A positioning method and apparatus, a storage medium, and a computer program product

Abstract

This application provides a positioning method and apparatus, storage medium, and computer program product; the method includes: obtaining the first coordinates of an object to be measured in a first coordinate system; the object to be measured is located within a positioning area defined by a set of positioning devices; converting the first coordinates into second coordinates in the second coordinate system using a mapping relationship between a first vector space and a second vector space; the first vector space is the vector space of the positioning area in the first coordinate system, and the second vector space is the vector space of the positioning area in the second coordinate system; adding the second coordinates to the first latitude and longitude coordinates of the first positioning device to obtain the position information of the object to be measured; the first positioning device is a reference positioning device in a set of positioning devices.

Description

Technical Field

[0001] This application relates to the field of electronic applications, and more particularly to a positioning method and apparatus, a storage medium, and a computer program product. Background Technology

[0002] Indoor positioning is hampered by interference from building structures such as walls and ceilings, making accurate indoor positioning a critical challenge. Currently, indoor-outdoor coordinate transformation can improve accuracy. This involves setting reference points in both the outdoor and indoor-outdoor areas, calculating the latitude and longitude of the reference point in the indoor-outdoor seam based on the physical location between these two reference points, and then calculating the latitude and longitude of the indoor target point based on its distance from the reference point in the seam. However, this coordinate transformation process requires multiple physical measurements, leading to significant errors and low accuracy. Furthermore, changes in the indoor environment necessitate resetting the reference points in the indoor-outdoor seam and recalculating their latitude and longitude, further complicating indoor positioning. Summary of the Invention

[0003] This application provides a positioning method and apparatus, a storage medium, and a computer program product.

[0004] The technical solution of this application is implemented as follows: Firstly, this application proposes a positioning method, the method comprising: Obtain the first coordinates of the object under test in the first coordinate system; the object under test is located within a positioning area defined by a set of positioning devices; By utilizing the mapping relationship between the first vector space and the second vector space, the first coordinates are converted into second coordinates in the second coordinate system; the first vector space is the vector space of the positioning area in the first coordinate system, and the second vector space is the vector space of the positioning area in the second coordinate system. The location information of the object to be measured is obtained by adding the second coordinate and the first latitude and longitude coordinate of the first positioning device; the first positioning device is the reference positioning device in the group of positioning devices.

[0005] Secondly, this application proposes a positioning device, which includes a processor, a memory, and a communication bus; the processor implements the above-mentioned positioning method when executing the running program stored in the memory.

[0006] Thirdly, this application proposes a storage medium on which a computer program is stored, which, when executed by a processor, implements the above-described positioning method.

[0007] Fourthly, this application proposes a computer program product, including a computer program that implements the above-described positioning method when executed by a first processor.

[0008] This application provides a positioning method and apparatus, a storage medium, and a computer program product. The method includes: acquiring the first coordinates of an object to be measured in a first coordinate system; the object to be measured being located within a positioning area defined by a set of positioning devices; converting the first coordinates into second coordinates in the second coordinate system using a mapping relationship between a first vector space and a second vector space; the first vector space being the vector space of the positioning area in the first coordinate system, and the second vector space being the vector space of the positioning area in the second coordinate system; adding the second coordinates to the first latitude and longitude coordinates of the first positioning device to obtain the position information of the object to be measured; the first positioning device being a reference positioning device among a set of positioning devices. By adopting the above implementation scheme, establishing vector spaces of a set of positioning devices in different coordinate systems within an indoor environment, as well as the mapping relationship between these vector spaces, allows for accurate conversion of the indoor first coordinates to latitude and longitude coordinates based on this mapping relationship. This reduces the number of indoor-outdoor positioning coordinate conversions, thereby improving indoor positioning accuracy. Furthermore, the established mapping relationship between the vector spaces can adapt to changing indoor environments, effectively reducing the complexity of indoor positioning. Attached Figure Description

[0009] Figure 1 A flowchart illustrating a positioning method provided in an embodiment of this application; Figure 2 A schematic diagram illustrating an exemplary mapping between a first vector space in a two-dimensional coordinate system and a second vector space in a WGS coordinate system, provided for embodiments of this application; Figure 3 A schematic flowchart illustrating an exemplary method for indoor and outdoor positioning coordinate transformation provided in this application embodiment; Figure 4 A schematic diagram of the structure of a positioning device provided in this application embodiment. Figure 1 ; Figure 5 A schematic diagram of the structure of a positioning device provided in this application embodiment. Figure 2 .

[0010] It should be noted that the terms "first" and "second" mentioned above are only used to distinguish between different options and do not represent the degree of superiority or inferiority of the options or their priority in the implementation process. Detailed Implementation

[0011] In order to gain a more detailed understanding of the features and technical content of the embodiments of this application, the implementation of the embodiments of this application will be described in detail below with reference to the accompanying drawings. The accompanying drawings are for reference and illustration only and are not intended to limit the embodiments of this application.

[0012] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit this application.

[0013] In the following description, references to "some embodiments" refer to a subset of all possible embodiments. It is understood that "some embodiments" may be the same or different subsets of all possible embodiments and may be combined with each other without conflict. It should also be noted that the terms "first, second, third" used in the embodiments of this application are merely for distinguishing similar objects and do not represent a specific ordering of objects. It is understood that "first, second, third" may be interchanged in a specific order or sequence where permitted, so that the embodiments of this application described herein can be implemented in an order other than that illustrated or described herein.

[0014] This application provides a positioning method, such as... Figure 1 As shown, the method may include: S101. Obtain the first coordinate of the object under test in the first coordinate system; the object under test is located within the positioning area defined by a set of positioning devices.

[0015] The positioning method provided in this application can be applied to indoor scenes or other scenes where signals are interfered with. The specific method can be selected according to the actual situation, and this application does not impose specific limitations. The following description uses an indoor scene as an example.

[0016] In one embodiment, the first coordinates of the object to be measured are received from a set of positioning devices.

[0017] In one embodiment, the object under test can be a terminal device, which may be referred to as a User Equipment (UE). This terminal device can be a Personal Communication Service (PCS) telephone, cordless phone, Session Initiation Protocol (SIP) phone, Wireless Local Loop (WLL) station, Personal Digital Assistant (PDA), etc. It can also be a smartphone, tablet, PDA, Mobile Station (MS), Mobile Terminal, etc. This terminal device can communicate with one or more network devices via a Radio Access Network (RAN). For example, the terminal device can be a mobile phone (or "cellular" phone) or a computer with a terminal device. It can also be a portable, pocket-sized, handheld, computer-embedded, or vehicle-mounted mobile device that exchanges voice and / or data with the radio access network. The terminal device can also be a handheld device with wireless communication capabilities, a computing device or other processing device connected to a wireless modem, an in-vehicle device, a wearable device, or a terminal device in a future network evolution, etc. The implementation of this application is not limited.

[0018] In one embodiment, the positioning device can be a base station, wherein the base station can be a device that provides wireless communication functions for terminal devices, including but not limited to: evolved Node B (eNB or e-NodeB), macro base station, micro base station (also known as "small base station"), pico base station, base transceiver station (BTS), base band unit (BBU), access point (AP), transmission point (TP), or new generation Node B (gNodeB), Next Generation Radio Access Network (NG-RAN) node, etc. in Long-Term Evolution (LTE) system, New Radio (NR) system, or Licensed-Assisted Access using Long-Term Evolution (LAA-LTE) system.

[0019] In one embodiment, a group of positioning devices are all located in an indoor scene, and the positioning area defined by the group of positioning devices is also located in an indoor scene.

[0020] It should be noted that since a set of positioning devices needs to define the positioning area based on its geographical location, a set of positioning devices must consist of three or more devices.

[0021] For example, if a group of four positioning devices is used, the four positioning devices can be deployed in a rectangle, that is, the four positioning devices are located at the four vertices of the rectangle.

[0022] In one embodiment, when the object to be measured appears in a positioning area defined by a set of positioning devices, at least one of the positioning devices can obtain the first coordinates of the object to be measured in a first coordinate system by communicating with the object to be measured.

[0023] In one embodiment, the first coordinate system is a two-dimensional coordinate system, and the first coordinate of the object to be measured in the first coordinate system is the two-dimensional coordinate information of the object to be measured.

[0024] S102. Using the mapping relationship between the first vector space and the second vector space, the first coordinates are converted into the second coordinates in the second coordinate system; the first vector space is the vector space of the positioning area in the first coordinate system, and the second vector space is the vector space of the positioning area in the second coordinate system.

[0025] In one embodiment, a set of third coordinates of the set of positioning devices in a first coordinate system is determined based on a first relative positional relationship between the first positioning device and a set of positioning devices; a first vector space is established based on the set of third coordinates.

[0026] In this embodiment of the application, the first positioning device is a reference positioning device in a group of positioning devices. The group of positioning devices can obtain a first relative position relationship with the first positioning device by communicating with the first positioning device, thereby determining a set of third coordinates of the group of positioning devices in the first coordinate system and establishing a first vector space under the first coordinate system.

[0027] It should be noted that the third coordinate of the first positioning device in the first coordinate system is (0,0).

[0028] For example, in indoor positioning, four positioning devices are deployed in a rectangle. Positioning device 1 is the reference positioning device. The four positioning devices can communicate to know that positioning device 2 is 3m above positioning device 1, positioning device 3 is 4m to the right of positioning device 1, and positioning device 4 is 5m to the upper right corner of positioning device 1. Then, the coordinates of positioning device 1 in the two-dimensional coordinate system are (0,0), the coordinates of positioning device 2 in the two-dimensional coordinate system are (0,3), the coordinates of positioning device 3 in the two-dimensional coordinate system are (4,3), and the coordinates of positioning device 4 in the two-dimensional coordinate system are (4,0).

[0029] In one embodiment, a set of differences between a first set of latitude and longitude coordinates and a set of latitude and longitude coordinates of a set of positioning devices is determined; and the set of differences is used as a set of fourth coordinates of a set of positioning devices in a second coordinate system, and a second vector space is established based on the set of fourth coordinates.

[0030] In one embodiment, the second coordinate system may be the WGS coordinate system.

[0031] In one embodiment, since the location of a set of positioning devices is fixed, a set of latitude and longitude coordinates of the set of positioning devices is obtained through map mapping.

[0032] For example, if four positioning devices can be deployed in a rectangular shape, the second vector space in the WGS coordinate system is an irregular rectangle.

[0033] For example, the method for constructing a second vector space in the WGS coordinate system using four base stations can be found in Table 1. The second vector space can be defined by sequentially connecting the two-dimensional coordinates (X,Y) of the four base stations in the WGS coordinate system. The (X,Y) of the four base stations is obtained by subtracting the (longitude, latitude) of base station 1 from the (longitude, latitude) of the four base stations.

[0034] Table 1

[0035] It should be noted that before converting the first coordinates to second coordinates in the second coordinate system using the mapping relationship between the first and second vector spaces, the mapping relationship between the first and second vector spaces is first constructed. Specifically, this includes: determining the N first differences between the N third coordinates of the N positioning devices in the first coordinate system, and the N second differences between the N fourth coordinates of the N positioning devices in the second coordinate system; N is a positive integer greater than 1. Then, based on the sum of the N first differences and the N second differences, the scaling ratio and rotation offset between the first and second vector spaces are determined. Next, the fifth coordinate of the second positioning device in the first coordinate system and the sixth coordinate of the second positioning device in the second coordinate system are obtained; the second positioning device is a reference positioning device in a group of positioning devices. Finally, the mapping relationship between the first and second vector spaces is constructed based on the scaling ratio, rotation offset, fifth coordinate, and sixth coordinate.

[0036] For example, taking a rectangular deployment of four positioning devices as an example, the mapping diagram between the first vector space in the two-dimensional coordinate system and the second vector space in the WGS coordinate system can be found in [reference needed]. Figure 2 The coordinates A0 of positioning device 0 in the two-dimensional coordinate system are mapped to coordinates B0 in the WGS coordinate system; the coordinates A1 of positioning device 1 in the two-dimensional coordinate system are mapped to coordinates B1 in the WGS coordinate system; the coordinates A2 of positioning device 2 in the two-dimensional coordinate system are mapped to coordinates B2 in the WGS coordinate system; and the coordinates A3 of positioning device 3 in the two-dimensional coordinate system are mapped to coordinates B3 in the WGS coordinate system. Coordinate P in the two-dimensional coordinate system is the first coordinate of the object to be measured. Coordinate P' in the WGS coordinate system is the second coordinate of the object to be measured.

[0037] In one embodiment, rotational offset You can refer to formula (1) to determine it.

[0038] (1) It should be noted that, Let B2 be the y-coordinate in a two-dimensional coordinate system. Let y be the lower B1 coordinate in a two-dimensional coordinate system. Let B2 be the x-coordinate in a two-dimensional coordinate system. Let B1 be the x-coordinate in a two-dimensional coordinate system. Let A2 be the y-coordinate in the WGS coordinate system. Let A1 be the y-coordinate in the WGS coordinate system. Let A2 be the x-coordinate in the WGS coordinate system. Let x be the x-coordinate of A1 in the WGS coordinate system.

[0039] It should be noted that, It is used to calculate the direction angle of the second vector space. It is used to calculate the orientation angle of the first vector space. The difference between the two is the angle that needs to be rotated so that the first vector space and the second vector space are aligned.

[0040] It should be noted that the specific selection of N positioning devices can be carried out according to the actual situation. This application does not impose specific limitations on the selection process and results of the N positioning devices. It is sufficient that the N third coordinates and N fourth coordinates of the N positioning devices support the construction of the mapping relationship between the first vector space and the second vector space.

[0041] In one embodiment, the scaling ratio You can refer to formula (2) to determine it.

[0042] (2) It should be noted that formula (2) determines the scaling ratio by the length ratio of the two vector spaces. The scaling ratio is used to adjust the size of the first vector space to match the size of the second vector space.

[0043] It should be noted that the embodiments of this application establish the mapping relationship between the first vector space and the second vector space by combining the concept of affine transformation. Affine transformation is a core concept in geometry and linear algebra for describing spatial mapping; its essence is a combination of linear transformation and translation. Linear transformation is achieved through a non-singular matrix (i.e., a square matrix with a non-zero determinant), representing operations such as rotation, scaling, and shearing of the space. Translation is achieved through a translation vector, representing the overall movement of the space.

[0044] In one embodiment, it is assumed that the first coordinate of the object to be measured is... The coordinates after affine transformation are Then the mapping relationship between the first vector space and the second vector space can be determined by referring to formula (3).

[0045] (3) It should be noted that in formula (3), positioning device 1 is used as the second positioning device, where, The fifth coordinate. This is the sixth coordinate.

[0046] Based on the mapping relationship between the constructed first vector space and the second vector space, the process of converting the first coordinate into the second coordinate in the second coordinate system can specifically include: using the mapping relationship, converting the first coordinate into a relative coordinate with the fifth coordinate as the origin, processing the relative coordinate according to the scaling ratio and rotation offset, and translating the processed relative coordinate to the second coordinate with the sixth coordinate as the origin.

[0047] In one embodiment, it can be Inputting formula (3) yields .in, and These represent the translation amounts in the x and y directions, respectively. By adding these two values, the coordinates are transformed from... , To translate the position of the reference point to , The location of the reference point. It's the difference in rotation angle. and Used to perform rotation operations. It's the scaling factor, obtained by multiplying by... The size of the coordinates can be adjusted. In formula (3) and It converts the coordinates of point P to... , The relative coordinates of the origin facilitate rotation and scaling operations.

[0048] S103. Add the second coordinate and the first latitude and longitude coordinate of the first positioning device to obtain the position information of the object to be measured; the first positioning device is the reference positioning device in a group of positioning devices.

[0049] It should be noted that the second coordinates obtained by the above transformation are still two-dimensional coordinates in the second coordinate system. Since the second vector space in the second coordinate system is established based on the reference positioning device, the final latitude and longitude coordinates of the object to be measured can be obtained by adding the second coordinates to the first latitude and longitude coordinates of the reference positioning device. The final latitude and longitude coordinates are the location information of the object to be measured.

[0050] It is understood that this application proposes a coordinate transformation method that unifies indoor and outdoor positioning coordinate systems. By establishing vector spaces under different coordinate systems and combining the concept of affine transformation to establish a mapping relationship between vector spaces, indoor two-dimensional coordinates can be accurately converted into latitude and longitude coordinates. It does not require relying on reference points to calculate the latitude and longitude information of the location to be measured. Only the latitude and longitude information of the positioning device needs to be calibrated using a map, and the mapping relationship of the vector space can be established to determine the latitude and longitude of the location to be measured. When the environment changes, it is no longer necessary to repeatedly set reference points to calculate the location to be measured; only the base station needs to be redeployed and its latitude and longitude determined. This greatly improves its applicability and positioning accuracy, and effectively reduces the complexity of the algorithm.

[0051] Furthermore, after adding the second coordinates and the first latitude and longitude coordinates of the first positioning device to obtain the location information of the object to be measured, the location information of the object to be measured can be encapsulated and uploaded to the connected cloud platform.

[0052] In one embodiment, the location information of the object under test can be encapsulated in JSON format, then a connection can be established with the cloud platform, and the upload method in the cloud platform's API can be called to send the location information of the object under test to the storage location specified by the cloud platform.

[0053] In one embodiment, the JSON-formatted data information may include at least one of the following: latitude value, longitude value, positioning time, number of positioning devices, moving speed, moving direction, and flag bits.

[0054] It should be noted that latitude values ​​can be represented as "DDMM.MMMM", where DD represents degrees and MM.MMMM represents the decimal part.

[0055] It should be noted that longitude values ​​can be represented as "DDDMM.MMMM", where DDD represents degrees and MM.MMMM represents the decimal part.

[0056] It should be noted that the positioning time can be UTC time, in the format of hours, minutes and seconds.

[0057] It should be noted that the moving speed and direction can be measured by the object itself using the speed measurement module and direction measurement module. The moving speed can be expressed in the format "xy", with units of m / s; the moving direction can be expressed in the format "x degrees", for example, 45 degrees indicates movement in a 45-degree direction.

[0058] It should be noted that the flag bit is used to indicate whether the location is indoors or outdoors. One optional representation method is that 1 indicates indoors and 0 indicates outdoors. Other representation methods are also within the scope of this application, and this application does not limit how the flag bit distinguishes between indoors and outdoors.

[0059] It is understood that this application embodiment encapsulates the final location information into JSON format and uploads it to the cloud platform by calling the upload method in the cloud platform's API. This solves the problem of poor capacity and scalability caused by local data storage in the prior art. When the capacity is full, there is no need to replace the local hardware; expansion can be achieved in the cloud. Furthermore, the location information of the object under test can be viewed simultaneously by multiple devices, solving the problem of only supporting single-device data viewing.

[0060] Based on the above embodiments, an indoor-outdoor coordinate transformation method is proposed, such as... Figure 3 As shown, the method includes: 1. Deploy indoor positioning base stations.

[0061] 2. Construct the first vector space in a two-dimensional coordinate system.

[0062] 3. Obtain the latitude and longitude coordinates of the positioning base station through map mapping.

[0063] 4. Construct a second vector space in the WGS coordinate system based on latitude and longitude coordinates.

[0064] 5. Establish the mapping relationship between the first vector space and the second vector space based on affine transformation.

[0065] 6. Obtain the first coordinates of the terminal that has moved indoors.

[0066] 7. Using the mapping relationship and the first coordinate, perform coordinate mapping and transformation to obtain the terminal's location information.

[0067] 8. Encapsulate the terminal's location information and send it to the cloud platform.

[0068] This application provides a positioning device. For example... Figure 4 As shown, the positioning device 1 includes: The acquisition unit 10 is used to acquire the first coordinates of the object to be measured in the first coordinate system; the object to be measured is located within a positioning area defined by a set of positioning devices; The conversion unit 11 is used to convert the first coordinates into second coordinates in the second coordinate system by utilizing the mapping relationship between the first vector space and the second vector space; the first vector space is the vector space of the positioning area in the first coordinate system, and the second vector space is the vector space of the positioning area in the second coordinate system. The addition unit 12 is used to add the second coordinate and the first latitude and longitude coordinate of the first positioning device to obtain the position information of the object to be measured; the first positioning device is the reference positioning device in the group of positioning devices.

[0069] Optionally, the positioning device further includes: a determining unit; The determining unit is configured to determine a set of third coordinates of the group of positioning devices in the first coordinate system based on the first relative positional relationship between the first positioning device and the group of positioning devices; establish the first vector space based on the set of third coordinates; determine a set of differences between the first latitude and longitude coordinates and the set of latitude and longitude coordinates of the group of positioning devices; and use the set of differences as a set of fourth coordinates of the group of positioning devices in the second coordinate system, and establish the second vector space based on the set of fourth coordinates.

[0070] Optionally, the set of latitude and longitude coordinates of the positioning devices are obtained through map mapping.

[0071] Optionally, the positioning device further includes: a construction unit; The determining unit is further configured to determine N first differences between N third coordinates of N positioning devices in the first coordinate system, and N second differences between N fourth coordinates of the N positioning devices in the second coordinate system; N is a positive integer greater than 1; and to determine the scaling ratio and rotation offset between the first vector space and the second vector space based on the sum of the N first differences and the N second differences. The acquisition unit 10 is further configured to acquire the fifth coordinate of the second positioning device in the first coordinate system and the sixth coordinate of the second positioning device in the second coordinate system; the second positioning device is a reference positioning device in the group of positioning devices; The construction unit is used to construct a mapping relationship between the first vector space and the second vector space based on the scaling ratio, the rotation offset, the fifth coordinate, and the sixth coordinate.

[0072] Optionally, the conversion unit 11 is further configured to use the mapping relationship to convert the first coordinate into a relative coordinate with the fifth coordinate as the origin, process the relative coordinate according to the scaling ratio and rotation offset, and translate the processed relative coordinate to the second coordinate with the sixth coordinate as the origin.

[0073] Optionally, the positioning device further includes: an uploading unit; The upload unit is used to encapsulate the location information of the object to be tested and upload it to the connected cloud platform.

[0074] Optionally, the positioning device further includes: a receiving unit; The receiving unit is used to receive the first coordinates of the object to be measured reported by the group of positioning devices.

[0075] This application provides a positioning device that acquires the first coordinates of an object under test in a first coordinate system. The object under test is located within a positioning area defined by a set of positioning devices. The first coordinates are converted to second coordinates in the second coordinate system using a mapping relationship between a first vector space and a second vector space. The first vector space is the vector space of the positioning area in the first coordinate system, and the second vector space is the vector space of the positioning area in the second coordinate system. The second coordinates are added to the first latitude and longitude coordinates of the first positioning device to obtain the position information of the object under test. The first positioning device is a reference positioning device in a set of positioning devices. Therefore, the positioning device proposed in this embodiment establishes vector spaces of a set of positioning devices in different coordinate systems within an indoor environment, as well as mapping relationships between these vector spaces. Based on this mapping relationship, the first indoor coordinates can be accurately converted to latitude and longitude coordinates, reducing the number of indoor-outdoor positioning coordinate conversions and thus improving indoor positioning accuracy. Furthermore, the established mapping relationship between vector spaces can adapt to changing indoor environments, effectively reducing the complexity of indoor positioning.

[0076] Figure 5 This is a schematic diagram of the composition of a positioning device 1 provided in an embodiment of this application. In practical applications, based on the same disclosed concept of the above embodiments, such as... Figure 5 As shown, the positioning device 1 in this embodiment includes a processor 13, a memory 14, and a communication bus 15.

[0077] The processor 13 described above can be at least one of the following: Application Specific Integrated Circuit (ASIC), Digital Signal Processor (DSP), Digital Signal Processing Device (DSPD), Programmable Logic Device (PLD), Field Programmable Gate Array (FPGA), CPU, controller, microcontroller, and microprocessor. It is understood that, for different devices, the electronic device used to implement the above processor function can also be other types, and this embodiment does not impose specific limitations.

[0078] In this embodiment, the communication bus 15 is used to establish communication between the processor 13 and the memory 14; when the processor 13 executes the running program stored in the memory 14, it implements the following positioning method: Obtain the first coordinates of the object under test in a first coordinate system; the object under test is located within a positioning area defined by a set of positioning devices; using the mapping relationship between a first vector space and a second vector space, convert the first coordinates into second coordinates in a second coordinate system; the first vector space is the vector space of the positioning area in the first coordinate system, and the second vector space is the vector space of the positioning area in the second coordinate system; add the second coordinates and the first latitude and longitude coordinates of the first positioning device to obtain the position information of the object under test; the first positioning device is the reference positioning device in the set of positioning devices.

[0079] Furthermore, the processor 13 is also configured to determine a set of third coordinates of the group of positioning devices in the first coordinate system based on the first relative positional relationship between the first positioning device and the group of positioning devices; establish the first vector space based on the set of third coordinates; determine a set of differences between the first latitude and longitude coordinates and the set of latitude and longitude coordinates of the group of positioning devices; and use the set of differences as a set of fourth coordinates of the group of positioning devices in the second coordinate system, and establish the second vector space based on the set of fourth coordinates.

[0080] Furthermore, the latitude and longitude coordinates of the set of positioning devices are obtained through map mapping.

[0081] Furthermore, the processor 13 is also configured to determine N first differences between N third coordinates of N positioning devices in the first coordinate system, and N second differences between N fourth coordinates of the N positioning devices in the second coordinate system; N is a positive integer greater than 1; determine the scaling ratio and rotation offset between the first vector space and the second vector space based on the sum of the N first differences and the N second differences; obtain the fifth coordinate of the second positioning device in the first coordinate system and the sixth coordinate of the second positioning device in the second coordinate system; the second positioning device is a reference positioning device in the group of positioning devices; and construct a mapping relationship between the first vector space and the second vector space based on the scaling ratio, the rotation offset, the fifth coordinate, and the sixth coordinate.

[0082] Furthermore, the processor 13 is also used to convert the first coordinate into a relative coordinate with the fifth coordinate as the origin using the mapping relationship, process the relative coordinate according to the scaling ratio and rotation offset, and translate the processed relative coordinate to the second coordinate with the sixth coordinate as the origin.

[0083] Furthermore, the aforementioned processor 13 is also used to encapsulate the location information of the object under test and upload it to the connected cloud platform.

[0084] Furthermore, the processor 13 is also used to receive the first coordinates of the object to be measured reported by the set of positioning devices.

[0085] This application provides a storage medium storing a computer program thereon. The computer-readable storage medium stores one or more programs, which can be executed by one or more processors and applied in a terminal. The computer program implements the positioning method described above.

[0086] Based on the above embodiments, this application provides a computer program product, including a computer program that can be executed by one or more processors, and the computer program implements the positioning method described above.

[0087] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0088] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this disclosure, in essence, or the part that contributes to the related technology, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes several instructions to cause an image display device (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of this disclosure.

[0089] The above description is merely a preferred embodiment of this application and is not intended to limit the scope of protection of this application.

Claims

1. A positioning method, characterized in that, The method includes: Obtain the first coordinates of the object under test in the first coordinate system; the object under test is located within a positioning area defined by a set of positioning devices; By utilizing the mapping relationship between the first vector space and the second vector space, the first coordinates are converted into second coordinates in the second coordinate system; the first vector space is the vector space of the positioning area in the first coordinate system, and the second vector space is the vector space of the positioning area in the second coordinate system. The location information of the object to be measured is obtained by adding the second coordinate and the first latitude and longitude coordinate of the first positioning device; the first positioning device is the reference positioning device in the group of positioning devices.

2. The method according to claim 1, characterized in that, The method further includes: Based on the first relative positional relationship between the first positioning device and the group of positioning devices, a set of third coordinates of the group of positioning devices in the first coordinate system is determined; and a first vector space is established based on the set of third coordinates. Determine a set of differences between the first latitude and longitude coordinates and a set of latitude and longitude coordinates of the group of positioning devices; and use the set of differences as a set of fourth coordinates of the group of positioning devices in the second coordinate system, and establish the second vector space based on the set of fourth coordinates.

3. The method according to claim 2, characterized in that, The latitude and longitude coordinates of the set of positioning devices are obtained through map mapping.

4. The method according to claim 1, characterized in that, Before converting the first coordinates into second coordinates in the second coordinate system using the mapping relationship between the first vector space and the second vector space, the method further includes: Determine N first differences between N third coordinates of N positioning devices in the first coordinate system, and N second differences between N fourth coordinates of the N positioning devices in the second coordinate system; N is a positive integer greater than 1. Based on the sum of the N first differences and the N second differences, determine the scaling ratio and rotation offset between the first vector space and the second vector space; Obtain the fifth coordinate of the second positioning device in the first coordinate system and the sixth coordinate of the second positioning device in the second coordinate system; the second positioning device is the reference positioning device in the group of positioning devices; Based on the scaling ratio, the rotation offset, the fifth coordinate, and the sixth coordinate, a mapping relationship is constructed between the first vector space and the second vector space.

5. The method according to claim 1, characterized in that, The step of converting the first coordinates into second coordinates in the second coordinate system using the mapping relationship between the first and second vector spaces includes: Using the mapping relationship, the first coordinate is converted into a relative coordinate with the fifth coordinate as the origin. The relative coordinate is then processed according to the scaling ratio and rotation offset, and the processed relative coordinate is translated to the second coordinate with the sixth coordinate as the origin.

6. The method according to claim 1, characterized in that, After adding the second coordinates and the first latitude and longitude coordinates of the first positioning device to obtain the location information of the object to be measured, the method further includes: The location information of the object under test is encapsulated and uploaded to the connected cloud platform.

7. The method according to claim 1, characterized in that, The step of obtaining the first coordinates of the object under test in the first coordinate system includes: Receive the first coordinates of the object to be measured reported by the set of positioning devices.

8. A positioning device, characterized in that, The positioning device includes a processor, a memory, and a communication bus; when the processor executes the running program stored in the memory, it implements the method as described in any one of claims 1-7.

9. A storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the method as described in any one of claims 1-7.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the first processor, it implements the method as described in any one of claims 1 to 7.

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