terminals, the absolute positions of the multiple terminals, and the initial base station position, determine the target base station position of the Bluetooth base station in the BeiDou positioning system. , in, For the first The target base station location of the Bluetooth base station in the BeiDou positioning system. For the first The initial base station location of each Bluetooth base station in the BeiDou positioning system. This represents the total number of positions the terminal device moves to within the transition area. This represents the total number of Bluetooth base stations. Move the terminal device to the first At the position relative to the first The relative positions of terminals of each Bluetooth base station Move the terminal device to the first The location is the absolute position of the terminal in the BeiDou positioning system.

[0040] In specific implementation, the embodiments of this disclosure aim to solve the problem of unifying indoor and outdoor positioning references and realize accurate coordinate transfer from the outdoor global coordinate system to the indoor local coordinate system. The core idea is to take advantage of the fact that terminal devices can simultaneously receive Beidou satellite and Bluetooth signals, and construct a unified indoor and outdoor position reference through joint measurement by the geometric constraints of the building.

[0041] Figure 2 This is a schematic diagram of an indoor / outdoor coordinate transfer method according to an embodiment of this disclosure. Figure 2 As shown, a perimeter is set up around the building. An outdoor reference point (e.g., , recorded as , , , The coordinates of outdoor benchmarks in the geodetic coordinate system are determined using high-precision real-time kinematic (RTK) technology. The building is arranged inside. Bluetooth base stations ( The distance between each Bluetooth base station and the interior wall of the building was determined using a high-precision rangefinder strategy. Then, combine the architectural drawings to obtain the wall thickness. It is possible to estimate the relationship between the Bluetooth base station and the nearest outdoor reference point on the exterior wall. Approximate relative positional relationship between them: ,in, For outdoor reference point Pointing to Bluetooth base station The unit vector can be calculated from multiple outdoor reference points or obtained from architectural drawings, with superscript... This represents the initial estimate. The terminal device to be located. Placed sequentially in the transition area between indoors and outdoors (e.g., near a window). Different locations (suggested) This allows the terminal device to simultaneously receive signals from both BeiDou satellites and Bluetooth base stations. For the first... Terminal location The precise coordinates of the terminal device can be obtained through RTK. Simultaneously measuring the connection between the terminal device and each Bluetooth base station. Distance observations For each observation location With Bluetooth base station The following observation equation exists: ,in, This represents the observation error. Using the coordinates of the Bluetooth base station as parameters to be determined, the following overall least squares adjustment model is constructed: .

[0042] The above scheme determines the initial reference point position of the outdoor reference point in the BeiDou positioning system. Based on the initial reference point position, the initial base station position of the Bluetooth base station in the BeiDou positioning system is determined. By controlling the movement of the terminal device within the transition area, multiple absolute positions of the terminal device in the BeiDou positioning system are obtained. Based on each terminal's absolute position and the initial base station position, the relative position of the terminal device relative to the Bluetooth base station is determined. Using a least-squares adjustment model, based on the multiple relative positions, multiple absolute positions, and the initial base station position, the target base station position of the Bluetooth base station in the BeiDou positioning system is determined. Thus, the determined target base station position is the Bluetooth base station position based on the outdoor reference point, unifying the Bluetooth base station into the outdoor BeiDou coordinate system and achieving spatial information unification.

[0043] In some embodiments, step 103 includes: Step 1031: The outdoor reference point and the Bluetooth base station are designated as edge network devices, and the initial edge network device location is determined based on the initial reference point location and the target base station location. , in, For the locations of multiple initial edge network devices, For the first Initial edge network device location This represents the total number of edge network devices.

[0044] Step 1032: Determine the observation equation based on the initial edge network device positions. , in, For the observation vector, For the residual vector, To design the matrix, This indicates the initial location of the edge network devices.

[0045] Step 1033: Using the least squares adjustment model, determine the combined target sidenet device locations based on the observation vectors and the design matrix. , in, The location of the target edge network equipment after integration. To design the matrix, The weight matrix of the observations, This is the observation vector.

[0046] In practice, to further improve positioning accuracy, indoor Bluetooth base stations and outdoor reference points are considered as unified measurement edge network devices, and an indirect adjustment method is used for processing. Let the total number of all edge network devices (including outdoor reference points and Bluetooth base stations) be... The coordinate vector of the edge network device is .

[0047] It has The observation edges (including RTK positioning results, Bluetooth ranging values, etc.) are defined by the following observation equation: ,in, For the observation vector, For the residual vector, To design the matrix.

[0048] Solve using the least squares criterion: ,in, Let be the weight matrix of the observations.

[0049] By combining BeiDou high-precision positioning with Bluetooth short-range ranging and measurement edge network adjustment technology, seamless coordinate transfer of edge network equipment from outdoor to indoor areas was achieved, effectively improving the accuracy and reliability of indoor area positioning reference.

[0050] The above scheme uses outdoor reference points and Bluetooth base stations as sidenet devices, and determines the initial sidenet device positions based on the initial reference point and target base station locations. The observation equations are then determined based on these initial sidenet device positions. Using a least-squares adjustment model, the combined target sidenet device positions are determined based on the observation vectors and the design matrix. In this way, a positioning reference for the indoor-outdoor transition area is established based on RTK positioning technology and adjustment methods, achieving spatial information unification.

[0051] In some embodiments, step 102 includes: Step 102A: Determine whether the first positioning parameter meets the preset BeiDou positioning conditions.

[0052] Step 102B: In response to determining that the first positioning parameters meet the preset BeiDou positioning conditions, determine the target position of the terminal device in the BeiDou positioning system.

[0053] Step 102C: In response to determining that the first positioning parameter does not meet the preset BeiDou positioning conditions, determine whether the second positioning parameter meets the preset Bluetooth positioning conditions.

[0054] Step 102D: In response to determining that the second positioning parameter meets the preset Bluetooth positioning conditions, the target position of the terminal device relative to the Bluetooth base station is determined.

[0055] Step 102E: In response to determining that the second positioning parameter does not meet the preset Bluetooth positioning conditions, it is determined that the joint positioning conditions are met.

[0056] In practice, Figure 3 This is a schematic diagram of the indoor and outdoor areas and transition zones according to an embodiment of this disclosure. Figure 3 As shown, high-precision positioning is achieved using BeiDou RTK differential technology in outdoor scenarios and Bluetooth Angle of Arrival (AOA) positioning technology in indoor scenarios. For the transitional area combining outdoor and indoor areas, a seamless indoor-outdoor switching algorithm is used to achieve high-precision positioning in the transitional area.

[0057] The extent of the indoor-outdoor transition zone needs to be analyzed and determined based on the actual positioning accuracy in the environment, including outdoor positioning accuracy, indoor positioning accuracy, and positioning accuracy during seamless indoor-outdoor transitions. In outdoor scenarios, when the terminal device is located at a building entrance or inside a building where satellite signals can be received, the reduced number of satellites and weakened satellite signal power can lead to increased RTK positioning errors and unsatisfactory positioning accuracy. In this scenario, high-precision Bluetooth positioning can be achieved by deploying Bluetooth base stations indoors.

[0058] If the first positioning parameter meets the preset BeiDou positioning conditions, it indicates that the BeiDou positioning accuracy in the transition area meets the requirements, and the target location of the terminal device is determined using BeiDou positioning. If the first positioning parameter does not meet the preset BeiDou positioning conditions but the second positioning parameter meets the preset Bluetooth positioning conditions, it indicates that the Bluetooth positioning accuracy in the transition area meets the requirements, and the target location of the terminal device is determined using Bluetooth positioning. If both the first and second positioning parameters do not meet the preset BeiDou positioning conditions, it indicates that both BeiDou and Bluetooth positioning accuracy in the transition area do not meet the requirements, and the target location of the terminal device is determined using a combined BeiDou and Bluetooth positioning method.

[0059] The above scheme determines whether the first positioning parameter meets the preset BeiDou positioning conditions. If the first positioning parameter meets the preset BeiDou positioning conditions, the target position of the terminal device in the BeiDou positioning system is determined. If the first positioning parameter does not meet the preset BeiDou positioning conditions, it determines whether the second positioning parameter meets the preset Bluetooth positioning conditions. If the second positioning parameter meets the preset Bluetooth positioning conditions, the target position of the terminal device relative to the Bluetooth base station is determined. If the second positioning parameter does not meet the preset Bluetooth positioning conditions, then the joint positioning conditions are met. Thus, based on the first and second positioning parameters, the positioning method in the transition area is accurately determined. When both the first and second positioning parameters do not meet the preset BeiDou positioning conditions and the second positioning parameter does not meet the preset Bluetooth positioning conditions, it indicates that neither the BeiDou nor Bluetooth positioning accuracy in the transition area meets the requirements. In this case, the terminal device in the transition area is positioned using a joint positioning method, achieving accurate positioning and overcoming the positioning jump problem caused by direct switching between BeiDou and Bluetooth positioning.

[0060] In some embodiments, the first positioning parameters include: the number of visible satellites, the average carrier-to-noise ratio, and the geometric precision factor; the second positioning parameters include: the number of visible base stations, the distance between base stations, the elevation angle of the base stations, and the signal strength.

[0061] The preset BeiDou positioning conditions include: the number of visible satellites is greater than or equal to a preset satellite number threshold, the average carrier-to-noise ratio is greater than or equal to a preset carrier-to-noise ratio threshold, and the geometric accuracy factor is less than or equal to a preset factor threshold.

[0062] The preset Bluetooth positioning conditions include: the number of visible base stations is greater than or equal to a preset base station number threshold, the distance between base stations is less than or equal to a preset distance threshold, the elevation angle of the base stations is greater than or equal to a preset angle threshold, and the signal strength is greater than or equal to a preset strength threshold.

[0063] In specific implementation, the first positioning parameters include: the number of visible satellites, the average carrier-to-noise ratio (CNR), and the geometrical accuracy factor (GEF). The preset BeiDou positioning conditions include: the number of visible satellites is greater than or equal to a preset satellite count threshold, the average CNR is greater than or equal to a preset CNR threshold, and the GEF is less than or equal to a preset GEF threshold.

[0064] Specifically, the availability of BeiDou RTK (i.e., the preset BeiDou positioning conditions) is determined by the number of visible satellites. Average carrier-to-noise ratio The BeiDou quality factor is determined jointly by three parameters: the number of satellites, the geometrical dilution of precision (GDOP), and the geometrical dilution of precision (GDOP). For example, the preset threshold for the number of satellites is 4, the preset threshold for the carrier-to-noise ratio is 39 dB-Hz, and the preset threshold for the GDOP is 2.0. The BeiDou quality factor is expressed as... ,in, This is an indicator function; its value is 1 when the condition is true and 0 when the condition is false. If the preset BeiDou positioning conditions are met, the target location of the terminal device will be determined using BeiDou positioning.

[0065] The second positioning parameters include: the number of visible base stations, the distance between base stations, the elevation angle of the base stations, and the signal strength. The preset Bluetooth positioning conditions include: the number of visible base stations is greater than or equal to a preset base station number threshold, the distance between base stations is less than or equal to a preset distance threshold, the elevation angle of the base stations is greater than or equal to a preset angle threshold, and the signal strength is greater than or equal to a preset strength threshold.

[0066] Specifically, the reliability of Bluetooth positioning (i.e., the preset Bluetooth positioning conditions) is measured by the number of visible base stations. Distance from the terminal device to the Bluetooth base station Elevation component of Bluetooth signal arrival angle and received signal strength A comprehensive judgment is made. For example, the preset threshold for the number of base stations is 2, the preset distance threshold is 3m, the preset angle threshold is 30°, and the preset intensity threshold is... Bluetooth quality factor is expressed as... , among which, when If the preset Bluetooth positioning conditions are met, the target location of the terminal device will be determined through Bluetooth positioning.

[0067] Based on BeiDou quality factor Bluetooth quality factor Determine the positioning method for the transition region. Specifically, when At any time, regardless Whether it is 1 or not, the target location of the terminal device is determined through BeiDou positioning. When but At that time, the target location of the terminal device is determined via Bluetooth positioning. and At that time, the target location of the terminal device is determined by a combination of BeiDou positioning and Bluetooth positioning.

[0068] Figure 4 This is a flowchart illustrating the transition region determination process according to an embodiment of this disclosure. Figure 4 As shown, it is determined whether the first positioning parameter meets the preset BeiDou positioning conditions. If the following conditions are simultaneously met: number of visible satellites ≥ 4, average carrier-to-noise ratio ≥ 39dB-Hz, and GDOP ≤ 2.0, then the transition area is determined to use the outdoor BeiDou positioning method. If any of the above preset BeiDou positioning conditions are not met, it is determined whether the second positioning parameter meets the preset Bluetooth positioning conditions. If the following conditions are simultaneously met: number of visible base stations ≥ 2, base station distance ≤ 3 meters, base station elevation angle ≥ 30°, and signal strength ≥ 100°, then the transition area is determined to use the outdoor BeiDou positioning method. If the conditions are not met, the transition area will use the indoor Bluetooth positioning method; if any of the above-mentioned preset Bluetooth positioning conditions are not met, the transition area will use a combined positioning method of Beidou positioning and Bluetooth positioning.

[0069] The above scheme establishes the following preset BeiDou positioning conditions: the number of visible satellites is greater than or equal to a preset satellite count threshold, the average carrier-to-noise ratio (CNR) is greater than or equal to a preset CNR threshold, and the geometric precision factor (GMP) is less than or equal to a preset GMP threshold. Thus, by determining whether the first positioning parameter meets the preset BeiDou positioning conditions, the accuracy of BeiDou positioning in the transition area can be accurately determined. The preset Bluetooth positioning conditions include: the number of visible base stations is greater than or equal to a preset base station count threshold, the base station distance is less than or equal to a preset distance threshold, the base station elevation angle is greater than or equal to a preset angle threshold, and the signal strength is greater than or equal to a preset strength threshold. Thus, by determining whether the second positioning parameter meets the preset Bluetooth positioning conditions, the accuracy of Bluetooth positioning in the transition area can be accurately determined.

[0070] In some embodiments, step 104 includes: Step 1041: Determine the first initial weight of the BeiDou positioning model and the second initial weight of the Bluetooth positioning model. Initialize the BeiDou sub-filter based on the first initial weight and the Bluetooth sub-filter based on the second initial weight.

[0071] Step 1042: Using the BeiDou sub-filter, determine the first position of the terminal device in the BeiDou positioning system based on the position of the target sidenet device.

[0072] Step 1043: Determine the second position of the terminal device relative to the Bluetooth base station based on the position of the target sidenet device using the Bluetooth sub-filter.

[0073] Step 1044: Perform a fusion process on the first position and the second position to obtain the target position of the terminal device.

[0074] In practice, based on joint decision-making, an interactive multi-model algorithm is used for state estimation. According to the real-time signal quality, it automatically decides to what extent to trust the positioning results of Beidou or Bluetooth, and outputs an optimal and smooth position estimate to achieve smooth adaptive switching of the positioning model.

[0075] Figure 5 This is a flowchart of an adaptive filtering embodiment of the present disclosure. Figure 5 As shown, the algorithm model includes BeiDou positioning model M1 and Bluetooth positioning model M2, each corresponding to a Kalman filter. The Interacting Multiple Model (IMM) algorithm executes the following loop in each filtering cycle: a) Interactive input: Calculate the initial state contribution weight of localization model i to localization model j, and calculate the mixed initial state of the two localization models based on the initial state contribution weight as the initial state of each sub-filter.

[0076] b) Model Conditional Filtering: The Beidou sub-filter and the Bluetooth sub-filter work in parallel, independently predicting and updating based on their respective mixed initial states and dedicated observation data, and outputting the final state of the model and the information covariance.

[0077] c) Model probability update: Calculate the likelihood function of each localization model based on the information covariance of each sub-filter, measure the degree of matching between each localization model and the current observation, update the model probability, and output the probability of each localization model at the current time.

[0078] d) Output interaction: The results of each sub-filter are weighted and averaged according to their confidence level (model probability) to output the final state estimate of the system.

[0079] The aforementioned IMM framework constitutes a dynamic feedback system. The model probability is directly driven by the observation data. When the terminal device enters the transition region, the joint decision criterion (Level 1) identifies the terminal device, while the IMM algorithm (Level 2) achieves a smooth transfer of positioning dominance through continuously changing model probabilities, ultimately outputting a statistically optimal fusion positioning result, effectively avoiding location jumps.

[0080] The above scheme determines the first initial weights of the BeiDou positioning model and the second initial weights of the Bluetooth positioning model. The BeiDou sub-filter is initialized based on the first initial weights, and the Bluetooth sub-filter is initialized based on the second initial weights. Using the BeiDou sub-filter, the first position of the terminal device in the BeiDou positioning system is determined based on the location of the target sidenet device. Using the Bluetooth sub-filter, the second position of the terminal device relative to the Bluetooth base station is determined based on the location of the target sidenet device. The first and second positions are then fused to obtain the target position of the terminal device. Thus, based on the first position determined by the BeiDou positioning method and the second position determined by the Bluetooth positioning method, the target position of the terminal device under the joint positioning method can be accurately determined, achieving precise positioning of the terminal device in transitional areas.

[0081] In some embodiments, step 1044 includes: Step 1044A: Determine the first information covariance of the Beidou sub-filter, and determine the first confidence level based on the first information covariance.

[0082] Step 1044B: Determine the second innovation covariance of the Bluetooth sub-filter, and determine the second confidence level based on the second innovation covariance.

[0083] Step 1044C: Determine the first target weight of the BeiDou positioning model and the second target weight of the Bluetooth positioning model based on the first confidence level and the second confidence level.

[0084] Step 1044D: Based on the first target weight and the second target weight, perform a weighted average of the first position and the second position to obtain the target position of the terminal device.

[0085] In specific implementation, the first position and first information covariance of the terminal device in the BeiDou positioning system are determined by the BeiDou sub-filter, and the second position and second information covariance of the terminal device relative to the Bluetooth base station are determined by the Bluetooth sub-filter. A first confidence level is determined based on the first information covariance, and a second confidence level is determined based on the second information covariance. The first target weight of the BeiDou positioning model and the second target weight of the Bluetooth positioning model are determined based on the first and second confidence levels. A weighted average of the first and second positions is then performed to obtain the target position of the terminal device.

[0086] The above scheme fully utilizes BeiDou RTK differential technology to obtain high-precision outdoor location information. For indoor environments not covered by BeiDou signals, Bluetooth base stations are built, and signals are received through Bluetooth-enabled mobile devices to achieve user ranging and positioning. For transitional areas between indoor and outdoor environments, a spatial coordinate system benchmark is constructed for the transitional area, unifying indoor and outdoor coordinates to the BeiDou coordinate system. A seamless switching algorithm within the transitional area is designed to achieve high-precision indoor and outdoor positioning and unified spatiotemporal information.

[0087] The BeiDou and Bluetooth indoor / outdoor positioning and spatial information unification technology disclosed in this embodiment can be extended to areas such as autonomous driving, drone logistics networks, digital twin factories, underground space management, and emergency command platforms. These applications all rely on the deep integration of BeiDou spatiotemporal reference and indoor positioning technology. Through intelligent mining of spatiotemporal big data, new business models in fields such as smart cities and the industrial internet can be fostered. The technological evolution will focus on breakthroughs in key technologies such as multi-source heterogeneous data fusion algorithm optimization and positioning-communication joint channel modeling.

[0088] The above scheme determines the first innovation covariance of the BeiDou sub-filter and establishes a first confidence level based on this covariance. The second innovation covariance of the Bluetooth sub-filter is also determined, and a second confidence level is established based on this covariance. The first target weight of the BeiDou positioning model and the second target weight of the Bluetooth positioning model are then determined based on the first and second confidence levels. A weighted average of the first and second positions is applied to the terminal device's target position according to these weighted averages. This weighted average approach accurately determines the target position of the terminal device under the joint positioning method, enabling precise positioning of the terminal device in transitional areas. An adaptive switching mechanism for indoor / outdoor transitional areas is then developed based on a two-tiered strategy of joint positioning method determination and adaptive filtering.

[0089] Through the above embodiments, when the terminal device is located in the transition area between the outdoor and indoor areas, it acquires the first positioning parameters of BeiDou positioning and the second positioning parameters of Bluetooth positioning. This allows for accurate determination of whether the joint positioning conditions of BeiDou and Bluetooth positioning are met based on the first and second positioning parameters. If the joint positioning conditions are met based on the first and second positioning parameters, the initial reference point position of the outdoor reference point in the BeiDou positioning system is determined, and the target base station position of the Bluetooth base station in the BeiDou positioning system is determined based on the initial reference point position. The initial reference point position and the target base station position are used as the initial sidenet device position, and the combined target sidenet device position is determined based on the initial reference point position and the target base station position. Thus, when using BeiDou and Bluetooth positioning for joint positioning, the outdoor reference point and the Bluetooth base station can be unified into the same coordinate system, thereby achieving data unification of the target position in the transition area. Based on the target sidenet device position, the first position of the terminal device in the BeiDou positioning system and the second position of the terminal device relative to the Bluetooth base station are determined. The first and second positions are then fused to obtain the target position of the terminal device. This fusion of the first and second positions makes the obtained target position more accurate and ensures data unification of the target position.

[0090] It should be noted that the method of this embodiment can be executed by a single device, such as a computer or server. The method of this embodiment can also be applied to a distributed scenario, where multiple devices cooperate to complete the task. In such a distributed scenario, one of these devices may execute only one or more steps of the method of this embodiment, and the multiple devices will interact with each other to complete the method described.

[0091] It should be noted that the above description describes some embodiments of this disclosure. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in a different order than that shown in the above embodiments and still achieve the desired result. Furthermore, the processes depicted in the drawings do not necessarily require a specific or sequential order to achieve the desired result. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0092] Based on the same inventive concept, corresponding to any of the above embodiments, this disclosure also provides a positioning device based on a spatiotemporal reference.

[0093] refer to Figure 6 The positioning device based on spatiotemporal reference includes: an outdoor reference point set in an outdoor area and a Bluetooth base station set in an indoor area; The positioning parameter acquisition module 301 is configured to acquire a first positioning parameter of BeiDou positioning and a second positioning parameter of Bluetooth positioning in response to determining that the terminal device is located in the transition area between the outdoor area and the indoor area. The first location determination module 302 is configured to determine the initial reference point position of the outdoor reference point in the BeiDou positioning system based on the determination of the joint positioning conditions based on the first positioning parameters and the second positioning parameters, and to determine the target base station position of the Bluetooth base station in the BeiDou positioning system based on the reference point position. The second location determination module 303 is configured to use the initial reference point location and the target base station location as the initial edge network device location, and determine the combined target edge network device location based on the initial reference point location and the target base station location; The joint positioning module 304 is configured to determine the first position of the terminal device in the BeiDou positioning system and the second position of the terminal device relative to the Bluetooth base station based on the position of the target sidenet device, and to perform fusion processing on the first position and the second position to obtain the target position of the terminal device.

[0094] In some embodiments, the first position determination module 302 includes: The initial reference point location determination unit is configured to determine the initial reference point location of the outdoor reference point in the BeiDou positioning system. , in, For the first The initial reference point position of an outdoor reference point in the BeiDou positioning system. For the first The coordinates of an outdoor reference point in the first direction of the BeiDou positioning system. For the first The coordinates of an outdoor reference point in the second direction of the BeiDou positioning system. For the first The coordinates of an outdoor reference point in the third-party upward direction of the BeiDou positioning system. This refers to the total number of outdoor reference points; The initial base station location determination unit is configured to determine the initial base station location of the Bluetooth base station in the BeiDou positioning system based on the initial reference point location. , in, For the first The initial base station location of each Bluetooth base station in the BeiDou positioning system. For the first The initial reference point position of an outdoor reference point in the BeiDou positioning system. For from the first The outdoor reference point points to the first Unit vector of a Bluetooth base station, For the first The distance between the Bluetooth base station and the inside of the wall. For the first The Bluetooth base station and the first The wall thickness between each outdoor reference point; The terminal absolute position acquisition unit is configured to acquire multiple terminal absolute positions of the terminal device in the BeiDou positioning system by controlling the terminal device to move in the transition area. The terminal relative position determination unit is configured to determine the terminal relative position of the terminal device relative to the Bluetooth base station based on the absolute position of each terminal and the initial base station position. , in, Move the terminal device to the first At the position relative to the first The relative positions of terminals of each Bluetooth base station Move the terminal device to the first The location is the absolute position of the terminal in the BeiDou positioning system. For the first The initial base station location of each Bluetooth base station in the BeiDou positioning system. For the terminal device relative to the first The observation error of each Bluetooth base station This represents the total number of positions the terminal device moves to within the transition area. The total number of the Bluetooth base stations; The target base station location determination unit is configured to determine the target base station location of the Bluetooth base station in the BeiDou positioning system using a least-squares adjustment model, based on the relative positions of multiple terminals, the absolute positions of the multiple terminals, and the initial base station location. , in, For the first The target base station location of the Bluetooth base station in the BeiDou positioning system. For the first The initial base station location of each Bluetooth base station in the BeiDou positioning system. This represents the total number of positions the terminal device moves to within the transition area. This represents the total number of Bluetooth base stations. Move the terminal device to the first At the position relative to the first The relative positions of terminals of each Bluetooth base station Move the terminal device to the first The location is the absolute position of the terminal in the BeiDou positioning system.

[0095] In some embodiments, the second position determination module 303 includes: The initial edge network device location determination unit is configured to use the outdoor reference point and the Bluetooth base station as edge network devices, and to determine the initial edge network device location based on the initial reference point location and the target base station location. , in, For the locations of multiple initial edge network devices, For the first Initial edge network device location This represents the total number of edge network devices. The observation equation determination unit is configured to determine the observation equations based on the initial edge network device locations. , in, For the observation vector, For the residual vector, To design the matrix, This indicates the initial location of the edge network devices; The target edge network device location determination unit is configured to determine the joint target edge network device locations based on the observation vectors and the design matrix using a least-squares adjustment model. , in, The location of the target edge network equipment after integration. To design the matrix, The weight matrix of the observations, This is the observation vector.

[0096] In some embodiments, the first position determination module 302 includes: The BeiDou positioning condition judgment unit is configured to judge whether the first positioning parameter meets the preset BeiDou positioning conditions. The BeiDou positioning unit is configured to determine the target location of the terminal device in the BeiDou positioning system in response to determining that the first positioning parameters meet preset BeiDou positioning conditions; The Bluetooth positioning condition determination unit is configured to determine whether the second positioning parameter meets the preset Bluetooth positioning condition in response to determining that the first positioning parameter does not meet the preset BeiDou positioning condition. A Bluetooth positioning unit is configured to determine the target location of the terminal device relative to the Bluetooth base station in response to determining that the second positioning parameter satisfies a preset Bluetooth positioning condition; The joint positioning determination unit is configured to determine that the joint positioning conditions are met in response to determining that the second positioning parameters do not meet preset Bluetooth positioning conditions.

[0097] In some embodiments, the first positioning parameter includes: the number of visible satellites, the average carrier-to-noise ratio, and the geometric precision factor; the second positioning parameter includes: the number of visible base stations, the distance between base stations, the base station elevation angle, and the signal strength. The preset BeiDou positioning conditions include: the number of visible satellites is greater than or equal to a preset satellite number threshold, the average carrier-to-noise ratio is greater than or equal to a preset carrier-to-noise ratio threshold, and the geometric accuracy factor is less than or equal to a preset factor threshold. The preset Bluetooth positioning conditions include: the number of visible base stations is greater than or equal to a preset base station number threshold, the distance between base stations is less than or equal to a preset distance threshold, the elevation angle of the base stations is greater than or equal to a preset angle threshold, and the signal strength is greater than or equal to a preset strength threshold.

[0098] In some embodiments, the joint positioning module 304 includes: The initialization unit is configured to determine the first initial weight of the BeiDou positioning model and the second initial weight of the Bluetooth positioning model, initialize the BeiDou sub-filter based on the first initial weight, and initialize the Bluetooth sub-filter based on the second initial weight. The first location determination unit is configured to determine the first location of the terminal device in the BeiDou positioning system based on the location of the target edge network device through the BeiDou sub-filter. The second location determination unit is configured to determine the second location of the terminal device relative to the Bluetooth base station based on the location of the target sidenet device using the Bluetooth sub-filter. The fusion processing unit is configured to perform fusion processing on the first position and the second position to obtain the target position of the terminal device.

[0099] In some embodiments, the fusion processing unit includes: The first confidence level determination subunit is configured to determine the first information covariance of the Beidou sub-filter and determine the first confidence level based on the first information covariance. The second confidence level determination subunit is configured to determine the second innovation covariance of the Bluetooth sub-filter and determine the second confidence level based on the second innovation covariance. The weight determination subunit is configured to determine the first target weight of the BeiDou positioning model and the second target weight of the Bluetooth positioning model based on the first confidence level and the second confidence level. The target location determination unit is configured to perform a weighted average of the first location and the second location based on the first target weight and the second target weight to obtain the target location of the terminal device.

[0100] For ease of description, the above apparatus is described in terms of its functions, divided into various modules. Of course, in implementing this disclosure, the functions of each module can be implemented in one or more software and / or hardware.

[0101] The apparatus in the above embodiments is used to implement the corresponding spatiotemporal reference-based positioning method in any of the foregoing embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0102] Based on the same inventive concept, corresponding to the methods of any of the above embodiments, this disclosure also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the positioning method based on a spatiotemporal reference as described in any of the above embodiments.

[0103] Figure 7 This embodiment illustrates a more specific hardware structure of an electronic device. The device may include a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040, and a bus 1050. The processor 1010, memory 1020, input / output interface 1030, and communication interface 1040 are interconnected internally via the bus 1050.

[0104] The processor 1010 can be implemented using a general-purpose CPU (Central Processing Unit), microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0105] The memory 1020 can be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory 1020 can store the operating system and other applications. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program code is stored in the memory 1020 and is called and executed by the processor 1010.

[0106] The input / output interface 1030 is used to connect input / output modules to realize information input and output. Input / output modules can be configured as components within the device (not shown in the figure) or externally connected to the device to provide corresponding functions. Input devices may include keyboards, mice, touchscreens, microphones, various sensors, etc., while output devices may include displays, speakers, vibrators, indicator lights, etc.

[0107] The communication interface 1040 is used to connect the communication module (not shown in the figure) to enable communication between this device and other devices. The communication module can communicate via wired means (such as USB (Universal Serial Bus), network cable, etc.) or wireless means (such as mobile network, WIFI (Wireless Fidelity), Bluetooth, etc.).

[0108] Bus 1050 includes a pathway for transmitting information between various components of the device, such as processor 1010, memory 1020, input / output interface 1030, and communication interface 1040.

[0109] It should be noted that although the above-described device only shows the processor 1010, memory 1020, input / output interface 1030, communication interface 1040, and bus 1050, in specific implementations, the device may also include other components necessary for normal operation. Furthermore, those skilled in the art will understand that the above-described device may only include the components necessary for implementing the embodiments of this specification, and not necessarily all the components shown in the figures.

[0110] The electronic devices described above are used to implement the corresponding spatiotemporal reference-based positioning methods in any of the foregoing embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0111] Based on the same inventive concept, corresponding to the methods of any of the above embodiments, this disclosure also provides a non-transitory computer-readable storage medium storing computer instructions for causing the computer to execute the spatiotemporal reference-based positioning method as described in any of the above embodiments.

[0112] The computer-readable medium of this embodiment includes permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transfer medium that can be used to store information accessible by a computing device.

[0113] The computer instructions stored in the storage medium of the above embodiments are used to cause the computer to execute the spatiotemporal reference-based positioning method as described in any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0114] Based on the same inventive concept, corresponding to any of the above embodiments, this application also provides a computer program product, including computer program instructions. When the computer program instructions are run on a computer, the computer executes the positioning method based on a spatiotemporal reference as described in any of the above embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0115] It is understood that before using the technical solutions of the various embodiments in this disclosure, users will be informed of the type, scope of use, and usage scenarios of the personal information involved in an appropriate manner, and user authorization will be obtained.

[0116] For example, upon receiving a user's active request, a prompt message is sent to the user to explicitly inform them that the requested operation will require the acquisition and use of the user's personal information. This allows the user to independently choose, based on the prompt message, whether to provide personal information to the software or hardware such as electronic devices, applications, servers, or storage media performing the operations of this disclosed technical solution.

[0117] As an optional but not limited implementation, in response to a user's active request, sending a prompt message to the user can be done via a pop-up window, where the prompt message can be presented in text format. Furthermore, the pop-up window can also include a selection control allowing the user to choose "agree" or "disagree" to provide personal information to the electronic device.

[0118] It is understood that the above notification and user authorization process are merely illustrative and do not constitute a limitation on the implementation of this disclosure. Other methods that comply with relevant laws and regulations may also be applied to the implementation of this disclosure.

[0119] Those skilled in the art should understand that the discussion of any of the above embodiments is merely exemplary and is not intended to imply that the scope of this disclosure is limited to these examples; within the framework of this disclosure, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of the embodiments of this disclosure as described above, which are not provided in detail for the sake of brevity.

[0120] Additionally, to simplify the description and discussion, and to avoid obscuring the embodiments of this disclosure, the provided drawings may or may not show well-known power / ground connections to integrated circuit (IC) chips and other components. Furthermore, the apparatus may be shown in block diagram form to avoid obscuring the embodiments of this disclosure, and this also takes into account the fact that the details of implementation of these block diagram apparatuses are highly dependent on the platform on which the embodiments of this disclosure will be implemented (i.e., these details should be fully understood by those skilled in the art). While specific details (e.g., circuits) have been set forth to describe exemplary embodiments of this disclosure, it will be apparent to those skilled in the art that the embodiments of this disclosure can be implemented without these specific details or with variations thereof. Therefore, these descriptions should be considered illustrative rather than restrictive.

[0121] Although this disclosure has been described in conjunction with specific embodiments thereof, many substitutions, modifications, and variations of these embodiments will be apparent to those skilled in the art from the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may be used with the embodiments discussed.

[0122] This disclosure is intended to cover all such substitutions, modifications, and variations that fall within the broad scope of this disclosure. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this disclosure should be included within the protection scope of this disclosure.

Claims

1. A positioning method based on a spatiotemporal reference, characterized in that, An application to a spatiotemporal reference-based positioning system, the system comprising: an outdoor reference point located in an outdoor area and a Bluetooth base station located in an indoor area; the method comprising: In response to determining that the terminal device is located in the transition area between the outdoor area and the indoor area, the first positioning parameter of BeiDou positioning and the second positioning parameter of Bluetooth positioning are obtained; If the joint positioning conditions are met based on the first positioning parameters and the second positioning parameters, then the initial reference point position of the outdoor reference point in the BeiDou positioning system is determined, and the target base station position of the Bluetooth base station in the BeiDou positioning system is determined based on the initial reference point position. The initial reference point location and the target base station location are used as the initial edge network device locations, and the combined target edge network device locations are determined based on the initial reference point location and the target base station location. Based on the location of the target edge network device, the first position of the terminal device in the BeiDou positioning system and the second position of the terminal device relative to the Bluetooth base station are determined. The first position and the second position are then fused to obtain the target position of the terminal device.

2. The method according to claim 1, characterized in that, The step of determining the initial reference point position of the outdoor reference point in the BeiDou positioning system, and determining the target base station position of the Bluetooth base station in the BeiDou positioning system based on the initial reference point position, includes: Determine the initial reference point position of the outdoor reference point in the BeiDou positioning system. ， in, For the first The initial reference point position of an outdoor reference point in the BeiDou positioning system. For the first The coordinates of an outdoor reference point in the first direction of the BeiDou positioning system. For the first The coordinates of an outdoor reference point in the second direction of the BeiDou positioning system. For the first The coordinates of an outdoor reference point in the third-party upward direction of the BeiDou positioning system. This refers to the total number of outdoor reference points; The initial base station position of the Bluetooth base station in the BeiDou positioning system is determined based on the initial reference point position. ， in, For the first The initial base station location of each Bluetooth base station in the BeiDou positioning system. For the first The initial reference point position of an outdoor reference point in the BeiDou positioning system. For from the first The outdoor reference point points to the first Unit vector of a Bluetooth base station, For the first The distance between the Bluetooth base station and the inside of the wall. For the first The Bluetooth base station and the first The wall thickness between each outdoor reference point; By controlling the terminal device to move within the transition area, the absolute positions of the terminal device in the BeiDou positioning system are obtained. Based on the absolute position of each terminal and the initial base station position, the relative position of the terminal device with respect to the Bluetooth base station is determined. ， in, Move the terminal device to the first At the position relative to the first The relative positions of terminals of each Bluetooth base station Move the terminal device to the first The location is the absolute position of the terminal in the BeiDou positioning system. For the first The initial base station location of each Bluetooth base station in the BeiDou positioning system. For the terminal device relative to the first The observation error of each Bluetooth base station This represents the total number of positions the terminal device moves to within the transition area. The total number of the Bluetooth base stations; Using a least-squares adjustment model, the target base station location of the Bluetooth base station in the BeiDou positioning system is determined based on the relative positions of multiple terminals, the absolute positions of the multiple terminals, and the initial base station location. ， in, For the first The target base station location of the Bluetooth base station in the BeiDou positioning system. For the first The initial base station location of each Bluetooth base station in the BeiDou positioning system. This represents the total number of positions the terminal device moves to within the transition area. The total number of Bluetooth base stations. Move the terminal device to the first At the position relative to the first The relative positions of terminals of each Bluetooth base station Move the terminal device to the first The location is the absolute position of the terminal in the BeiDou positioning system.

3. The method according to claim 1, characterized in that, The step of using the initial reference point location and the target base station location as the initial edge network device location, and determining the combined target edge network device location based on the initial reference point location and the target base station location, includes: The outdoor reference point and the Bluetooth base station are used as sidenet devices, and the initial location of the sidenet devices is determined based on the initial reference point location and the target base station location. ， in, For the locations of multiple initial edge network devices, For the first Initial edge network device location This represents the total number of edge network devices. The observation equation is determined based on the initial location of the edge network devices. ， in, For the observation vector, For the residual vector, To design the matrix, This indicates the initial location of the edge network devices; The locations of the target sidenet devices are determined using the least squares adjustment model based on the observation vectors and the design matrix. ， in, The location of the target edge network equipment after integration. To design the matrix, The weight matrix of the observations, This is the observation vector.

4. The method according to claim 1, characterized in that, The step of determining whether the joint positioning conditions are met based on the first positioning parameter and the second positioning parameter includes: Determine whether the first positioning parameter meets the preset BeiDou positioning conditions; In response to determining that the first positioning parameters meet the preset BeiDou positioning conditions, the target position of the terminal device in the BeiDou positioning system is determined; In response to determining that the first positioning parameter does not meet the preset BeiDou positioning conditions, it is determined whether the second positioning parameter meets the preset Bluetooth positioning conditions. In response to determining that the second positioning parameter satisfies the preset Bluetooth positioning conditions, the target position of the terminal device relative to the Bluetooth base station is determined; In response to determining that the second positioning parameter does not meet the preset Bluetooth positioning conditions, it is determined that the joint positioning conditions are met.

5. The method according to claim 4, characterized in that, The first positioning parameters include: number of visible satellites, average carrier-to-noise ratio, and geometric precision factor; the second positioning parameters include: number of visible base stations, base station distance, base station elevation angle, and signal strength. The preset BeiDou positioning conditions include: the number of visible satellites is greater than or equal to a preset satellite number threshold, the average carrier-to-noise ratio is greater than or equal to a preset carrier-to-noise ratio threshold, and the geometric accuracy factor is less than or equal to a preset factor threshold. The preset Bluetooth positioning conditions include: the number of visible base stations is greater than or equal to a preset base station number threshold, the distance between base stations is less than or equal to a preset distance threshold, the elevation angle of the base stations is greater than or equal to a preset angle threshold, and the signal strength is greater than or equal to a preset strength threshold.

6. The method according to claim 1, characterized in that, The step of determining the first position of the terminal device in the BeiDou positioning system and the second position of the terminal device relative to the Bluetooth base station based on the position of the target edge network device, and then fusing the first position and the second position to obtain the target position of the terminal device, includes: The first initial weights of the BeiDou positioning model and the second initial weights of the Bluetooth positioning model are determined. The BeiDou sub-filter is initialized based on the first initial weights, and the Bluetooth sub-filter is initialized based on the second initial weights. The first position of the terminal device in the BeiDou positioning system is determined based on the position of the target edge network device using the BeiDou sub-filter. The second position of the terminal device relative to the Bluetooth base station is determined based on the location of the target sidenet device using the Bluetooth sub-filter. The target location of the terminal device is obtained by fusing the first location and the second location.

7. The method according to claim 6, characterized in that, The step of fusing the first location and the second location to obtain the target location of the terminal device includes: Determine the first information covariance of the Beidou sub-filter, and determine the first confidence level based on the first information covariance; Determine the second innovation covariance of the Bluetooth sub-filter, and determine the second confidence level based on the second innovation covariance; The first target weight of the BeiDou positioning model and the second target weight of the Bluetooth positioning model are determined based on the first confidence level and the second confidence level. The target position of the terminal device is obtained by performing a weighted average of the first position and the second position based on the first target weight and the second target weight.

8. A positioning device based on a spatiotemporal reference, characterized in that, include: Outdoor reference points set in outdoor areas and Bluetooth base stations set in indoor areas; The positioning parameter acquisition module is configured to acquire a first positioning parameter of BeiDou positioning and a second positioning parameter of Bluetooth positioning in response to determining that the terminal device is located in a transition area between the outdoor area and the indoor area. The first location determination module is configured to determine the initial reference point position of the outdoor reference point in the BeiDou positioning system based on the first positioning parameters and the second positioning parameters to meet the joint positioning conditions, and to determine the target base station position of the Bluetooth base station in the BeiDou positioning system based on the initial reference point position. The second location determination module is configured to use the initial reference point location and the target base station location as the initial edge network device location, and determine the combined target edge network device location based on the initial reference point location and the target base station location; The joint positioning module is configured to determine the first position of the terminal device in the BeiDou positioning system and the second position of the terminal device relative to the Bluetooth base station based on the position of the target sidenet device, and to perform fusion processing on the first position and the second position to obtain the target position of the terminal device.

9. An electronic device, characterized in that, It includes a memory, a processor, and a computer program stored in the memory and running on the processor, wherein the processor, when executing the program, implements the method as claimed in any one of claims 1 to 7.

10. A non-transitory computer-readable storage medium, characterized in that, The non-transitory computer-readable storage medium stores computer instructions for causing a computer to perform the method according to any one of claims 1 to 7.

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