CN109425341B - Positioning method, positioning device and electronic equipment - Google Patents
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Abstract
Translated fromChinese
Description
Translated fromChinese技术领域technical field
本申请涉及定位技术领域，尤其涉及一种定位方法、定位装置和电子设备。The present application relates to the field of positioning technology, and in particular, to a positioning method, a positioning device and an electronic device.
背景技术Background technique
高精度的定位技术有利于推广基于位置的服务，从而为客户提供更好的服务质量，因此受到了广泛的研究。High-precision positioning technology is beneficial to promote location-based services, thereby providing customers with better service quality, so it has been widely studied.
随着科技的发展，各类传感器被集成到可移动终端中，这些传感器例如包括惯性传感器和环境传感器等，其中，惯性传感器例如包括加速度计和陀螺仪等，环境传感器例如包括磁传感器等，可移动终端例如可以是智能手表、智能手机和便携式平板电脑等。With the development of science and technology, various types of sensors are integrated into mobile terminals. These sensors include inertial sensors and environmental sensors, for example. Inertial sensors include accelerometers and gyroscopes, for example, and environmental sensors include magnetic sensors. The mobile terminal may be, for example, a smart watch, a smart phone, a portable tablet computer, and the like.
待定位体，例如人，可以携带可移动终端一起运动，由此，惯性传感器能够进行测量以得到该待定位体的绝对的运动信息，如绝对运动方向(即，航向)与运动距离(即，步长)信息。The object to be positioned, such as a person, can move together with a mobile terminal, whereby the inertial sensor can measure to obtain the absolute movement information of the object to be positioned, such as the absolute movement direction (ie, heading) and movement distance (ie, step) information.
通常，可移动终端通常还具有无线信号收发单元，因此，可以对可移动终端索接收的无线信号和惯性传感器所测量到的运动信息进行融合，从而获得更高的定位性能。Usually, the mobile terminal also has a wireless signal transceiving unit. Therefore, the wireless signal received by the mobile terminal and the motion information measured by the inertial sensor can be fused to obtain higher positioning performance.
应该注意，上面对技术背景的介绍只是为了方便对本申请的技术方案进行清楚、完整的说明，并方便本领域技术人员的理解而阐述的。不能仅仅因为这些方案在本申请的背景技术部分进行了阐述而认为上述技术方案为本领域技术人员所公知。It should be noted that the above description of the technical background is only for the convenience of clearly and completely describing the technical solutions of the present application and facilitating the understanding of those skilled in the art. It should not be assumed that the above-mentioned technical solutions are known to those skilled in the art simply because these solutions are described in the background section of this application.
发明内容SUMMARY OF THE INVENTION
本申请的发明人发现，在利用搭载于可移动终端的惯性传感器对待定位物体的运动信息进行检测的方法中，大多要求待定位物对可移动终端具有固定或特定的握持方式，以使可移动终端保持固定的或特定的姿态，例如，移动终端需要以固定的姿态被行人所握持。The inventor of the present application found that most of the methods for detecting the motion information of the object to be positioned by using the inertial sensor mounted on the mobile terminal require the object to be positioned to have a fixed or specific way of holding the mobile terminal, so that the mobile terminal can be held in a fixed or specific manner. The mobile terminal maintains a fixed or specific posture, for example, the mobile terminal needs to be held by pedestrians in a fixed posture.
但是，在日常生活中，行人对于移动终端的握持方式是多样和多变的，基于惯性传感器的所测量到的运动信息所计算的行人的绝对航向和步长信息存在较大的误差，因而定位结果的准确性也降低。However, in daily life, the way pedestrians hold the mobile terminal is varied and changeable, and the absolute heading and step length information of the pedestrian calculated based on the motion information measured by the inertial sensor have large errors. The accuracy of the positioning results is also reduced.
本申请的实施例提供一种定位方法、定位装置和电子设备，基于连续时间隐马尔科夫模型(Continuous time Hidden Markov Model,CHMM)来实现对惯性传感器的所测量到的运动信息和无线信号的融合，由此，能够在不限制可移动终端的姿态的情况下保持较高的定位精度，提高可移动终端使用的便利性。Embodiments of the present application provide a positioning method, a positioning device, and an electronic device, which are based on a continuous time Hidden Markov Model (CHMM) to realize the detection of motion information and wireless signals measured by an inertial sensor. In this way, high positioning accuracy can be maintained without restricting the posture of the portable terminal, and the convenience of using the portable terminal can be improved.
根据本申请实施例的第一方面，提供一种定位装置，包括：According to a first aspect of the embodiments of the present application, a positioning device is provided, including:
第一确定部，其用于确定当前时刻待定位物的候选位置的集合；a first determining part, which is used to determine the set of candidate positions of the object to be positioned at the current moment;
第一计算部，其用于计算所述待定位物的航向和步长；a first calculation part, which is used to calculate the heading and step size of the object to be positioned;
第二计算部，其用于根据所述航向和所述步长，基于连续时间隐马尔科夫模型计算所述候选位置的集合中各候选位置对应的后验概率；以及a second calculating part, configured to calculate the posterior probability corresponding to each candidate position in the set of candidate positions based on the continuous-time hidden Markov model according to the heading and the step size; and
第三计算部，其基于各候选位置对应的后验概率，计算待定位物的位置。The third calculation unit calculates the position of the object to be positioned based on the posterior probability corresponding to each candidate position.
根据本实施例的第二方面，提供一种定位方法，包括：According to a second aspect of this embodiment, a positioning method is provided, including:
确定当前时刻待定位物的候选位置的集合；Determine the set of candidate positions of the object to be positioned at the current moment;
计算所述待定位物的航向和步长；Calculate the heading and step size of the object to be positioned;
根据所述航向和所述步长，基于连续时间隐马尔科夫模型计算所述候选位置的集合中各候选位置对应的后验概率；以及According to the heading and the step size, a posterior probability corresponding to each candidate position in the set of candidate positions is calculated based on a continuous-time hidden Markov model; and
基于各候选位置对应的后验概率，计算待定位物的位置。Based on the posterior probability corresponding to each candidate position, the position of the object to be positioned is calculated.
根据本实施例的第三方面，提供一种电子设备，其包括实施例的第一方面的定位装置。According to a third aspect of the present embodiment, there is provided an electronic device including the positioning apparatus of the first aspect of the embodiment.
本申请的有益效果在于：能够在不限制可移动终端的姿态的情况下保持较高的定位精度，提高可移动终端使用的便利性。The beneficial effect of the present application is that high positioning accuracy can be maintained without restricting the posture of the mobile terminal, and the convenience of using the mobile terminal can be improved.
参照后文的说明和附图，详细公开了本发明的特定实施方式，指明了本发明的原理可以被采用的方式。应该理解，本发明的实施方式在范围上并不因而受到限制。在所附权利要求的精神和条款的范围内，本发明的实施方式包括许多改变、修改和等同。With reference to the following description and drawings, specific embodiments of the invention are disclosed in detail, indicating the manner in which the principles of the invention may be employed. It should be understood that embodiments of the present invention are not thereby limited in scope. Embodiments of the invention include many changes, modifications and equivalents within the spirit and scope of the appended claims.
针对一种实施方式描述和/或示出的特征可以以相同或类似的方式在一个或更多个其它实施方式中使用，与其它实施方式中的特征相组合，或替代其它实施方式中的特征。Features described and/or illustrated for one embodiment may be used in the same or similar manner in one or more other embodiments, in combination with, or instead of features in other embodiments .
应该强调，术语“包括/包含”在本文使用时指特征、整件、步骤或组件的存在，但并不排除一个或更多个其它特征、整件、步骤或组件的存在或附加。It should be emphasized that the term "comprising/comprising" when used herein refers to the presence of a feature, integer, step or component, but does not exclude the presence or addition of one or more other features, integers, steps or components.
附图说明Description of drawings
所包括的附图用来提供对本发明实施例的进一步的理解，其构成了说明书的一部分，用于例示本发明的实施方式，并与文字描述一起来阐释本发明的原理。显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。在附图中：The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention, constitute a part of the specification, are used to illustrate embodiments of the invention, and together with the written description, serve to explain the principles of the invention. Obviously, the drawings in the following description are only some embodiments of the present invention, and for those of ordinary skill in the art, other drawings can also be obtained from these drawings without creative effort. In the attached image:
图1是本申请实施例1的定位方法的一个示意图；Fig. 1 is a schematic diagram of the positioning method of Embodiment 1 of the present application;
图2是本申请实施例1的确定当前时刻待定位物的候选位置的集合的方法的一个示意图；2 is a schematic diagram of a method for determining a set of candidate positions of objects to be positioned at the current moment according to Embodiment 1 of the present application;
图3是本申请实施例1基于方式(a)得到的分布区域确定的各格栅点的一个示意图；FIG. 3 is a schematic diagram of each grid point determined based on the distribution area obtained by the method (a) in Embodiment 1 of the present application;
图4是本申请实施例1基于方式(b)得到的分布区域确定的各格栅点的一个示意图；FIG. 4 is a schematic diagram of each grid point determined based on the distribution area obtained by the method (b) in Embodiment 1 of the present application;
图5是本申请实施例1的航向估计方法的一个流程图；Fig. 5 is a flow chart of the heading estimation method of Embodiment 1 of the present application;
图6是本申请实施例1的计算各候选位置的后验概率的方法的一个流程图；6 is a flowchart of a method for calculating the posterior probability of each candidate position according to Embodiment 1 of the present application;
图7是本申请实施例1的计算齐次转移概率的方法的一个示意图；7 is a schematic diagram of a method for calculating a homogeneous transition probability according to Embodiment 1 of the present application;
图8是本申请实施例2的定位装置的一个示意图；8 is a schematic diagram of the positioning device according to Embodiment 2 of the present application;
图9是本申请实施例2的第一确定部的一个示意图；Fig. 9 is a schematic diagram of the first determination part of Embodiment 2 of the present application;
图10是本申请实施例2的第一计算部的一个示意图；FIG. 10 is a schematic diagram of the first calculation part of Embodiment 2 of the present application;
图11是本申请实施例2的第二计算部的一个示意图；FIG. 11 is a schematic diagram of the second calculation part of Embodiment 2 of the present application;
图12是本申请实施例2的第十计算部的一个示意图；FIG. 12 is a schematic diagram of the tenth calculation part of Embodiment 2 of the present application;
图13是本申请实施例3的电子设备的一个示意图。FIG. 13 is a schematic diagram of the electronic device according to Embodiment 3 of the present application.
具体实施方式Detailed ways
参照附图，通过下面的说明书，本发明的前述以及其它特征将变得明显。在说明书和附图中，具体公开了本发明的特定实施方式，其表明了其中可以采用本发明的原则的部分实施方式，应了解的是，本发明不限于所描述的实施方式，相反，本发明包括落入所附权利要求的范围内的全部修改、变型以及等同物。The foregoing and other features of the present invention will become apparent from the following description with reference to the accompanying drawings. In the specification and drawings, specific embodiments of the invention are disclosed in detail, which are indicative of some of the embodiments in which the principles of the invention may be employed, it being understood that the invention is not limited to the described embodiments, but rather The invention includes all modifications, variations and equivalents falling within the scope of the appended claims.
实施例1Example 1
本申请实施例1提供一种定位方法。Embodiment 1 of the present application provides a positioning method.
图1是实施例1的定位方法的一个示意图，如图1所示，该定位方法可以包括：FIG. 1 is a schematic diagram of the positioning method of Embodiment 1. As shown in FIG. 1 , the positioning method may include:
步骤101、确定当前时刻待定位物的候选位置的集合；
步骤102、计算所述待定位物的航向和步长；
步骤103、根据所述航向和所述步长，基于连续时间隐马尔科夫模型(Continuoustime Hidden Markov Model,CHMM)计算所述候选位置的集合中各候选位置对应的后验概率；以及
步骤104、基于各候选位置对应的后验概率，计算待定位物的位置。Step 104: Calculate the position of the object to be positioned based on the posterior probability corresponding to each candidate position.
根据本实施例，基于连续时间隐马尔科夫模型(Continuous time Hidden MarkovModel,CHMM)来实现对惯性传感器的所测量到的运动信息和无线信号的融合，由此，能够在不限制可移动终端的姿态的情况下保持较高的定位精度，提高可移动终端使用的便利性。According to this embodiment, the fusion of the motion information measured by the inertial sensor and the wireless signal is realized based on the Continuous Time Hidden Markov Model (CHMM). High positioning accuracy is maintained in the case of posture, and the convenience of using the mobile terminal is improved.
在本实施例中，待定位物可以是行人、车辆或其它的运动物体。In this embodiment, the object to be positioned may be a pedestrian, a vehicle or other moving objects.
在本实施例中，可移动终端例如可以是智能手表、智能手机或便携式平板电脑等，该可移动终端可以被设置在该待定位物上，与所述待定位物一起运动，所述可移动终端相对于所述待定位物的姿态可以发生变化。In this embodiment, the movable terminal can be, for example, a smart watch, a smart phone, or a portable tablet computer, etc. The movable terminal can be set on the object to be positioned and move together with the object to be positioned, and the movable terminal can be moved together with the object to be positioned. The posture of the terminal relative to the object to be positioned may change.
在本实施例中，该可移动终端中可以设置有惯性传感器，该惯性传感器例如可以包括加速度计和陀螺仪等中的至少一者，其中，加速度计例如可以是三轴加速度计。惯性传感器所输出的检测信号中例如可以包括加速度计所输出的加速度信号和陀螺仪所输出的角速度信号中的至少一者，其中，所述加速度信号例如可以是三轴加速度信号，所述角速度信号例如可以是三轴角速度信号。In this embodiment, an inertial sensor may be provided in the mobile terminal, and the inertial sensor may include, for example, at least one of an accelerometer and a gyroscope, and the accelerometer may be, for example, a three-axis accelerometer. The detection signal output by the inertial sensor may include, for example, at least one of an acceleration signal output by an accelerometer and an angular velocity signal output by a gyroscope, wherein the acceleration signal may be, for example, a triaxial acceleration signal, and the angular velocity signal For example, it may be a triaxial angular velocity signal.
在本实施例中，该可移动终端还可以接收无线信号，该无线信号例如可以是高保真(WIFI)信号，蓝牙(Bluetooth)信号，全球定位系统(Global Positioning System，GPS)，和/或蜂窝网络信号等。In this embodiment, the mobile terminal may also receive wireless signals, and the wireless signals may be, for example, high-fidelity (WIFI) signals, Bluetooth (Bluetooth) signals, global positioning system (Global Positioning System, GPS), and/or cellular network signal, etc.
在本实施例的下面的说明中，位置可以由二维平面中的X坐标值和Y坐标值来表示，但是，本实施例可以不限于此，例如，位置也可以是由其它坐标值来表示的二维平面中的位置，此外，位置也可以是指三维空间中由相应的坐标值表示的位置。In the following description of this embodiment, the position may be represented by the X coordinate value and the Y coordinate value in the two-dimensional plane, but the embodiment may not be limited to this, for example, the position may also be represented by other coordinate values The position in the two-dimensional plane of , in addition, the position can also refer to the position represented by the corresponding coordinate value in the three-dimensional space.
图2是本实施例的确定当前时刻待定位物的候选位置的集合的方法的一个示意图，图2的方法用于实现步骤101。如图2所示，该方法可以包括：FIG. 2 is a schematic diagram of a method for determining a set of candidate positions of objects to be positioned at the current moment according to this embodiment, and the method in FIG. 2 is used to implement
步骤201、确定当前时刻待定位物的候选位置的分布区域；
步骤202、在该分布区域中确定各候选位置。Step 202: Determine each candidate position in the distribution area.
在本实施例的步骤201中，可以根据方式(a)来确定当前时刻待定位物的候选位置的分布区域，即，根据当前时刻之前该可移动终端获取的无线信号和/或惯性传感器所输出的检测信号，来确定当前时刻待定位物的候选位置的分布区域。In
在一个实施方式中，在步骤201中，可以根据当前时刻之前的第一预定时间段内基于无线信号所估算的待定位物的位置，确定该分布区域。In one embodiment, in
例如，当前时刻为第t时刻，该第一预定时间段包含从第(t-τ)时刻到第t时刻这t+1个时刻，基于各时刻的无线信号所估算的待定位物的位置可以是lt＝[lt-τ,lt-τ+1,...,lt]，其中，τ是自然数；lt内各位置的X坐标值的最大值xmax和最小值xmin，以及Y坐标值的最大值ymax和最小值ymin，来确定候选位置的分布区域，即，该分布区域的X坐标值x的范围和Y坐标值y可以满足如下的式(1)，(2)：For example, the current time is time t, and the first predetermined time period includes time t+1 from time (t-τ) to time t, and the estimated position of the object to be located based on the wireless signals at each time can be is lt =[lt-τ ,lt-τ+1 ,...,lt ], where τ is a natural number; the maximum value xmax and the minimum value xmin of the X-coordinate values of each position in lt , and the maximum value ymax and the minimum value ymin of the Y coordinate value to determine the distribution area of the candidate position, that is, the range of the X coordinate value x and the Y coordinate value y of the distribution area can satisfy the following formula (1), (2):
xmin-δ≤x≤xmax+δ (1)xmin -δ≤x≤xmax +δ (1)
ymin-δ≤y≤ymax+δ (2)ymin -δ≤y≤ymax +δ (2)
其中，δ为常数，可以由无线定位误差性能决定，例如δ可以等于1米；此外，δ也可以是基于该惯性传感器所输出的检测信号而计算出的从第t-1时刻到当前第t时刻的步长。Among them, δ is a constant, which can be determined by the wireless positioning error performance, for example, δ can be equal to 1 meter; in addition, δ can also be calculated based on the detection signal output by the inertial sensor from time t-1 to the current time t time step.
在本实施例中，基于各时刻的无线信号估算待定位物的位置的方法，以及基于惯性传感器所输出的检测信号来计算步长的方法都可以参考现有技术，此处不再赘述。In this embodiment, the method for estimating the position of the object to be positioned based on the wireless signal at each moment, and the method for calculating the step size based on the detection signal output by the inertial sensor can refer to the prior art, and will not be repeated here.
在本实施例中，相邻时刻的间隙可以是对可移动终端进行定位的周期或时间间隔，例如，1秒。In this embodiment, the gap between adjacent moments may be a period or a time interval for positioning the mobile terminal, for example, 1 second.
在另一个实施方式中，在步骤201中，可以根据方式(b)来确定当前时刻待定位物的候选位置的分布区域，即，根据在当前时刻之前的第一预定时刻基于各候选位置的后验概率计算出的待定位物的位置，即，对应于当前时刻之前的第一预定时刻由步骤104所计算出的待定位物的位置，确定该候选位置的分布区域。In another embodiment, in
例如，当前时刻是第t时刻，当前时刻之前的第一预定时刻例如可以是第(t-τ)时刻，由步骤104所计算出的在第(t-τ)时刻待定位物的位置为
在本实施例中，从该第一预定时刻到当前时刻的步长可以基于惯性传感器所输出的检测信号来计算，具体方法可以参考现有技术，此处不再赘述。In this embodiment, the step size from the first predetermined moment to the current moment may be calculated based on the detection signal output by the inertial sensor, and the specific method may refer to the prior art, which will not be repeated here.
在本实施例中，也可以采用其他方式来确定该分布区域，本实施例并不限于上述两种方式。In this embodiment, other manners may also be used to determine the distribution area, and this embodiment is not limited to the above two manners.
在本实施例的步骤202中，可以将步骤201中确定的分布区域进行格栅化，从而形成多个格栅点，将各格栅点的位置作为各候选位置，每个格栅点所代表的区域的尺寸例如可以是α米*β米，此外，本实施例可以不限于此，每个格栅点所代表的区域也可以是其它形状，并且具有其它的尺寸。In
在本实施例中，各候选位置
图3是基于方式(a)得到的分布区域确定的各格栅点的一个示意图，图4是基于方式(b)得到的分布区域确定的各格栅点的一个示意图。FIG. 3 is a schematic diagram of each grid point determined based on the distribution area obtained in the mode (a), and FIG. 4 is a schematic diagram of each grid point determined based on the distribution area obtained in the mode (b).
如图3所示，301、302、303分别表示第(t-τ)时刻、第(t-τ+1)时刻、第t时刻基于无线信号所估算的待定位物的位置，304表示格栅点。As shown in Figure 3, 301, 302, and 303 represent the position of the object to be positioned estimated based on the wireless signal at the (t-τ) th time, the (t-τ+1) th time, and the t th time, respectively, and 304 represents the grid point.
如图4所示，401表示当前时刻之前的第一预定时刻由步骤104所计算出的待定位物的位置，402表示格栅点。As shown in FIG. 4 , 401 represents the position of the object to be positioned calculated in
在本实施例中，图2所示的方法中还可以具有步骤203：In this embodiment, the method shown in FIG. 2 may further include step 203:
步骤203、结合地图信息，对候选位置的分布区域进行修正。Step 203 , modifying the distribution area of the candidate position in combination with the map information.
在步骤203中，可以将地图信息与当前时刻的近似位置进行比对，从而对步骤201所确定出的该分布区域进行修正，由此，使得候选位置的分布区域更准确，例如，步骤201所确定出的该分布区域为正方形，且面积较大，而当前时刻的近似位置在地图上处于条形的道路区域内，那么可以根据该条形的道路区域的信息将步骤201所确定出的正方形的分布区域修正为条形。In step 203, the map information can be compared with the approximate position at the current moment, so as to correct the distribution area determined in
在本实施例中，当前时刻的该近似位置可以通过多种方式来估算，例如，可以根据当前时刻的无线信号来估算，或者，根据当前时刻之前的第二预定时刻的由步骤104所计算出的待定位物的位置来估算等，其中，该第二预定时刻例如可以是当前时刻的前一时刻，即第(t-1)时刻。In this embodiment, the approximate position at the current moment can be estimated in various ways, for example, it can be estimated according to the wireless signal at the current moment, or it can be estimated according to the second predetermined moment before the current moment calculated in
在本实施例中，根据步骤101，在每一个时刻，候选位置的集合可以变化，也就是说，候选位置的集合随时间而动态变化，因此，相比于候选位置的集合相对于时间固定的技术方案而言，本实施例的候选位置的集合能够更加准确地反映待定位体当前的位置。In this embodiment, according to
在本实施例的步骤102中，计算步长的方法可以参考现有技术。在本实施例中，可以使用基于惯性传感器所输出的检测信号中的加速度信号模值得经验模型来计算步长，例如，可以计算当前时刻之前的第三预定时刻到当前时刻的这段时间内，待定位物的移动距离，将该移动距离作为当前时刻对应的步长，该第三预定时刻例如可以是当前时刻的前一时刻。In
在本实施例的步骤102中，待定位物的航向估计方法可以根据移动终端的姿态是否变化而不同。In
图5是步骤102中航向估计方法的一个流程图，如图5所示，该方法包括：Fig. 5 is a flow chart of the heading estimation method in
步骤501、在当前时刻之前的第二预定时间段内，可移动终端的姿态没有发生改变时，利用所述可移动终端中的惯性传感器所输出的检测信号计算航向。Step 501: In the second predetermined time period before the current moment, when the posture of the movable terminal does not change, use the detection signal output by the inertial sensor in the movable terminal to calculate the heading.
在本实施例的步骤501中，如果在当前时刻之前的第二预定时间段内，可移动终端的姿态没有发生改变，可以利用该移动终端中的惯性传感器所输出的检测信号计算该待定位物在该第二预定时间段内的航向变化量，并且，根据该航向变化量，结合无线信号和/或地图信息，计算该待定位物当前时刻的航向。In
在本实施例中，该第二预定时间段内的航向变化量例如可以根据惯性传感器所输出的检测信号中的加速度信号和角速度信号计算得到，具体的计算方式可以参考现有技术，本实施例不再赘述。In this embodiment, the heading change amount in the second predetermined time period can be calculated, for example, according to the acceleration signal and the angular velocity signal in the detection signal output by the inertial sensor. The specific calculation method can refer to the prior art, this embodiment No longer.
在本实施例的步骤501中，根据该航向变化量，结合无线信号和/或地图信息，计算该待定位物当前时刻的航向的方法例如可以是：根据该可移动终端接收到的无线信号计算在第二预定时间段的各时刻该待定位物的位置，对各时刻该待定位物的位置进行拟合，该拟合得到的方向作为参考航向，并且，可以进一步根据地图上的道路信息对该参考航向进行修正，以使该修正后的参考航向沿着地图上的道路延伸方向，以该修正后的参考航向作为参考，结合航向变化量，确定当前时刻的航向。In
此外，上述实施例仅是举例，也可以采用其他方法来得到参考航向和/或修正后的参考航向。In addition, the above embodiments are only examples, and other methods may also be used to obtain the reference heading and/or the corrected reference heading.
在本实施例中，如图5所示，计算航向的方法还可以包括：In this embodiment, as shown in FIG. 5 , the method for calculating the heading may further include:
步骤502、在当前时刻之前的第二预定时间段内，可移动终端的姿态发生改变的情况下，采用预定的候选移动方向作为所述待定位物的航向。Step 502: In the second predetermined time period before the current time, when the posture of the movable terminal changes, adopt a predetermined candidate moving direction as the heading of the object to be positioned.
在步骤502中，当可移动终端的姿态发生改变时，惯性传感器输出的检测信号无法准确地反映出待定位物的运动情况，因此，可以直接选择预定的候选移动方向作为待定位物的航向。In
在本实施例中，该预定的候选移动方向可以是：根据当前时刻之前的第三预定时刻的位置和地图信息得到的方向，例如，第三预定时刻可以是第(t-1)时刻，由步骤104所计算出的在第(t-1)时刻待定位物的位置为
在本实施例中，该预定的候选移动方向也可以是：在二维平面中预先设定的N1个方向，该N1个方向例如可以是4个方向或8个方向。In this embodiment, the predetermined candidate moving directions may also be: N1 directions preset in a two-dimensional plane, and the N1 directions may be, for example, 4 directions or 8 directions.
在本实施例中，如图5所示，该方法还可以包括步骤503：In this embodiment, as shown in FIG. 5 , the method may further include step 503:
步骤503、判断在当前时刻之前的第二预定时间段内，可移动终端的姿态是否发生改变。Step 503: Determine whether the posture of the movable terminal has changed within a second predetermined time period before the current time.
在本实施例的步骤503中，可以根据惯性传感器所输出的检测信号中的加速度信号和/或角速度信号在预定时间段内的变化情况，来判断可移动终端得姿态是否发生改变。例如，可以计算加速度信号在当前时刻以前的第三预定时间段内的均值和第四预定时间段内的均值的差分值，如果该差分值小于阈值，则可以判断为该可移动终端的姿态没有发生变化，如果该差分值大于或等于阈值，则可以判断为该可移动终端的姿态发生变化。In
图6是本实施例的计算各候选位置的后验概率的方法的一个流程图，如图6所示，该方法可以包括：FIG. 6 is a flowchart of the method for calculating the posterior probability of each candidate position in this embodiment. As shown in FIG. 6 , the method may include:
步骤601、计算各候选位置在当前时刻之前的第五预定时间段内的初始概率，得到初始概率向量；Step 601: Calculate the initial probability of each candidate position in the fifth predetermined time period before the current moment to obtain an initial probability vector;
步骤602、计算各候选位置在所述第五预定时间段内的各时刻的概率，得到概率向量；Step 602: Calculate the probability of each candidate position at each moment in the fifth predetermined time period to obtain a probability vector;
步骤603、计算在所述第五预定时间段内的各时刻各候选位置之间的转移概率，得到候选位置转移矩阵；Step 603: Calculate the transition probability between the candidate positions at each moment in the fifth predetermined time period to obtain a candidate position transition matrix;
步骤604、根据初始概率向量，概率向量，以及候选位置转移矩阵，基于连续时间隐马尔科夫模型计算当前时刻各候选位置的后验概率。Step 604: Calculate the posterior probability of each candidate position at the current moment based on the continuous-time hidden Markov model according to the initial probability vector, the probability vector, and the candidate position transition matrix.
在本实施例中，在对图6的各步骤的说明书，第五预定时间段例如可以是从第(t-τ1)时刻到当前的第t时刻的时间段，该时间段内可以包括有(τ1+1)个时刻，各时刻可以被表示为第(t-τ1+k)时刻，其中，k≤τ1，k和τ1都是整数。In this embodiment, in the description of each step in FIG. 6 , the fifth predetermined time period may be, for example, the time period from the (t-τ1 )th time to the current t time, and the time period may include (τ1 +1) times, each of which can be represented as a (t-τ1 +k)th time, where k≦τ1 , and k and τ1 are both integers.
在本实施例的步骤601中，初始概率向量Pt-τ1可以被表示为
在本实施例中，各候选位置的初始化概率可以被设置为等值概率，例如，
上式(3)被归一化以后的表达式为下式(4)：The expression after the above formula (3) is normalized is the following formula (4):
其中，j≤N，j是自然数。Among them, j≤N, j is a natural number.
此外，在本实施例中也可以采用其他方式来得到各候选位置的初始概率。In addition, in this embodiment, other methods may also be used to obtain the initial probability of each candidate position.
在本实施例的步骤602中，第(t-τ1+k)时刻的概率向量Pt-τ1+k可以被表示为
在本实施例的步骤602中，各候选位置在所述第五预定时间段内的第(t-τ1+k)时刻的概率可以根据基于距离的概率模型计算得出，其中，该距离可以是各候选位置
上式(5a)或(5b)被归一化以后的表达式为下式(6)：The expression after the above formula (5a) or (5b) is normalized is the following formula (6):
在本实施例的步骤602中，也可以采用其他的方法来计算概率
在本实施例的步骤603中，在第五预定时间段内的第(t-τ1+k)时刻，第n候选位置
在步骤603中，根据可移动终端的姿态是否改变，计算齐次转移概率的方法可以不同。图7是本实施例的计算齐次转移概率的方法的一个示意图，如图7所示，该方法包括：In
步骤701、在所述第五预定时间段内所述移动终端的姿态没有改变的情况下，根据所述待定位物的所述航向和所述步长，计算以第n个候选位置为起点的估计位置；Step 701: Under the condition that the posture of the mobile terminal does not change within the fifth predetermined time period, according to the heading and the step length of the object to be positioned, calculate the nth candidate position as the starting point. estimated location;
步骤702、根据该估计位置与第m个候选位置之间的距离，以及第n个候选位置和第m个候选位置连线方向与所述待定位物的航向之间的夹角，计算转移概率。Step 702: Calculate the transition probability according to the distance between the estimated position and the mth candidate position, and the angle between the connection direction of the nth candidate position and the mth candidate position and the heading of the object to be positioned. .
在步骤701中，在第五预定时间段内移动终端的姿态没有改变的情况下，可以根据基于步骤102所述的方法计算出的在第(t-τ1+k)时刻待定位物的航向θt-τ1+k和步长vt-τ1+k，计算第(t-τ1+k)时刻以第n个候选位置
其中，vt-τ1+k表示在第(t-τ1+k)时刻的步长，例如，可以是从第(t-τ1+k-1)时刻到第(t-τ1+k)时刻该待定位物的移动距离；
在本实施例中，第n个候选位置与第m个候选位置的连线方向与待定位物的航向θt-τ1+k之间的夹角为Δθ。In this embodiment, the included angle between the direction of the line connecting the nth candidate position and the mth candidate position and the heading θt−τ1+k of the object to be positioned is Δθ.
在步骤702中，可以根据估计位置
其中，f(Δθ)可以是Δθ的连续递减函数，例如，f(Δθ)可以被建模为Δθ的高斯函数。where f(Δθ) can be a continuously decreasing function of Δθ, eg, f(Δθ) can be modeled as a Gaussian function of Δθ.
在本实施例中，如图7所示，该方法还包括：In this embodiment, as shown in Figure 7, the method further includes:
步骤703、在所述第五预定时间段内定位终端的姿态改变了的情况下，根据各预定的候选移动方向和所述步长，计算以第n个候选位置为起点的分别与各预定的候选移动方向对应的各估计位置；Step 703: In the case where the posture of the positioning terminal changes within the fifth predetermined time period, according to each predetermined candidate moving direction and the step length, calculate the distance between the each estimated position corresponding to the candidate moving direction;
步骤704、根据所述各估计位置与第m个候选位置之间的最小距离，计算转移概率。Step 704: Calculate the transition probability according to the minimum distance between the estimated positions and the mth candidate position.
在本实施例的步骤703中，由于在第五预定时间段内该移动终端的姿态发生改变，因此，不再使用基于惯性传感器输出的检测信号所计算的航向来计算估计位置，而是使用基于步骤502所选择的预定的候选移动方向来计算估计位置。例如，可以采用基于PDR算法的下式(9)来计算估计位置：In
其中，θi是第i个候选移动方向的方向信息，1≤i≤N1，i和N1都是自然数，N1是步骤502所选择的预定的候选移动方向的数量，
在步骤704中，可以选取各估计位置
上式(10)被归一化以后的表达式为下式(11)：The expression after the above formula (10) is normalized is the following formula (11):
在本实施例中，第五预定时间段的时间长度可以等于第二预定时间段的时间长度，由此，关于该第五预定时间段内可移动终端的姿态是否发生改变的判断结果，可以与该第二预定时间段内可移动终端的姿态是否发生改变的判断结果相同。此外，第五预定时间段的时间长度也可以不等于第二预定时间段的时间长度，由此可以基于与步骤503相同的方式来判断第五预定时间段内可移动终端的姿态是否发生改变。In this embodiment, the time length of the fifth predetermined time period may be equal to the time length of the second predetermined time period. Therefore, the judgment result regarding whether the posture of the movable terminal has changed in the fifth predetermined time period may be the same as that of the second predetermined time period. The judgment result of whether the posture of the movable terminal has changed within the second predetermined time period is the same. In addition, the time length of the fifth predetermined time period may not be equal to the time length of the second predetermined time period, so whether the posture of the movable terminal has changed in the fifth predetermined time period can be determined based on the same method as
在本实施例的步骤603中，在第五预定时间段内的第(t-τ1+k)时刻，各候选位置之间的转移概率矩阵Qt-τ1+k可以表示为下式(12)：In
在本实施例的步骤604中，可以基于连续时间隐马尔科夫模型(CHMM)，使用步骤601、602、603所得到的初始概率向量Pt-τ1，各时刻的概率向量Pt-τ1+k，以及各时刻的转移概率矩阵Qt-τ1+k，计算在当前时刻各候选位置的后验概率向量Pt，例如，可以根据下式(13)来进行计算：In
其中，
在本实施例的步骤104中，可以根据各候选位置的后验概率来计算待定位物在当前时刻的位置，例如，可以对各后验概率案从大到小排序，将排序的前T个后验概率所对应的各候选位置进行加权，得到当前的第t时刻待定位物的位置，比如，可以根据下面的式(14)来计算当前的第t时刻待定位物的位置
其中，1≤r≤T，r和T都是自然数，
此外，本实施例可以不限于此，步骤104也可以采用其他的方式来计算得到当前时刻该待定位物的位置。In addition, this embodiment may not be limited to this, and step 104 may also use other methods to calculate and obtain the position of the object to be positioned at the current moment.
根据本实施例，采用基于连续时间隐马尔科夫模型来计算各候选位置的后验概率，因而，能够参照当前时刻之前的时刻的概率来进行计算，从而提高了后验概率计算的准确性，并且，在计算航向和转移向量的过程中，在可移动终端的姿态发生变化的情况下，不再使用可移动终端的惯性传感器所输出的检测信号进行计算，由此，降低了计算误差；由此，本实施例能够在不限制可移动终端的姿态的情况下保持较高的定位精度，提高可移动终端使用的便利性。According to the present embodiment, the posterior probability of each candidate position is calculated based on the continuous-time hidden Markov model. Therefore, the calculation can be performed with reference to the probability at the time before the current time, thereby improving the accuracy of the calculation of the posterior probability. Moreover, in the process of calculating the heading and the transfer vector, when the attitude of the mobile terminal changes, the detection signal output by the inertial sensor of the mobile terminal is no longer used for calculation, thereby reducing the calculation error; Therefore, the present embodiment can maintain high positioning accuracy without restricting the posture of the movable terminal, thereby improving the convenience of using the movable terminal.
实施例2Example 2
本申请实施例2提供一种定位装置，与实施例1的定位方法对应。The second embodiment of the present application provides a positioning device, which corresponds to the positioning method of the first embodiment.
图8是本实施例的定位装置的一个示意图，如图8所示，定位装置800可以包括：FIG. 8 is a schematic diagram of the positioning apparatus of this embodiment. As shown in FIG. 8 , the
第一确定部801，其用于确定当前时刻待定位物的候选位置的集合；a first determining
第一计算部802，其用于计算所述待定位物的航向和步长；a first
第二计算部803，其用于根据所述航向和所述步长，基于隐马尔科夫模型计算所述候选位置的集合中各候选位置对应的后验概率；以及A
第三计算部804，其基于各候选位置对应的后验概率，计算待定位物的位置。The
图9是本实施例的第一确定部的一个示意图，如图9所示，第一确定部801可以包括：FIG. 9 is a schematic diagram of the first determination unit in this embodiment. As shown in FIG. 9 , the
第二确定部901，其用于根据当前时刻之前的第一预定时间段内基于无线信号所估算的所述待定位物的位置，或者，根据当前时刻之前的第一预定时刻计算出的待定位物的位置，确定所述候选位置的分布区域；The second determining
第三确定部902，其用于在所述分布区域中确定各所述候选位置。The
如图9所示，第一确定部801还包括：As shown in FIG. 9 , the
第一修正部903，其用于结合地图信息，对所述候选位置的分布区域进行修正。The
图10是本实施例的第一计算部的一个示意图，如图10所示，第一计算部802包括用于计算步长的第四计算部1001和用于计算航向的第五计算部1002，其中，第五计算部1002包括：FIG. 10 is a schematic diagram of the first calculation part of this embodiment. As shown in FIG. 10 , the
第六计算部1003，其在当前时刻之前的第二预定时间段内，设置于待定位物的可移动终端的姿态没有改变的情况下，根据所述可移动终端中的惯性传感器所输出的检测信号计算所述待定位物在该预定时间段内的航向变化量，并且，根据所述的航向变化量，结合无线信号和/或地图信息，计算所述待定位物的航向；The
第七计算部1004，其在所述第二预定时间段内所述可移动终端的姿态改变了的情况下，采用预定的候选移动方向作为所述待定位物的航向。The
图11是本实施例的第二计算部的一个示意图，如图11所示，第二计算部803包括：FIG. 11 is a schematic diagram of the second calculation unit of this embodiment. As shown in FIG. 11 , the
第八计算部1101，其用于计算各候选位置在当前时刻之前的第五预定时间段内的初始概率，得到初始概率向量；an
第九计算部1102，其用于计算各候选位置在所述第五预定时间段内的各时刻的概率，得到概率向量；a
第十计算部1103，其用于计算在所述第五预定时间段内的各时刻各候选位置之间的转移概率，得到候选位置转移矩阵；The
第十一计算部1104，其根据所述初始概率向量，所述概率向量，以及所述候选位置转移矩阵，基于连续时间隐马尔科夫模型计算当前时刻各候选位置的后验概率。The
在本实施例中，第九计算部1102根据基于无线信号计算出的待定位物的位置与各候选位置之间的距离的概率模型，计算各候选位置在各时刻的概率。In this embodiment, the
图12是本实施例的第十计算部的一个示意图，其中，第十计算部1103包括：FIG. 12 is a schematic diagram of the tenth calculation part of this embodiment, wherein the
第十二计算部1201，其在所述第五预定时间段内所述移动终端的姿态没有改变的情况下，根据所述待定位物的所述航向和所述步长，计算以第n个候选位置为起点的估计位置；The
第十三计算部1202，其根据该估计位置与第m个候选位置之间的距离，以及第n个候选位置和第m个候选位置连线方向与所述待定位物的航向之间的夹角，计算所述转移概率；The
如图12所示，第十计算部1103还包括：As shown in FIG. 12 , the
第十四计算部1203，其在所述第五预定时间段内定位终端的姿态改变了的情况下，根据各预定的候选移动方向和所述步长，计算以第n个候选位置为起点的分别与各预定的候选移动方向对应的各估计位置；The
第十五计算部1204，其根据所述各估计位置与第m个候选位置之间的最小距离，计算转移概率。The
在本实施例中，第三计算部804将前预定数量个后验概率所对应的候选位置进行加权，得到当前时刻该待定位物的位置。In this embodiment, the
在本实施例中，对于上述各单元的详细说明可以参照实施例1对相应步骤的说明，本实施例不再重复说明。In this embodiment, for the detailed description of the above units, reference may be made to the description of the corresponding steps in Embodiment 1, and the description is not repeated in this embodiment.
根据本实施例，采用基于连续时间隐马尔科夫模型来计算各候选位置的后验概率，因而，能够参照当前时刻之前的时刻的概率来进行计算，从而提高了后验概率计算的准确性，并且，在计算航向和转移向量的过程中，在可移动终端的姿态发生变化的情况下，不再使用可移动终端的惯性传感器所输出的检测信号进行计算，由此，降低了计算误差；由此，本实施例能够在不限制可移动终端的姿态的情况下保持较高的定位精度，提高可移动终端使用的便利性。According to the present embodiment, the posterior probability of each candidate position is calculated based on the continuous-time hidden Markov model. Therefore, the calculation can be performed with reference to the probability at the time before the current time, thereby improving the accuracy of the calculation of the posterior probability. Moreover, in the process of calculating the heading and the transfer vector, when the attitude of the mobile terminal changes, the detection signal output by the inertial sensor of the mobile terminal is no longer used for calculation, thereby reducing the calculation error; Therefore, the present embodiment can maintain high positioning accuracy without restricting the posture of the movable terminal, thereby improving the convenience of using the movable terminal.
实施例3Example 3
本申请实施例3提供一种电子设备，所述电子设备包括：如实施例2所述的定位装置。Embodiment 3 of the present application provides an electronic device, where the electronic device includes: the positioning apparatus described in Embodiment 2.
图13是本申请实施例3的电子设备的一个构成示意图。如图13所示，电子设备1300可以包括：中央处理器(CPU)1301和存储器1302；存储器1302耦合到中央处理器1301。其中该存储器1302可存储各种数据；此外还存储用于进行定位的程序，并且在中央处理器1301的控制下执行该程序。FIG. 13 is a schematic structural diagram of an electronic device according to Embodiment 3 of the present application. As shown in FIG. 13 , the
在一个实施方式中，定位装置中的功能可以被集成到中央处理器1301中。In one embodiment, the functionality in the positioning device may be integrated into the
其中，中央处理器1301可以被配置为：Wherein, the
确定当前时刻待定位物的候选位置的集合；Determine the set of candidate positions of the object to be positioned at the current moment;
计算所述待定位物的航向和步长；Calculate the heading and step size of the object to be positioned;
根据所述航向和所述步长，基于连续时间隐马尔科夫模型计算所述候选位置的集合中各候选位置对应的后验概率；以及According to the heading and the step size, a posterior probability corresponding to each candidate position in the set of candidate positions is calculated based on a continuous-time hidden Markov model; and
基于各候选位置对应的后验概率，计算待定位物的位置。Based on the posterior probability corresponding to each candidate position, the position of the object to be positioned is calculated.
在本实施例中，中央处理器1301还可以被配置为：In this embodiment, the
根据当前时刻之前的第一预定时间段内基于无线信号所估算的所述待定位物的位置，或者，根据当前时刻之前的第一预定时刻计算出的待定位物的位置，确定所述候选位置的分布区域；在所述分布区域中确定各所述候选位置。The candidate position is determined according to the position of the object to be positioned estimated based on the wireless signal in the first predetermined time period before the current moment, or according to the position of the object to be positioned calculated according to the first predetermined moment before the current moment distribution area; each candidate position is determined in the distribution area.
在本实施例中，中央处理器1301还可以被配置为：In this embodiment, the
结合地图信息，对所述候选位置的分布区域进行修正。Combined with the map information, the distribution area of the candidate position is corrected.
在本实施例中，中央处理器1301还可以被配置为：In this embodiment, the
在当前时刻之前的第二预定时间段内，设置于待定位物的可移动终端的姿态没有改变的情况下，根据所述可移动终端中的惯性传感器所输出的检测信号计算所述待定位物在该预定时间段内的航向变化量，并且，根据所述的航向变化量，结合无线信号和/或地图信息，计算所述待定位物的航向；In the second predetermined time period before the current moment, in the case that the posture of the movable terminal set on the object to be positioned does not change, the object to be positioned is calculated according to the detection signal output by the inertial sensor in the movable terminal The heading change within the predetermined time period, and, according to the heading change, combined with wireless signals and/or map information, calculate the heading of the object to be positioned;
在所述第二预定时间段内所述可移动终端的姿态改变了的情况下，采用预定的候选移动方向作为所述待定位物的航向。In the case that the posture of the movable terminal changes within the second predetermined time period, a predetermined candidate moving direction is adopted as the heading of the object to be positioned.
在本实施例中，中央处理器1301还可以被配置为：In this embodiment, the
计算各候选位置在当前时刻之前的第五预定时间段内的初始概率，得到初始概率向量；Calculate the initial probability of each candidate position in the fifth predetermined time period before the current moment to obtain an initial probability vector;
计算各候选位置在所述第五预定时间段内的各时刻的概率，得到概率向量；Calculate the probability of each candidate position at each moment in the fifth predetermined time period to obtain a probability vector;
计算在所述第五预定时间段内的各时刻各候选位置之间的转移概率，得到候选位置转移矩阵；Calculate the transition probability between the candidate positions at each moment in the fifth predetermined time period to obtain a candidate position transition matrix;
根据所述初始概率向量，所述概率向量，以及所述候选位置转移矩阵，基于连续时间隐马尔科夫模型计算当前时刻各候选位置的后验概率。According to the initial probability vector, the probability vector, and the candidate position transition matrix, the posterior probability of each candidate position at the current moment is calculated based on a continuous-time hidden Markov model.
在本实施例中，中央处理器1301还可以被配置为：In this embodiment, the
根据基于无线信号计算出的待定位物的位置与各候选位置之间的距离的概率模型，计算各候选位置在各时刻的概率。According to the probability model of the distance between the position of the object to be positioned and each candidate position calculated based on the wireless signal, the probability of each candidate position at each moment is calculated.
在本实施例中，中央处理器1301还可以被配置为：In this embodiment, the
在所述第五预定时间段内所述移动终端的姿态没有改变的情况下，根据所述待定位物的所述航向和所述步长，计算以第n个候选位置为起点的估计位置；Under the condition that the posture of the mobile terminal does not change within the fifth predetermined time period, according to the heading and the step size of the object to be positioned, calculate an estimated position starting from the nth candidate position;
根据该估计位置与第m个候选位置之间的距离，以及第n个候选位置和第m个候选位置连线方向与所述待定位物的航向之间的夹角，计算所述转移概率；Calculate the transition probability according to the distance between the estimated position and the mth candidate position, and the included angle between the connecting direction of the nth candidate position and the mth candidate position and the heading of the object to be positioned;
在所述第五预定时间段内定位终端的姿态改变了的情况下，根据各预定的候选移动方向和所述步长，计算以第n个候选位置为起点的分别与各预定的候选移动方向对应的各估计位置；When the posture of the positioning terminal changes within the fifth predetermined time period, according to each predetermined candidate moving direction and the step size, calculate the respective and each predetermined candidate moving direction starting from the nth candidate position The corresponding estimated positions;
根据所述各估计位置与第m个候选位置之间的最小距离，计算转移概率。The transition probability is calculated according to the minimum distance between each estimated position and the mth candidate position.
在本实施例中，中央处理器1301还可以被配置为：In this embodiment, the
将前预定数量个后验概率所对应的候选位置进行加权，得到当前时刻该待定位物的位置。The candidate positions corresponding to the previous predetermined number of posterior probabilities are weighted to obtain the position of the object to be positioned at the current moment.
此外，如图13所示，电子设备1300还可以包括：输入输出单元1303和显示单元1304等；其中，上述部件的功能与现有技术类似，此处不再赘述。值得注意的是，电子设备1300也并不是必须要包括图13中所示的所有部件；此外，电子设1300还可以包括图13中没有示出的部件，可以参考现有技术。In addition, as shown in FIG. 13 , the
本申请实施例还提供一种计算机可读程序，其中当在定位装置或电子设备中执行所述程序时，所述程序使得所述定位装置或电子设备执行实施例1所述的定位方法。An embodiment of the present application further provides a computer-readable program, wherein when the program is executed in a positioning apparatus or electronic device, the program causes the positioning apparatus or electronic device to execute the positioning method described in Embodiment 1.
本申请实施例还提供一种存储有计算机可读程序的存储介质，其中，所述存储介质存储上述计算机可读程序，所述计算机可读程序使得定位装置或电子设备执行实施例2所述的定位方法。An embodiment of the present application further provides a storage medium storing a computer-readable program, wherein the storage medium stores the above-mentioned computer-readable program, and the computer-readable program enables the positioning apparatus or electronic device to execute the method described in Embodiment 2. positioning method.
结合本发明实施例描述的测量装置可直接体现为硬件、由处理器执行的软件模块或二者组合。例如，图8、9、10、11、12中所示的功能框图中的一个或多个和/或功能框图的一个或多个组合，既可以对应于计算机程序流程的各个软件模块，亦可以对应于各个硬件模块。这些软件模块，可以分别对应于实施例1所示的各个步骤。这些硬件模块例如可利用现场可编程门阵列(FPGA)将这些软件模块固化而实现。The measurement apparatus described in conjunction with the embodiments of the present invention may be directly embodied as hardware, a software module executed by a processor, or a combination of the two. For example, one or more of the functional block diagrams shown in Figures 8, 9, 10, 11 and 12 and/or one or more combinations of the functional block diagrams may correspond to either individual software modules of the computer program flow or Corresponds to each hardware module. These software modules may correspond to the various steps shown in Embodiment 1, respectively. These hardware modules can be implemented by, for example, solidifying these software modules using a Field Programmable Gate Array (FPGA).
软件模块可以位于RAM存储器、闪存、ROM存储器、EPROM存储器、EEPROM存储器、寄存器、硬盘、移动磁盘、CD-ROM或者本领域已知的任何其它形式的存储介质。可以将一种存储介质耦接至处理器，从而使处理器能够从该存储介质读取信息，且可向该存储介质写入信息；或者该存储介质可以是处理器的组成部分。处理器和存储介质可以位于ASIC中。该软件模块可以存储在移动终端的存储器中，也可以存储在可插入移动终端的存储卡中。例如，若电子设备采用的是较大容量的MEGA-SIM卡或者大容量的闪存装置，则该软件模块可存储在该MEGA-SIM卡或者大容量的闪存装置中。A software module may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art. A storage medium can be coupled to the processor, such that the processor can read information from, and write information to, the storage medium; or the storage medium can be an integral part of the processor. The processor and storage medium may reside in an ASIC. The software module can be stored in the memory of the mobile terminal, or can be stored in a memory card that can be inserted into the mobile terminal. For example, if the electronic equipment adopts a larger-capacity MEGA-SIM card or a large-capacity flash memory device, the software module can be stored in the MEGA-SIM card or a large-capacity flash memory device.
针对图8、9、10、11、12描述的功能框图中的一个或多个和/或功能框图的一个或多个组合，可以实现为用于执行本申请所描述功能的通用处理器、数字信号处理器(DSP)、专用集成电路(ASIC)、现场可编程门阵列(FPGA)或其它可编程逻辑器件、分立门或晶体管逻辑器件、分立硬件组件、或者其任意适当组合。针对图8、9、10、11、12描述的功能框图中的一个或多个和/或功能框图的一个或多个组合，还可以实现为计算设备的组合，例如，DSP和微处理器的组合、多个微处理器、与DSP通信结合的一个或多个微处理器或者任何其它这种配置。One or more of the functional block diagrams described with respect to Figures 8, 9, 10, 11, 12 and/or one or more combinations of the functional block diagrams can be implemented as a general-purpose processor, digital Signal processors (DSPs), application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or any suitable combination thereof. One or more of the functional block diagrams and/or one or more combinations of the functional block diagrams described with respect to Figures 8, 9, 10, 11, 12 can also be implemented as a combination of computing devices, eg, a DSP and a microprocessor A combination, multiple microprocessors, one or more microprocessors in communication with a DSP, or any other such configuration.
以上结合具体的实施方式对本申请进行了描述，但本领域技术人员应该清楚，这些描述都是示例性的，并不是对本申请保护范围的限制。本领域技术人员可以根据本申请的原理对本申请做出各种变型和修改，这些变型和修改也在本申请的范围内。The present application has been described above with reference to the specific embodiments, but those skilled in the art should understand that these descriptions are all exemplary and do not limit the protection scope of the present application. Those skilled in the art can make various variations and modifications to the present application according to the principles of the present application, and these variations and modifications are also within the scope of the present application.
关于包括以上实施例的实施方式，还公开下述的附记：Regarding the implementations including the above embodiments, the following additional notes are also disclosed:
1、一种定位装置，包括：1. A positioning device, comprising:
第一确定部，其用于确定当前时刻待定位物的候选位置的集合；a first determining part, which is used to determine the set of candidate positions of the object to be positioned at the current moment;
第一计算部，其用于计算所述待定位物的航向和步长；a first calculation part, which is used to calculate the heading and step size of the object to be positioned;
第二计算部，其用于根据所述航向和所述步长，基于连续时间隐马尔科夫模型计算所述候选位置的集合中各候选位置对应的后验概率；以及a second calculating part, configured to calculate the posterior probability corresponding to each candidate position in the set of candidate positions based on the continuous-time hidden Markov model according to the heading and the step size; and
第三计算部，其基于各候选位置对应的后验概率，计算待定位物的位置。The third calculation unit calculates the position of the object to be positioned based on the posterior probability corresponding to each candidate position.
2、如附记1所述的装置，其中，第一确定部包括：2. The device according to appendix 1, wherein the first determining part comprises:
第二确定部，其用于根据当前时刻之前的第一预定时间段内基于无线信号所估算的所述待定位物的位置，或者，根据当前时刻之前的第一预定时刻计算出的待定位物的位置，确定所述候选位置的分布区域；The second determining part is configured to calculate the position of the object to be located based on the wireless signal within the first predetermined time period before the current time, or the object to be located calculated according to the first predetermined time before the current time position, determine the distribution area of the candidate position;
第三确定部，其用于在所述分布区域中确定各所述候选位置。A third determination unit for determining each of the candidate positions in the distribution area.
3、如附记2所述的装置，其中，所述第一确定部还包括：3. The device according to supplementary note 2, wherein the first determining part further comprises:
第一修正部，其用于结合地图信息，对所述候选位置的分布区域进行修正。The first correction unit is used for correcting the distribution area of the candidate position in combination with the map information.
4、如附记1所述的装置，其中，第一计算部包括用于计算所述步长的第四计算部和用于计算所述航向的第五计算部，其中，所述第五计算部包括：4. The apparatus according to appendix 1, wherein the first calculation part comprises a fourth calculation part for calculating the step size and a fifth calculation part for calculating the heading, wherein the fifth calculation part Department includes:
第六计算部，其在当前时刻之前的第二预定时间段内，设置于待定位物的可移动终端的姿态没有改变的情况下，根据所述可移动终端中的惯性传感器所输出的检测信号计算所述待定位物在该预定时间段内的航向变化量，并且，根据所述的航向变化量，结合无线信号和/或地图信息，计算所述待定位物的航向；The sixth calculation part, in the second predetermined time period before the current time, under the condition that the posture of the movable terminal set at the object to be positioned does not change, according to the detection signal output by the inertial sensor in the movable terminal Calculate the heading change of the object to be positioned within the predetermined time period, and, according to the heading change, in combination with wireless signals and/or map information, calculate the heading of the object to be positioned;
第七计算部，其在所述第二预定时间段内所述可移动终端的姿态改变了的情况下，采用预定的候选移动方向作为所述待定位物的航向。A seventh calculation unit, which adopts a predetermined candidate moving direction as the heading of the object to be positioned when the posture of the movable terminal changes within the second predetermined time period.
5、如附记1所述的装置，其中，第二计算部包括：5. The device according to appendix 1, wherein the second computing part comprises:
第八计算部，其用于计算各候选位置在当前时刻之前的第五预定时间段内的初始概率，得到初始概率向量；an eighth calculation part, which is used to calculate the initial probability of each candidate position in the fifth predetermined time period before the current time, and obtain the initial probability vector;
第九计算部，其用于计算各候选位置在所述第五预定时间段内的各时刻的概率，得到概率向量；a ninth calculation part, which is used to calculate the probability of each candidate position at each moment in the fifth predetermined time period, and obtain a probability vector;
第十计算部，其用于计算在所述第五预定时间段内的各时刻各候选位置之间的转移概率，得到候选位置转移矩阵；a tenth calculation part, which is used to calculate the transition probability between the candidate positions at each moment in the fifth predetermined time period, and obtain a candidate position transition matrix;
第十一计算部，其根据所述初始概率向量，所述概率向量，以及所述候选位置转移矩阵，基于连续时间隐马尔科夫模型计算当前时刻各候选位置的后验概率。The eleventh calculation unit calculates the posterior probability of each candidate position at the current moment based on the continuous-time hidden Markov model according to the initial probability vector, the probability vector, and the candidate position transition matrix.
6、如附记5所述的装置，其中，6. The device of appendix 5, wherein,
所述第九计算部根据基于无线信号计算出的待定位物的位置与各候选位置之间的距离的概率模型，计算各候选位置在各时刻的概率。The ninth calculation unit calculates the probability of each candidate position at each time point according to the probability model of the distance between the position of the object to be positioned and each candidate position calculated based on the wireless signal.
7、如附记5所述的装置，其中，第十计算部包括：7. The device according to appendix 5, wherein the tenth calculation part comprises:
第十二计算部，其在所述第五预定时间段内所述移动终端的姿态没有改变的情况下，根据所述待定位物的所述航向和所述步长，计算以第n个候选位置为起点的估计位置；The twelfth calculation unit, which calculates the nth candidate according to the heading and the step size of the object to be positioned under the condition that the posture of the mobile terminal does not change within the fifth predetermined time period position is the estimated position of the starting point;
第十三计算部，其根据该估计位置与第m个候选位置之间的距离，以及第n个候选位置和第m个候选位置连线方向与所述待定位物的航向之间的夹角，计算所述转移概率；The thirteenth calculation part is based on the distance between the estimated position and the mth candidate position, and the angle between the connecting direction of the nth candidate position and the mth candidate position and the heading of the object to be positioned , calculate the transition probability;
8、如附记5所述的装置，其中，第十计算部包括：8. The device according to appendix 5, wherein the tenth calculation part comprises:
第十四计算部，其在所述第五预定时间段内定位终端的姿态改变了的情况下，根据各预定的候选移动方向和所述步长，计算以第n个候选位置为起点的分别与各预定的候选移动方向对应的各估计位置；A fourteenth calculation unit, which calculates, based on each of the predetermined candidate moving directions and the step size, the respective distances from the n-th candidate position when the posture of the positioning terminal changes within the fifth predetermined time period. each estimated position corresponding to each predetermined candidate moving direction;
第十五计算部，其根据所述各估计位置与第m个候选位置之间的最小距离，计算转移概率。A fifteenth calculating unit calculates a transition probability based on the minimum distance between each of the estimated positions and the m-th candidate position.
9、如附记1所述的装置，其中，所述第三计算部将前预定数量个后验概率所对应的候选位置进行加权，得到当前时刻该待定位物的位置。9. The device according to supplementary note 1, wherein the third calculation unit weights the candidate positions corresponding to the previous predetermined number of posterior probabilities to obtain the position of the object to be positioned at the current moment.
10、一种电子设备，具有如附记1-9中任一项所述的定位装置。10. An electronic device, comprising the positioning device according to any one of appendices 1-9.
11、一种定位方法，包括：11. A positioning method, comprising:
确定当前时刻待定位物的候选位置的集合；Determine the set of candidate positions of the object to be positioned at the current moment;
计算所述待定位物的航向和步长；Calculate the heading and step size of the object to be positioned;
根据所述航向和所述步长，基于连续时间隐马尔科夫模型计算所述候选位置的集合中各候选位置对应的后验概率；以及According to the heading and the step size, a posterior probability corresponding to each candidate position in the set of candidate positions is calculated based on a continuous-time hidden Markov model; and
基于各候选位置对应的后验概率，计算待定位物的位置。Based on the posterior probability corresponding to each candidate position, the position of the object to be positioned is calculated.
12、如附记11所述的方法，其中，确定当前时刻所述待定位物的候选位置的集合，包括：12. The method according to supplementary note 11, wherein determining the set of candidate positions of the object to be positioned at the current moment comprises:
根据当前时刻之前的第一预定时间段内基于无线信号所估算的所述待定位物的位置，或者，根据当前时刻之前的第一预定时刻计算出的待定位物的位置，确定所述候选位置的分布区域；The candidate position is determined according to the position of the object to be positioned estimated based on the wireless signal in the first predetermined time period before the current moment, or according to the position of the object to be positioned calculated according to the first predetermined moment before the current moment distribution area;
在所述分布区域中确定各所述候选位置。Each of the candidate positions is determined in the distribution area.
13、如附记12所述的方法，其中，确定当前时刻所述待定位物的候选位置的集合，还包括：13. The method according to supplementary note 12, wherein determining the set of candidate positions of the object to be positioned at the current moment further comprises:
结合地图信息，对所述候选位置的分布区域进行修正。Combined with the map information, the distribution area of the candidate position is corrected.
14、如附记12所述的方法，其中，计算所述待定位物的航向，包括：14. The method according to appendix 12, wherein calculating the heading of the object to be positioned comprises:
在当前时刻之前的第二预定时间段内，设置于待定位物的可移动终端的姿态没有改变的情况下，In the second predetermined time period before the current moment, in the case that the posture of the movable terminal set on the object to be positioned does not change,
根据所述可移动终端中的惯性传感器所输出的检测信号计算所述待定位物在该预定时间段内的航向变化量，并且，根据所述的航向变化量，结合无线信号和/或地图信息，计算所述待定位物的航向；Calculate the heading change of the object to be positioned within the predetermined time period according to the detection signal output by the inertial sensor in the mobile terminal, and combine the wireless signal and/or map information according to the heading change , calculate the heading of the object to be positioned;
在所述第二预定时间段内所述可移动终端的姿态改变了的情况下，In the case where the posture of the movable terminal is changed within the second predetermined period of time,
采用预定的候选移动方向作为所述待定位物的航向。A predetermined candidate moving direction is used as the heading of the object to be positioned.
15、如附记11所述的方法，其中，计算各候选位置的后验概率，包括：15. The method according to supplementary note 11, wherein calculating the posterior probability of each candidate position includes:
计算各候选位置在当前时刻之前的第五预定时间段内的初始概率，得到初始概率向量；Calculate the initial probability of each candidate position in the fifth predetermined time period before the current moment to obtain an initial probability vector;
计算各候选位置在所述第五预定时间段内的各时刻的概率，得到概率向量；Calculate the probability of each candidate position at each moment in the fifth predetermined time period to obtain a probability vector;
计算在所述第五预定时间段内的各时刻各候选位置之间的转移概率，得到候选位置转移矩阵；Calculate the transition probability between the candidate positions at each moment in the fifth predetermined time period to obtain a candidate position transition matrix;
根据所述初始概率向量，所述概率向量，以及所述候选位置转移矩阵，基于连续时间隐马尔科夫模型计算当前时刻各候选位置的后验概率。According to the initial probability vector, the probability vector, and the candidate position transition matrix, the posterior probability of each candidate position at the current moment is calculated based on a continuous-time hidden Markov model.
16、如附记15所述的方法，其中，计算各候选位置在各时刻的概率，包括：16. The method according to supplementary note 15, wherein calculating the probability of each candidate position at each moment comprises:
根据基于无线信号计算出的待定位物的位置与各候选位置之间的距离的概率模型，计算各候选位置在各时刻的概率。According to the probability model of the distance between the position of the object to be positioned and each candidate position calculated based on the wireless signal, the probability of each candidate position at each moment is calculated.
17、如附记15所述的方法，其中，计算在所述第五预定时间段内的各时刻各候选位置之间的转移概率，包括：17. The method according to supplementary note 15, wherein calculating the transition probability between the candidate positions at each moment in the fifth predetermined time period comprises:
在所述第五预定时间段内所述移动终端的姿态没有改变的情况下，根据所述待定位物的所述航向和所述步长，计算以第n个候选位置为起点的估计位置；Under the condition that the posture of the mobile terminal does not change within the fifth predetermined time period, according to the heading and the step size of the object to be positioned, calculate an estimated position starting from the nth candidate position;
根据该估计位置与第m个候选位置之间的距离，以及第n个候选位置和第m个候选位置连线方向与所述待定位物的航向之间的夹角，计算所述转移概率；Calculate the transition probability according to the distance between the estimated position and the mth candidate position, and the included angle between the connecting direction of the nth candidate position and the mth candidate position and the heading of the object to be positioned;
在所述第五预定时间段内定位终端的姿态改变了的情况下，根据各预定的候选移动方向和所述步长，计算以第n个候选位置为起点的分别与各预定的候选移动方向对应的各估计位置；When the posture of the positioning terminal changes within the fifth predetermined time period, according to each predetermined candidate moving direction and the step size, calculate the respective and each predetermined candidate moving direction starting from the nth candidate position The corresponding estimated positions;
根据所述各估计位置与第m个候选位置之间的最小距离，计算转移概率。The transition probability is calculated according to the minimum distance between each estimated position and the mth candidate position.
18、如附记11所述的方法，其中，基于各候选状态的后验概率，计算待定位物的位置，包括：18. The method according to supplementary note 11, wherein calculating the position of the object to be positioned based on the posterior probability of each candidate state, comprising:
将前预定数量个后验概率所对应的候选位置进行加权，得到当前时刻该待定位物的位置。The candidate positions corresponding to the previous predetermined number of posterior probabilities are weighted to obtain the position of the object to be positioned at the current moment.
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