CN108693548A - A kind of navigation methods and systems based on scene objects identification - Google Patents
A kind of navigation methods and systems based on scene objects identification Download PDFInfo
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- CN108693548A CN108693548A CN201810480999.2A CN201810480999A CN108693548A CN 108693548 A CN108693548 A CN 108693548A CN 201810480999 A CN201810480999 A CN 201810480999A CN 108693548 A CN108693548 A CN 108693548A
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- 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
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
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Abstract
An embodiment of the present invention provides a kind of navigation methods and systems based on scene objects identification, including:At least one scene objects are identified from the scene image of user present position;From the location information for obtaining each scene objects at least one scene objects in presetting database;According to the location information of each scene objects at least one scene objects, the location information of the user is obtained.The location information of user is obtained by identifying the location information of all scene objects in the scene image of user present position, realize the positioning of user, it solves the problems, such as in Satellite Navigation Technique can not to position when GPS signal is lost or GPS signal is weak well or Wrong localization, further improves the precision of navigation.
Description
Technical field
The present embodiments relate to field of navigation technology, more particularly, to a kind of navigation based on scene objects identification
Method and system.
Background technology
The universal of airmanship greatly facilitates people's lives and trip, and current airmanship is to be based on defending mostly
Star location technology, such as GPS (Global Positioning System, global positioning system) is by 21 operational satellites and 3
Backup satellite forms.
But many without the weak place of GPS signal or GPS signal, user location or user position can not be often determined
Determining mistake is set, can not navigate for the application scenarios of the needs such as walking high-precision navigation, cause great inconvenience.
Invention content
An embodiment of the present invention provides it is a kind of overcoming the above problem or solve the above problems at least partly based on field
The navigation methods and systems of scape target identification.
On the one hand an embodiment of the present invention provides a kind of air navigation aids based on scene objects identification, including:
At least one scene objects are identified from the scene image of user present position;
From the location information for obtaining each scene objects at least one scene objects in presetting database;
According to the location information of each scene objects at least one scene objects, the position letter of the user is obtained
Breath.
Further, described before at least one scene objects being identified in the scene image from user present position
Method further includes:
Obtain the scene image that user is shot in present position by mobile terminal.
Further, after the location information for obtaining the user, the method further includes:
It is the user using preset path navigation algorithm combination Satellite Navigation Technique according to the location information of the user
Plan guidance path.
Further, the scene objects include one or more in building, guideboard, landmark and doorplate.
Further, the presetting database is stored with the position of all scene objects obtained by satellite positioning tech
Information list, wherein each scene objects are corresponded with its location information;Correspondingly,
It is described from the location information for obtaining each scene objects at least one scene objects in presetting database, specifically
Including:
The corresponding position letter of each scene objects at least one scene objects is searched in the location information list
Breath.
Further, the location information according to each scene objects at least one scene objects, described in acquisition
The location information of user, specifically includes:
According to the location information of each scene objects at least one scene objects, the user present position is obtained
The location information of scene image;
Using the location information of the scene image of the user present position as the location information of the user.
Further, the location information according to each scene objects at least one scene objects, described in acquisition
The location information of the scene image of user present position, specifically includes:
When the scene objects of acquisition are one, using the location information of the scene objects as the user present position
Scene image location information;When the scene objects of acquisition are two scene objects, by described two scene objects lines
Point midway as the user present position scene image location information;When the scene objects obtained include extremely
When few three scene objects, by least three scene objects successively line, and the centre bit for the polygon that line is obtained
Set the location information of the scene image as the user present position.
On the other hand an embodiment of the present invention provides a kind of navigation system based on scene objects identification, including:
Scene objects acquisition module, for identifying at least one scene mesh from the scene image of user present position
Mark;
Scene objects position information acquisition module, for from being obtained in presetting database at least one scene objects
The location information of each scene objects;
Customer position information acquisition module, for being believed according to the position of each scene objects at least one scene objects
Breath, obtains the location information of the user.
An embodiment of the present invention provides a kind of navigation equipments based on scene objects identification for the third aspect, including:
At least one processor, at least one processor, communication interface and bus;Wherein,
The processor, memory, communication interface complete mutual communication by the bus;
The communication interface is for the information transmission between the test equipment and the communication equipment of display device;
The memory is stored with the program instruction that can be executed by the processor, and the processor calls described program to refer to
Order is able to carry out the above method.
An embodiment of the present invention provides a kind of non-transient computer readable storage medium, the non-transient calculating for fourth aspect
Machine readable storage medium storing program for executing stores computer instruction, and the computer instruction makes the computer execute the above method.
A kind of navigation methods and systems based on scene objects identification provided in an embodiment of the present invention, by residing for user
The location information of all scene objects is identified in the scene image of position to obtain the location information of user, realizes user's
Positioning, solves that in Satellite Navigation Technique GPS signal is lost or when GPS signal is weak can not position or Wrong localization well
Problem further improves the precision of navigation.
Description of the drawings
Fig. 1 is a kind of flow chart of air navigation aid based on scene objects identification provided in an embodiment of the present invention;
Fig. 2 is a kind of structure diagram of navigation system based on scene objects identification provided in an embodiment of the present invention;
Fig. 3 is a kind of structural schematic diagram of navigation equipment based on scene objects identification provided in an embodiment of the present invention.
Specific implementation mode
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical solution in the embodiment of the present invention is explicitly described, it is clear that described embodiment is the present invention
A part of the embodiment, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not having
The every other embodiment obtained under the premise of creative work is made, shall fall within the protection scope of the present invention.
Fig. 1 is a kind of flow chart of air navigation aid based on scene objects identification provided in an embodiment of the present invention, such as Fig. 1 institutes
Show, the method includes:
S1 identifies at least one scene objects from the scene image of user present position;
S2, from the location information for obtaining each scene objects at least one scene objects in presetting database;
S3 obtains the position of the user according to the location information of each scene objects at least one scene objects
Information.
In step sl, scene objects are specific in scene and unique labeled objects, as building, landmark,
The location information of guideboard and doorplate etc., these scene objects is generally to determine and known, and the location informations of scene objects can be with
In the preset database as presupposed information storage, it is taken when there is demand.
When user is by existing airmanship, when navigating such as Satellite Navigation Technique, since GPS signal is lost or GPS signal
Weak to lead to not position, the scene image for being presently in scene of acquisition is sent to backstage by user, from the background to using at image
Adjustment method handles scene image, obtains the scene objects in the scene, and the quantity of the scene objects got is at least
One, it is to be understood that scene objects quantity is more, and the location information of the user subsequently obtained is more accurate.
In step s 2, by searching in the preset database, all scene objects for being identified in obtaining step S1
Location information.It is understood that the location information includes all information needed for the existing airmanship such as satellite navigation.
In step s3, in obtaining scene residing for user after the location information of all scene objects, by user institute
Distance of the scene graph away from user present position that can be obtained is generally all relatively close, then can pass through the location information of scene objects
The location information of user is extrapolated, and then realizes the positioning to user.
A kind of air navigation aid based on scene objects identification provided in an embodiment of the present invention, by user present position
The location information of all scene objects is identified in scene image to obtain the location information of user, realizes the positioning of user,
It solves the problems, such as in Satellite Navigation Technique can not to position when GPS signal is lost or GPS signal is weak well or Wrong localization,
Further improve the precision of navigation.
On the basis of the above embodiments, at least one scene mesh is identified in the scene image from user present position
Before mark, the method further includes:
Obtain the scene image that user is shot in present position by mobile terminal.
Specifically, the mobile terminal that the scene image of user present position can be carried by user is shot, then by user
It is uploaded to backstage.Preferably, the application program for executing this method is installed, when GPS signal is unavailable or GPS on the mobile phone of user
When signal is weak, which sends out prompt message, and user, then will be on scene image by the application program by mobile phone photograph
Reach backstage.It is convenient and efficient by acquisition for mobile terminal and upload scene image.
On the basis of the above embodiments, after the location information for obtaining the user, the method further includes:
It is the user using preset path navigation algorithm combination Satellite Navigation Technique according to the location information of the user
Plan guidance path.
Specifically, it after getting the location information of user, is led in conjunction with path navigation algorithm in the prior art and satellite
Boat technology is that user plans guidance path, it is possible to understand that ground, it is existing to here preset at path navigation algorithm and Satellite Navigation Technique
Technology, details are not described herein.
On the basis of the above embodiments, the scene objects include one kind in building, guideboard, landmark and doorplate
Or it is a variety of.
Specifically, building, guideboard, earth's surface building and doorplate etc. are all specific and unique labeled objects, and its position
Information also determines and it is known that in the scene mark in identifying scene image, needs all to identify all types of scene objects
Out, the accuracy of the location information for improving user.
On the basis of the above embodiments, the presetting database is stored with all fields obtained by satellite positioning tech
The location information list of scape target, wherein each scene objects are corresponded with its location information;Correspondingly,
It is described from the location information for obtaining each scene objects at least one scene objects in presetting database, specifically
Including:
The corresponding position letter of each scene objects at least one scene objects is searched in the location information list
Breath.
On the basis of the above embodiments, the position according to each scene objects at least one scene objects is believed
Breath, obtains the location information of the user, specifically includes:
According to the location information of each scene objects at least one scene objects, the user present position is obtained
The location information of scene image;
Using the location information of the scene image of the user present position as the location information of the user.
Specifically, by scene objects it is confirmed that the location information of the scene image of user present position, but due to
The scene image that user is shot by mobile terminal at a distance from user within limits, although therefore being obtained by scene objects
What is taken is the location information of scene image, but can be using the location information of scene image as the location information of user.
On the basis of the above embodiments, the position according to each scene objects at least one scene objects is believed
Breath, obtains the location information of the scene image of the user present position, specifically includes:
When the scene objects of acquisition are one, using the location information of the scene objects as the user present position
Scene image location information;When the scene objects of acquisition are two scene objects, by described two scene objects lines
Point midway as the user present position scene image location information;When the scene objects obtained include extremely
When few three scene objects, by least three scene objects successively line, and the centre bit for the polygon that line is obtained
Set the location information of the scene image as the user present position.
Specifically, when the quantity difference of the scene objects got, in order to enable the location information of scene image is more
Accurately, the location information for taking different modes to obtain scene image is needed.When the scene objects of acquisition are two scene objects
When, the location information at the midpoint of two scene objects is obtained, when the scene objects obtained when acquisition include at least three scene mesh
When mark, acquisition be the polygon obtained by all scene objects successively line center location information.
Fig. 2 is a kind of structure diagram of navigation system based on scene objects identification provided in an embodiment of the present invention, such as Fig. 2
Shown, the system comprises scene objects acquisition module 201, scene objects position information acquisition module 202 and user location letters
Cease acquisition module 203.Wherein:
Scene objects acquisition module 201 from the scene image of user present position for identifying at least one scene mesh
Mark.Scene objects position information acquisition module 202 is used for each at least one scene objects from being obtained in presetting database
The location information of scene objects.Customer position information acquisition module 203 is used for according to each field at least one scene objects
The location information of scape target obtains the location information of the user.
Specifically, in the embodiment of the present invention based on scene objects identification navigation system in each module effect and operation
Flow is one-to-one with above method class embodiment, and details are not described herein.
A kind of navigation system based on scene objects identification provided in an embodiment of the present invention, by user present position
The location information of all scene objects is identified in scene image to obtain the location information of user, realizes the positioning of user,
It solves the problems, such as in Satellite Navigation Technique can not to position when GPS signal is lost or GPS signal is weak well or Wrong localization,
Further improve the precision of navigation.
As shown in figure 3, on the basis of the above embodiments, the embodiment of the present invention additionally provides a kind of based on scene objects knowledge
Other navigation equipment, including:At least one processor 301, at least one processor 302, communication interface 303 and bus 304;Its
In, the processor 301, memory 302, communication interface 303 complete mutual communication by the bus 304;It is described logical
Believe interface 303 for the information transmission between the modelling apparatus and the communication equipment of display device;The memory 302 is stored with
The program instruction that can be executed by the processor 301, the processor 301 call described program instruction to be able to carry out such as Fig. 1 institutes
The method stated.
Logical order in above-mentioned memory 302 can be realized by the form of SFU software functional unit and is used as independent
Product is sold or in use, can be stored in a computer read/write memory medium.Based on this understanding, of the invention
Substantially the part of the part that contributes to existing technology or the technical solution can be produced technical solution with software in other words
The form of product embodies, which is stored in a storage medium, including some instructions are used so that one
Platform computer equipment (can be personal computer, server or the network equipment etc.) executes described in each embodiment of the present invention
The all or part of step of method.And storage medium above-mentioned includes:USB flash disk, mobile hard disk, read-only memory (ROM, Read-
Only Memory), random access memory (RAM, Random Access Memory), magnetic disc or CD etc. are various can be with
Store the medium of program code.
The embodiment of the present invention provides a kind of non-transient computer readable storage medium, the non-transient computer readable storage
Medium storing computer instructs, and the computer instruction makes the computer execute the side that above-mentioned each method embodiment is provided
Method, such as including:At least one scene objects are identified from the scene image of user present position;It is obtained from presetting database
Take the location information of each scene objects at least one scene objects;According to each scene at least one scene objects
The location information of target obtains the location information of the user.
One of ordinary skill in the art will appreciate that:Realize that all or part of step of above method embodiment can pass through
The relevant hardware of program instruction is completed, and program above-mentioned can be stored in a computer read/write memory medium, the program
When being executed, step including the steps of the foregoing method embodiments is executed;And storage medium above-mentioned includes:ROM, RAM, magnetic disc or light
The various media that can store program code such as disk.
Through the above description of the embodiments, those skilled in the art can be understood that each embodiment can
It is realized by the mode of software plus required general hardware platform, naturally it is also possible to pass through hardware.Based on this understanding, on
Stating technical solution, substantially the part that contributes to existing technology can be expressed in the form of software products in other words, should
Computer software product can store in a computer-readable storage medium, such as ROM/RAM, magnetic disc, CD, including several fingers
It enables and using so that a computer equipment (can be personal computer, server or the network equipment etc.) executes each implementation
Method described in certain parts of example or embodiment.
Finally it should be noted that:The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations;Although
Present invention has been described in detail with reference to the aforementioned embodiments, it will be understood by those of ordinary skill in the art that:It still may be used
With technical scheme described in the above embodiments is modified or equivalent replacement of some of the technical features;
And these modifications or replacements, various embodiments of the present invention technical solution that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (10)
1. a kind of air navigation aid based on scene objects identification, which is characterized in that including:
At least one scene objects are identified from the scene image of user present position;
From the location information for obtaining each scene objects at least one scene objects in presetting database;
According to the location information of each scene objects at least one scene objects, the location information of the user is obtained.
2. method according to claim 1, which is characterized in that identified at least in the scene image from user present position
Before one scene objects, the method further includes:
Obtain the scene image that user is shot in present position by mobile terminal.
3. method according to claim 1, which is characterized in that after the location information for obtaining the user, the method
Further include:
According to the location information of the user, planned for the user using preset path navigation algorithm combination Satellite Navigation Technique
Guidance path.
4. method according to claim 1, which is characterized in that the scene objects include building, guideboard, landmark and door
It is one or more in board.
5. method according to claim 1, which is characterized in that the presetting database is stored with to be obtained by satellite positioning tech
The location information list of all scene objects taken, wherein each scene objects are corresponded with its location information;Correspondingly,
It is described from the location information for obtaining each scene objects at least one scene objects in presetting database, it is specific to wrap
It includes:
The corresponding location information of each scene objects at least one scene objects is searched in the location information list.
6. method according to claim 1, which is characterized in that described according to each scene mesh at least one scene objects
Target location information obtains the location information of the user, specifically includes:
According to the location information of each scene objects at least one scene objects, the scene of the user present position is obtained
The location information of image;
Using the location information of the scene image of the user present position as the location information of the user.
7. method according to claim 6, which is characterized in that described according to each scene mesh at least one scene objects
Target location information obtains the location information of the scene image of the user present position, specifically includes:
When the scene objects of acquisition are one, using the location information of the scene objects as the field of the user present position
The location information of scape image;It, will be in described two scene objects lines when the scene objects of acquisition are two scene objects
Location information of the point position as the scene image of the user present position;When the scene objects obtained include at least three
When a scene objects, by least three scene objects successively line, and the center for the polygon that line is obtained is made
For the location information of the scene image of the user present position.
8. a kind of navigation system based on scene objects identification, which is characterized in that including:
Scene objects acquisition module, for identifying at least one scene objects from the scene image of user present position;
Scene objects position information acquisition module, for from obtaining each field at least one scene objects in presetting database
The location information of scape target;
Customer position information acquisition module is used for the location information according to each scene objects at least one scene objects,
Obtain the location information of the user.
9. a kind of navigation equipment based on scene objects identification, which is characterized in that including:
At least one processor, at least one processor, communication interface and bus;Wherein,
The processor, memory, communication interface complete mutual communication by the bus;
The communication interface is for the information transmission between the test equipment and the communication equipment of display device;
The memory is stored with the program instruction that can be executed by the processor, and the processor calls described program to instruct energy
Enough methods executed as described in any one of claim 1 to 7.
10. a kind of non-transient computer readable storage medium, which is characterized in that the non-transient computer readable storage medium is deposited
Computer instruction is stored up, the computer instruction makes the computer execute the method as described in any one of claim 1 to 7.
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| CN111811533A (en) * | 2020-07-06 | 2020-10-23 | 腾讯科技（深圳）有限公司 | Yaw determination method and device and electronic equipment |
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| CN114485617A (en) * | 2022-01-14 | 2022-05-13 | 京东方科技集团股份有限公司 | Navigation route generation method and device, storage medium and electronic equipment |
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