Positioning method of self-moving device, self-moving device, system and program product

Abstract

The invention is suitable for the technical field of positioning, and provides a positioning method of a self-moving device, the self-moving device, a system and a program product. The positioning method of the self-moving equipment comprises the steps that in the moving process of the self-moving equipment, quality evaluation parameters corresponding to a main base station and an auxiliary base station respectively are detected in real time, and the quality evaluation parameters at least comprise signal strength, the number of common-view satellites and the switching success rate determined based on historical switching records; and respectively calculating a decision value of the main base station and a decision value of the auxiliary base station based on the quality evaluation parameters respectively corresponding to the main base station and the auxiliary base station, and controlling the self-moving equipment to switch a main reference base station on which positioning calculation depends from the main base station to the auxiliary base station in response to the fact that the decision value of the auxiliary base station is greater than the decision value of the main base station. The accuracy of base station switching can be improved, and then the reliability of positioning is improved.

Description

Technical Field

[0001] This application belongs to the field of positioning technology, and in particular relates to a positioning method, self-moving device, system and program product for a self-moving device. Background Technology

[0002] For self-moving devices such as lawnmowers and service robots, real-time dynamic carrier phase differential (RTK) positioning technology using a single base station is commonly used for location tracking. However, the signal coverage of a single base station is limited. To improve signal coverage, some related technologies employ multi-base station positioning schemes. In multi-base station scenarios, self-moving devices need to switch base stations at appropriate times to ensure positioning accuracy. However, the decision-making criteria for base station switching in these technologies are singular, and in complex environments, they are prone to making suboptimal or even erroneous switching decisions, leading to decreased positioning accuracy or even location interruptions. Summary of the Invention

[0003] This application provides a positioning method for a self-moving device, a self-moving device, and a computer program product, which can improve the accuracy of base station handover and thus improve the reliability of positioning.

[0004] The first aspect of this application provides a positioning method for an independent mobile device, comprising: during the movement of the independent mobile device, real-time detection of quality assessment parameters corresponding to a primary base station and a secondary base station, wherein the quality assessment parameters include at least signal strength, number of co-viewing satellites, and handover success rate determined based on historical handover records; calculating the decision value of the primary base station and the decision value of the secondary base station based on the quality assessment parameters corresponding to the primary base station and the secondary base station, respectively; and in response to the decision value of the secondary base station being greater than the decision value of the primary base station, controlling the independent mobile device to switch the primary reference base station on which its positioning calculation depends from the primary base station to the secondary base station.

[0005] In some embodiments of the first aspect, the positioning method further includes: controlling the mobile device to move to a preset calibration point, the calibration point being located in the signal coverage area of ​​the main base station and the secondary base station; acquiring the real-time position coordinates of the mobile device at the calibration point based on the main base station and the secondary base station; and, in response to the position deviation between the real-time position coordinates and the initial position coordinates of the calibration point exceeding a preset threshold, correcting the coordinates of the main base station and / or the secondary base station based on the position deviation.

[0006] In some embodiments of the first aspect, the positioning method further includes: the calibration point is located at a fixed position, and the initial position coordinates are the map coordinates of the calibration point on the map.

[0007] In some embodiments of the first aspect, the positioning method further includes: controlling the primary base station and the secondary base station to perform coordinate alignment.

[0008] In some embodiments of the first aspect, controlling the primary base station and the secondary base station to perform coordinate alignment includes: controlling the primary reference base station to send differential data carrying the reference coordinates of the primary reference base station to other base stations; controlling other base stations to determine the coordinates of other base stations based on the differential data, so as to align the coordinate system to the primary reference base station based on the coordinates of other base stations.

[0009] In some implementations of the first aspect, the decision values ​​of the primary base station and the secondary base station are calculated separately, including: weighted summation of signal strength, number of co-viewing satellites and handover success rate to obtain the decision value.

[0010] In some embodiments of the first aspect, in response to the decision value of the secondary base station being less than or equal to the decision value of the primary base station, the method further includes: controlling the self-moving device to maintain the primary reference base station as the primary base station.

[0011] A positioning device for an independent mobile device, provided in a second aspect of this application, includes: a parameter acquisition unit, configured to detect in real time quality assessment parameters corresponding to a primary base station and a secondary base station during the movement of the independent mobile device, wherein the quality assessment parameters include at least signal strength, number of co-viewing satellites, and handover success rate determined based on historical handover records; a decision value calculation unit, configured to calculate the decision value of the primary base station and the decision value of the secondary base station based on the quality assessment parameters corresponding to the primary base station and the secondary base station, respectively; and a base station switching unit, configured to control the independent mobile device to switch the primary reference base station on which its positioning calculation depends from the primary base station to the secondary base station in response to the decision value of the secondary base station being greater than the decision value of the primary base station.

[0012] A third aspect of this application provides a self-moving device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the positioning method for the self-moving device described above.

[0013] A fourth aspect of this application provides a positioning system, including the self-moving device, main base station, and secondary base station described in the third aspect.

[0014] A fifth aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the above-described self-moving device positioning method.

[0015] A sixth aspect of this application provides a computer program product that, when run, causes the aforementioned self-mobile device positioning method to be executed.

[0016] In the embodiments of this application, during the movement of the self-moving device, quality assessment parameters corresponding to the primary base station and the secondary base station are detected in real time. The quality assessment parameters include at least signal strength, the number of co-viewing satellites, and the handover success rate determined based on historical handover records. Based on the quality assessment parameters corresponding to the primary base station and the secondary base station, the decision values ​​of the primary base station and the secondary base station are calculated respectively. In response to the decision value of the secondary base station being greater than the decision value of the primary base station, the self-moving device is controlled to switch the primary reference base station on which its positioning calculation depends from the primary base station to the secondary base station. Since the number of co-viewing satellites and the historical handover success rate are introduced as handover decision parameters, the problems of traditional single signal strength handover methods being unable to guarantee positioning accuracy and easily causing frequent harmful handovers can be overcome, thereby improving the accuracy of base station handover and thus improving the reliability of positioning. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram illustrating the implementation process of a positioning method for a self-moving device provided in an embodiment of this application;

[0019] Figure 2 This is a schematic diagram of the base station deployment provided in an embodiment of this application;

[0020] Figure 3 This is a schematic diagram illustrating the specific implementation process of base station handover provided in the embodiments of this application;

[0021] Figure 4 This is a schematic diagram illustrating the specific implementation process of coordinate alignment provided in the embodiments of this application;

[0022] Figure 5 This is a schematic diagram illustrating the specific implementation process of automatic displacement correction provided in the embodiments of this application;

[0023] Figure 6 This is a schematic diagram of the structure of a positioning device for a self-moving device provided in an embodiment of this application;

[0024] Figure 7 This is a schematic diagram of the structure of the self-moving device provided in the embodiments of this application. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are protected by this application.

[0026] In multi-base station scenarios, mobile devices need to switch base stations at appropriate times to ensure positioning accuracy. However, the decision-making basis for base station switching in related technologies is singular, which can easily lead to suboptimal or even incorrect switching decisions in complex environments, resulting in decreased positioning accuracy or even interruption.

[0027] In view of this, this application proposes a positioning method for self-moving devices, which introduces the number of co-viewing satellites and the historical handover success rate as handover decision parameters. This method can overcome the problems of traditional single signal strength handover methods failing to guarantee positioning accuracy and easily causing frequent harmful handovers, thereby improving the accuracy of base station handover and thus improving the reliability of positioning.

[0028] To illustrate the technical solution of this application, specific embodiments are described below.

[0029] Figure 1 This illustration shows a schematic flowchart of a positioning method for a self-moving device according to an embodiment of this application. This method can be applied to self-moving devices. The aforementioned self-moving device refers to a device with autonomous mobility capabilities, such as a lawnmower, robot, or smart car; this application does not limit this definition.

[0030] Specifically, the above-mentioned self-mobile device positioning method may include the following steps S101 to S103.

[0031] Step S101: During the movement of the self-moving device, the quality assessment parameters corresponding to the main base station and the secondary base station are detected in real time.

[0032] In the embodiments of this application, the main base station and the secondary base station are base stations located in different locations. For example, the main base station can be deployed in the main working area (such as the front yard), and the secondary base station can be deployed in the secondary working area (such as the back yard). There can be one or more secondary base stations, and when multiple secondary base stations exist, they are located in different locations. Please refer to [the relevant documentation / reference]. Figure 2 Each main base station and secondary base station corresponds to a signal coverage area, and there is a common signal coverage area between the signal coverage areas of the two base stations.

[0033] It should be noted that before base station handover, the primary base station is the primary reference base station on which the self-moving device currently relies for positioning calculation. The primary reference base station is the coordinate reference that the self-moving device mainly relies on and follows for RTK calculation at the current moment.

[0034] The self-moving device can move autonomously in the scene according to task requirements, control commands and other data. During the movement, it can communicate with the main base station and the secondary base station in real time to obtain the quality assessment parameters of the main base station and the secondary base station.

[0035] The quality assessment parameters are a set of quantitative indicators used to comprehensively evaluate and select the optimal positioning reference base station. These parameters may include at least signal strength, the number of co-viewing satellites, and the handover success rate determined based on historical handover records.

[0036] Received Signal Strength Indicator (RSSI) is a parameter that reflects the quality of a communication link and can be directly measured during communication.

[0037] The number of co-viewing satellites refers to the number of satellites at a given epoch where the self-moving device and a certain base station can simultaneously receive their navigation signals, and the signal quality meets the positioning calculation requirements. It is a parameter reflecting the quality of the positioning source and can be provided by the primary base station and the secondary base station respectively.

[0038] The handover success rate refers to the success rate of a mobile device handing over to a corresponding base station in the past. Specifically, mobile devices can store historical handover records to record the historical handover success rates of each base station. When a mobile device communicates with a base station, based on the base station's identifier, the historical handover success rate of that base station can be extracted from the historical handover records as the handover success rate.

[0039] Step S102: Based on the quality assessment parameters corresponding to the main base station and the secondary base station, calculate the decision value of the main base station and the decision value of the secondary base station respectively.

[0040] In the embodiments of this application, the decision value of a base station refers to a comprehensive quantitative score calculated in real time by the mobile device to quantitatively evaluate the suitability of the base station as the current optimal positioning reference source. Specifically, for the primary base station, the decision value can be obtained by normalizing and fusing the three parameters of the primary base station: signal strength, number of co-viewing satellites, and handover success rate. Similarly, for the secondary base station, the decision value can be obtained by normalizing and fusing the three parameters of the secondary base station: signal strength, number of co-viewing satellites, and handover success rate. Since the primary and secondary base stations calculate their decision values ​​in the same way, their suitability as the current optimal positioning reference source can be compared under the same standard.

[0041] In step S103, in response to the decision value of the secondary base station being greater than the decision value of the primary base station, the self-moving device is controlled to switch the primary reference base station on which its positioning calculation depends from the primary base station to the secondary base station.

[0042] Specifically, when the decision value of the secondary base station is greater than that of the primary base station, it indicates that the secondary base station performs better than the primary base station in positioning. Therefore, the primary reference base station can be switched from the primary base station to the secondary base station to utilize the data provided by the switched primary reference base station for positioning calculations. At this time, the original secondary base station will become the primary base station, serving as the primary coordinate reference that the mobile device relies on and follows for RTK calculations at the current moment. The original primary base station will become the secondary base station, serving as a hot backup that can be upgraded to the primary reference base station at any time, and as a real-time data collaborator to enhance positioning accuracy and anti-interference capabilities.

[0043] Accordingly, in some embodiments of this application, in response to the decision value of the secondary base station being less than or equal to the decision value of the primary base station, indicating that the primary base station performs better than the secondary base station when used for positioning, the method may further include: controlling the self-moving device to keep the primary reference base station as the primary base station.

[0044] Understandably, traditional base station handover schemes often only consider signal strength, which only reflects the quality of the communication link and does not actually participate in the positioning calculation process. Even with high signal strength, if the number of co-viewing satellites at the base station is low or the signal is obstructed, positioning accuracy will still drop sharply. Moreover, signal strength is easily affected by momentary obstructions (such as passing through bushes) and fluctuates drastically. Relying solely on signal strength for signal handover can easily lead to frequent handovers between two base stations, and each handover is an interruption to positioning. In contrast, this application introduces two parameters—the number of co-viewing satellites and the handover success rate—when performing base station handover. This allows positioning calculation accuracy and handover stability to be used as the basis for handover, thereby ensuring positioning accuracy and reliability.

[0045] In the embodiments of this application, during the movement of the self-moving device, quality assessment parameters corresponding to the primary base station and the secondary base station are detected in real time. The quality assessment parameters include at least signal strength, the number of co-viewing satellites, and the handover success rate determined based on historical handover records. Based on the quality assessment parameters corresponding to the primary base station and the secondary base station, the decision values ​​of the primary base station and the secondary base station are calculated respectively. In response to the decision value of the secondary base station being greater than the decision value of the primary base station, the self-moving device is controlled to switch the primary reference base station on which its positioning calculation depends from the primary base station to the secondary base station. Since the number of co-viewing satellites and the historical handover success rate are introduced as handover decision parameters, the problems of traditional single signal strength handover methods being unable to guarantee positioning accuracy and easily causing frequent harmful handovers can be overcome, thereby improving the accuracy of base station handover and thus improving the reliability of positioning.

[0046] In some embodiments of this application, determining the handover success rate based on historical handover records may include: statistically analyzing the number of successful handovers within a fixed time or number of attempts. In this case, the handover success rate H = (number of successful handovers / total number of handover attempts) × 100%. A successful handover may refer to a situation where, after a handover attempt, the mobile device, under the guidance of the new base station, maintains a stable positioning status within a predetermined time (e.g., 2 seconds).

[0047] In some embodiments of this application, calculating the decision value of the primary base station and the decision value of the secondary base station may include: weighting and summing the signal strength, the number of co-viewing satellites, and the handover success rate to obtain the decision value.

[0048] Specifically, the decision value can be expressed as d = a × N + b × RSSI + c × H.

[0049] Where N represents the number of co-viewing satellites, RSSI is the signal strength of the base station, and H is the handover success rate. a, b, and c are weighting coefficients, respectively.

[0050] It should be noted that the weights of signal strength, number of co-viewing satellites, and handover success rate can be set according to actual conditions. For example, the weights of signal strength, number of co-viewing satellites, and handover success rate can be fixed at 0.3, 0.3, and 0.4, respectively. For instance, if the primary base station has a signal strength RSSI of -92dBm, a co-viewing satellite count N = 8, and a handover success rate H = 85%; and the secondary base station has a signal strength RSSI of -80dBm, a co-viewing satellite count N = 10, and a handover success rate H = 92%, then the decision value for the primary base station is 0.4 × 8 + 0.3 × (-92) + 0.3 × 85 = 12.7. The decision value for the secondary base station is 0.4 × 10 + 0.3 × (-80) + 0.3 × 92 = 15.6. Because the secondary base station has a higher decision value, a handover command is triggered, switching the primary reference base station relied upon for the self-moving device's positioning calculation from the primary base station to the secondary base station. Since the number of co-viewing satellites (N) determines the quality of positioning accuracy, using a higher value of 0.4 here prioritizes positioning accuracy.

[0051] For easier understanding, please refer to Figure 3 The primary base station is base station A, and the secondary base station is base station B. The automated mobile device sends data acquisition commands to both base station A and base station B, respectively, to receive signal strength and the number of co-viewing satellites from each. The automated mobile device then calculates the handover success rate statistics for base stations A and B, determines the weights of signal strength, the number of co-viewing satellites, and the handover success rate, and calculates a decision value. If the decision value of the primary base station is greater than or equal to the decision value of the secondary base station, base station A remains the primary reference base station. If the decision value of the primary base station is less than the decision value of the secondary base station, base station B is switched to become the primary reference base station.

[0052] In other embodiments of this application, the weights of the number of co-viewing satellites, signal strength, and handover success rate are adjusted according to the working area of ​​the self-moving device.

[0053] Specifically, each area can be pre-labeled and categorized on the map.

[0054] For open grassy areas, since there are many and stable satellites and little signal obstruction, accuracy should be prioritized. The weight of the number of co-viewing satellites can be significantly increased (e.g., 0.6), while the weight of signal strength and handover success rate can be reduced to avoid unnecessary handovers caused by minor signal fluctuations.

[0055] For areas near buildings / trees, where signal fluctuations are large and the number of satellites may decrease sharply, it is necessary to prioritize ensuring connection stability and avoid harmful handovers. The weight of signal strength can be increased to respond quickly to blockages, and the weight of handover success rate can be increased, allowing historical success experience to guide decision-making.

[0056] For areas at the edge of a courtyard / with weak signal coverage, since the signal strength of both base stations is weak and similar, and the real-time signals are unreliable, the decision should be made with extreme caution and conservatism. The weight of the handover success rate can be increased, making it the decisive factor, and the base station with a more stable historical performance in this edge area should be selected.

[0057] For base station handover transition areas, this area is prone to fluctuations. The goal is to reduce unnecessary repeated handovers. Therefore, the weight of handover success rate can be increased. Handover should only be performed when a base station is clearly superior; otherwise, the current state should be maintained.

[0058] Furthermore, time and device status dimensions can be introduced to make weight adjustments more predictable.

[0059] For example, it can learn and record the typical signal patterns and optimal weight configurations of each region at different time periods (such as morning, noon, and evening), and automatically recall them at the corresponding time.

[0060] For example, the strategy can be adjusted according to the working status of the mobile device: when performing lawn mowing tasks, a balanced weight strategy can be adopted (for example, the weights of signal strength, number of co-viewing satellites and handover success rate can be set to 0.3, 0.3 and 0.4 respectively); when returning to charge, the weights of handover success rate and signal strength can be greatly increased and the weight of number of satellites can be reduced to ensure that communication is absolutely reliable on the way home.

[0061] In some embodiments of this application, the above method may further include: controlling the main base station and the secondary base station to perform coordinate alignment.

[0062] Specifically, coordinate alignment ensures that primary and secondary base stations are integrated into the same high-precision, unified coordinate system, enabling smooth base station handover without any abrupt changes or misalignments in positioning caused by coordinate system jumps. It also guarantees that any positional deviations detected during subsequent automatic displacement correction are caused by physical displacement. Coordinate alignment can be performed during initialization or periodically; this application does not impose any restrictions on this.

[0063] In some embodiments of this application, controlling the coordinate alignment between the main base station and the secondary base station may include: controlling the main reference base station to send differential data carrying the reference coordinates of the main reference base station to other base stations, controlling the other base stations to determine the coordinates of other base stations based on the differential data, so as to align the coordinate system to the main reference base station based on the coordinates of the other base stations.

[0064] Specifically, other base stations can refer to base stations other than the main reference base station.

[0065] like Figure 4 As shown, before base station handover, base station A (the primary base station) serves as the primary reference base station. The mobile device can communicate with base station A to obtain differential data fed back by base station A for positioning. The mobile device can send heartbeat data to base station B (the secondary base station) to receive feedback data packets from base station B. Simultaneously, base station A can be controlled to acquire its reference coordinates (longitude X1, latitude Y1) and instructed to broadcast differential data carrying these reference coordinates. Subsequently, base station B receives the differential data broadcast by base station A and calculates its own coordinates (X2, Y2) using Kalman filtering. At this point, the coordinates (X2, Y2) share the same origin, scale, and orientation as the coordinates (X1, Y1) of base station A. Base station B uses (X2, Y2) to correct errors in the received satellite signals, ensuring that the deviation between the coordinate systems of base station B and base station A is less than a deviation threshold.

[0066] like Figure 4As shown, after base station handover, base station A becomes the secondary base station, and base station B becomes the primary base station, with base station B serving as the primary reference base station. The mobile device can communicate with base station B to obtain differential data fed back by base station B for positioning. The mobile device can send heartbeat data to base station A to receive feedback data packets from base station A. Simultaneously, it can control base station B to obtain its reference coordinates (longitude X2, latitude Y2) and instruct base station B to broadcast differential data carrying these reference coordinates. Subsequently, it controls base station A to receive the differential data broadcast by base station B and calculate its own coordinates (X1, Y1) using Kalman filtering. At this point, the coordinates (X1, Y1) and base station B's coordinates (X2, Y2) share the same origin, scale, and orientation. Base station A uses (X1, Y1) to correct errors in the received satellite signals, ensuring that the deviation between the coordinate systems of base station A and base station B is less than a deviation threshold.

[0067] In this way, the main base station and the secondary base station can work in a unified coordinate system, which can avoid the problem of map data offset caused by coordinate system offset, and help to use a unified navigation path under any base station.

[0068] In some embodiments of this application, considering that the base station may be displaced due to environmental factors (such as foundation settlement or human collision) after long-term use, resulting in cumulative positioning errors, in some embodiments, the above method may also include: automatically correcting the displacement of the base station coordinates.

[0069] Specifically, the aforementioned automatic displacement correction may include: controlling the mobile device to move to a preset calibration point, obtaining the real-time position coordinates of the mobile device at the calibration point based on the main base station and the secondary base station; and, in response to the position deviation between the real-time position coordinates and the initial position coordinates of the calibration point exceeding a preset threshold, correcting the coordinates of the main base station and / or the secondary base station based on the position deviation.

[0070] The calibration point is located within the shared coverage area of ​​the primary and secondary base stations. The calibration point can be a fixed, immovable object, such as the precise docking point of a charging station or a landmark in a yard. The initial position coordinates are a set of map coordinates, such as (X_initial, Y_initial), pre-measured and recorded during system initialization (initial installation and debugging). These represent the coordinate values ​​that the mobile device should read when it stops at this calibration point after the base station is correctly installed. After the mobile device comes to a stop, its real-time position coordinates, denoted as (X_current, Y_current), can be calculated using the signals provided by the primary and secondary base stations. These real-time position coordinates are then compared with the initial position coordinates (X_initial, Y_initial) to calculate the position deviations ΔX and ΔY.

[0071] If the positional deviation between the real-time position coordinates and the initial position coordinates of the calibration point does not exceed a preset threshold, such as less than or equal to 5cm, it indicates that the base station has not moved, and no automatic displacement correction is required.

[0072] If the positional deviation between the real-time location coordinates and the initial location coordinates of the calibration point exceeds a preset threshold, it indicates that the base station has moved. In this case, automatic displacement correction is required to update the internal coordinates of the base station. Specifically, a nonlinear least squares optimization algorithm can be used to update the positional deviation, and then the positional deviation is superimposed on the original coordinates of the main or secondary base station to obtain the corrected coordinates. Meanwhile, the coordinates of all points on the map (including boundaries, obstacles, and the initial positioning point) remain unchanged.

[0073] For example, if the positional deviation of the primary / secondary base station is found to be ΔX = 4cm and ΔY = 3cm, then the corrected coordinates of the primary / secondary base station are: Xnew = Xold + 4cm, Ynew = Yold + 3cm, and (Xold, Yold) are the coordinates before correction.

[0074] It should be noted that the above-mentioned automatic displacement correction, such as Figure 5 As shown, it can be triggered periodically, such as once every 24 hours, or whenever the mobile device moves to a preset calibration point. Automatic displacement correction avoids the impact of base station movement on the accuracy of the mobile device's positioning. After triggering automatic displacement correction, the positional deviation between the real-time location coordinates and the initial location coordinates of the calibration point is calculated. It is then determined whether the positional deviation exceeds a preset threshold. If it does, a nonlinear least squares optimization algorithm is used to update the positional deviation, and the coordinates of the primary and / or secondary base stations are corrected based on the positional deviation. If the positional deviation does not exceed the preset threshold, no coordinate correction is required.

[0075] It should be noted that, for the sake of simplicity, the aforementioned method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, because according to this application, some steps can be performed in other orders.

[0076] like Figure 6 The diagram shown is a structural schematic of a positioning device 600 for a self-moving device provided in an embodiment of this application. The positioning device 600 for the self-moving device is disposed on the self-moving device.

[0077] Specifically, the positioning device 600 of the self-moving device may include:

[0078] The parameter acquisition unit 601 is used to detect in real time the quality assessment parameters corresponding to the main base station and the secondary base station during the movement of the mobile device. The quality assessment parameters include at least the signal strength, the number of co-viewing satellites, and the handover success rate determined based on historical handover records.

[0079] The decision value calculation unit 602 is used to calculate the decision value of the main base station and the decision value of the secondary base station based on the quality assessment parameters corresponding to the main base station and the secondary base station, respectively.

[0080] The base station switching unit 603 is used to control the mobile device to switch the primary reference base station on which its positioning calculation depends from the primary base station to the secondary base station in response to the decision value of the secondary base station being greater than the decision value of the primary base station.

[0081] It should be noted that, for the sake of convenience and brevity, the specific working process of the positioning device 600 of the aforementioned self-moving device can be found in the following reference: Figures 1 to 5 The corresponding process of the method will not be described in detail here.

[0082] like Figure 7 The diagram shown is a schematic representation of a self-moving device according to an embodiment of this application. Specifically, the self-moving device 7 may include: a processor 70, a memory 71, and a computer program 72 stored in the memory 71 and executable on the processor 70, such as a positioning program for the self-moving device. When the processor 70 executes the computer program 72, it implements the steps in the positioning method embodiments of the various self-moving devices described above, for example... Figure 1 Steps S101 to S103 are shown. Alternatively, when the processor 70 executes the computer program 72, it implements the functions of each module / unit in the above-described device embodiments, for example... Figure 6 The functions of the parameter acquisition unit 601, decision value calculation unit 602, and base station handover unit 603 are shown.

[0083] The computer program can be divided into one or more modules / units, which are stored in the memory 71 and executed by the processor 70 to complete this application. The one or more modules / units can be a series of computer program instruction segments capable of performing a specific function, which describe the execution process of the computer program in the self-moving device.

[0084] For example, the computer program can be divided into: a parameter acquisition unit, used to detect in real time the quality assessment parameters corresponding to the primary base station and the secondary base station during the movement of the self-moving device, the quality assessment parameters including at least signal strength, number of co-viewing satellites, and handover success rate determined based on historical handover records; a decision value calculation unit, used to calculate the decision value of the primary base station and the decision value of the secondary base station based on the quality assessment parameters corresponding to the primary base station and the secondary base station respectively; and a base station handover unit, used to control the self-moving device to switch the primary reference base station on which its positioning calculation depends from the primary base station to the secondary base station in response to the decision value of the secondary base station being greater than the decision value of the primary base station.

[0085] The self-moving device may include, but is not limited to, a processor 70 and a memory 71. Those skilled in the art will understand that... Figure 7 This is merely an example of a self-moving device and does not constitute a limitation on the self-moving device. It may include more or fewer components than illustrated, or combine certain components, or different components. For example, the self-moving device may also include input / output devices, network access devices, buses, etc.

[0086] The processor 70 may be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), off-the-shelf programmable gate arrays or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0087] The memory 71 can be an internal storage unit of the self-moving device, such as a hard drive or memory. The memory 71 can also be an external storage device of the self-moving device, such as a plug-in hard drive, Smart Media Card (SMC), Secure Digital (SD) card, or Flash Card. Furthermore, the memory 71 can include both internal and external storage units of the self-moving device. The memory 71 is used to store the computer program and other programs and data required by the self-moving device. The memory 71 can also be used to temporarily store data that has been output or will be output.

[0088] It should be noted that, for the sake of convenience and brevity, the structure of the self-moving device described above can also be referred to the specific description of the structure in the method embodiment, which will not be repeated here.

[0089] In some embodiments of this application, a positioning system is also provided, including... Figure 7 The diagram shows a self-moving device, a main base station, and a secondary base station. The main and secondary base stations can be deployed in different locations, and there can be one or more secondary base stations. The operational process of the self-moving device, main base station, and secondary base station can be found in [reference needed]. Figures 1 to 5 The relevant descriptions of the methods shown are not repeated in this application.

[0090] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0091] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0092] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for various specific applications, but such implementations should not be considered beyond the scope of this application.

[0093] In the embodiments provided in this application, it should be understood that the disclosed devices / self-moving devices and methods can be implemented in other ways. For example, the device / self-moving device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual couplings or direct couplings or communication connections may be through some interfaces; indirect couplings or communication connections between devices or units may be electrical, mechanical, or other forms.

[0094] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0095] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0096] If the integrated module / unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in the computer-readable medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electrical carrier signals and telecommunication signals.

[0097] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A positioning method for a self-moving device, characterized in that, include: During the movement of the mobile device, the quality assessment parameters corresponding to the main base station and the secondary base station are detected in real time. The quality assessment parameters include at least signal strength, number of co-viewing satellites, and handover success rate determined based on historical handover records. Based on the quality assessment parameters corresponding to the main base station and the secondary base station, the decision values ​​of the main base station and the secondary base station are calculated respectively. In response to the decision value of the secondary base station being greater than the decision value of the primary base station, the self-moving device is controlled to switch the primary reference base station on which its positioning calculation depends from the primary base station to the secondary base station.

2. The positioning method for a self-moving device as described in claim 1, characterized in that, The positioning method further includes: Control the self-mobile device to move to a preset calibration point, which is located in the signal coverage area of ​​the main base station and the secondary base station; Obtain the real-time location coordinates of the self-moving device at the calibration point, calculated based on the main base station and the secondary base station; In response to the position deviation between the real-time position coordinates and the initial position coordinates of the calibration point exceeding a preset threshold, the coordinates of the main base station and / or the secondary base station are corrected based on the position deviation.

3. The positioning method for a self-moving device as described in claim 2, characterized in that, The calibration point is located at a fixed position, and the initial position coordinates are the map coordinates of the calibration point on the map.

4. The positioning method for a self-moving device as described in any one of claims 1-3, characterized in that, The positioning method further includes: The main base station and the secondary base station are controlled to perform coordinate alignment.

5. The positioning method for a self-moving device as described in claim 4, characterized in that, The control of the primary base station and the secondary base station to perform coordinate alignment includes: The differential data carrying the reference coordinates of the main reference base station is sent from the main reference base station to other base stations. The other base stations are controlled to determine their coordinates based on the differential data, so as to align the coordinate system with the main reference base station based on the coordinates of the other base stations.

6. The positioning method for a self-moving device as described in any one of claims 1-3, characterized in that, The calculation of the decision values ​​for the primary base station and the secondary base station includes: The decision value is obtained by weighting and summing the signal strength, the number of co-viewing satellites, and the handover success rate.

7. The positioning method for a self-moving device as described in any one of claims 1-3, characterized in that, In response to the decision value of the secondary base station being less than or equal to the decision value of the primary base station, the method further includes: Control the self-moving device to keep the main reference base station as the main base station.

8. A self-moving device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the positioning method for the self-moving device as described in any one of claims 1 to 7.

9. A positioning system, characterized in that, It includes the self-moving device, main base station, and secondary base station as described in claim 8.

10. A computer program product, characterized in that, Includes a computer program, which, when executed, causes the positioning method of the self-moving device as described in any one of claims 1 to 7 to be performed.

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