CN114422940A - Positioning method, positioning device, electronic equipment and medium - Google Patents
Positioning method, positioning device, electronic equipment and mediumDownload PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
- G01S19/44—Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L9/00—Cryptographic mechanisms or cryptographic arrangements for secret or secure communications; Network security protocols
- H04L9/32—Cryptographic mechanisms or cryptographic arrangements for secret or secure communications; Network security protocols including means for verifying the identity or authority of a user of the system or for message authentication, e.g. authorization, entity authentication, data integrity or data verification, non-repudiation, key authentication or verification of credentials
- H04L9/3247—Cryptographic mechanisms or cryptographic arrangements for secret or secure communications; Network security protocols including means for verifying the identity or authority of a user of the system or for message authentication, e.g. authorization, entity authentication, data integrity or data verification, non-repudiation, key authentication or verification of credentials involving digital signatures
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W12/00—Security arrangements; Authentication; Protecting privacy or anonymity
- H04W12/03—Protecting confidentiality, e.g. by encryption
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W12/00—Security arrangements; Authentication; Protecting privacy or anonymity
- H04W12/06—Authentication
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W12/00—Security arrangements; Authentication; Protecting privacy or anonymity
- H04W12/30—Security of mobile devices; Security of mobile applications
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W12/00—Security arrangements; Authentication; Protecting privacy or anonymity
- H04W12/60—Context-dependent security
- H04W12/63—Location-dependent; Proximity-dependent
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L2209/00—Additional information or applications relating to cryptographic mechanisms or cryptographic arrangements for secret or secure communication H04L9/00
- H04L2209/80—Wireless
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Abstract
Description
Translated fromChinese技术领域technical field
本公开涉及计算机技术领域，具体为智能交通、导航定位技术领域，更具体地，涉及一种定位方法、装置、电子设备、介质、程序产品。The present disclosure relates to the field of computer technology, in particular to the technical field of intelligent transportation, navigation and positioning, and more particularly, to a positioning method, apparatus, electronic device, medium, and program product.
背景技术Background technique
针对具有导航定位功能的电子设备，导航定位功能通常集成在电子设备的底层系统中，导致导航定位功能与电子设备的底层系统之间的耦合性较高，不同型号的电子设备需要单独适配导航定位功能，适配灵活性较差。另外，将导航定位功能集成在电子设备的底层系统中，对电子设备的底层系统具有一定侵入性，从而使得电子设备的底层系统存在安全隐患。For electronic equipment with navigation and positioning function, the navigation and positioning function is usually integrated in the underlying system of the electronic equipment, resulting in a high coupling between the navigation and positioning function and the underlying system of the electronic equipment. Different types of electronic equipment need to be individually adapted for navigation Positioning function, adaptation flexibility is poor. In addition, integrating the navigation and positioning function into the underlying system of the electronic device is intrusive to the underlying system of the electronic device, thereby causing a potential safety hazard in the underlying system of the electronic device.
发明内容SUMMARY OF THE INVENTION
本公开提供了一种定位方法、装置、电子设备、存储介质、程序产品。The present disclosure provides a positioning method, apparatus, electronic device, storage medium, and program product.
根据本公开的一方面，提供了一种定位方法，包括：响应于接收到来自目标应用程序的定位请求，基于原始观测数据进行定位，得到定位结果；基于所述原始观测数据的数据质量，确定所述定位结果的定位精度；响应于确定所述定位精度满足精度条件，获取针对所述目标应用程序的鉴权结果；响应于确定所述鉴权结果指示所述目标应用程序通过鉴权，将所述定位结果发送给所述目标应用程序。According to an aspect of the present disclosure, a positioning method is provided, comprising: in response to receiving a positioning request from a target application, performing positioning based on original observation data to obtain a positioning result; and determining, based on the data quality of the original observation data, The positioning accuracy of the positioning result; in response to determining that the positioning accuracy meets the accuracy condition, obtain an authentication result for the target application; in response to determining that the authentication result indicates that the target application has passed the authentication, The positioning result is sent to the target application.
根据本公开的另一方面，提供了一种定位装置，包括：定位模块、确定模块、获取模块以及第一发送模块。定位模块，用于响应于接收到来自目标应用程序的定位请求，基于原始观测数据进行定位，得到定位结果；确定模块，用于基于所述原始观测数据的数据质量，确定所述定位结果的定位精度；获取模块，用于响应于确定所述定位精度满足精度条件，获取针对所述目标应用程序的鉴权结果；第一发送模块，用于响应于确定所述鉴权结果指示所述目标应用程序通过鉴权，将所述定位结果发送给所述目标应用程序。According to another aspect of the present disclosure, a positioning apparatus is provided, including: a positioning module, a determining module, an obtaining module, and a first sending module. The positioning module is used for positioning based on the original observation data in response to receiving the positioning request from the target application to obtain the positioning result; the determining module is used for determining the positioning of the positioning result based on the data quality of the original observation data Accuracy; an obtaining module, configured to obtain an authentication result for the target application in response to determining that the positioning accuracy satisfies an accuracy condition; a first sending module, configured to indicate the target application in response to determining that the authentication result The program sends the positioning result to the target application program through authentication.
根据本公开的另一方面，提供了一种电子设备，包括：至少一个处理器和与所述至少一个处理器通信连接的存储器。其中，所述存储器存储有可被所述至少一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述至少一个处理器能够执行上述的定位方法。According to another aspect of the present disclosure, there is provided an electronic device comprising: at least one processor and a memory communicatively coupled to the at least one processor. Wherein, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor, so that the at least one processor can execute the above-mentioned positioning method.
根据本公开的另一方面，提供了一种存储有计算机指令的非瞬时计算机可读存储介质，所述计算机指令用于使所述计算机执行上述的定位方法。According to another aspect of the present disclosure, there is provided a non-transitory computer-readable storage medium storing computer instructions for causing the computer to perform the above-described positioning method.
根据本公开的另一方面，提供了一种计算机程序产品，包括计算机程序/指令，所述计算机程序/指令被处理器执行时实现上述定位方法的步骤。According to another aspect of the present disclosure, a computer program product is provided, comprising computer programs/instructions, which implement the steps of the above positioning method when executed by a processor.
应当理解，本部分所描述的内容并非旨在标识本公开的实施例的关键或重要特征，也不用于限制本公开的范围。本公开的其它特征将通过以下的说明书而变得容易理解。It should be understood that what is described in this section is not intended to identify key or critical features of embodiments of the disclosure, nor is it intended to limit the scope of the disclosure. Other features of the present disclosure will become readily understood from the following description.
附图说明Description of drawings
附图用于更好地理解本方案，不构成对本公开的限定。其中：The accompanying drawings are used for better understanding of the present solution, and do not constitute a limitation to the present disclosure. in:
图1示意性示出了一种定位方法的应用场景；Fig. 1 schematically shows an application scenario of a positioning method;
图2示意性示出了根据本公开一实施例的定位方法的流程图；FIG. 2 schematically shows a flowchart of a positioning method according to an embodiment of the present disclosure;
图3示意性示出了根据本公开一实施例的定位方法的系统图；FIG. 3 schematically shows a system diagram of a positioning method according to an embodiment of the present disclosure;
图4示意性示出了根据本公开另一实施例的定位方法的流程图；FIG. 4 schematically shows a flowchart of a positioning method according to another embodiment of the present disclosure;
图5示意性示出了根据本公开一实施例的定位装置的框图；以及FIG. 5 schematically shows a block diagram of a positioning apparatus according to an embodiment of the present disclosure; and
图6是用来实现本公开实施例的用于执行定位的电子设备的框图。6 is a block diagram of an electronic device for performing positioning used to implement an embodiment of the present disclosure.
具体实施方式Detailed ways
以下结合附图对本公开的示范性实施例做出说明，其中包括本公开实施例的各种细节以助于理解，应当将它们认为仅仅是示范性的。因此，本领域普通技术人员应当认识到，可以对这里描述的实施例做出各种改变和修改，而不会背离本公开的范围和精神。同样，为了清楚和简明，以下的描述中省略了对公知功能和结构的描述。Exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, which include various details of the embodiments of the present disclosure to facilitate understanding and should be considered as exemplary only. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted from the following description for clarity and conciseness.
在此使用的术语仅仅是为了描述具体实施例，而并非意在限制本公开。在此使用的术语“包括”、“包含”等表明了所述特征、步骤、操作和/或部件的存在，但是并不排除存在或添加一个或多个其他特征、步骤、操作或部件。The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the present disclosure. The terms "comprising", "comprising" and the like as used herein indicate the presence of stated features, steps, operations and/or components, but do not preclude the presence or addition of one or more other features, steps, operations or components.
在此使用的所有术语(包括技术和科学术语)具有本领域技术人员通常所理解的含义，除非另外定义。应注意，这里使用的术语应解释为具有与本说明书的上下文相一致的含义，而不应以理想化或过于刻板的方式来解释。All terms (including technical and scientific terms) used herein have the meaning as commonly understood by one of ordinary skill in the art, unless otherwise defined. It should be noted that terms used herein should be construed to have meanings consistent with the context of the present specification and should not be construed in an idealized or overly rigid manner.
在使用类似于“A、B和C等中至少一个”这样的表述的情况下，一般来说应该按照本领域技术人员通常理解该表述的含义来予以解释(例如，“具有A、B和C中至少一个的系统”应包括但不限于单独具有A、单独具有B、单独具有C、具有A和B、具有A和C、具有B和C、和/或具有A、B、C的系统等)。Where expressions like "at least one of A, B, and C, etc.," are used, they should generally be interpreted in accordance with the meaning of the expression as commonly understood by those skilled in the art (eg, "has A, B, and C") At least one of the "systems" shall include, but not be limited to, systems with A alone, B alone, C alone, A and B, A and C, B and C, and/or A, B, C, etc. ).
图1示意性示出了一种定位方法的应用场景。需要注意的是，图1所示仅为可以应用本公开实施例的应用场景的示例，以帮助本领域技术人员理解本公开的技术内容，但并不意味着本公开实施例不可以用于其他设备、系统、环境或场景。FIG. 1 schematically shows an application scenario of a positioning method. It should be noted that FIG. 1 is only an example of an application scenario to which the embodiments of the present disclosure can be applied, so as to help those skilled in the art to understand the technical content of the present disclosure, but it does not mean that the embodiments of the present disclosure cannot be applied to other A device, system, environment or scene.
如图1所示，根据该实施例的应用场景100可以包括电子设备101和多个基站102、103、104。As shown in FIG. 1 , an
电子设备101例如包括智能手机、计算机等等。电子设备101具有定位功能。例如，电子设备101具有定位解算引擎，定位解算引擎例如包括高精定位解算引擎。定位解算引擎可以基于RTK(Real-time kinematic)实时差分定位算法进行定位解算。定位解算引擎用于提供高精定位服务。The
电子设备101可以从基站102、103、104接收原始观测数据，然后基于原始观测数据进行定位解算。原始观测数据例如包括卫星信号。The
RTK实时差分定位算法是一种能够实现厘米级定位精度的测量方法。基于RTK实时差分定位算法进行定位解算时，涉及基准站的接收机、数据链、流动站的接收机三部分。例如，在基准站上安置一台接收机为参考站，对卫星进行连续观测，并将观测得到的原始观测数据和基准站信息，通过无线电传输设备实时地发送给流动站，流动站的GPS接收机可以接收GPS卫星信号，并通过无线接收设备接收基准站传输的数据，然后根据相对定位的原理，实时解算出流动站的三维坐标。RTK real-time differential positioning algorithm is a measurement method that can achieve centimeter-level positioning accuracy. The positioning calculation based on RTK real-time differential positioning algorithm involves three parts: the receiver of the base station, the data link, and the receiver of the rover. For example, a receiver is installed on the base station as a reference station, and the satellite is continuously observed, and the original observation data and base station information obtained by the observation are sent to the rover in real time through radio transmission equipment, and the GPS of the rover station receives The rover can receive GPS satellite signals, and receive the data transmitted by the base station through wireless receiving equipment, and then calculate the three-dimensional coordinates of the rover in real time according to the principle of relative positioning.
在一种方案中，可以将电子设备101的高精定位服务作为电子设备101系统中的一部分，运行在电子设备101的系统层，通过系统私有接口向上层的第三方应用程序上报定位结果。例如，将高精解算引擎集成在电子设备101的系统底层，即嵌入在系统级服务中，通过私有的开发者的SDK(Software Development Kit)对第三方应用程序暴露私有接口，供第三应用程序获取高精定位结果。In one solution, the high-precision positioning service of the
该方案主要适用于电子设备101的厂商自己研发了高精定位解算功能，该方案与电子设备101的系统耦合性较高，不同机型的电子设备101需要进行单独适配。由于该方案的高精定位解算功能一般为电子设备101厂商私有，无法供其他电子设备101的厂商使用。This solution is mainly applicable to the high-precision positioning solution function developed by the manufacturer of the
另一种方案，将外部开放平台开发的高精定位服务作为一种软件开发工具包(SDK)集成在电子设备101的系统级服务中，由电子设备101的系统向上层的第三方应用程序上报定位结果。例如，将高精解算引擎集成在外部开放平台提供的SDK中，并将SDK集成在电子设备101的系统级服务中，第三方应用程序通过配套的客户端SDK来获取高精定位结果。In another solution, the high-precision positioning service developed by the external open platform is integrated into the system-level service of the
该方案的高精定位解算功能由外部开放平台开发并提供技术支持，一般形式为提供开发SDK，需要电子设备101的厂商将该SDK集成在手机系统服务中。上层的第三方应用程序开发者需要集成电子设备101的厂商提供的私有客户端SDK，便于第三方应用程序通过SDK来获取高精定位结果，该方案的高精定位解算功能与电子设备101的系统的耦合性仍然较高，对电子设备101的系统有一定侵入性。The high-precision positioning and solving function of this solution is developed by an external open platform and provides technical support. The general form is to provide a development SDK, which requires the manufacturer of the
有鉴于此，本公开实施例提供了一种定位方法，下面结合图1的应用场景，参考图2～图4来描述根据本公开示例性实施方式的定位方法。本公开示例性实施方式的定位方法例如可以由电子设备来执行。In view of this, an embodiment of the present disclosure provides a positioning method. The following describes a positioning method according to an exemplary embodiment of the present disclosure with reference to FIG. 2 to FIG. 4 in conjunction with the application scenario of FIG. 1 . The positioning method of the exemplary embodiment of the present disclosure may be performed by, for example, an electronic device.
图2示意性示出了根据本公开一实施例的定位方法的流程图。FIG. 2 schematically shows a flowchart of a positioning method according to an embodiment of the present disclosure.
如图2所示，本公开实施例的定位方法200例如可以包括操作S210～操作S240。As shown in FIG. 2 , the
在操作S210，响应于接收到来自目标应用程序的定位请求，基于原始观测数据进行定位，得到定位结果。In operation S210, in response to receiving the positioning request from the target application, positioning is performed based on the original observation data, and a positioning result is obtained.
在操作S220，基于原始观测数据的数据质量，确定定位结果的定位精度。In operation S220, the positioning accuracy of the positioning result is determined based on the data quality of the original observation data.
在操作S230，响应于确定定位精度满足精度条件，获取针对目标应用程序的鉴权结果。In operation S230, in response to determining that the positioning accuracy satisfies the accuracy condition, an authentication result for the target application is obtained.
在操作S240，响应于确定鉴权结果指示目标应用程序通过鉴权，将定位结果发送给目标应用程序。In operation S240, in response to determining that the authentication result indicates that the target application has passed the authentication, the positioning result is sent to the target application.
示例性地，电子设备例如包括多种类型的应用程序，例如包括定位服务应用程序和目标应用程序，定位服务应用程序例如提供了定位服务功能，目标应用程序例如包括第三方应用程序，第三方应用程序可以包括电子地图。目标应用程序可以请求定位服务应用程序进行定位计算，定位服务应用程序可以将定位结果发送给目标应用程序。示例性地，本公开实施例的定位方法例如由定位服务应用程序执行。Exemplarily, the electronic device includes, for example, various types of application programs, including, for example, a positioning service application program and a target application program. The positioning service application program, for example, provides a positioning service function. Programs may include electronic maps. The target application can request the positioning service application to perform positioning calculation, and the positioning service application can send the positioning result to the target application. Exemplarily, the positioning method of the embodiment of the present disclosure is executed by, for example, a positioning service application.
当定位服务应用程序接收到来自目标应用程序的定位请求之后，定位服务应用程序可以基于原始观测数据进行定位解算，从而得到定位结果。原始观测数据例如包括卫星信号。当然，除了基于原始观测数据进行定位解算，还可以基于其他数据进行定位解算，其他数据例如包括基站的位置、差分解算数据等等。After the location service application receives the location request from the target application, the location service application can perform the location solution based on the original observation data to obtain the location result. The raw observation data includes, for example, satellite signals. Of course, in addition to the positioning calculation based on the original observation data, the positioning calculation may also be performed based on other data, for example, the other data includes the position of the base station, differential calculation data, and the like.
示例性地，原始观测数据的数据质量会影响定位结果的定位精度。当原始观测数据的数据质量较高时，定位精度满足精度条件。当原始观测数据的数据质量较低时，定位精度不满足精度条件。定位精度满足精度条件表征定位精度较高，定位精度不满足精度条件表征定位精度较低。原始观测数据的数据质量较高例如表征卫星信息较好，原始观测数据的数据质量较低例如表征卫星信息较差。Exemplarily, the data quality of the original observation data will affect the positioning accuracy of the positioning result. When the data quality of the original observation data is high, the positioning accuracy satisfies the accuracy condition. When the data quality of the original observation data is low, the positioning accuracy does not meet the accuracy conditions. If the positioning accuracy satisfies the accuracy conditions, it indicates that the positioning accuracy is high, and if the positioning accuracy does not meet the accuracy conditions, it indicates that the positioning accuracy is low. The data quality of the original observation data is higher, for example, indicating that the satellite information is better, and the data quality of the original observation data is lower, such as indicating that the satellite information is poor.
如果定位精度满足精度条件，可以获取针对目标应用程序的鉴权结果，鉴权结果表征了目标应用程序是否具有接收满足精度条件的定位结果的权限。如果确定鉴权结果指示了目标应用程序通过鉴权，则表征目标应用程序具有接收满足精度条件的定位结果的权限，此时可以将定位结果发送给目标应用程序。If the positioning accuracy satisfies the accuracy condition, the authentication result for the target application can be obtained, and the authentication result indicates whether the target application has the authority to receive the positioning result satisfying the accuracy condition. If it is determined that the authentication result indicates that the target application has passed the authentication, it means that the target application has the authority to receive the positioning result satisfying the accuracy condition, and the positioning result can be sent to the target application at this time.
根据本公开的实施例，基于原始观测数据的数据质量来确定定位结果是否满足精度条件，在定位结果满足精度条件的情况下，基于针对目标应用程序的鉴权结果来确定是否将定位结果发送给目标应用程序，实现了通过鉴权的目标应用程序与定位服务应用程序之间的准确交互，保证目标应用程序能够及时获得高精定位结果。According to an embodiment of the present disclosure, whether the positioning result satisfies the accuracy condition is determined based on the data quality of the original observation data, and if the positioning result meets the accuracy condition, it is determined whether to send the positioning result to The target application realizes the accurate interaction between the authenticated target application and the positioning service application, and ensures that the target application can obtain high-precision positioning results in time.
另外，提供定位服务功能的定位服务应用程序运行在电子设备的应用层，降低定位服务功能与电子设备的底层系统之间的耦合性，定位服务功能适用于各种类型的电子设备，提高了电子设备集成定位服务功能的效率，减低了定位服务功能对电子设备底层系统的侵入性，提高了电子设备的安全。In addition, the location service application program that provides the location service function runs on the application layer of the electronic device, which reduces the coupling between the location service function and the underlying system of the electronic device. The location service function is suitable for various types of electronic devices, improving the electronic The efficiency of the device integrating the location service function reduces the intrusion of the location service function to the underlying system of the electronic device and improves the security of the electronic device.
图3示意性示出了根据本公开一实施例的定位方法的系统图。FIG. 3 schematically shows a system diagram of a positioning method according to an embodiment of the present disclosure.
如图3所示，本公开的实施例例如包括目标应用程序301、定位服务应用程序302和外部开放平台303。As shown in FIG. 3 , the embodiment of the present disclosure includes, for example, a
示例性地，目标应用程序301在与定位服务应用程序302或外部开放平台303进行数据通信时，可以通过客户端SDK实现。客户端SDK例如集成在目标应用程序301中。目标应用程序301例如运行在电子设备的应用层。Exemplarily, when the
定位服务应用程序302例如运行在电子设备的应用层。The
外部开放平台303例如可以提供注册功能和鉴权功能。定位服务应用程序302和外部开放平台303可以被同一商家提供，在使用该商家提供的定位服务应用程序302之前，需要向外部开放平台303申请使用权限。The external
示例性地，目标应用程序301向外部开放平台303发送注册请求，注册成功后外部开放平台303向目标应用程序301发送注册数据，注册数据例如包括APK_KEY，APK_KEY例如是一个数据序列。Exemplarily, the
在目标应用程序301接收到APK_KEY之后，可以基于目标应用程序的标识、目标应用程序301的签名信息、目标应用程序301向鉴权方注册的注册数据(APK_KEY)生成第一注册信息，然后将第一注册信息发送给定位服务应用程序302进行注册。目标应用程序的标识例如包括应用包名。After the
定位服务应用程序302接收到来自目标应用程序301的第一注册信息之后，对第一注册信息进行验证。例如，定位服务应用程序302基于针对目标应用程序301的运行进程，得到针对目标应用程序301的第二注册信息，例如基于目标应用程序301的进程号得到第二注册信息，第二注册信息包括目标应用程序301的标识、目标应用程序301的签名信息、目标应用程序301向鉴权方注册的注册数据。After receiving the first registration information from the
然后，利用第二注册信息验证第一注册信息，得到验证结果。如果第一注册信息和第二注册信息一致，可以确定验证结果表征了第一注册信息验证成功，此时定位服务应用程序302可以向外部开放平台303发送包括第一注册信息的鉴权请求。Then, the first registration information is verified by using the second registration information to obtain a verification result. If the first registration information and the second registration information are consistent, it can be determined that the verification result indicates that the verification of the first registration information is successful. At this time, the
外部开放平台303接收到来自定位服务应用程序302的第一注册信息之后，可以对第一注册信息进行鉴权得到鉴权结果，例如确定第一注册信息中的注册数据(APK_KEY)是否合法，如果注册数据(APK_KEY)合法，表明目标应用程序301已经在外部开放平台303成功注册，即目标应用程序301具有接收满足精度条件的定位结果的权限。然后，外部开放平台303可以将鉴权结果发送给定位服务应用程序302。After receiving the first registration information from the
定位服务应用程序302接收到来自外部开放平台303的鉴权结果之后，可以存储鉴权结果，便于后续接收到目标应用程序301的定位请求时，可以直接基于存储的鉴权结果来确定目标应用程序301是否具有接收满足精度条件的定位结果的权限。After the
当目标应用程序301需要进行定位时，可以向定位服务应用程序302发送定位请求，定位服务应用程序302进行定位解算得到满足精度条件的定位结果之后，定位服务应用程序302可以基于存储的鉴权结果确定目标应用程序301是否具有接收满足精度条件的定位结果的权限，如果是，定位服务应用程序302可以将满足精度条件的定位结果发送给目标应用程序301，以便目标应用程序301基于定位结果进行业务逻辑处理。When the
根据本公开的实施例，定位服务应用程序在接收到来自目标应用程序的第一注册信息之后，可以先基于目标应用程序的进程号对第一注册信息进行验证，验证通过之后再将第一注册信息发送给外部开放平台进行鉴权。通过验证和鉴权的双重处理，提高了定位的安全性。According to an embodiment of the present disclosure, after receiving the first registration information from the target application, the location service application may first verify the first registration information based on the process number of the target application, and after the verification is passed, the first registration The information is sent to an external open platform for authentication. Through the double processing of verification and authentication, the security of positioning is improved.
图4示意性示出了根据本公开另一实施例的定位方法的流程图。FIG. 4 schematically shows a flowchart of a positioning method according to another embodiment of the present disclosure.
如图4所示，本公开实施例的定位方法例如可以包括操作S401A～操作S410A以及操作S401B～操作S404B。As shown in FIG. 4 , the positioning method according to the embodiment of the present disclosure may include, for example, operations S401A to S410A and operations S401B to S404B.
以下操作S401A～操作S410A例如由定位服务应用程序执行。The following operations S401A to S410A are performed by, for example, a location service application.
在操作S401A，接收来自目标应用程序的定位请求。In operation S401A, a positioning request from a target application is received.
在操作S402A，基于原始观测数据进行定位，得到定位结果。In operation S402A, positioning is performed based on the original observation data to obtain a positioning result.
例如，可以利用实时差分定位算法RTK，基于原始观测数据和差分解算数据进行定位计算，得到定位结果。原始观测数据例如包括来自全球导航卫星系统(gnss)的观测数据。For example, the real-time differential positioning algorithm RTK can be used to perform positioning calculation based on the original observation data and differentially decomposed data to obtain the positioning result. The raw observation data includes, for example, observation data from a global navigation satellite system (gnss).
在操作S403A，基于原始观测数据的数据质量，确定定位结果的定位精度。In operation S403A, the positioning accuracy of the positioning result is determined based on the data quality of the original observation data.
在操作S404A，确定定位精度是否满足精度条件。如果否，则执行操作S405A；如果是，则执行操作S406A，In operation S404A, it is determined whether the positioning accuracy satisfies the accuracy condition. If no, perform operation S405A; if yes, perform operation S406A,
在操作S405A，将不满足精度条件的定位结果发送给目标应用程序的客户端SDK。In operation S405A, the positioning result that does not satisfy the accuracy condition is sent to the client SDK of the target application.
在操作S406A，修改定位结果的数据格式。In operation S406A, the data format of the positioning result is modified.
例如，满足精度条件的定位结果的数据格式为WGS84(World Geodetic System-1984)格式，对WGS84格式的定位结果进行偏转处理得到gcj02格式的定位数据，偏转处理例如包括坐标转换。WGS84是一种国际上采用的地心坐标系。gcj02例如是一种地理信息坐标系。For example, the data format of the positioning result satisfying the accuracy condition is the WGS84 (World Geodetic System-1984) format, and the positioning result in the WGS84 format is subjected to deflection processing to obtain the positioning data in the gcj02 format. The deflection processing includes, for example, coordinate conversion. WGS84 is an internationally adopted geocentric coordinate system. gcj02 is, for example, a geographic information coordinate system.
在操作S407A，获取针对目标应用程序的鉴权结果。In operation S407A, an authentication result for the target application is obtained.
鉴权结果例如提前存储在定位服务应用程序的对应存储空间中。The authentication result is stored in the corresponding storage space of the location service application in advance, for example.
在操作S408A，确定鉴权结果是否指示目标应用程序通过鉴权。如果是，执行操作S409A；如果否，则丢弃定位结果。In operation S408A, it is determined whether the authentication result indicates that the target application has passed the authentication. If yes, perform operation S409A; if not, discard the positioning result.
在操作S409A，对定位结果进行加密。In operation S409A, the positioning result is encrypted.
例如，可以使用SM4加密算法对偏转处理后的定位结果进行加密。For example, the SM4 encryption algorithm can be used to encrypt the positioning result after deflection processing.
在操作S410A，将加密后的定位结果发送给目标应用程序的客户端SDK。In operation S410A, the encrypted positioning result is sent to the client SDK of the target application.
根据本公开的实施例，针对满足精度条件的定位结果，修改定位结果的数据格式，使得修改后的定位结果满足当前定位需求，从而提高定位数据的标准化。另外，确定满足精度条件的定位结果是否通过鉴权，如果通过鉴权可以对定位结果进行加密，提高了定位结果的安全性。According to the embodiments of the present disclosure, for the positioning results satisfying the accuracy condition, the data format of the positioning results is modified, so that the modified positioning results meet the current positioning requirements, thereby improving the standardization of positioning data. In addition, it is determined whether the positioning result satisfying the accuracy condition passes the authentication, and if the authentication is passed, the positioning result can be encrypted, which improves the security of the positioning result.
以下操作S401B～操作S404B例如由目标应用程序的客户端SDK执行。The following operations S401B to S404B are performed, for example, by the client SDK of the target application.
在操作S401B，接收来自定位服务应用程序的定位结果。In operation S401B, a positioning result from a positioning service application is received.
在操作S402B，判断定位结果的定位精度是否满足精度条件。如果是，则执行操作S403B；如果否，则执行操作S404B。In operation S402B, it is determined whether the positioning accuracy of the positioning result satisfies the accuracy condition. If yes, perform operation S403B; if not, perform operation S404B.
例如，如果定位精度不满足精度条件，可以直接将定位结果发送给目标应用程序。For example, if the positioning accuracy does not meet the accuracy conditions, the positioning result can be directly sent to the target application.
在操作S403B，对定位结果进行解密。In operation S403B, the positioning result is decrypted.
例如，可以使用SM4解密算法对定位结果进行解密。For example, the positioning result can be decrypted using the SM4 decryption algorithm.
在操作S404B，客户端SDK将定位结果发送给目标应用程序。In operation S404B, the client SDK sends the positioning result to the target application.
根据本公开的实施例，定位服务应用程序提供了可靠的高精定位解算功能以及定位结果加密发送功能。定位服务应用程序作为一种通过的应用程序，在应用层完成高精定位服务的解算、外部开放平台的鉴权认证管理以及高精定位结果的加密与分发，提高了定位服务应用程序的定位效果。另外，运行在应用层的定位服务应用程序对电子设备的底层系统的依赖性较低，适用于不同类型的电子设备，提高了定位服务应用程序的通用性。According to the embodiments of the present disclosure, the positioning service application program provides a reliable high-precision positioning calculation function and a positioning result encrypted sending function. As a passing application, the location service application completes the calculation of the high-precision location service, the authentication and authentication management of the external open platform, and the encryption and distribution of the high-precision location result at the application layer, which improves the positioning of the location service application. Effect. In addition, the location service application program running in the application layer is less dependent on the underlying system of the electronic device, is suitable for different types of electronic devices, and improves the versatility of the location service application program.
图5示意性示出了根据本公开一实施例的定位装置的框图。FIG. 5 schematically shows a block diagram of a positioning apparatus according to an embodiment of the present disclosure.
如图5所示，本公开实施例的定位装置500例如包括定位模块510、确定模块520、获取模块530以及第一发送模块540。As shown in FIG. 5 , the
定位模块510可以用于响应于接收到来自目标应用程序的定位请求，基于原始观测数据进行定位，得到定位结果。根据本公开实施例，定位模块510例如可以执行上文参考图2描述的操作S210，在此不再赘述。The
确定模块520可以用于基于原始观测数据的数据质量，确定定位结果的定位精度。根据本公开实施例，确定模块520例如可以执行上文参考图2描述的操作S220，在此不再赘述。The determining
获取模块530可以用于响应于确定定位精度满足精度条件，获取针对目标应用程序的鉴权结果。根据本公开实施例，获取模块530例如可以执行上文参考图2描述的操作S230，在此不再赘述。The obtaining
第一发送模块540可以用于响应于确定鉴权结果指示目标应用程序通过鉴权，将定位结果发送给目标应用程序。根据本公开实施例，第一发送模块540例如可以执行上文参考图2描述的操作S240，在此不再赘述。The
根据本公开的实施例，装置500还可以包括：第一接收模块、获得模块、验证模块和第二发送模块。第一接收模块，用于接收来自目标应用程序的第一注册信息；获得模块，用于基于针对目标应用程序的运行进程，得到针对目标应用程序的第二注册信息；验证模块，用于利用第二注册信息验证第一注册信息，得到验证结果；第二发送模块，用于响应于确定验证结果表征第一注册信息验证成功，发送包括第一注册信息的鉴权请求。According to an embodiment of the present disclosure, the
根据本公开的实施例，装置500还可以包括：第二接收模块，用于接收针对鉴权请求的鉴权结果，其中，鉴权结果表征了目标应用程序是否具有接收满足精度条件的定位结果的权限。According to an embodiment of the present disclosure, the
根据本公开的实施例，第一注册信息或第二注册信息包括以下至少一项：目标应用程序的标识、目标应用程序的签名信息、目标应用程序向鉴权方注册的注册数据。According to an embodiment of the present disclosure, the first registration information or the second registration information includes at least one of the following: an identifier of the target application, signature information of the target application, and registration data registered by the target application with the authenticator.
根据本公开的实施例，第一发送模块540包括：加密子模块和发送子模块。加密子模块，用于响应于确定鉴权结果指示目标应用程序通过鉴权，对定位结果进行加密；发送子模块，用于将加密后的定位结果发送给目标应用程序。According to an embodiment of the present disclosure, the
根据本公开的实施例，装置500还可以包括：弃模块，用于响应于确定鉴权结果指示目标应用程序未通过鉴权，丢弃定位结果。According to an embodiment of the present disclosure, the
根据本公开的实施例，装置500还可以包括：第三发送模块，用于响应于确定定位精度不满足精度条件，将定位结果发送给目标应用程序。According to an embodiment of the present disclosure, the
根据本公开的实施例，定位模块510还用于：利用实时差分定位算法，基于原始观测数据和差分解算数据进行定位计算，得到定位结果。According to an embodiment of the present disclosure, the
本公开的技术方案中，所涉及的用户个人信息的收集、存储、使用、加工、传输、提供和公开等处理，均符合相关法律法规的规定，且不违背公序良俗。In the technical solution of the present disclosure, the collection, storage, use, processing, transmission, provision and disclosure of the user's personal information involved are all in compliance with the relevant laws and regulations, and do not violate public order and good customs.
根据本公开的实施例，本公开还提供了一种电子设备、一种可读存储介质、一种计算机程序产品和一种自动驾驶车辆。自动驾驶车辆例如包括电子设备。According to embodiments of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium, a computer program product, and an autonomous driving vehicle. An autonomous vehicle includes, for example, electronic equipment.
图6是用来实现本公开实施例的用于执行定位的电子设备的框图。6 is a block diagram of an electronic device for performing positioning used to implement an embodiment of the present disclosure.
图6示出了可以用来实施本公开实施例的示例电子设备600的示意性框图。电子设备600旨在表示各种形式的数字计算机，诸如，膝上型计算机、台式计算机、工作台、个人数字助理、服务器、刀片式服务器、大型计算机、和其它适合的计算机。电子设备还可以表示各种形式的移动装置，诸如，个人数字处理、蜂窝电话、智能电话、可穿戴设备和其它类似的计算装置。本文所示的部件、它们的连接和关系、以及它们的功能仅仅作为示例，并且不意在限制本文中描述的和/或者要求的本公开的实现。6 shows a schematic block diagram of an example
如图6所示，设备600包括计算单元601，其可以根据存储在只读存储器(ROM)602中的计算机程序或者从存储单元608加载到随机访问存储器(RAM)603中的计算机程序，来执行各种适当的动作和处理。在RAM 603中，还可存储设备600操作所需的各种程序和数据。计算单元601、ROM 602以及RAM 603通过总线604彼此相连。输入/输出(I/O)接口605也连接至总线604。As shown in FIG. 6 , the
设备600中的多个部件连接至I/O接口605，包括：输入单元606，例如键盘、鼠标等；输出单元607，例如各种类型的显示器、扬声器等；存储单元608，例如磁盘、光盘等；以及通信单元609，例如网卡、调制解调器、无线通信收发机等。通信单元609允许设备600通过诸如因特网的计算机网络和/或各种电信网络与其他设备交换信息/数据。Various components in the
计算单元601可以是各种具有处理和计算能力的通用和/或专用处理组件。计算单元601的一些示例包括但不限于中央处理单元(CPU)、图形处理单元(GPU)、各种专用的人工智能(AI)计算芯片、各种运行机器学习模型算法的计算单元、数字信号处理器(DSP)、以及任何适当的处理器、控制器、微控制器等。计算单元601执行上文所描述的各个方法和处理，例如定位方法。例如，在一些实施例中，定位方法可被实现为计算机软件程序，其被有形地包含于机器可读介质，例如存储单元608。在一些实施例中，计算机程序的部分或者全部可以经由ROM 602和/或通信单元609而被载入和/或安装到设备600上。当计算机程序加载到RAM 603并由计算单元601执行时，可以执行上文描述的定位方法的一个或多个步骤。备选地，在其他实施例中，计算单元601可以通过其他任何适当的方式(例如，借助于固件)而被配置为执行定位方法。
本文中以上描述的系统和技术的各种实施方式可以在数字电子电路系统、集成电路系统、现场可编程门阵列(FPGA)、专用集成电路(ASIC)、专用标准产品(ASSP)、芯片上系统的系统(SOC)、复杂可编程逻辑设备(CPLD)、计算机硬件、固件、软件、和/或它们的组合中实现。这些各种实施方式可以包括：实施在一个或者多个计算机程序中，该一个或者多个计算机程序可在包括至少一个可编程处理器的可编程系统上执行和/或解释，该可编程处理器可以是专用或者通用可编程处理器，可以从存储系统、至少一个输入装置、和至少一个输出装置接收数据和指令，并且将数据和指令传输至该存储系统、该至少一个输入装置、和该至少一个输出装置。Various implementations of the systems and techniques described herein above can be implemented in digital electronic circuitry, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips system (SOC), complex programmable logic device (CPLD), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include being implemented in one or more computer programs executable and/or interpretable on a programmable system including at least one programmable processor that The processor, which may be a special purpose or general-purpose programmable processor, may receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device an output device.
用于实施本公开的方法的程序代码可以采用一个或多个编程语言的任何组合来编写。这些程序代码可以提供给通用计算机、专用计算机或其他可编程定位装置的处理器或控制器，使得程序代码当由处理器或控制器执行时使流程图和/或框图中所规定的功能/操作被实施。程序代码可以完全在机器上执行、部分地在机器上执行，作为独立软件包部分地在机器上执行且部分地在远程机器上执行或完全在远程机器或服务器上执行。Program code for implementing the methods of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable positioning device, such that the program code, when executed by the processor or controller, causes the functions/operations specified in the flowcharts and/or block diagrams be implemented. The program code may execute entirely on the machine, partly on the machine, partly on the machine and partly on a remote machine as a stand-alone software package or entirely on the remote machine or server.
在本公开的上下文中，机器可读介质可以是有形的介质，其可以包含或存储以供指令执行系统、装置或设备使用或与指令执行系统、装置或设备结合地使用的程序。机器可读介质可以是机器可读信号介质或机器可读储存介质。机器可读介质可以包括但不限于电子的、磁性的、光学的、电磁的、红外的、或半导体系统、装置或设备，或者上述内容的任何合适组合。机器可读存储介质的更具体示例会包括基于一个或多个线的电气连接、便携式计算机盘、硬盘、随机存取存储器(RAM)、只读存储器(ROM)、可擦除可编程只读存储器(EPROM或快闪存储器)、光纤、便捷式紧凑盘只读存储器(CD-ROM)、光学储存设备、磁储存设备、或上述内容的任何合适组合。In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in connection with the instruction execution system, apparatus or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. Machine-readable media may include, but are not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media would include one or more wire-based electrical connections, portable computer disks, hard disks, random access memory (RAM), read only memory (ROM), erasable programmable read only memory (EPROM or flash memory), fiber optics, compact disk read only memory (CD-ROM), optical storage, magnetic storage, or any suitable combination of the foregoing.
为了提供与用户的交互，可以在计算机上实施此处描述的系统和技术，该计算机具有：用于向用户显示信息的显示装置(例如，CRT(阴极射线管)或者LCD(液晶显示器)监视器)；以及键盘和指向装置(例如，鼠标或者轨迹球)，用户可以通过该键盘和该指向装置来将输入提供给计算机。其它种类的装置还可以用于提供与用户的交互；例如，提供给用户的反馈可以是任何形式的传感反馈(例如，视觉反馈、听觉反馈、或者触觉反馈)；并且可以用任何形式(包括声输入、语音输入或者、触觉输入)来接收来自用户的输入。To provide interaction with a user, the systems and techniques described herein may be implemented on a computer having a display device (eg, a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user ); and a keyboard and pointing device (eg, a mouse or trackball) through which a user can provide input to the computer. Other kinds of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (eg, visual feedback, auditory feedback, or tactile feedback); and can be in any form (including acoustic input, voice input, or tactile input) to receive input from the user.
可以将此处描述的系统和技术实施在包括后台部件的计算系统(例如，作为数据服务器)、或者包括中间件部件的计算系统(例如，应用服务器)、或者包括前端部件的计算系统(例如，具有图形用户界面或者网络浏览器的用户计算机，用户可以通过该图形用户界面或者该网络浏览器来与此处描述的系统和技术的实施方式交互)、或者包括这种后台部件、中间件部件、或者前端部件的任何组合的计算系统中。可以通过任何形式或者介质的数字数据通信(例如，通信网络)来将系统的部件相互连接。通信网络的示例包括：局域网(LAN)、广域网(WAN)和互联网。The systems and techniques described herein may be implemented on a computing system that includes back-end components (eg, as a data server), or a computing system that includes middleware components (eg, an application server), or a computing system that includes front-end components (eg, a user computer having a graphical user interface or web browser through which a user may interact with implementations of the systems and techniques described herein), or including such backend components, middleware components, Or any combination of front-end components in a computing system. The components of the system may be interconnected by any form or medium of digital data communication (eg, a communication network). Examples of communication networks include: Local Area Networks (LANs), Wide Area Networks (WANs), and the Internet.
计算机系统可以包括客户端和服务器。客户端和服务器一般远离彼此并且通常通过通信网络进行交互。通过在相应的计算机上运行并且彼此具有客户端-服务器关系的计算机程序来产生客户端和服务器的关系。服务器可以是云服务器，也可以为分布式系统的服务器，或者是结合了区块链的服务器。A computer system can include clients and servers. Clients and servers are generally remote from each other and usually interact through a communication network. The relationship of client and server arises by computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, a distributed system server, or a server combined with blockchain.
应该理解，可以使用上面所示的各种形式的流程，重新排序、增加或删除步骤。例如，本公开中记载的各步骤可以并行地执行也可以顺序地执行也可以不同的次序执行，只要能够实现本公开公开的技术方案所期望的结果，本文在此不进行限制。It should be understood that steps may be reordered, added or deleted using the various forms of flow shown above. For example, the steps described in the present disclosure can be executed in parallel, sequentially, or in different orders, as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved, no limitation is imposed herein.
上述具体实施方式，并不构成对本公开保护范围的限制。本领域技术人员应该明白的是，根据设计要求和其他因素，可以进行各种修改、组合、子组合和替代。任何在本公开的精神和原则之内所作的修改、等同替换和改进等，均应包含在本公开保护范围之内。The above-mentioned specific embodiments do not constitute a limitation on the protection scope of the present disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may occur depending on design requirements and other factors. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present disclosure should be included within the protection scope of the present disclosure.
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