CN109932741A - Localization method, positioning system, calculates equipment and storage medium at positioning device - Google Patents

Abstract

Present disclose provides a kind of localization method, positioning device, positioning system, calculate equipment and storage medium.On the one hand, can the first satellite positioning information and the second object based on the first object the second satellite positioning information, determine relative positional relationship of first object relative to the second object；Then, it is based on second location information and relative positional relationship, determines the first location information of the first object.On the other hand, the relative positional relationship of the two can also be determined by photogrammetric survey method.In addition, its change in location information can be tracked after the position for sometime determining the first object, and accordingly its location information of real-time update.Thus, it is possible to realize high-precision positioning.Further, in such as automobile navigation or automatic Pilot application field, the lane where vehicle can be accurately determined, so as to help to realize automobile navigation or automatic Pilot by the variation real-time update lane information of tracking vehicle lane.

Description

Localization method, positioning system, calculates equipment and storage medium at positioning device

Technical field

The present invention relates to positioning system and localization methods.

Background technique

Automatic Pilot undoubtedly has become one of most noticeable hot issue instantly.Either traditional vehicle is looked forward to, mutually Network enterprise, artificial intelligence relevant enterprise, all slavers in the huge market of this block.Automatic Pilot has been related to a large amount of sensor Fusion, has used a large amount of intelligent algorithm, has been the high engineering of a complexity, and since vehicle is tight with personal safety Close to be connected, the requirement to technology is also more stringent.

Automatic Pilot relates to multinomial technological difficulties, wherein a most important base support technology is exactly to position, camera shooting First-class sensor can only perceive the relativeness between vehicle and ambient enviroment, and to realize automatic Pilot, vehicle must Need there are accurate absolute fix ability, and combined high precision map, just be able to achieve from one place to another oneself It is dynamic to drive.

In some other field, such as navigation etc., also need the stationkeeping ability of higher precision.

Existing positioning method can substantially be divided into two major classes.

One kind is positioned by the positioning device that positioning object is owned or carries, such as mobile satellite location equipment And/or inertial navigation set.For example, the precise positioning ability of some research approaches is often by high-precision satellite at this stage Location receiver increases accuracy inertial navigation equipment and is equipped with the receiving antenna of high quality to provide, this kind of equipment price ten It is point high, it mostly shows and uses, it is difficult to realize volume production.

Another kind of is by the mark (such as pattern identification or RF tag etc.) near identification positioning object, to identify Position of the position of instruction as positioning object.Such as such locating scheme is just used in some indoor positioning schemes.However, This locating scheme is the position that the position of mark is roughly considered as to positioning object, is not accounted for only opposite between the two It is close and not in same position.Therefore, such locating scheme, which can not provide, meets the high-precision fixed of higher standard requirement Position.

Therefore, there is still a need for a kind of high accuracy positioning scheme.

Summary of the invention

Disclosure technical problems to be solved are to provide a kind of high-precision locating scheme.

According to the first aspect of the disclosure, a kind of localization method is provided, comprising: obtain the first satellite of the first object Location information；Obtain the second satellite positioning information of the second object；Believed based on the first satellite positioning information and the second satellite positioning Breath, determines relative positional relationship of first object relative to the second object；And the second location information based on the second object and Relative positional relationship determines the first location information of the first object.

Preferably, the first object is mobile object, and the second object is fixed object or the movement with own location information Object.

Preferably, the mode by wireless communication of one in the first object and the second object obtains from another and determines phase To information needed for positional relationship and/or first location information.

Preferably, the first object is the first vehicle, and first location information is the first vehicle the first vehicle locating on road Road information.

Preferably, second location information is the second absolute location information of the second object, determines the step of first location information It suddenly include: that the first absolute location information of the first vehicle is determined based on second location information and relative positional relationship；And it is based on First absolute location information determines the first vehicle first lane information locating on road.

Preferably, the second object is the second vehicle, and second location information is the second vehicle the second vehicle locating on road Road information.

Preferably, further includes: by means of camera entrained by camera entrained by the second vehicle and/or the first vehicle To determine the second vehicle second lane information locating on road.

Preferably, the second object is the second vehicle on the two sides lane of road.

Preferably, further includes: the first object searches existing second object around it；Or second object search around it Existing first object.

According to the second aspect of the disclosure, a kind of localization method is provided, comprising: the first object searches the second object, Wherein the first object can know the second location information of the second object from the second object；By means of being taken the photograph entrained by the first object As head, relative positional relationship of first object relative to the second object is determined by photogrammetric survey method；And it is based on second Confidence breath and relative positional relationship, determine the first location information of the first object.

Preferably, the pictorial symbolization for indicating second location information is provided on the second object, the first object is taken the photograph by means of it As head search pictorial symbolization, and pictorial symbolization is identified, to obtain second location information；Or second be provided with encoded light on object Signal projector, for emitting the coded light signal encoded based on second location information, the first object is by means of its camera shooting Head receives coded light signal, and is decoded to coded light signal, to obtain second location information；Or second be arranged on object There is wireless signal transmitter, for emitting the radio signal for carrying second location information, the first object is wirelessly communicated by it Equipment receives radio signal, and obtains second location information from radio signal.

Preferably, the first object is the first vehicle, and the second object is one or more of road sign, direction board, red street lamp.

According in terms of the third of the disclosure, a kind of localization method is provided, comprising: determine the using the first localization method The first location information of an object；The change in location information of the first object is tracked, to carry out real-time update first right will pass through reckoning The first location information of elephant；Determine the confidence level of current first location information；And it is with a low credibility in predetermined threshold the case where Under, reuse the first location information that the first localization method determines the first object.

Preferably, the first localization method is according to claim 1 any one of -12 localization method.

Preferably the first object is the first vehicle, and first location information is the first vehicle first lane locating on road Information.

Preferably, the change in location information of the first object is the lane changing information of the first vehicle.

Preferably, by means of camera entrained by the first object and/or sensor, and/or the first object is referred to The motion information of itself, to track the change in location information of the first object.

Preferably, sensor includes motion sensor and/or inertial navigation sensor.

According to the 4th of the disclosure the aspect, a kind of positioning system, including the first object and the second object are provided, is passed through The localization method of above-mentioned the first to three aspect determines the first location information of the first object.

According to the 5th of the disclosure the aspect, a kind of positioning device is provided, which includes positioning satellite signal Receiver, wireless communication module and control module, the positioning device is by the localization method of above-mentioned the first to three aspect, as the An object or the second object, to determine the first location information of the first object.

According to the 6th of the disclosure the aspect, a kind of calculating equipment is provided, it is preferable that include: processor；And storage Device is stored thereon with executable code, when executable code is executed by processor, processor is made to execute above-mentioned first to tripartite The localization method in face.

According to the 7th of the disclosure the aspect, a kind of non-transitory machinable medium is provided, is stored thereon with Executable code makes processor execute above-mentioned the first to three aspect when executable code is executed by the processor of electronic equipment Localization method.

According to the 8th of the disclosure the aspect, a kind of positioning device is provided, comprising: the first acquisition device, for obtaining First satellite positioning information of the first object；Second acquisition device, for obtaining the second satellite positioning information of the second object；The One determining device determines the first object relative to second for being based on the first satellite positioning information and the second satellite positioning information The relative positional relationship of object；And second determining device, for based on the second object second location information and relative position Relationship determines the first location information of the first object.

According to the 9th of the disclosure the aspect, a kind of positioning device is additionally provided, comprising: the first positioning device, for true The first location information of fixed first object；Position tracking device, for tracking the change in location information of the first object, will pass through Calculate the first location information for carrying out the first object of real-time update；Confidence level determining device, for determining current first location information Confidence level, wherein with a low credibility in the case where predetermined threshold, the first positioning device redefines the first of the first object Location information.

As a result, by using the locating scheme according to the disclosure, high-precision positioning may be implemented.

Further, in such as automobile navigation or automatic Pilot application field, the vehicle where vehicle can be accurately determined Road, so as to help to realize automobile navigation or drive automatically by the variation real-time update lane information of tracking vehicle lane It sails.

Detailed description of the invention

Disclosure illustrative embodiments are described in more detail in conjunction with the accompanying drawings, the disclosure above-mentioned and its Its purpose, feature and advantage will be apparent, wherein in disclosure illustrative embodiments, identical reference label Typically represent same parts.

Fig. 1 is the Terminal Position Location System for being illustrated a kind of locating scheme that can be used for the disclosure with vehicle positioning system.

Fig. 2 shows the brief schematic flow charts of one embodiment of the localization method of the disclosure.

Fig. 3 shows the schematic flow chart of the summary thinking according to the localization method of an embodiment of the present disclosure.

Fig. 4 shows the schematic flow chart of the localization method according to an embodiment of the present disclosure.

Fig. 5 shows the scene using base station as references object.

Fig. 6 is shown using the other vehicles for having determined that self-position as the scene of references object.

Fig. 7 shows the scene that other vehicles positioned at two sides lane are references object.

Fig. 8 determines the scene of relative positional relationship using direction board by photogrammetric survey method.

Fig. 9 is the continuous positioning method being illustrated according to an embodiment of the present disclosure with vehicle location.

Figure 10 shows the schematic block diagram of the calculating equipment according to an embodiment of the present disclosure.

Figure 11 shows the schematic block diagram of the positioning device according to an embodiment of the present disclosure.

Figure 12 shows the schematic block diagram of the positioning device according to the disclosure another embodiment.

Specific embodiment

The preferred embodiment of the disclosure is more fully described below with reference to accompanying drawings.Although showing the disclosure in attached drawing Preferred embodiment, however, it is to be appreciated that may be realized in various forms the disclosure without the embodiment party that should be illustrated here Formula is limited.On the contrary, these embodiments are provided so that this disclosure will be more thorough and complete, and can be by the disclosure Range is completely communicated to those skilled in the art.

Present disclose provides a kind of locating schemes, wherein by means of the received satellite positioning signal of object to be positioned and Know the received satellite positioning signal of the references object of its exact position, determines opposite position of the object to be positioned relative to references object Relationship is set, so that it is determined that the accurate absolute position of object to be positioned.

It is more that satellite positioning signal will receive atmosphere delay, satellite orbital error, clocking error etc. during transmission The influence of aspect factor causes position error to reach several meters even tens meters.

Such error is for some application scenarios for requiring higher precision, such as navigation, automatic Pilot etc., often not It is receptible.In navigation application scene, when there is adjoining two road, it is possible to another road in side can be navigated to On, thus to the navigation directions to make mistake.And in automatic Pilot application scenarios, it has been suggested that the positioning accuracy of lane grade needs It asks, i.e., it needs to be determined that vehicle travels on which lane on multiple-lane road.Obviously, GNSS satellite navigation system is relied on merely It is the positioning accuracy demand not being able to satisfy in these application scenarios that the satellite positioning signal of system, which carries out positioning,.

And above-mentioned such error is believed for being spaced closely together two satellite positionings of (such as several meters, more than ten meters or tens meters) For number receiver, strong correlation is shown, i.e. the direction of position error and size is comparable.It therefore, can be by two The observed quantity of a satellite positioning signal receiver is subtracted each other to eliminate position error.

Hereinafter, it is described by taking the vehicle location as the automatic Pilot field of current hotspot as an example.It should be understood that pair In other application field and positioning object, technical solution disclosed herein is also that can equally be applicable in.

The embodiment is proposed a kind of vehicle positioning system, can be realized lane based on the existing device on current vehicle Grade positioning.In a still further embodiment, satellite positioning, inertial navigation positioning and camera auxiliary can be merged, and is introduced Vehicle is continued accurately to navigate in real time in the correct lane line of high-precision map by relative positioning technology and photogrammetric technology.

[term explanation]

GNSS:Global Navigation Satellite System, Global Satellite Navigation System have the U.S. at present GPS, the GLONASS of Russia, the Beidou of China, Europe the systems such as Galileo.It is easy for description, hereinafter with GPS system It is described for system.It should be understood that above-mentioned any one satellite navigation system may be suitable for the technical solution of the disclosure.

Inertial navigation: inertial navigation, a kind of form of dead reckoning, the movement velocity of the object measured according to inertial sensor and Run duration passes through the method for the position at the dead reckoning current time of last moment.

Photogrammetric positioning: the photo obtained using Optical cameras or digital camera, by processing to obtain object The position of body.

Relative positioning: now there are two points, it is known that the position of a point, the position for needing that another is asked to put, it is only necessary to acquire Relative positional relationship between two points can calculate the position of another point.

V2V:Vehicle-to-vehicle, a kind of communication technology between vehicle and vehicle are that one kind is not only restricted to fix The communication technology of formula base station, for vehicle on the move provide direct one end to the other end wireless communication.Communicated by V2V Technology, vehicle termination exchange wireless messages directly with one another, without being forwarded by base station.Generally, any type can be extended to Positioning object between communication.

V2I:Vehicle-to-infrastructure, a kind of communication technology between vehicle and infrastructure.Generally Ground can promote the communication between any kind of positioning object in position and infrastructure.

CAN bus: Controller Area Network BUS technology, this bussing technique on automobile are used for various biographies on monitoring car The data of sensor, and will be in these data real-time transmissions to control unit.

[Terminal Position Location System]

Fig. 1 is the Terminal Position Location System for being illustrated a kind of locating scheme that can be used for the disclosure with vehicle positioning system.

The vehicle positioning system can realize lane in conjunction with the technologies such as relative positioning, photogrammetric, inertial navigation, computer vision Grade positioning system scheme.

Fig. 1 shows the multiple modules that may relate in some embodiments.It should be appreciated that not all these modules are all It is necessary to realizing the technical solution of the disclosure.For example, by read the following examples specific descriptions it will be appreciated that The participation that all these modules are not needed when positioning operation is carried out under some scenes.

The information collection of positioning control module 100 and vehicle loading obtains equipment (such as various kinds of sensors) and carries out data friendship Mutually, pass through acquired position, posture, the movement of data estimation user etc..In addition, also support vehicle and vehicle (V2V, Vehicle-To-Vehicle the communication between), in the positioning system, this communication is built for relative positioning between vehicle Vertical.Equally, vehicle can also be counted with the communication base station (V2I, Vehicle-To-Infrastructure) of near roads According to interaction, for the positioning system, this communication process is also for the relative positioning between vehicle and base station.

As shown in Figure 1, multiple information collections obtain equipment, such as GPS receiver 182, inertial navigation equipment 184, camera 186, CAN 188 etc. is connected respectively to the main control module 150 of positioning control module 100 by data-interface 170.

Positioning control module 100 obtains GPS data (such as GPS observed quantity, similarly hereinafter) from GPS receiver 182, sets from inertial navigation Standby 184 receive inertial navigation sensing data, obtain camera data from camera 186, obtain relevant vehicle movement from CAN 188 Information.

Main control module 150 respectively with integrated navigation module 110, relative positioning module 120, photogrammetric module 130, become Road detection module 140 and communication module 160 connect, will (such as each information collection obtains what equipment obtained from various data Data and data from communication equipment 160) it is distributed to corresponding module, and can control the operation of these modules.Here Data may include vehicle self-sensor device sensing data, also may include received from logical by communication equipment 160 Believe the data of base station and the data from other vehicles.

Integrated navigation module 110 receives inertial navigation sensing data, GPS data, from the vehicle of CAN from main control module 150 Motion information etc., calculates the states such as position, speed, the posture of vehicle itself, to realize positioning, and can will resolve As a result it is sent to main control module 150, using the input data as other modules.These states that will can also directly calculate Information is sent to other modules such as photogrammetric module 130.

Relative positioning module 120 receives the GPS data of vehicle itself, the GPS number of other vehicles from main control module 150 According to the GPS data of, base station, is resolved by the relative positioning of V2V or V2I, determine the opposite position of vehicle and other vehicles or base station Relationship is set, and relative positional relationship information can be sent to main control module 150.The relative positional relationship information can also be made For the input of other modules.

Relative positioning module 120 is other than needing from the GPS data of vehicle, it is also necessary to other vehicles or base station real-time transmission mistake The GPS data and other vehicles or the accurate coordinate of base station come.Come from vehicle and other vehicles or base by relative positioning resolving The alternate position spike stood can calculate the accurate coordinate for coming from vehicle, and return to control module.The result can also be used as other modules Input data.

In addition, working as in situation known to the accurate coordinate from vehicle, the alternate position spike for coming from vehicle Yu other vehicles can also be resolved, Other vehicles are sent to, so that other vehicles extrapolate the accurate coordinate of its own.It is this relatively fixed to be described in more detail below Position scheme.

Photogrammetric module 130 receives camera data from main control module 150.The image according to captured by camera, It can also be used as and join with the status information (such as posture information) from integrated navigation module 110 with reference to inertial navigation sensing data It examines, carries out absolute position resolving, obtain more accurate location information and posture information, and can be (i.e. fixed by calculation result Position information) it is sent to main control module 150.These data also can be by the input data as other modules.

Lane change checks that module 140 receives camera data, inertial navigation sensing data, from CAN's from main control module 150 Vehicle movement information etc., by merging these information, whether detection vehicle occurs changing Lane operation, and determines what occurs for vehicle Kind changing Lane operation, including situations such as the switching of conventional lane, lane merging, lane separation.

Communication module 160 communicates for realizing V2V, V2I relevant to positioning, under the control of main control module 150, with Other vehicles or base station are communicated, and location related information is sent and/or receive, so as to by the information of other vehicles or base station To carry out auxiliary positioning, or the other vehicles progress auxiliary positionings of help.

[initial alignment method]

Localization method according to the disclosure is described below in detail.The localization method of this part description can be for positioning pair Carry out initial alignment when the current location absolute ignorance of elephant, or can the location information that schemes determine such as calculate by inertial navigation The initial alignment that reliability re-initiates when reducing.

In order to realize automatic Pilot (or navigation of high quality), need to be got locating for vehicle continuously and in real-time Lane information.And one of them more important problem is how quick and precisely to obtain the original lane information of vehicle, and How the lane changing information of vehicle is accurately detected.

The problem of current vehicle satellite positioning also often faces positioning drift, precision is unable to reach determining for lane rank Position.Accomplish lane grade positioning, positioning accuracy generally requires to reach sub-meter grade or even decimeter grade.This is existing vehicle location skill It is unable to reach in art.

As described above, in the research of current automatic Pilot technology, location technology is all often by high precision apparatus Come what is realized.High cost will certainly become the principal element for hindering high precision apparatus volume production on automatic driving vehicle.

The technical solution of embodiment of the disclosure is then based on the existing equipment of vehicle and framework, is improved by software algorithm Precision and reliability reach the lane changing situation being recognized accurately in lane locating for vehicle and traveling process, realize vehicle The positioning accuracy of road grade.

Further in fact, the disclosure proposes to be located near positioning object (hereinafter referred to " the first object ") by one And the references object (hereinafter referred to " the second object ") of known accurate absolute position is positioned.References object can be solid Fixed, therefore its accurate absolute position also has determined that.The accurate of references object has been determined otherwise alternatively, can be Absolute position.References object (such as wireless communication or pattern identification) can be supplied to positioning object or be used for by various modes The third party device (such as server) of positioning is to be used for positions calculations.Then, it is determined that positioning object is relative to references object Relative positional relationship, in conjunction with the known accurate absolute position of references object, the absolute position of available positioning object.

Fig. 2 shows the brief schematic flow charts of one embodiment of the localization method of the disclosure.

As shown in Fig. 2, the first object searches available second object nearby or the second object searches position in step S10 In the first neighbouring object.

In the case where searching, in step S20, the first object and the second object are communicated with each other, or be used for The third party device of location Calculation is communicated, and the side for allowing to carry out location Calculation (can be the first object, can be second Object is also possible to third party device, is hereinafter properly termed as " location computing device ") obtain the known accurate exhausted of the second object To position.It should be understood that not needing to carry out this communication to send it certainly in the case where carrying out location Calculation by the second object The known accurate absolute position of body.

On the other hand, in step S30, relative positional relationship of first object relative to the second object is determined.Step S30 It can be performed by any one in the first object, the second object, third party device.If execute step S30 equipment with The location computing device for executing following step S40 is different, identified relative positional relationship can be sent to location Calculation Equipment.It should be appreciated that the sequence of step S20 and step S30 can be arbitrary, it is also possible to parallel.

As a result, in step S40, accurate absolute position and above-mentioned relative position of the location computing device based on the second object are closed It is the absolute position of available first object.

The scheme of two kinds of determining relative positional relationships is given in disclosure embodiment as described below.One is by means of The difference of references object and the respective received satellite positioning signal of positioning object.Another kind is by means of photogrammetric survey method.It answers Work as understanding, there are also the methods of the relative positional relationship of other a variety of two objects of determination, may be suitable for the technology of the disclosure Scheme.These schemes respectively have superiority and inferiority, are respectively provided with more applicable scene, therefore can be in conjunction with making in a full set of locating scheme With using different schemes under different scenes.

Here, the technical solution that relative positional relationship is determined by the difference of satellite positioning signal is described first.

As described above, it is connect for being spaced closely together two satellite positioning signals of (such as several meters, more than ten meters or tens meters) For receipts machine, the error of satellite positioning signal received by the two shows strong correlation, i.e. the direction of position error and big Small is comparable.In other words, the satellite positioning signal that the two receives respectively indicated position towards substantially the same direction Deviate substantially same distance.Therefore, subtracted each other by the observed quantity to two satellite positioning signal receivers, eliminated The offset error of signal, more accurate relative positional relationship between available two receivers.If one of receive The absolute position of machine is more accurately known, then can more be accurately determined the absolute position of another receiver, from And eliminate position error.

Here, two are considered as having the distance between satellite positioning signal receiver of error correlation (for description letter Just, hereinafter referred to " error correlation distance "), the communication signal strength of consideration between the two, satellite positioning signal can be passed through The factors such as error change situation, and specifically position application field, set according to theoretical calculation or practical experience.

Alternatively, two objects that will simply can also receive the signal of communication that other side sends mutually are considered as error Have entrained by related object, i.e. the two or between the received satellite positioning signal of satellite positioning signal receiver institute of outfit and misses Poor correlation.It in this case, can also be related come alignment error to signal receiving sensitivity by setting signal transmission intensity Distance.

In automatic Pilot application field, such as between lane or several meters, more than ten meters or tens meters between lane and roadside base station Distance in, it is believed that the error of received satellite positioning signal be strong correlation.In fact, bigger distance is also feasible 's.

As described above, subtracted each other by observed quantity, can determine two in error correlation distance object (carry respectively or Equipped with satellite positioning signal receiver) between more accurate relative positional relationship.However, to determine one of object The exact position of (hereinafter referred to " the first object ") needs to know the essence of another object (hereinafter referred to " the second object ") True position, using as reference.

Here, the second object can be fixed setting, such as locating base station, can be set beside road, position Be it is accurately known, referring to the scene one being described below.

Second object also may be in mobile, such as can be vehicle driving on the road as the first object, Only its absolute position has been precisely determined, or at least its lane information (which lane uplink on multiple-lane road Sail) it has been precisely determined.For example, the second object can be previously accurately has determined the absolute position of itself by means of locating base station It sets, referring to the scene two being described below.Alternatively, the first object obtains the absolute position letter of the second object otherwise Breath, such as its lane information has been determined by the image that camera is shot, referring to the scene three being described below.Alternatively, second Object can also determine the absolute position of itself by any other mode.

Below with reference to Fig. 3 detailed description by the localization method of the difference of satellite positioning signal.

Fig. 3 shows the schematic flow chart of the summary thinking according to the localization method of an embodiment of the present disclosure.

In step S200, the first object and the second object receive GPS signal respectively, obtain GPS data, such as GPS observation Amount.In fact, the GPS signal receiver of the first object and the second object can continuously or periodically obtain GPS after unlatching Signal extracts GPS data from GPS signal, obtains GPS observed quantity, and the rough position of itself can be obtained based on GPS observed quantity (GPS positioning position).

In step S300, determined according to the first object and the respective GPS data of the second object for example, by subtraction process Relative positional relationship between first object and the second object.

It is opposite between known absolute position and the first object and the second object based on the second object in step S400 Positional relationship determines the absolute position of the first object.

In some cases it is contemplated that the delay time expended required for above-mentioned communication and calculating process, and calculate phase The time difference of the acquisition time of the two respective GPS datas of object utilized when to positional relationship is (if necessary to what is considered Words), can be by step S500, the sensing data that the sensor of the inertial navigation equipment based on the first object senses, Inertial navigation reckoning is carried out, to compensate, considers further that the vehicle movement information and/or camera acquisition that CAN is monitored when necessary Camera data (such as judge whether occur lane change), to obtain the current more accurate absolute position of the first object It sets.

During the entire process of the localization method, it is related to two operations, i.e. step S300 and step S400.This two operations It can all carry out, can also all be carried out on the second object as references object on the first object as positioning object, Or it is also possible to that one operation of any of them carries out on the first object and another is carried out on the second object.In some feelings , can also be by the third party except the first object and the second object, such as server under condition, Lai Jinhang one of them or two Operation.It should be understood that according to the difference of the object of two operations of operation, the transmitting and receiving relationship of corresponding information can also be become Change.

Two operations of step S300 and S400 are described all the case where carrying out on the first object below with reference to Fig. 4.

In step S310, the second object periodically sends signal.

In step S320, the communication module of the first object receives signal transmitted by the second object.Here, pass through signal Communication range determines above-mentioned error correlation distance.The signal that other side sends, which can be received, shows distance between the two upper It states within error correlation distance.

Here, the signal of the second object periodicity sending can directly carry its own accurate absolute position and its GPS data (GPS observed quantity) or the position determined based on its GPS data.In this case, the first object does not need again to second Object requests relevant information, and can directly carry out operation.

The signal of second object periodicity sending only can also simply show that oneself being one can be used as positioning ginseng The object of object is examined, such as carries the label made an appointment.In this case, need to establish the first object and the second object respectively Communication module between communication connection, the first object from the accurate absolute position of more the second objects of object acquisition and its GPS data (GPS observed quantity) or the position determined based on its GPS data.

In step S330, GPS data (GPS observed quantity) of first object based on the first object itself or it is based on its GPS number The GPS data (GPS observed quantity) of the second object according to determining position, and from the second object acquisition is based on its GPS data Determining position determines the relative positional relationship between the first object and the second object.

Then, in step S400, the first object can be based on the accurate absolute position of the second object from the second object acquisition Set with relative positional relationship identified in step S330, obtain the absolute position of the first object.It, can be with based on the absolute position Realize preferably navigation or automatic Pilot service.

On the other hand, in the case where carrying out the operation of step S300 by the second object, it is corresponding that signal transmits and receives direction Variation.

In step S310, the first object periodically sends signal.

In step S320, after the second object receives the signal, from the first received GPS number of the first object of object acquisition institute According to (GPS observed quantity) or the position determined based on its GPS data.

In step S330, GPS data (GPS observed quantity) by the second object based on the second object itself or it is based on its GPS Data determine position, and the first object from the first object acquisition GPS data (GPS observed quantity) or be based on its GPS number According to determining position, the relative positional relationship between the first object and the second object is determined.

In this case, if continuing the operation for carrying out step S400 by the second object, the exhausted of the first object is being determined After position, the absolute position of identified first object is sent to the first object by the second object.

If carrying out the operation of step S400, the second object institute into the first object sending step S330 by the first object Determining relative positional relationship.

Below with reference to Fig. 5-Fig. 7, it is the first object (positioning object) with vehicle 10, describes the positioning side under three kinds of scenes Case.

Scene one

Fig. 5 shows the scene with base station 20 for the second object (references object).In this case, the second object is fixed, Its absolute position is determining and known.

As shown in figure 5, vehicle 10 is established V2I with base station 20 and is communicated when vehicle 10 drives near base station 20.Vehicle 10 With GPS satellite signal receiver, round-the-clock satellite-signal of the reception from GPS positioning satellite 50 have all been set up on base station 20.

In the case where carrying out positions calculations by base station 20, vehicle 10 is by received satellite-signal (GPS observed quantity) It is real-time transmitted to base station 20.After base station 20 receives the GPS observed quantity that vehicle 10 transmits, the GPS that itself is received with base station 20 Difference is sought in observed quantity, does relative positioning, acquires accurate alternate position spike, i.e. relative positional relationship between base station 20 and vehicle 10.It is another Aspect, 20 accurate coordinate of base station (absolute position) is it is known that the accurate coordinate (absolute position) of vehicle 10 can be acquired, and return to Vehicle 10.

The case where carrying out positions calculations by the computing module (such as master controller or integrated navigation module) on vehicle 10 Under, the accurate coordinate of received satellite-signal (GPS observed quantity) and base station 20 is real-time transmitted to vehicle 10 by base station 20. Computing module on vehicle 10 calculates the difference of the GPS observed quantity that vehicle 10 receives itself and the GPS observed quantity that base station 20 is sent Value, obtains relative positional relationship between the two.Then, accurate coordinate and relative positional relationship based on base station 20, determine vehicle 10 accurate coordinate, i.e. absolute position.

Change in location caused by the transmission delay of period can be calculated by the inertial navigation in delay time and be acquired, and thus be completed Vehicle based on V2I is accurately positioned.

Here, base station 20 is to be communicated by V2I to vehicle 10 to send its absolute position.In fact, due to its absolute position Fixation is set, vehicle 10 can also be allowed to know its absolute position by various other modes.For example, figure can be arranged on the base station 20 Shape marks (such as bar code, two dimensional code, three-dimension code etc.) or coded light signal transmitter, to indicate its absolute position.Vehicle 10 Camera scan the pictorial symbolization or receive the coded light signal, identify the pictorial symbolization or the coded light signal solved Code, to know the absolute position of base station.

In addition, after the absolute position of determining vehicle 10, it can be for example with reference to known road track information, correspondingly really Determine the lane that vehicle 10 is presently in.

Scene two

It is the scene of the second object (references object) that Fig. 6, which is shown with the other vehicles 30 for having determined that precise absolute position,. In this case, it has been determined that the absolute position of some other vehicle 30 can be used as references object and determine the first object (vehicle 10) absolute position.

In the case where near vehicle 10 without base station, if there are vehicles 30 to have accurate positionin (for example, vehicle from around vehicle 30 live through accurate location calibration in a short time), vehicle 30 (the second object) has been positioned around this at this time and has reformed into one The base station of a movement.GPS satellite signal receiver is all set up on vehicle 10 and vehicle 30, round-the-clock receive comes from GPS positioning The satellite-signal of satellite 50.

Vehicle 10 (the first object) to be positioned is communicated by V2V has positioned its GPS observed quantity of the reception of vehicle 30 around this Relative positioning is carried out with the GPS observed quantity from truck position, received according to itself and the GPS observed quantity received from vehicle 30, The relative positional relationship between two cars can be acquired, and then has positioned the known location of vehicle 30 in conjunction with surrounding, is acquired undetermined The precise absolute position of position vehicle 10.

Alternatively, the received GPS observed quantity of institute can also be sent to surrounding by vehicle 10 to be positioned has positioned vehicle 30, by Around positioned vehicle 30 and determine relative positional relationship, and further determine that the absolute position of vehicle 10 to be positioned, be sent to Position vehicle 10.

In addition, can also be calculated by the inertial navigation in delay time with scene one come thermal compensation signal transmission and computing interval Transmission delay caused by change in location.

It similarly, can be for example with reference to known road track information, correspondingly after the absolute position for determining vehicle 10 Determine the lane that vehicle 10 is presently in.

Scene three

Fig. 7 shows the scene that other vehicles 30,30 ' positioned at two sides lane are the second object (references object).Here, Two sides lane refers on multiple-lane road, the leftmost side (most inner side, in the case where keeping to the right) and the rightmost side (outermost, left side In the case where passage) lane.

Vehicle identifies that the accuracy rate in two sides lane is located in the middle than identifying the standard in some lane by camera True rate wants much higher.This is partly due to both sides of the road often have some objects of reference, for example, most inner side lane is relative to centre Isolation strip, outermost lane is relative to object outside road, convenient for identification.The recognition accuracy in non-two sides lane is lower, some feelings It can not be identified under condition (especially when number of track-lines is more).Although it should be understood that being described herein by means of on the lane of two sides Other vehicles carry out the scheme of relative positioning, but in the case where that can identify non-two sides lane, it equally can be by means of non- Other vehicles on the lane of two sides to carry out relative positioning identical with following proposal to vehicle to be positioned.

In the case where vehicle periphery to be positioned also has accurate positionin without which vehicle without base station, if there is vehicle 30,30 ' are located at two sides lane, can be using the vehicle 30,30 ' on the lane of two sides as the second object.Vehicle 10,10 ' and vehicle 30, GPS satellite signal receiver, round-the-clock satellite-signal of the reception from GPS positioning satellite 50 have all been set up on 30 '.

Although not knowing the accurate absolute position of vehicle 30,30 ' on the lane of two sides, it can at least determine it in road Upper locating lane.Based on its lane information, lane information locating for vehicle 10,10 ' to be positioned can be at least determined.

It can be analyzed by the vehicle 30,30 ' oneself in two sides lane for example, by camera image, determine that oneself is located at two sides Which lane in lane.Alternatively, can also be analyzed by vehicle 10,10 ' to be positioned by camera image, finds and determine that it is taken the photograph As head is located at the vehicle 30,30 ' in two sides lane within sweep of the eye.

Received GPS observed quantity and its lane information can be sent to surrounding vehicles by the vehicle in two sides lane, i.e., Vehicle 10,10 ' to be positioned.The GPS observed quantity that vehicle 10,10 ' to be positioned is received according to itself and the vehicle from two sides lane 30, relative positioning is done in 30 ' the GPS observed quantities received, obtains relative positional relationship between the two.Again based on the lane of two sides The actually located lane (leftmost side (most inner side) and the rightmost side (outermost)) of vehicle 30,30 ', when necessary for example with reference to known Road track information, lane locating for vehicle 10,10 ' to be positioned can be extrapolated.

Similarly, above-mentioned location Calculation can also be carried out by the vehicle 30,30 ' in two sides lane, be then sent to be positioned Vehicle 10,10 '.Furthermore, it is also possible to be calculated by the inertial navigation in delay time come the transmission of thermal compensation signal transmission and computing interval Change in location caused by postponing.

The scheme that relative positional relationship is determined by means of photogrammetric survey method is described below.

It in scenarios described above three, is analyzed by camera image, such as based on vehicle and both sides of the road object of reference Relative positional relationship, it is determined that lane locating for the vehicle 30,30 ' on the lane of two sides has determined it absolutely to a certain extent Position.

In fact, by photogrammetric survey method, can also determine relative positional relationship using camera image.For example, can To determine the relative positional relationship between subject and camera.Between the two opposite is determined by photogrammetric survey method Positional relationship already belongs to mature technology, does not do detailed statement herein.

At this time, it is only necessary to determine that the absolute position of a references object (the second object) can determine positioning object (the again An object) absolute position.

Here, in the case where the first object is vehicle to be positioned, as scenario above one to scene three, second pair As being also possible to base station, other vehicles for having determined that precise absolute position or the vehicle on the lane of both sides of the road.Second pair As V2I or V2V by wireless communication sends absolute position known to it to the first object.

Alternatively, the second object is also possible to fixed road sign, direction board, red street lamp etc., setting pictorial symbolization thereon (such as Bar code, two dimensional code, three-dimension code etc.) or coded light signal transmitter, to indicate its absolute position.The camera scanning of vehicle should Pictorial symbolization receives the coded light signal, identifies the pictorial symbolization or is decoded to the coded light signal, to know The absolute position of two objects.

Although additionally, it is to be appreciated that show two vehicles 30 and 30 ' for being located at two sides lane in Fig. 7, In the determination process of lane, one of vehicle can be only needed.Alternatively, the vehicle on multiple two sides lanes can also be integrated Absolute location information (i.e. lane information) and GPS observed quantity, to obtain more accurate lane identification result.Similarly, it answers When understanding, not necessarily needed in the determination process of lane although showing two vehicles 10 and 10 ' to be positioned in Fig. 7 Second vehicle to be positioned exists.

Scene four

Fig. 8 is to be illustrated a kind of scene that relative positional relationship is determined by photogrammetric survey method with direction board.

In this case, without available base stations, reference position information can also be provided without any vehicle.

This scene needs the perfect of infrastructure, i.e. crossing, the direction board 40 in roadside, road sign 45 carries its accurate location Information, these information can by pictorial symbolization (such as bar code, two dimensional code, three-dimension code etc.) on direction board 40, road sign 45 or Coded light signal transmitter is read.

When vehicle 10 to be positioned takes front with location information (that is, having the pictorial symbolization for indicating its absolute position Or transmitting indicates the coded light signal transmitter of the coded light signal of its exhausted position) direction board 40 or road sign 45 after, pass through Scanning recognition pictorial symbolization is decoded coded light signal to obtain the absolute position of direction board.On the other hand, can pass through Photogrammetric survey method determines that vehicle 10 carries camera and closes relative to the relative position of subject direction board 40 or road sign 45 System.Thus, it is possible to determine the absolute position of vehicle 10.

Another important function of this means is: since not necessarily there is continuous lane line at crossing, and number of track-lines changes Possibly unknown, along with vehicle might have turning action, in order to continuously guarantee lane identification, this mode can very good solution road The lane identification in mouth region domain.

[continuous positioning method]

As set forth above, it is possible to realize the initial alignment of positioning object.Under the application scenarios of automobile navigation or automatic Pilot, The initial identification in 10 place lane of vehicle to be positioned can be solved the problems, such as by initial alignment.

Since positioning data collection is not always the references object that can be used as positioning reference, and above-mentioned initial alignment side Formula is also relatively complicated, therefore, after realizing initial alignment, does not need always using above-mentioned identical method come to fixed Position object is positioned.

Determined initial time positioning object absolute position after, can by inertial sensor, camera and Vehicle movement information (speed, wheel steering etc.) the Lai Jinhang inertial navigation positioning that CAN bus provides, the reality of reckoning positioning object When position.

The real time position deviation accumulation of the positioning object calculated by inertial navigation can be than very fast.But it is positioning In the case that object is vehicle, after starting lane has been determined, it is existing to judge whether vehicle itself or road occur lane changing As will be relatively easy to, it be not likely to produce error.

Therefore, its lane being presently in can be determined based on real time position after the real time position for determining vehicle 10. After lane locating for initial time vehicle 10 to be positioned has been determined, inertial sensor, camera and CAN bus can be passed through The vehicle movement information (speed, wheel steering etc.) of offer come detect whether occur lane changing, for example, detection vehicle 10 whether There is in the movement or road of changing Lane the phenomenon that whether thering is lane to merge, lane separation.

In case of lane changing, then vehicle can be correspondingly changed according to lane changing testing result and be currently located lane Information.

Thus, it is possible to maintain the accurate lane information of vehicle 10 in the long period.And for navigation or automatic Pilot application For scene, it can determine that lane can also be very beneficial for providing a user more satisfying service.

Because there is accumulated error, over time, dead reckoning in sensor (such as inertial sensor) Confidence level gradually decreases.Therefore it can determine the with a low credibility when given threshold of calculated current location information, again The initial alignment work (such as the initial identification work in lane locating for vehicle) of positioning object is carried out, to avoid prolonged positioning Mistake (such as lane identification mistake).

Using the lane information of vehicle 10 as identifying purpose, front truck can be worked as determining calculated vehicle 10 When being lower than given threshold of road information re-starts the initial identification work in lane locating for vehicle 10, to avoid prolonged vehicle Road identifies mistake.

Fig. 9 is the continuous positioning method being illustrated according to an embodiment of the present disclosure with vehicle location.Specifically, figure Locating scheme shown in 9 focuses on the lane for continuing to determine that vehicle 10 is locating on road.It should be appreciated that for other positioning pair As wider continuous positioning can also use similar method.

As shown in figure 9, after position fixing process starts, firstly, above-mentioned various initial alignment sides can be passed through in step S910 Method determines the current absolute location (positioning initial position) of positioning object (the first object).It is identified with the lane to vehicle For scheme, relative positioning scheme can be communicated by the V2I of above-mentioned scene one, the V2V communication of above-mentioned scene two, three is relatively fixed The photogrammetric locating scheme of position scheme and above-mentioned scene four, to determine the current absolute location of vehicle 10, on this basis It can determine the current lane (being properly termed as " positioning starting lane ") of vehicle 10.In fact, what above-mentioned scene three can determine that It is just the current lane of vehicle 10 to be positioned.

After determining positioning starting lane, in step S920, come by means of inertial sensor, camera, CAN device etc. It detects whether to occur lane on lane changing, such as vehicle changing Lane or road to merge or separate.

When detecting that lane converts, in step S930, the current lane information of more new vehicle, and front truck is worked as in determination The confidence level of road information.

In step S940, judge whether confidence level is lower than given threshold.

If with a low credibility in given threshold in step S940 judgement, return step S910 is positioned with re-starting Beginning lane identification.

If determining that confidence level is not less than given threshold in step S940, current lane letter can be returned in step S950 Breath.

This is arrived, epicycle current lane detection process can terminate.However, may return to step for continuous positioning S920 (to avoid simplifying attached drawing, is not shown in Fig. 9 and returns to arrow), so as to lasting detection lane changing situation, so as at any time more New current lane and confidence level.

Thus, it is possible to continue to realize that vehicle is presently in the identification in lane with higher accuracy.In the same way, it can also adopt The continuous positioning of general positioning object (the first object) is realized with similar approach.

In addition, the scheme of the disclosure can also be realized by a kind of calculating equipment.Figure 10 is shown according to one reality of the disclosure Apply the schematic block diagram of the calculating equipment of example.

As shown in Figure 10, the calculating equipment 1000 of the disclosure may include processor 1010 and memory 1020.Storage It can store executable code on device 1020, when executable code is executed by processor 1010, executed processor 1010 According to the above method of the disclosure.Specific implementation process can be found in associated description above, and details are not described herein.

In addition, the scheme of the disclosure can also be embodied as a kind of positioning device.Figure 11 and Figure 12 is respectively illustrated according to this The schematic block diagram of the positioning device of open embodiment.

Wherein, the functional module of positioning device 1100 and positioning device 1200 can by the realization principle of the invention hardware, The combination of software or hardware and software is realized.It will be appreciated by persons skilled in the art that function described in Figure 11 and Figure 12 Energy module can combine or be divided into submodule, to realize the principle of foregoing invention.Therefore, description herein can be with It supports to any possible combination or division of functions described herein module or further restriction.

The functional module and each functional module that only can have below with regard to positioning device 1100 and positioning device 1200 can It is described briefly with the operation of execution, above description may refer to for the detail section being directed to, which is not described herein again.

Referring to Figure 11, positioning device 1100 may include the first acquisition device 1110, the second acquisition device 1120, first really Determine device 1130, the second determining device 1140.

First acquisition device 1110 obtains the first satellite positioning information of the first object.First object for example can be movement Object.

Second acquisition device 1120 obtains the second satellite positioning information of the second object.Second object for example can be fixation Object or mobile object with own location information.

First determining device 1130 is based on the first satellite positioning information and the second satellite positioning information, determines the first object phase For the relative positional relationship of the second object.

Second location information and relative positional relationship of second determining device 1140 based on the second object, determine the first object First location information.

One in first object and the second object mode by wireless communication, obtains from another and determines that relative position is closed Information needed for system and/or first location information.

In one embodiment, the first object is the first vehicle, and first location information is that the first vehicle is locating on road First lane information.In this case, the second determining device 1140 can for example determine first lane information in two steps.

Firstly, position determining means (not shown) is based on second location information and relative positional relationship, first is determined First absolute location information of vehicle.

Then, first lane determining device (not shown) is based on the first absolute location information, such as with reference to known Lane information determines the first vehicle first lane information locating on road.

In another embodiment, the second object is also possible to vehicle, i.e. the second vehicle.In some cases, perhaps not The absolute location information of the second vehicle centainly can be highly precisely obtained, but where can determining it by some modes Lane information.At this point, second location information can be the second vehicle second lane information locating on road.

In this case, positioning device 1100 can also include second lane determining device (not shown), by means of Camera entrained by camera entrained by second vehicle and/or the first vehicle determines that the second vehicle is locating on road Second lane information.

In a preferred embodiment, the second object is the second vehicle on the two sides lane of road.Such as institute above It states, this is because both sides of the road lane is easier to be identified.

One in first object and the second object search around it is existing another, to carry out above-mentioned positioned Journey.

Figure 12 shows the schematic block diagram of the positioning device according to the disclosure another embodiment.

Referring to Figure 12, positioning device 1200 may include the first positioning device 1210, position tracking device 1220 and can Reliability determining device 1230.

First positioning device 1210 determines the first location information of the first object.First positioning device 1210 for example can be Positioning device 1100 as shown in figure 11.

Position tracking device 1220 tracks the change in location information of the first object, carrys out real-time update first will pass through reckoning The first location information of object.

Confidence level determining device 1230 determines the confidence level of current first location information.

With a low credibility in the case where predetermined threshold, the first positioning device redefines the first position letter of the first object Breath.

In one embodiment, the first object is the first vehicle, and first location information is that the first vehicle is locating on road First lane information.

In this case, the change in location information of the first object can be the lane changing information of the first vehicle.

In one embodiment, position tracking device 1220 can by means of camera entrained by the first object and/or Sensor, and/or with reference to the motion information of the first object itself, to track the change in location information of the first object.

Sensor for example may include motion sensor and/or inertial navigation sensor.

Localization method according to the present invention and positioning system above is described in detail by reference to attached drawing.

In addition, being also implemented as a kind of computer program or computer program product, the meter according to the method for the present invention Calculation machine program or computer program product include the calculating for executing the above steps limited in the above method of the invention Machine program code instruction.

Alternatively, the present invention can also be embodied as a kind of (or the computer-readable storage of non-transitory machinable medium Medium or machine readable storage medium), it is stored thereon with executable code (or computer program or computer instruction code), When the executable code (or computer program or computer instruction code) by electronic equipment (or calculate equipment, server Deng) processor execute when, so that the processor is executed each step according to the above method of the present invention.

Those skilled in the art will also understand is that, various illustrative logical blocks, mould in conjunction with described in disclosure herein Block, circuit and algorithm steps may be implemented as the combination of electronic hardware, computer software or both.

The flow chart and block diagram in the drawings show the possibility of the system and method for multiple embodiments according to the present invention realities Existing architecture, function and operation.In this regard, each box in flowchart or block diagram can represent module, a journey A part of sequence section or code, a part of the module, section or code include one or more for realizing defined The executable instruction of logic function.It should also be noted that in some implementations as replacements, the function of being marked in box can also To be occurred with being different from the sequence marked in attached drawing.For example, two continuous boxes can actually be basically executed in parallel, They can also be executed in the opposite order sometimes, and this depends on the function involved.It is also noted that block diagram and/or stream The combination of each box in journey figure and the box in block diagram and or flow chart, can the functions or operations as defined in executing Dedicated hardware based system realize, or can realize using a combination of dedicated hardware and computer instructions.

Various embodiments of the present invention are described above, above description is exemplary, and non-exclusive, and It is not limited to disclosed each embodiment.Without departing from the scope and spirit of illustrated each embodiment, for this skill Many modifications and changes are obvious for the those of ordinary skill in art field.The selection of term used herein, purport In the principle, practical application or improvement to the technology in market for best explaining each embodiment, or make the art Other those of ordinary skill can understand each embodiment disclosed herein.

Claims (24)

1. a kind of localization method characterized by comprising

Obtain the first satellite positioning information of the first object；

Obtain the second satellite positioning information of the second object；

Based on first satellite positioning information and second satellite positioning information, determine first object relative to described The relative positional relationship of second object；And

Second location information and the relative positional relationship based on second object, determine first of first object Confidence breath.

2. localization method according to claim 1, which is characterized in that

First object is mobile object, and second object is fixed object or the motive objects with own location information Body.

3. localization method according to claim 1, which is characterized in that

One in first object and second object mode by wireless communication, obtains from another and determines the phase To information needed for positional relationship and/or the first location information.

4. localization method according to claim 1, which is characterized in that

First object is the first vehicle,

The first location information is first vehicle first lane information locating on road.

5. localization method according to claim 4, which is characterized in that the second location information is second object The step of second absolute location information, the determining first location information includes:

Based on the second location information and the relative positional relationship, the first absolute position letter of first vehicle is determined Breath；And

Based on first absolute location information, first vehicle first lane information locating on road is determined.

6. localization method according to claim 4, which is characterized in that

Second object is the second vehicle,

The second location information is second vehicle second lane information locating on road.

7. localization method according to claim 6, which is characterized in that further include:

It is determined by means of camera entrained by camera entrained by second vehicle and/or first vehicle described Second vehicle second lane information locating on road.

8. localization method according to claim 6, which is characterized in that

Second object is the second vehicle on the two sides lane of road.

9. according to claim 1 to localization method described in any one of 8, which is characterized in that further include:

First object searches existing second object around it；Or

Second object searches existing first object around it.

10. a kind of localization method characterized by comprising

First object searches the second object, wherein first object can know second object from second object Second location information；

By means of camera entrained by first object, determine first object relative to institute by photogrammetric survey method State the relative positional relationship of the second object；And

Based on the second location information and the relative positional relationship, the first location information of first object is determined.

11. localization method according to claim 10, which is characterized in that

The pictorial symbolization for indicating the second location information is provided on second object, first object is taken the photograph by means of it As the head search pictorial symbolization, and the pictorial symbolization is identified, to obtain the second location information；Or

It is provided with coded light signal transmitter on second object, is encoded for emitting based on the second location information Coded light signal, first object receives the coded light signal by means of its camera, and to the coded light signal It is decoded, to obtain the second location information；Or

It is provided with wireless signal transmitter on second object, for emitting the aerogram for carrying the second location information Number, first object receives the radio signal by its wireless telecom equipment, and obtains institute from the radio signal State second location information.

12. localization method described in 0 or 11 according to claim 1, which is characterized in that

First object is the first vehicle, and second object is one or more of road sign, direction board, red street lamp.

13. a kind of localization method characterized by comprising

The first location information of the first object is determined using the first localization method；

The change in location information of first object is tracked, calculates first that carrys out the first object described in real-time update will pass through Confidence breath；

Determine the confidence level of current first location information；And

Described with a low credibility in the case where predetermined threshold, first that the first localization method determines the first object is reused Confidence breath.

14. localization method according to claim 13, which is characterized in that

First localization method is localization method described in any one of -12 according to claim 1.

15. localization method according to claim 13, it is characterised in that

First object is the first vehicle,

The first location information is first vehicle first lane information locating on road.

16. localization method according to claim 15, which is characterized in that

The change in location information of first object is the lane changing information of first vehicle.

17. localization method according to claim 13, which is characterized in that

By means of camera and/or sensor entrained by first object, and/or with reference to the fortune of the first object itself Dynamic information, to track the change in location information of first object.

18. localization method according to claim 16, which is characterized in that

The sensor includes motion sensor and/or inertial navigation sensor.

19. a kind of positioning system, which is characterized in that including the first object and the second object, by appointing in such as claim 1-18 What localization method described in one determines the first location information of first object.

20. a kind of positioning device, which is characterized in that the positioning device includes positioning satellite signal receiver, wireless communication module And control module, the positioning device is by localization method as described in any one of claim 1-18, as described the An object or second object, to determine the first location information of first object.

21. a kind of calculating equipment characterized by comprising

Processor；And

Memory is stored thereon with executable code, when the executable code is executed by the processor, makes the processing Device executes the localization method as described in any one of claim 1-18.

22. a kind of non-transitory machinable medium, is stored thereon with executable code, when the executable code is electric When the processor of sub- equipment executes, the processor is made to execute the localization method as described in any one of claims 1 to 18.

23. a kind of positioning device characterized by comprising

First acquisition device, for obtaining the first satellite positioning information of the first object；

Second acquisition device, for obtaining the second satellite positioning information of the second object；

First determining device, described in determining based on first satellite positioning information and second satellite positioning information Relative positional relationship of first object relative to second object；And

Second determining device determines institute for second location information and the relative positional relationship based on second object State the first location information of the first object.

24. a kind of positioning device characterized by comprising

First positioning device, for determining the first location information of the first object；

Position tracking device comes real-time update institute for tracking the change in location information of first object will pass through reckoning State the first location information of the first object；

Confidence level determining device, for determining the confidence level of current first location information,

Wherein, described with a low credibility in the case where predetermined threshold, first positioning device redefines the first object First location information.