CN115235489A - Positioning method, positioning device, electronic equipment and computer storage medium - Google Patents

Abstract

Embodiments of the present application provide a positioning method, an apparatus, an electronic device, and a computer storage medium. The positioning method includes: acquiring elevation difference data of a target object collected according to a first frequency; processing the acquired elevation difference data according to a second frequency to obtain a height change value within a time period corresponding to the second frequency, and the first frequency The second frequency is lower than the first frequency; the driving distance data of the target object in a corresponding time period is obtained; according to the altitude change value, the driving distance data and the road gradient information of the location of the target object Whether the target object is on an elevated road. The identification accuracy of this positioning method is higher.

Description

Positioning method, device, electronic device and computer storage medium

technical field

The embodiments of the present application relate to the technical field of geographic information, and in particular, to a positioning method, an apparatus, an electronic device, and a computer storage medium.

Background technique

Navigation service is a service that guides the navigation object to travel from the starting point to the end point of the navigation planning route according to the positioning position of the navigation object and the navigation planning route. Since the navigation service needs to accurately determine the road that the target object is traveling on based on the positioning position of the object being navigated, so as to determine whether the object being navigated is traveling along the navigation planning route, and the road conditions in the real world are complex, there are some specific types of roads. For example, on an elevated road, it is difficult to accurately locate whether the navigated object is driving on an elevated road or under an elevated road based on the positioning position. Once the positioning is wrong, it will greatly affect the user experience of the navigation service.

SUMMARY OF THE INVENTION

In view of this, the embodiments of the present application provide a positioning solution to at least partially solve the above problems.

According to a first aspect of the embodiments of the present application, a positioning method is provided, including: acquiring elevation difference data of a target object collected according to a first frequency; processing the acquired elevation difference data according to a second frequency to obtain a first The second frequency corresponds to the height change value in the time period, and the second frequency is lower than the first frequency; obtain the travel distance data of the target object in the corresponding time period; according to the height change value, the travel distance data and The road gradient information of the location of the target object determines whether the target object is on an elevated road.

According to a second aspect of the embodiments of the present application, there is provided a positioning device, comprising: a first acquisition module for acquiring elevation difference data of a target object collected according to a first frequency; a second acquisition module for frequency, process the acquired elevation difference data, and obtain the height change value in the time period corresponding to the second frequency, the second frequency is lower than the first frequency; the third acquisition module is used to acquire the target object Driving distance data in a corresponding time period; a determining module, configured to determine whether the target object is on an elevated road according to the height change value, the driving distance data and the road gradient information at the location of the target object.

According to a third aspect of the embodiments of the present application, an electronic device is provided, including: a processor, a memory, a communication interface, and a communication bus, wherein the processor, the memory, and the communication interface complete each other through the communication bus The memory is used for storing at least one executable instruction, and the executable instruction enables the processor to perform an operation corresponding to the positioning method described in the first aspect.

According to a fourth aspect of the embodiments of the present application, a computer storage medium is provided on which a computer program is stored, and when the program is executed by a processor, the positioning method according to the first aspect is implemented.

According to the positioning solution provided by the embodiment of the present application, the elevation difference data collected according to the first frequency is acquired, and the elevation difference data is processed according to the second frequency, so as to obtain the height change value, because the second frequency corresponding to the height change value is lower than The first frequency, so its corresponding period is longer, so it can reduce the error in the collected elevation difference data caused by vibration and bumps of the target object, and then more accurately determine whether the target object is based on the driving distance data and the altitude change value On an elevated road, thereby improving the accuracy of elevated positioning.

Description of drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the accompanying drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only These are some embodiments described in the embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained according to these drawings.

1 is a flowchart of steps of a positioning method according to Embodiment 1 of the present application;

2 is a flow chart of steps of a positioning method according to Embodiment 2 of the present application;

3 is a structural block diagram of a positioning device according to Embodiment 3 of the present application;

FIG. 4 is a schematic structural diagram of an electronic device according to Embodiment 4 of the present application.

Detailed ways

In order to make those skilled in the art better understand the technical solutions in the embodiments of the present application, the following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application. The embodiments described above are only a part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by persons of ordinary skill in the art based on the embodiments in the embodiments of the present application should fall within the protection scope of the embodiments of the present application.

The specific implementation of the embodiments of the present application is further described below with reference to the accompanying drawings of the embodiments of the present application.

Example 1

Referring to FIG. 1 , a flowchart of steps of the positioning method according to the first embodiment of the present application is shown.

In this embodiment, the method can be deployed in a controller carried by the target object to identify whether the target object is on an elevated road, so as to improve the positioning accuracy of the target object, thereby improving the navigation effect. The elevated road may refer to a road with a certain gradient, such as a viaduct road and the like. Alternatively, the method can also be deployed in the cloud or in a controller other than the target object to receive data by communicating with the target object and determine whether the target object is in an elevated road.

The method includes the following steps:

Step S102: Acquire the elevation difference data of the target object collected according to the first frequency.

The elevation difference data includes elevation change information. The target object is, for example, a vehicle. Elevation difference data can be obtained through detection by sensors mounted on the vehicle. The first frequency for collecting the elevation difference data may be determined according to the characteristics of the sensors mounted on the vehicle.

For example, if the first frequency is 5 Hz, the vehicle detects and obtains elevation difference data 5 times per second during the driving process.

Due to the vibration and turbulence of the vehicle during driving, the height change information in the two adjacent height difference data has large fluctuations. For example, the height change information at time t1 is 1.1, and the height change information at time t2 is -0.5 , the height change information at time t3 is 1.4, the height change information at time t4 is -0.3, and the height change information at time t5 is 1.1. This makes it impossible to accurately determine whether the vehicle is on an elevated road based on the elevation difference data, which may lead to inconsistencies between the route displayed by the navigation and the actual driving route of the vehicle, which affects the navigation accuracy and user experience.

In this embodiment, in order to solve this problem, the elevated road identification is no longer based on each elevation difference data, but multiple elevation difference data are collected within a period of time, and the elevated road identification is subsequently performed based on the multiple elevation difference data. This overcomes the errors in the identification of elevated roads caused by vehicle vibration and bumps.

Step S104: Process the acquired elevation difference data according to the second frequency to obtain a height change value within a time period corresponding to the second frequency.

In a feasible way, in order to solve the problem of inaccurate identification of elevated roads caused by vibration and bumps during vehicle driving, frequency reduction processing is performed on the elevation difference data, that is, a height change value is determined based on multiple elevation difference data, so that the height changes The collection frequency of the value is the second frequency, and the second frequency is smaller than the first frequency, so that the height change value can not only retain the information of the height change of the vehicle, but also eliminate the adverse effects of vehicle vibration and bumps on the positioning of the elevated road.

The second frequency is determined according to needs. For example, the first frequency is 5 Hz. In order to take into account the timeliness and accuracy, the second frequency can be 1 Hz (that is, a height change value is obtained every second). The obtained 5 elevation difference data are determined. In an example, the height change value can be obtained by accumulating a plurality of height difference data.

Step S106: Acquire travel distance data of the target object within a corresponding time period.

The corresponding time period of the target object is the time period corresponding to the second frequency. For example, if the second frequency is 1 Hz, the time period is 1 second. In a feasible manner, the driving distance data of the target object can be obtained through sensors mounted on the target object. For example, from the tachometer on the vehicle, the travel distance data is determined. Of course, those skilled in the art can also use other methods to determine the traveling speed of the target object, and then determine the traveling distance data in combination with the time period.

Step S108: Determine whether the target object is on an elevated road according to the height change value, the travel distance data and the road gradient information at the location of the target object.

Through the height change value and the driving distance data, the detected slope of the location of the target object can be determined, and the detected slope can be matched with the road gradient information of the location of the target object. If the two match, it is determined that the vehicle is on an elevated road. At this time, The navigation interface can display that the target vehicle is on an elevated road, and can also prompt the target object to pay attention to the information when driving along the elevated road through the navigation voice.

The implementation process of the positioning method is described below in combination with a specific usage scenario as follows:

When navigating through the terminal device, the terminal device can be installed on the target object (for example, a vehicle), communicate with sensors in the target object through a wireless or wired network, and receive from the target object the elevation difference data collected at the first frequency , and obtain travel distance data from the target object. Assuming that the first frequency of the elevation difference data is 5 Hz, the terminal device receives 5 elevation difference data per second.

Process 5 elevation difference data per second to obtain a height change value corresponding to one second. In this way, the elevation difference data of 5 Hz is down-converted to a height variation value of 1 Hz, thereby reducing the adverse effect of errors in the elevation difference data on the identification accuracy of the elevated road.

The detected gradient of the target object can be determined based on the height change value and the corresponding driving distance data per second, and then by comparing the detected gradient with the road gradient information of the location of the target object, it is determined whether the target object is on an elevated road.

If it is on an elevated road, it can be displayed on the navigation interface that the target vehicle is on an elevated road, or information that the target object needs to pay attention to when driving along the elevated road can be prompted through the navigation voice. In this way, the accuracy of identifying the elevated road can be improved, thereby reducing misjudgment and making the navigation display more accurate.

Through this embodiment, the elevation difference data collected according to the first frequency is acquired, and the elevation difference data is processed according to the second frequency, so as to obtain the height change value in the time period corresponding to the second frequency. The frequency is lower than the first frequency, so the corresponding time period is longer, so the height change value can reduce the error caused by the vibration and bump of the target object, thereby reducing the adverse impact on the identification of the elevated road and improving the accuracy of the identification of the elevated road. sex.

The positioning method in this embodiment may be executed by any appropriate electronic device with data processing capability, including but not limited to: a server, a mobile terminal (such as a mobile phone, a PAD, etc.), a PC, and the like.

Embodiment 2

Referring to FIG. 2 , a flowchart of steps of the positioning method according to the second embodiment of the present application is shown.

In this embodiment, the method includes the following steps:

Step S200: Based on the positioning position of the target object, obtain road gradient information of the road where the target object is located from preset map road network data.

Map road network data can be collected in advance. It carries the road gradient information corresponding to the elevated road. Of course, in other embodiments, the map road network data may also be collected in real time, which is not limited in this embodiment.

Step S202: Acquire the elevation difference data of the target object collected according to the first frequency.

The elevation difference data can be obtained by detecting the height sensor mounted on the target object, or by any other suitable method. Elevation difference data is used to indicate the change in altitude over a set period of time.

The acquisition of the elevation difference data in step S202 can be achieved through the following sub-steps:

Sub-step S2021: Receive and store the elevation difference data collected at the first frequency.

Sub-step S2022: Determine whether the stored elevation difference data satisfies the ratio between the first frequency and the second frequency.

The second frequency can be determined as needed. The amount of stored elevation difference data is the ratio of the first frequency to the second frequency. For example, if the first frequency is 5 Hz and the second frequency is 1 Hz, the number of stored elevation difference data is 5.

Since the elevation difference data is collected according to the first frequency, when one elevation difference data is received, it can be stored, and the number of currently stored elevation difference data can be determined. Step S2023. Or, if the currently stored number is less than 5, it may not act and wait for the next time the elevation difference data is received.

Sub-step S2023: If the ratio is satisfied, perform processing on the acquired elevation difference data according to the second frequency to obtain the height change value within the time period corresponding to the second frequency.

Step S204 may be executed when the stored elevation difference data meets five.

Step S204: Process the acquired elevation difference data according to the second frequency to obtain the height change value within the time period corresponding to the second frequency.

In a feasible manner, step S204 can be implemented as: according to the second frequency, performing accumulation processing on the elevation difference data obtained in the time period corresponding to the second frequency, and using the accumulation result as the second frequency Corresponds to the height change value within the time period.

In this way, it can be avoided that the height change indicated by the height difference data becomes a negative value due to vehicle vibration and bumping, which causes the problem of not being able to accurately identify whether it is on an elevated road. Through the accumulation of multiple elevation difference data, the errors caused by vibration and bumps can be eliminated or reduced, so that the height change value is more in line with the real situation.

Step S206: Acquire the travel distance data of the target object in a corresponding time period.

The driving distance data can be detected by the travel sensor mounted on the target object, or it can also be determined by satellite positioning.

In this embodiment, for the convenience of calculation, the collection frequency of the travel distance data and the collection frequency of the elevation difference data may be the same, and both are the first frequency. Of course, in other embodiments, the collection frequency of the travel distance data and the collection frequency of the elevation difference data may be inconsistent, as long as the travel distance data within the time period corresponding to the second frequency can be determined.

Step S208: Determine whether the target object is on an elevated road according to the height change value, the travel distance data and the road gradient information at the location of the target object.

In a specific implementation, step S208 includes the following sub-steps:

Sub-step S2081: Obtain the optimal height change values for M consecutive historical time periods, perform linear processing on the M optimal height change values and the height change optimal value in the current time period, and determine the height change optimal value of the target object in the current time period.

The M is a positive integer and is greater than or equal to 1. The value of M can be determined as required. For example, the value of M is 3, 4, and 5, etc. Since the optimal value of the height change that is too far from the current moment has little correlation with the slope of the location of the target object, the value of M should be appropriate.

In a feasible manner, in sub-step S2081, linear processing is performed on the M height change optimized values and the height change values, and the determination of the height change optimized value of the target object in the corresponding time period can be implemented as: calculating the M value of the historical time period. The height change optimization value and the mean value of the height change value are taken as the height change optimization value of the target object in the corresponding time period.

The error can be further reduced by averaging the height change optimization value and the height change value, thereby obtaining a more accurate detected slope. For example, for the height change value obtained in the t-th cycle, when optimizing, according to the height change optimization value of the consecutive t-1th cycle, t-2th cycle and t-3th cycle before the t-th cycle, Calculate the mean value of the height change optimization value of the 3 time periods and the height change value of the t-th period together, as the height change optimization value of the t-th axis.

If the number of existing height change optimization values is less than M, the height change value can be optimized by using all the existing height change optimization values.

Sub-step S2082: Determine the detected gradient corresponding to the target object according to the optimized height change value and the travel distance data.

In order to ensure reliable calculation of the detected slope, the travel distance data corresponds to the optimal value of height change. 5 consecutive travel distance data are summed as 1 second travel distance data.

The detected slope of the target object can be calculated based on the height change optimization value and the driving distance data. The detection slope is used to indicate the angle between the uphill road and the horizontal plane.

Sub-step S2083: Determine whether the target object is on an elevated road according to the detected gradient and the road gradient information of the location of the target object.

In an example, sub-step S2083 can be implemented by the following process:

Process A: Determine whether the detected gradient and the road gradient information are similar.

For example, if the difference between the detected gradient and the gradient indicated by the road gradient information is less than or equal to the set value, it is determined that the detected gradient and the road gradient information are similar, and if they are similar, process B is performed. The set value can be determined as required, and its value can be 1° to 5°, etc.

Or, if the difference between the detected gradient and the gradient indicated by the road gradient information is greater than the set value, it is determined that the two do not match, and if they are not similar, it is determined that the target object is not on an elevated road.

Process B: If similar, determine that the target object is on an elevated road.

The detected slope of the vehicle is calculated by the height change optimization value and the driving distance data, so as to identify whether the vehicle is driving on an elevated road. Since the height change optimization value is obtained by down-frequency processing the height difference data returned by the vehicle bus, it solves the problem. There is an error in the elevation difference data caused by vehicle bumping, which leads to the failure of elevated road identification. Through optimization, the error of the elevation difference data is reduced, the fluctuation of the detected slope is reduced, and the identification accuracy of the elevated road during the navigation process is improved, so as to make the navigation guidance more accurate. The recognition accuracy rate of 95% and above can be achieved, so that the actual driving route of the vehicle is consistent with the navigation display route, and the user experience is improved.

Optionally, in order to further improve the applicability, the method further includes step S210.

Step S210: Determine a driving state of the target object on the elevated road according to the height change direction indicated by the height change value, where the driving state includes driving upward on the elevated road or driving on the elevated road Drive up and down.

In a feasible manner, if the height change value carries information related to the height change direction, the height change direction can be directly determined according to the height change value. For example, if the height change value is -1, it means that the height change direction is downward. For another example, if the height change value is 3, it means that the height change direction is upward.

If it is determined that the target object is on an elevated road, it may be determined whether the target object is driving upward on the elevated road or driving downward on the elevated road based on the height change direction. In this way, it is not only possible to determine whether the target object is on the elevated road, but also to further determine whether the target object is in the state of going up the elevated road or the state of going down the elevated road, so that the situation of going up the elevated road and getting off the elevated road can be better targeted. Display the corresponding interface.

Embodiment 3

Referring to FIG. 3 , a structural block diagram of a positioning apparatus according to Embodiment 3 of the present application is shown.

In this embodiment, the positioning device includes:

a first obtaining module 302, configured to obtain the elevation difference data of the target object collected according to the first frequency;

The second obtaining module 304 is configured to process the obtained elevation difference data according to a second frequency, and obtain a height change value within a time period corresponding to the second frequency, where the second frequency is lower than the first frequency;

A third acquisition module 306, configured to acquire the travel distance data of the target object in a corresponding time period;

The determining module 308 is configured to determine whether the target object is on an elevated road according to the height change value, the driving distance data and the road gradient information of the location where the target object is located.

Optionally, the second obtaining module 304 is configured to perform accumulation processing on the elevation difference data obtained within the time period corresponding to the second frequency according to the second frequency, and use the accumulation result as the second frequency. Altitude change value over time period corresponding to frequency.

Optionally, the determining module 308 is configured to obtain the optimal height change values in M consecutive historical time periods, perform linear processing on the M optimal height change values and the height change values of the current time period, and determine that the target object is in the current time period. , M is a positive integer; according to the optimized value of height change and the driving distance data, determine the detected gradient corresponding to the target object; according to the detected gradient and the road gradient information of the location of the target object, It is determined whether the target object is on an elevated road.

Optionally, the determining module 308 is configured to obtain the optimized height change values of the M historical time periods and the height change values of the M historical time periods when performing linear processing on the M optimal height change values and the height change values of the current time period. The mean value of the value is taken as the optimized value of the height variation of the target object in the corresponding time period.

Optionally, the determining module 308 is configured to determine the detected gradient and the road gradient when determining whether the target object is on an elevated road according to the detected gradient and road gradient information at the location of the target object. Whether the information is similar; if similar, it is determined that the target object is on an elevated road.

Optionally, the device further includes: an up-down determination model 310, configured to determine the driving state of the target object on the elevated road according to the height change direction indicated by the height change value, where the driving state includes Drive up on the elevated road, or drive down on the elevated road.

Optionally, the first acquisition module 302 is configured to receive and store the elevation difference data collected according to the first frequency; determine whether the stored elevation difference data satisfies the ratio between the first frequency and the second frequency; if the ratio is satisfied, execute The action of processing the acquired elevation difference data according to the second frequency to obtain the height change value in the time period corresponding to the second frequency.

Optionally, the apparatus further includes: a receiving module 300, configured to obtain road gradient information of the road where the target object is located from preset map road network data based on the positioning position of the target object.

The positioning apparatus in this embodiment is used to implement the corresponding positioning methods in the foregoing multiple method embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be repeated here. In addition, for the function implementation of each module in the positioning apparatus of this embodiment, reference may be made to the descriptions of the corresponding parts in the foregoing method embodiments, and details are not repeated here.

Embodiment 4

Referring to FIG. 4 , a schematic structural diagram of an electronic device according to Embodiment 4 of the present application is shown. The specific embodiments of the present application do not limit the specific implementation of the electronic device.

As shown in FIG. 4 , the electronic device may include: a processor (processor) 402 , a communication interface (Communications Interface) 404 , a memory (memory) 406 , and a communication bus 408 .

in:

The processor 402 , the communication interface 404 , and the memory 406 communicate with each other through the communication bus 408 .

The communication interface 404 is used to communicate with other electronic devices or servers.

The processor 402 is configured to execute the program 410, and specifically may execute the relevant steps in the foregoing positioning method embodiments.

Specifically, the program 410 may include program code including computer operation instructions.

The processor 402 may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application. One or more processors included in the smart device may be the same type of processors, such as one or more CPUs; or may be different types of processors, such as one or more CPUs and one or more ASICs.

The memory 406 is used to store the program 410 . Memory 406 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk memory.

The program 410 can specifically be used to cause the processor 402 to perform operations corresponding to the foregoing methods.

For the specific implementation of the steps in the program 410, reference may be made to the corresponding descriptions in the corresponding steps and units in the foregoing positioning method embodiments, which are not repeated here. Those skilled in the art can clearly understand that, for the convenience and brevity of description, for the specific working process of the above-described devices and modules, reference may be made to the corresponding process descriptions in the foregoing method embodiments, which will not be repeated here.

It should be pointed out that, according to the needs of implementation, each component/step described in the embodiments of the present application may be split into more components/steps, or two or more components/steps or part of operations of components/steps may be combined into New components/steps to achieve the purpose of the embodiments of the present application.

The above-described methods according to the embodiments of the present application may be implemented in hardware, firmware, or as software or computer codes that may be stored in a recording medium (such as CD ROM, RAM, floppy disk, hard disk, or magneto-optical disk), or implemented by Network downloaded computer code originally stored in a remote recording medium or non-transitory machine-readable medium and will be stored in a local recording medium so that the methods described herein can be stored on a computer using a general purpose computer, special purpose processor or programmable or such software processing on a recording medium of dedicated hardware such as ASIC or FPGA. It is to be understood that a computer, processor, microprocessor controller or programmable hardware includes storage components (eg, RAM, ROM, flash memory, etc.) that can store or receive software or computer code when the software or computer code is executed by a computer, When accessed and executed by a processor or hardware, the positioning methods described herein are implemented. Furthermore, when a general purpose computer accesses code for implementing the positioning methods shown herein, execution of the code converts the general purpose computer into a special purpose computer for executing the positioning methods shown herein.

Those of ordinary skill in the art can realize that the units and method steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Experts may use different methods for each specific application to implement the described functions, but such implementation should not be considered beyond the scope of the embodiments of the present application.

The above embodiments are only used to illustrate the embodiments of the present application, but are not intended to limit the embodiments of the present application. Those of ordinary skill in the relevant technical field can also make various Therefore, all equivalent technical solutions also belong to the scope of the embodiments of the present application, and the patent protection scope of the embodiments of the present application should be defined by the claims.

Claims (10)

1. A method of positioning, comprising:

acquiring elevation difference data of a target object acquired according to a first frequency;

processing the obtained elevation difference data according to a second frequency to obtain a height change value of the second frequency in a corresponding time period, wherein the second frequency is lower than the first frequency;

acquiring the running distance data of the target object in a corresponding time period;

and determining whether the target object is positioned on the elevated road or not according to the height change value, the running distance data and the road gradient information of the position where the target object is positioned.

2. The method of claim 1, wherein processing the obtained elevation difference data at the second frequency to obtain elevation change values at the second frequency over a time period comprises:

and according to a second frequency, accumulating the elevation difference data obtained in the time period corresponding to the second frequency, and taking the accumulated result as the height change value in the time period corresponding to the second frequency.

3. The method of claim 1, wherein the determining whether the target object is on an elevated road based on the altitude change value, the distance traveled data, and road grade information for the location of the target object comprises:

obtaining height change optimized values of M continuous historical time periods, performing linear processing on the M height change optimized values and the height change value of the current time period, and determining the height change optimized value of the target object in the current time period, wherein M is a positive integer;

determining a detection gradient corresponding to the target object according to the height change optimization value and the driving distance data;

and determining whether the target object is positioned on an elevated road or not according to the detection gradient and the road gradient information of the position of the target object.

4. The method of claim 3, wherein the linearly processing the M altitude change optimized values and the altitude change values to determine the altitude change optimized value of the target object for the corresponding time period comprises:

and solving the height change optimization values of the M historical time periods and the average value of the height change values as the height change optimization values of the target object in the corresponding time periods.

5. The method of claim 3, wherein the determining whether the target object is on an elevated road based on the detected grade and road grade information for the location of the target object comprises:

determining whether the detected gradient and the road gradient information are similar;

and if the similarity exists, determining that the target object is positioned on the elevated road.

6. The method of claim 5, further comprising:

and determining the driving state of the target object on the elevated road according to the height change direction indicated by the height change value, wherein the driving state comprises driving upwards on the elevated road or driving downwards on the elevated road.

7. The method according to any one of claims 1-6, wherein acquiring elevation difference data for the target object acquired at the first frequency comprises:

receiving and storing elevation difference data acquired according to a first frequency;

determining whether the stored elevation difference data satisfies a ratio of the first frequency and the second frequency;

and if the ratio is met, processing the acquired elevation difference data according to the second frequency to obtain an action of the second frequency corresponding to the height change value in the time period.

8. The method according to any one of claims 1-6, wherein the method further comprises:

and acquiring road gradient information of the road where the target object is located from preset map road network data based on the positioning position of the target object.

9. An electronic device, comprising: the system comprises a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface are communicated with each other through the communication bus;

the memory is used for storing at least one executable instruction, and the executable instruction causes the processor to execute the operation corresponding to the positioning method according to any one of claims 1-8.

10. A computer storage medium, on which a computer program is stored which, when being executed by a processor, carries out the positioning method according to any one of claims 1-8.

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