Positioning method and device, computer equipment and storage medium

Abstract

The invention discloses a positioning method and device, computer equipment and a storage medium, and the method comprises the steps: respectively obtaining satellite positioning data and a communication state, and enabling the communication state to comprise a transmitting state and a standby state; analyzing the satellite positioning data to confirm whether the satellite positioning data meets a preset requirement or not; if the satellite positioning data does not meet the preset requirement, or the communication state is the transmitting state, determining a positioning position according to the satellite positioning data meeting the preset requirement last time; acquiring inertial navigation data, and performing inertial navigation positioning according to the positioning position and the inertial navigation data. According to the invention, when the positioning signal is interfered, positioning is carried out through inertial navigation positioning, and the positioning precision is ensured.

Description

Technical Field

[0001] This invention relates to the field of positioning technology, and in particular to a positioning method, device, computer equipment, and storage medium. Background Technology

[0002] With the rapid development of intelligent vehicle technology, positioning and communication equipment is becoming increasingly diverse, including GNSS positioning modules, BeiDou short message communication modules, low-orbit satellite communication modules, 5G / 4G communication modules, C-V2X communication modules, WiFi / BT communication modules, UWB positioning modules, RTK positioning modules, and IMU inertial navigation modules. To meet the comprehensive functional requirements of intelligent vehicles, positioning and communication need to achieve communication-navigation fusion, meaning that communication can be carried out simultaneously during positioning, and positioning can be completed simultaneously during communication; the two often operate in parallel or even simultaneously.

[0003] However, when the positioning module and communication module are integrated into the same vehicle-mounted device and operate at similar frequencies, the signal emitted by the communication module is highly susceptible to interfering with the satellite positioning signal received by the positioning module. This can lead to errors in satellite positioning data, decreased positioning accuracy, and in severe cases, even positioning failure. Furthermore, traditional positioning methods also fail to achieve continuous positioning when satellite signals are blocked by buildings or mountains, or when the vehicle is traveling in areas without satellite signals, such as tunnels or basements. Summary of the Invention

[0004] This invention provides a positioning method, apparatus, computer device, and storage medium, aiming to solve the technical problem of poor anti-interference capability of current positioning methods.

[0005] In a first aspect, embodiments of the present invention provide a positioning method, the method comprising: Satellite positioning data and communication status are acquired respectively, wherein the communication status includes transmission status and standby status; The satellite positioning data is analyzed to confirm whether it meets preset requirements; If the satellite positioning data does not meet the preset requirements, or the communication state is the transmission state, the positioning location is confirmed based on the most recent satellite positioning data that meets the preset requirements. Acquire inertial navigation data and perform inertial navigation positioning based on the positioning location and the inertial navigation data.

[0006] Secondly, embodiments of the present invention also provide an interference-resistant positioning device, the device comprising: The first acquisition unit is used to acquire satellite positioning data and communication status respectively, wherein the communication status includes transmission status and standby status; The first parsing unit is used to parse the satellite positioning data to confirm whether the satellite positioning data meets preset requirements; The first confirmation unit is used to confirm the positioning location based on the most recent satellite positioning data that meets the preset requirements if the satellite positioning data does not meet the preset requirements, or if the communication state is the transmission state. The second acquisition unit is used to acquire inertial navigation data and perform inertial navigation positioning based on the positioning location and the inertial navigation data.

[0007] Thirdly, embodiments of the present invention also provide a computer device, which includes a memory and a processor connected to the memory, wherein the memory stores a computer program, and the processor executes the computer program to implement the above-described method.

[0008] Fourthly, embodiments of the present invention also provide a computer-readable storage medium storing a computer program that, when executed by a processor, can implement the above-described method.

[0009] This invention provides a positioning method, apparatus, computer device, and storage medium. The method includes: acquiring satellite positioning data and communication status, wherein the communication status includes a transmission status and a standby status; parsing the satellite positioning data to confirm whether the satellite positioning data meets preset requirements; if the satellite positioning data does not meet the preset requirements, or the communication status is the transmission status, then confirming the positioning location based on the most recent satellite positioning data that meets the preset requirements; acquiring inertial navigation data, and performing inertial navigation positioning based on the positioning location and the inertial navigation data. This invention can parse stable satellite data to confirm whether the satellite positioning data meets preset requirements. Simultaneously, it can also confirm the communication status. When the satellite positioning data does not meet the preset requirements, or when the communication status is the transmission status, it indicates that satellite positioning is interfered with. Therefore, the satellite position can be confirmed based on the satellite positioning data, and then inertial navigation positioning can be performed based on the satellite position and inertial navigation data to ensure positioning accuracy. Attached Figure Description

[0010] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are some embodiments of the present invention. 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 illustrating the positioning method provided in an embodiment of the present invention; Figure 2 This is a schematic block diagram of an interference-resistant positioning device provided in an embodiment of the present invention; Figure 3This is a schematic block diagram of a computer device provided in an embodiment of the present invention. Detailed Implementation

[0012] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0013] It should be understood that, when used in this specification and the appended claims, the terms “comprising” and “including” indicate the presence of the described features, integrals, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integrals, operations, elements, components and / or collections thereof.

[0014] It should also be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the invention. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used in this specification and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes such combinations.

[0015] Please see Figure 1 , Figure 1 This is a flowchart illustrating the positioning method provided in an embodiment of the present invention. The positioning method of this embodiment can be applied to computer equipment, which can be an in-vehicle control device, used to perform positioning via inertial navigation when satellite signals are interfered with, ensuring positioning accuracy. Figure 1 As shown, the method includes steps S110 to S140.

[0016] S110, acquire satellite positioning data and communication status respectively, wherein the communication status includes transmission status and standby status.

[0017] In this embodiment of the invention, satellite positioning data is collected by a satellite positioning module and transmitted to the microprocessor. The satellite positioning module can be a GNSS positioning module, or it can be flexibly replaced with a pseudo-satellite positioning module or a low-orbit satellite positioning module, depending on the positioning requirements of the actual application scenario, adapting to positioning scenarios with different precision and environments. The satellite positioning data includes core positioning information such as the vehicle's latitude and longitude, altitude, speed, and heading angle. Data transmission uses real-time wired or wireless communication to ensure that the MCU can obtain the latest positioning data in a timely manner, providing accurate and real-time basic data support for subsequent positioning calculations.

[0018] The communication status is fed back to the MCU by the vehicle-mounted communication module. This module can be configured with one or more of the following modules, such as Beidou short message communication module, 5G / 4G communication module, C-V2X communication module, and WiFi / BT communication module, to achieve multi-scenario vehicle communication functions, depending on the vehicle's communication requirements. The communication module outputs its own operating status data to the MCU in real time through a built-in status feedback interface. The feedback frequency is consistent with the satellite positioning data acquisition frequency to ensure status synchronization. Specifically, the transmission status indicates that the communication module is transmitting communication signals, and the transmission circuit is active. The standby status indicates that the communication module is not transmitting signals and is in a standby or low-power sleep state, with the transmission circuit inactive. The MCU continuously receives and parses this status data to complete real-time identification of the communication status, providing timely status information for subsequent positioning mode switching.

[0019] S120, parse the satellite positioning data to confirm whether the satellite positioning data meets the preset requirements.

[0020] In this embodiment of the invention, the core purpose of parsing satellite positioning data is to comprehensively determine whether the data is subject to external interference and whether the data validity meets the standards, providing objective and accurate data basis for positioning mode switching. The parsing process requires comprehensive analysis of the completeness, consistency, timeliness, and rationality of the positioning data: completeness refers to whether the data contains key fields such as latitude, longitude, and speed, without missing or abnormal truncation; consistency refers to whether the deviation between the current data and the historically continuously collected data is within a reasonable range (e.g., the distance deviation between two adjacent positioning locations does not exceed 10% of the actual driving distance of the vehicle); timeliness refers to whether the delay from data collection to transmission to the MCU is lower than a preset threshold (e.g., 50ms); rationality refers to whether the data conforms to the actual driving scenario of the vehicle (e.g., the driving speed does not show an abnormal value far exceeding the road speed limit). Multi-dimensional verification ensures that the parsing results are accurate and reliable.

[0021] In some embodiments, such as this embodiment, step S120 further includes the following steps: Calculate the error rate of the satellite positioning data; If the error rate is greater than or equal to a preset threshold, then it is confirmed that the satellite positioning data does not meet the preset requirements; If the error rate is less than the preset threshold, then the satellite positioning data is confirmed to meet the preset requirements.

[0022] In this embodiment of the invention, the error rate (i.e., bit error rate) of satellite positioning data refers to the proportion of data containing errors, distortions, invalid information, or logical contradictions. Specifically, it is calculated using a built-in verification algorithm in the MCU: firstly, by comparing the deviation between the satellite positioning data and preset benchmark data (such as known road coordinates or high-precision map reference points), the percentage of data with deviations exceeding the standard is statistically analyzed; secondly, by using a data redundancy verification mechanism (such as CRC check), distorted or erroneous data during transmission is identified, and the error rate is calculated comprehensively. The preset threshold can be flexibly adjusted according to positioning accuracy requirements. For example, in autonomous driving scenarios, where positioning accuracy requirements are extremely high, the threshold can be set to 0.5%~1% to ensure high reliability of the positioning data; in ordinary navigation scenarios, where accuracy requirements are relatively relaxed, the threshold can be set to 1%~3% to balance accuracy and flexibility. When the error rate reaches or exceeds the preset threshold, it indicates that the satellite positioning signal may be subject to external interference or transmission abnormalities, resulting in insufficient data validity and inability to be directly used for positioning; when the error rate is below the preset threshold, the satellite positioning data is considered normal and can be used as the core basis for accurate positioning. In addition, the preset threshold can be manually adjusted through the parameter configuration interface of the vehicle system, or automatically adapted by the system according to the current driving scenario (such as highway, urban road, underground parking garage), which improves the applicability of the method.

[0023] S130, if the satellite positioning data does not meet the preset requirements, or the communication state is the transmission state, then the positioning location is confirmed based on the most recent satellite positioning data that meets the preset requirements.

[0024] In this embodiment of the invention, two positioning modes can be preset: one is satellite positioning, and the other is inertial navigation positioning. The default positioning mode is satellite positioning, and when the satellite signal is interfered with, it is switched to inertial navigation positioning.

[0025] Interference with satellite signals mainly includes interference with satellite positioning data and the communication module being in transmission mode. Regardless of the type of interference, the positioning location is confirmed based on the most recent satellite positioning data that meets the preset requirements. This reference data is the latest valid positioning information stored in real time by the MCU through a high-speed cache module when the satellite positioning status is normal. The storage adopts a cyclic overwrite mechanism, retaining only the latest valid data to ensure that the initial position of subsequent inertial navigation positioning is highly consistent with the actual position of the vehicle.

[0026] Satellite positioning offers advantages such as high accuracy and stability in interference-free conditions, which helps prevent excessive initial errors in inertial navigation positioning from the outset. Simultaneously, this reference data is updated in real-time along with satellite positioning data (the update frequency matches the data acquisition frequency), ensuring that the reference data remains synchronized with the vehicle's actual position. Even when the vehicle is traveling at high speed, it can provide an accurate initial starting point for inertial navigation positioning. Furthermore, scene triggering uses OR logic priority determination. When the communication state is in transmission mode, regardless of whether the satellite positioning data error rate meets the standard, a switchover is triggered first. This is because communication transmission is known to interfere with positioning signals; early switching avoids positioning data failure due to interference before switching, ensuring seamless positioning continuity.

[0027] S140, acquire inertial navigation data, and perform inertial navigation positioning based on the positioning location and the inertial navigation data.

[0028] In this embodiment of the invention, inertial navigation data is collected by an IMU (Inertial Measurement Unit) module and transmitted to an MCU (Microcontroller Unit). The IMU module specifically consists of a three-axis gyroscope, a three-axis accelerometer, and a data processing unit. It can accurately collect multi-dimensional motion state information of the vehicle in three-dimensional space, such as acceleration, angular velocity, and attitude angles, comprehensively reflecting the vehicle's real-time motion trajectory (including straight-line driving, turning, acceleration, and deceleration). The acquisition frequency of the inertial navigation data is higher than that of satellite positioning data (e.g., 20Hz), providing denser motion data support for subsequent positioning calculations and ensuring the continuity of positioning results.

[0029] Upon triggering inertial navigation positioning, the MCU uses the reference positioning position confirmed in step S130 as the starting point and calls the built-in inertial navigation algorithm (such as the Kalman filter algorithm) to fuse the reference positioning data with the real-time acquired inertial navigation data. The algorithm corrects the accumulated errors in the inertial navigation data, accurately calculating the vehicle's real-time position. The output frequency of the inertial navigation positioning is consistent with that of satellite positioning (10Hz), ensuring a continuous output rhythm of the positioning results, and the user cannot perceive the switching of positioning modes. The core advantage of IMU inertial navigation positioning is that it is not affected by external signal interference. Even if satellite positioning completely fails, it can still continuously output positioning results based on its own acquired motion data. Simultaneously, this invention, through a subsequent reference update mechanism, can correct the accumulated errors of inertial navigation positioning in real time, effectively solving the technical defects of traditional inertial navigation positioning that easily lead to error accumulation, ensuring that the accuracy of the inertial navigation positioning stage is consistent with that of the satellite positioning stage, meeting the requirements of high-precision positioning.

[0030] In some embodiments, such as this embodiment, the positioning method further includes the following steps: If the satellite positioning data meets the preset requirements and the communication state is the standby state, then satellite positioning is performed based on the satellite positioning data.

[0031] In this embodiment of the invention, when the satellite signal is not interfered with, the MCU first performs multi-dimensional verification on the real-time received satellite positioning data. After confirming that the data is complete, valid, and interference-free, it directly outputs the positioning data to the vehicle navigation system or autonomous driving control system, providing positioning support for vehicle operation. Simultaneously, the MCU updates the valid satellite positioning data in real time to the inertial navigation positioning reference database. The reference database uses non-volatile storage media to prevent data loss after vehicle power failure, and historical reference data can be quickly retrieved upon the next startup, shortening system initialization time. In this mode, the satellite positioning module operates in a low-power state, saving more vehicle power compared to the inertial navigation positioning mode, making it suitable for long-term use in interference-free scenarios, balancing positioning accuracy and power consumption requirements. Furthermore, the positioning data in this mode is also synchronously stored in the vehicle log system, facilitating subsequent fault diagnosis and positioning accuracy optimization.

[0032] In some embodiments, such as this embodiment, the positioning method further includes the following steps: The error rate of the satellite positioning data is calculated in real time. If the error rate of the satellite data is less than a preset threshold, the positioning mode will be switched from inertial navigation positioning to satellite positioning.

[0033] In this embodiment of the invention, during inertial navigation positioning, the MCU does not interrupt the reception and monitoring of satellite positioning data, but periodically calculates the error rate of the satellite positioning data. This is a higher monitoring frequency than in satellite positioning mode, ensuring that the signal of interference cancellation can be quickly detected and avoiding the waste of accuracy due to monitoring delay.

[0034] The handover process employs a smooth transition mechanism. The MCU uses a smooth handover algorithm to correct the difference between the final position obtained from inertial navigation positioning and the initial position from satellite positioning, ensuring a smooth transition from inertial to satellite positioning and avoiding any abrupt changes. This guarantees a seamless and imperceptible user experience. After the handover is complete, the MCU immediately updates the inertial navigation positioning reference database with the latest satellite positioning data and synchronously corrects the initial parameters of the inertial navigation module, preparing for handovers in the event of future interference. Furthermore, the reverse handover also incorporates an anti-jitter mechanism, requiring three consecutive detections of a satellite positioning data error rate below a preset threshold before performing the handover operation. This prevents frequent handovers caused by the instantaneous removal of interference, improving system stability.

[0035] In some embodiments, such as this embodiment, the positioning method further includes the following steps: Confirm whether a communication signal has been received; If the communication signal is received, then the communication state is confirmed to be the transmission state; If the communication signal is not received, the communication status is confirmed to be the stopped state.

[0036] In this embodiment of the invention, the MCU can use a dual verification method to detect communication signals: on the one hand, it judges the status of the transmit enable pin of the communication module. When the pin is at a high level, it determines that the module is about to transmit or is transmitting a signal; on the other hand, it uses an RF signal detection circuit to detect in real time whether there is a signal being transmitted at the RF output port of the communication module. The two detection methods cross-verify, which greatly reduces the probability of false judgment.

[0037] The communication signal detection also includes a signal strength threshold. When the communication signal strength detected by the RF detection circuit is higher than the preset threshold (which can be adjusted according to the transmission power of the communication module), it is determined to be in transmission mode; if it is lower than the threshold, it is in standby mode, avoiding false detections caused by signal attenuation or weak leakage. The detection results are fed back to the MCU's status register in real time and processed synchronously with the analysis results of satellite positioning data, ensuring that the decision-making basis for positioning mode switching is synchronized and accurate, and providing reliable support for early switching in known interference scenarios.

[0038] Furthermore, the method described in this invention is also applicable to scenarios where satellite signals are blocked, such as tunnels or basements, where there are no satellite signals. In this embodiment, the MCU continuously monitors the reception and error rate of satellite positioning data and sets clear criteria for determining no valid data. If no satellite positioning data is received for three consecutive sampling cycles (10ms per cycle), or the error rate exceeds a preset threshold five times consecutively, it is determined that there is no valid satellite positioning data. At this time, the system automatically switches to inertial navigation positioning, using the last valid satellite positioning data before entering the scenario as a reference, combined with motion data collected by the IMU inertial navigation module for continuous positioning.

[0039] To control the accumulation of inertial navigation positioning errors in this scenario, the MCU uses a Kalman filter algorithm to continuously correct the inertial navigation data. Combined with information such as vehicle speed, steering angle, and travel time, the error correction coefficient is dynamically adjusted to ensure that the positioning error remains within a preset range (e.g., within 1 meter) even in long-distance, signal-free scenarios such as tunnels. When the vehicle leaves the scenario and the MCU receives valid satellite positioning data again (error rate below a preset threshold for three consecutive times), it immediately switches back to satellite positioning using a smooth switching algorithm and simultaneously updates the inertial navigation positioning reference data, ensuring the continuity and accuracy of positioning across all scenarios.

[0040] The embodiments of the present invention can analyze satellite stability data to confirm whether the satellite positioning data meets preset requirements. At the same time, it can also confirm the communication status. When the satellite positioning data does not meet the preset requirements, or when the communication status is in the transmission state, it indicates that there is interference in satellite positioning. Then, the satellite position can be confirmed based on the satellite positioning data, and inertial navigation positioning can be performed based on the satellite position and inertial navigation data to ensure positioning accuracy.

[0041] Figure 2This is a schematic block diagram of an interference-resistant positioning device 200 provided in an embodiment of the present invention. Figure 2 As shown, corresponding to the above positioning method, the present invention also provides an interference-resistant positioning device 200. This interference-resistant positioning device 200 includes a unit for performing the above positioning method. Specifically, please refer to... Figure 2 The interference-resistant positioning device 200 includes a first acquisition unit 201, a first parsing unit 202, a first confirmation unit 203, and a second acquisition unit 204.

[0042] The first acquisition unit 201 is used to acquire satellite positioning data and communication status respectively, wherein the communication status includes transmission status and standby status; The first parsing unit 202 is used to parse the satellite positioning data to confirm whether the satellite positioning data meets preset requirements; The first confirmation unit 203 is used to confirm the positioning location based on the most recent satellite positioning data that meets the preset requirements if the satellite positioning data does not meet the preset requirements, or if the communication state is the transmission state. The second acquisition unit 204 is used to acquire inertial navigation data and perform inertial navigation positioning based on the positioning location and the inertial navigation data.

[0043] In some embodiments, such as this embodiment, the first parsing unit 202 further includes a first calculation unit, a second confirmation unit, and a third confirmation unit.

[0044] The first calculation unit is used to calculate the error rate of the satellite positioning data; The second confirmation unit is used to confirm that the satellite positioning data does not meet the preset requirements if the error rate is greater than or equal to a preset threshold. The third confirmation unit is used to confirm that the satellite positioning data meets the preset requirements if the error rate is less than the preset threshold.

[0045] In some embodiments, such as this one, the interference-resistant positioning device 200 further includes a first positioning unit.

[0046] The first positioning unit is used to perform satellite positioning based on the satellite positioning data if the satellite positioning data meets the preset requirements and the communication state is the standby state.

[0047] In some embodiments, such as this one, the interference-resistant positioning device 200 further includes a second computing unit and a first switching unit.

[0048] The second calculation unit is used to calculate the error rate of the satellite positioning data in real time. The first switching unit is used to switch the positioning mode from inertial navigation positioning to satellite positioning if the error rate of the satellite data is less than a preset threshold.

[0049] In some embodiments, such as this one, the interference-resistant positioning device 200 further includes a fourth confirmation unit, a fifth confirmation unit, and a sixth confirmation unit.

[0050] The fourth confirmation unit is used to confirm whether a communication signal has been received. The fifth confirmation unit is used to confirm that the communication state is the transmission state if the communication signal is received. The sixth confirmation unit is used to confirm that the communication state is the stopped state if the communication signal is not received.

[0051] It should be noted that those skilled in the art can clearly understand that the specific implementation process of the above-mentioned anti-interference positioning device and each unit can be referred to the corresponding description in the foregoing method embodiments. For the sake of convenience and brevity, it will not be repeated here.

[0052] The aforementioned interference-resistant positioning device can be implemented as a computer program, which can, for example... Figure 3 It runs on the computer device shown.

[0053] See Figure 3 The computer device 300 includes a processor 302, a memory, and an interface 307 connected via a system bus 301. The memory may include a non-volatile storage medium 303 and internal memory 304.

[0054] The non-volatile storage medium 303 may store an operating system 3031 and a computer program 3032. When the computer program 3032 is executed, it causes the processor 302 to perform a positioning method.

[0055] The processor 302 provides computing and control capabilities to support the operation of the entire computer device 300.

[0056] The internal memory 304 provides an environment for the execution of the computer program 3032 in the non-volatile storage medium 303. When the computer program 3032 is executed by the processor 302, the processor 302 can perform a positioning method.

[0057] This interface 305 is used for communication with other devices. Those skilled in the art will understand that... Figure 3The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device 300 to which the present application is applied. The specific computer device 300 may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0058] It should be understood that in the embodiments of this application, the processor 302 may be a central processing unit (CPU), or it may be other general-purpose processors, digital signal processors (FSPs), application-specific integrated circuits (ASICs), off-the-shelf programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor.

[0059] It will be understood by those skilled in the art that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program may be stored in a storage medium, which is a computer-readable storage medium. The computer program is executed by at least one processor in the computer system to implement the process steps of the embodiments of the above methods.

[0060] Therefore, the present invention also provides a storage medium. This storage medium can be a computer-readable storage medium. The storage medium stores a computer program. When executed by a processor, the computer program implements any embodiment of the above-described positioning method.

[0061] The storage medium can be any computer-readable storage medium capable of storing program code, such as a USB flash drive, portable hard drive, read-only memory (ROM), magnetic disk, or optical disk.

[0062] 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, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. 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 each specific application, but such implementations should not be considered beyond the scope of this invention.

[0063] In the several embodiments provided by this invention, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative. For example, the division of each unit is merely a logical functional division, and there may be other division methods in actual implementation. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed.

[0064] The steps in the method of this invention can be adjusted, merged, or reduced in order according to actual needs. The units in the device of this invention can be merged, divided, or reduced according to actual needs. Furthermore, the functional units in the various embodiments of this invention 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.

[0065] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device to execute all or part of the steps of the methods described in the various embodiments of the present invention.

[0066] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0067] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Since these modifications and variations fall within the scope of the claims and their equivalents, this invention also intends to include these modifications and variations.

[0068] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and these modifications or substitutions should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A positioning method, characterized in that, The method includes: Satellite positioning data and communication status are acquired respectively, wherein the communication status includes transmission status and standby status; The satellite positioning data is analyzed to confirm whether the satellite positioning data meets preset requirements; If the satellite positioning data does not meet the preset requirements, or the communication state is the transmission state, the positioning location is confirmed based on the most recent satellite positioning data that meets the preset requirements. Acquire inertial navigation data and perform inertial navigation positioning based on the positioning location and the inertial navigation data.

2. The method as described in claim 1, characterized in that, The step of parsing the satellite positioning data to confirm whether the satellite positioning data meets preset requirements includes: Calculate the error rate of the satellite positioning data; If the error rate is greater than or equal to a preset threshold, then the satellite positioning data is confirmed to not meet the preset requirements.

3. The method as described in claim 2, characterized in that, After the step of calculating the error rate of the satellite positioning data, the method further includes: If the error rate is less than the preset threshold, then the satellite positioning data is confirmed to meet the preset requirements.

4. The method as described in claim 1, characterized in that, After the step of parsing the satellite positioning data to confirm whether the satellite positioning data meets the preset requirements, the method further includes: If the satellite positioning data meets the preset requirements and the communication state is the standby state, then satellite positioning is performed based on the satellite positioning data.

5. The method as described in claim 1, characterized in that, The method further includes: The error rate of the satellite positioning data is calculated in real time. If the error rate of the satellite data is less than a preset threshold, the positioning mode will be switched from inertial navigation positioning to satellite positioning.

6. The method as described in claim 1, characterized in that, The method further includes: Confirm whether a communication signal has been received; If the communication signal is received, the communication state is confirmed to be the transmission state.

7. The method as described in claim 6, characterized in that, After the step of confirming whether a communication signal has been received, the method further includes: If the communication signal is not received, the communication status is confirmed to be the stopped state.

8. An interference-resistant positioning device, characterized in that, The device includes: The first acquisition unit is used to acquire satellite positioning data and communication status respectively, wherein the communication status includes transmission status and standby status; The first parsing unit is used to parse the satellite positioning data to confirm whether the satellite positioning data meets preset requirements; The first confirmation unit is used to confirm the positioning location based on the most recent satellite positioning data that meets the preset requirements if the satellite positioning data does not meet the preset requirements, or if the communication state is the transmission state. The second acquisition unit is used to acquire inertial navigation data and perform inertial navigation positioning based on the positioning location and the inertial navigation data.

9. A computer device, characterized in that, The computer device includes a memory and a processor connected to the memory; the memory is used to store a computer program; the processor is used to run the computer program stored in the memory to perform the steps of the method as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The storage medium stores a computer program that, when executed by a processor, can implement the steps of the method as described in any one of claims 1-7.

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