CN104748736A - Positioning method and device - Google Patents
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- CN104748736A CN104748736A CN201310740702.9A CN201310740702A CN104748736A CN 104748736 A CN104748736 A CN 104748736A CN 201310740702 A CN201310740702 A CN 201310740702A CN 104748736 A CN104748736 A CN 104748736A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
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- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a positioning method and device. The positioning method comprises the following steps of identifying a positioning mark in an image acquired in real time, determining a position of a mobile terminal relatively to the positioning mark, acquiring a geographic position of the positioning mark, and determining a current geographic position of the mobile terminal according to the geographic position of the positioning mark and the position of the mobile terminal relatively to the positioning mark. When a GPS positioning system cannot be used, the positioning method can realize mobile terminal positioning. The positioning mark is preset, the accurate position of the positioning mark can be acquired, and the calculated position of the mobile terminal relatively to the positioning mark has a small error much lower than navigation deviation of the GPS positioning system. Accuracy of the mobile terminal geographic position determined by the positioning method is much higher than the positioning accuracy of the GPS positioning system.
Description
Technical Field
The present invention relates to the field of positioning technologies, and in particular, to a positioning method and apparatus.
Background
Currently, a Global Positioning System (GPS) Positioning System is mainly used to realize Positioning. However, the positioning accuracy of the GPS positioning system is low, and the horizontal positioning accuracy is generally 10m, so that it is not possible to distinguish lanes. In traffic navigation, misdirection may occur if lanes cannot be distinguished. For example, the correct navigation route is merged from the secondary road to the main road, but misleading is caused by misjudging the main road and the secondary road. In the application of issuing vehicle safety information, if lanes cannot be distinguished, safety related information such as collision early warning and the like can be missed or mistakenly issued.
In addition, in places with weak GPS signals, such as tunnels and underground parking lots, positioning cannot be achieved by using a GPS positioning system.
Disclosure of Invention
The invention aims to provide a positioning method and a positioning device, which are used for solving the problems of positioning when a GPS positioning system cannot be used and low positioning accuracy of the GPS positioning system.
The purpose of the invention is realized by the following technical scheme:
a method of positioning, comprising:
identifying a positioning identifier in the image acquired in real time;
determining the relative position of the mobile terminal and the positioning identifier;
acquiring the geographic position of the positioning identifier;
and determining the current geographic position of the mobile terminal according to the geographic position of the positioning identifier and the relative position of the mobile terminal and the positioning identifier.
When the GPS positioning system cannot be used (for example, the GPS signal is weak or no GPS signal), the method provided by the embodiment of the invention can be used for realizing the positioning of the mobile terminal. In addition, the method provided by the embodiment of the invention acquires the image in real time in the moving process and detects the positioning identifier through the image recognition technology. The current geographic position of the mobile terminal can be determined by utilizing the geographic position of the positioning identifier and the relative position of the mobile terminal and the positioning identifier. The positioning mark is preset, so that the accurate position of the positioning mark can be obtained, and the error of the relative position of the mobile terminal and the positioning mark obtained through calculation is far smaller than the navigation deviation of a GPS positioning system. Therefore, the geographic position accuracy of the mobile terminal determined by the method provided by the embodiment of the invention is far higher than the positioning accuracy of a GPS positioning system.
Preferably, the positioning identifier can be identified in an image acquired by an image acquisition device of the mobile terminal in real time.
Preferably, the relative position of the mobile terminal and the positioning identifier can be determined according to the size information of the positioning identifier in the image and the actual size information of the positioning identifier.
Preferably, the actual size information of the positioning identifier is obtained from the network side, and may also be preset in the mobile terminal, or may also be preset in the device that performs positioning by using the method provided by the embodiment of the present invention, and so on.
Preferably, the implementation manner of obtaining the geographic location of the positioning identifier may be: determining the estimated position of the positioning identifier according to the relative position of the mobile terminal and the positioning identifier and the current rough geographic position of the mobile terminal; and acquiring the geographical position of the positioning identifier closest to the estimated position as the geographical position of the positioning identifier. Wherein the current rough geographical position of the mobile terminal is determined by dead reckoning or satellite positioning.
Preferably, the implementation manner of obtaining the geographic position of the positioning identifier closest to the estimated position as the geographic position of the positioning identifier may be, but is not limited to:
searching the geographical position of the positioning identifier which is closest to the estimated position in an electronic map installed on the mobile terminal as the geographical position of the positioning identifier; or,
reporting the estimated position of the positioning identifier to a network side so as to search the geographical position of the positioning identifier closest to the estimated position by the network side; and receiving the geographic position of the positioning identifier searched by the network side, and taking the received geographic position as the geographic position of the positioning identifier.
Further, the current rough geographic location of the mobile terminal can be determined according to the initial location of the mobile terminal through a dead reckoning algorithm. The current rough geographic location of the mobile terminal may also be determined from the initial location of the mobile terminal by satellite positioning.
Specifically, the initial position of the mobile terminal can be determined by a satellite positioning method; or reading a reference coordinate position from an electronic map installed on the mobile terminal as an initial position of the mobile terminal; or, acquiring a reference coordinate position from the broadcast message as an initial position of the mobile terminal; or acquiring the identified geographic position of another positioning identifier, determining the relative position of the mobile terminal and the other positioning identifier, and determining the initial position of the mobile terminal according to the geographic position of the other positioning identifier and the relative position of the other positioning identifier.
Based on any of the above method embodiments, preferably, the positioning identifier is a cross-shaped graph; or the positioning mark is an arrow figure; alternatively, the location indicia is a bulls-eye graphic.
Based on any of the above method embodiments, preferably, in the actually deployed positioning identifiers, the distance between two positioning identifiers in the moving direction is greater than 2 times of the initial positioning error.
Based on the same inventive concept as the method, an embodiment of the present invention further provides a positioning apparatus, including:
the positioning identifier recognition module is used for recognizing a positioning identifier in the image acquired in real time;
a relative position determining module, configured to determine a relative position between the mobile terminal and the positioning identifier;
the positioning identifier position determining module is used for acquiring the geographic position of the positioning identifier;
and the mobile terminal position determining module is used for determining the current geographic position of the mobile terminal according to the geographic position of the positioning identifier and the relative position of the mobile terminal and the positioning identifier.
When the GPS positioning system cannot be used (for example, the GPS signal is weak or no GPS signal), the device provided by the embodiment of the invention can realize the positioning of the mobile terminal. In addition, the device provided by the embodiment of the invention acquires the image in real time in the moving process and detects the positioning identifier through the image recognition technology. The current geographic position of the mobile terminal can be determined by utilizing the geographic position of the positioning identifier and the relative position of the mobile terminal and the positioning identifier. The positioning mark is preset, so that the accurate position of the positioning mark can be obtained, and the error of the relative position of the mobile terminal and the positioning mark obtained through calculation is far smaller than the navigation deviation of a GPS positioning system. Therefore, the geographic position accuracy of the mobile terminal determined by the device provided by the embodiment of the invention is far higher than the positioning accuracy of a GPS positioning system.
Preferably, the location identity module is specifically configured to: and identifying the positioning identifier in the image acquired by the image acquisition equipment of the mobile terminal in real time.
Preferably, the relative position determining module is specifically configured to: and determining the relative position of the mobile terminal and the positioning mark according to the size information of the positioning mark in the image and the actual size information of the positioning mark.
Preferably, the actual size information of the positioning identifier is acquired from the network side, or the actual size information of the positioning identifier is preset in the mobile terminal or the device.
Preferably, the location identifier position determination module is specifically configured to: determining the estimated position of the positioning identifier according to the relative position of the mobile terminal and the positioning identifier and the current rough geographic position of the mobile terminal; and acquiring the geographical position of the positioning identifier closest to the estimated position as the geographical position of the positioning identifier. Wherein the current rough geographical position of the mobile terminal is determined by dead reckoning or satellite positioning.
Preferably, when the geographical position of the positioning identifier closest to the estimated position is obtained as the geographical position of the positioning identifier, the positioning identifier position determining module is specifically configured to:
searching the geographical position of the positioning identifier which is closest to the estimated position in an electronic map installed on the mobile terminal as the geographical position of the positioning identifier; or,
reporting the estimated position of the positioning identifier to a network side so as to search the geographical position of the positioning identifier closest to the estimated position by the network side; and receiving the geographic position of the positioning identifier searched by the network side, and taking the received geographic position as the geographic position of the positioning identifier.
Preferably, the mobile terminal position determining module is further configured to: determining the current rough geographic position of the mobile terminal according to the initial position of the mobile terminal through a dead reckoning algorithm; or determining the current rough geographic position of the mobile terminal according to the initial position of the mobile terminal by a satellite positioning method.
Preferably, the mobile terminal further comprises an initial position determining module, configured to: determining an initial position of the mobile terminal by a satellite positioning method; or reading a reference coordinate position from an electronic map installed on the mobile terminal as an initial position of the mobile terminal; or, acquiring a reference coordinate position from the broadcast message as an initial position of the mobile terminal; or acquiring the identified geographic position of another positioning identifier, determining the relative position of the mobile terminal and the other positioning identifier, and determining the initial position of the mobile terminal according to the geographic position of the other positioning identifier and the relative position of the other positioning identifier.
Based on any of the above embodiments of the apparatus, preferably, the positioning identifier is a cross-shaped graph; or the positioning mark is an arrow figure; alternatively, the location indicia is a bulls-eye graphic.
Based on any of the above-mentioned embodiments of the apparatus, preferably, in the actually deployed positioning identifiers, a distance between two positioning identifiers in the moving direction is greater than 2 times an initial positioning error.
Based on the same inventive concept as the method, the embodiment of the invention also provides a positioning device, which comprises a data transmission interface and a processor. The data transmission interface is configured to: and receiving the image acquired in real time by the image acquisition equipment erected on the mobile terminal. The processor is configured to: identifying a positioning identifier in the image acquired in real time; determining the relative position of the mobile terminal and the positioning identifier; acquiring the geographic position of the positioning identifier; and determining the current geographic position of the mobile terminal according to the geographic position of the positioning identifier and the relative position of the mobile terminal and the positioning identifier.
When the GPS positioning system cannot be used (for example, the GPS signal is weak or no GPS signal), the device provided by the embodiment of the invention can realize the positioning of the mobile terminal. In addition, the device provided by the embodiment of the invention acquires the image in real time in the moving process and detects the positioning identifier through the image recognition technology. The current geographic position of the mobile terminal can be determined by utilizing the geographic position of the positioning identifier and the relative position of the mobile terminal and the positioning identifier. The positioning mark is preset, so that the accurate position of the positioning mark can be obtained, and the error of the relative position of the mobile terminal and the positioning mark obtained through calculation is far smaller than the navigation deviation of a GPS positioning system. Therefore, the geographic position accuracy of the mobile terminal determined by the device provided by the embodiment of the invention is far higher than the positioning accuracy of a GPS positioning system.
Drawings
FIG. 1 is a flow chart of a method provided by an embodiment of the present invention;
fig. 2A to fig. 2C are schematic diagrams of positioning identifiers according to an embodiment of the present invention;
FIG. 3 is an imaging schematic diagram of an image acquisition device in an embodiment of the invention;
FIG. 4 is a schematic diagram of relative position calculation in an embodiment of the present invention;
fig. 5 is a schematic distribution diagram of positioning identifiers according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of an apparatus according to an embodiment of the present invention;
fig. 7 is a schematic view of another apparatus according to an embodiment of the present invention.
Detailed Description
The technical solutions provided by the embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
The positioning method provided by the embodiment of the invention is shown in fig. 1, and specifically comprises the following operations:
step 100, identifying a positioning identifier in the image acquired in real time.
In the embodiment of the invention, the mobile terminal can be, but is not limited to, a vehicle-mounted module, navigation equipment, a smart phone, a palm computer and the like on vehicles such as vehicles and the like.
Preferably, the image acquired in real time is a photo image or a frame of video image in a video acquired in real time.
Preferably, the image is acquired by an image acquisition device on the mobile terminal. The positioning identifier is arranged in the moving range of the mobile terminal so as to be acquired by image acquisition equipment of the mobile terminal. Taking a mobile terminal on land as an example, the positioning mark can be drawn on a road surface, signs on two sides of the road, a land bridge and the like. And the positioning identification is required to be easily recognized. The shape of the positioning mark can be a regular figure, such as a regular triangle, a rectangle and the like, and can also be an irregular figure. For example, the positioning indicator may be a cross-shaped graphic shown in fig. 2A, an arrow graphic shown in fig. 2B, a bulls-eye graphic shown in fig. 2C, or the like. Of course, the existing traffic signs, guideboards, buildings and other objects can be used as positioning marks as long as the requirement of easy recognition is met. In the cross-shaped graph shown in fig. 2A, a line segment of the cross-shaped graph can be set in the north-south direction, another line segment of the cross-shaped graph can be set in the east-west direction, and the cross-shaped graph can be distinguished by a dotted line, a solid line, different colors, and the like. The arrow graphic shown in fig. 2B, while serving as a positioning indicator, may also be used to indicate the direction of travel. The bulls-eye pattern shown in fig. 2C, while serving as a positioning indicator, may also be used to indicate that the current position is a reference position.
Step 110, determining the relative position of the mobile terminal and the positioning identifier.
And step 120, acquiring the geographic position of the positioning identifier.
Step 130, determining the current geographic position of the mobile terminal according to the geographic position of the positioning identifier and the relative position of the mobile terminal and the positioning identifier.
When the GPS positioning system cannot be used (for example, the GPS signal is weak or no GPS signal), the method provided by the embodiment of the invention can be used for realizing the positioning of the mobile terminal. In addition, the method provided by the embodiment of the invention acquires the image in real time in the moving process and detects the positioning identifier through the image recognition technology. The current geographic position of the mobile terminal can be determined by utilizing the geographic position of the positioning identifier and the relative position of the mobile terminal and the positioning identifier. The positioning mark is preset, so that the accurate position of the positioning mark can be obtained, and the error of the relative position of the mobile terminal and the positioning mark obtained through calculation is far smaller than the navigation deviation of a GPS positioning system. Therefore, the geographic position accuracy of the mobile terminal determined by the method provided by the embodiment of the invention is far higher than the positioning accuracy of a GPS positioning system.
Specific implementation manners of the above steps are described in detail below.
In step 100, the positioning identifier may be identified in an image acquired by an image acquisition device of the mobile terminal in real time. The image acquisition equipment can be a camera function module arranged in the mobile terminal, a camera connected with the mobile terminal, a camera arranged in the mobile terminal, a camera connected with the mobile terminal and the like. And identifying the positioning identification in the image acquired in real time by an image analysis technology. For example, sample training is performed based on the positioning identifier to obtain a model of the positioning identifier, and whether an image of the positioning identifier exists is identified through matching the image of the positioning identifier model.
In step 110, the relative position between the mobile terminal and the positioning identifier is determined according to the size information of the positioning identifier in the image and the actual size information of the positioning identifier.
The actual size information of the positioning identifier and other parameters for determining the relative position may be preset in the mobile terminal or the device for positioning by using the method provided by the embodiment of the present invention. Specifically, the map information may be preset in a database of an electronic map installed in the mobile terminal. The actual size information of the positioning identifier and other parameters for determining the relative position can also be obtained from the network side. The actual size information of the positioning mark and other parameters for determining the relative position may also be marked on the positioning mark (e.g. text information, bar code information, two-dimensional code information, etc.), and the actual size information of the positioning mark and other parameters for determining the relative position may be extracted through image analysis. For another example, barcode or two-dimensional code information is marked on the positioning mark, barcode or two-dimensional code information is obtained by image scanning, actual size information of the positioning mark is obtained by indicating to a specific server according to the barcode or two-dimensional code information, and the like, which are used for determining the parameter information of the relative position. The actual size information of the positioning identifier and other parameters for determining the relative position may be implemented in any manner that can be conceived by those skilled in the art without inventive effort, and the embodiments of the present invention are not limited thereto.
Since a plurality of positioning markers are usually deployed within a certain range, if the sizes of the plurality of positioning markers are different. Then, when determining the relative distance between the identified positioning identifier and the mobile terminal, it may be necessary to first determine which positioning identifier is identified, and then may acquire information such as actual size information of the positioning identifier. The current rough geographic position of the mobile terminal can be determined by the existing positioning method such as a dead reckoning method, a satellite positioning method and the like, the positioning mark closest to the current rough geographic position along the shooting direction is determined as the identified positioning mark according to the current rough geographic position and the shooting direction of the image acquisition equipment, and then the information such as the actual size and the like is acquired. Of course, the implementation manner of determining the identified positioning identifier is not limited thereto, and any method that can be conceived by those skilled in the art without inventive effort can be applied to the embodiments of the present invention.
Specifically, the relative position of the mobile terminal and the positioning identifier is determined based on an imaging principle of an image acquisition device, namely, a pinhole imaging principle. As shown in fig. 3, when the aperture of the image capturing device reaches the center point of the line L perpendicular to the light-sensing plate and is perpendicular to the line L (position 1), the distances from the two end points of the image formed by the line L on the light-sensing plate to the center point are equal. However, when the perpendicular line from the small hole to the light-sensing plate and the straight line passing through the center point of the line segment L and perpendicular to the line segment L have an included angle (position 2), the distances from the two end points of the image formed on the light-sensing plate by the straight line L to the center are different.
Based on the imaging principle shown in fig. 3, when the information such as the actual size of the positioning mark, the information such as the size of the image formed by the positioning mark on the light-sensing plate, and the information such as the distance from the camera aperture to the light-sensing plate are known, the relative position between the image acquisition device and the positioning mark, that is, the relative position between the mobile terminal and the positioning mark, can be calculated.
Still taking the imaging principle shown in fig. 3 as an example, assuming that the perpendicular line from the aperture to the light-sensing plate is in the same plane as the line L, the principle of calculating the relative position is shown in fig. 4. Wherein:
L1,2、L2,3、L4,5is a known quantity, L5,6、L6,7、L7,8Can be measured after the image of the positioning mark is identified. α 6, α 7, and α 8 can be calculated by the following formulas:
α8=π-arctg（L4,5/L5,6）
α7=π-arctg（L4,5/L5,7）
α6=π-arctg（L4,5/L5,8）
l2,4 and α 4 are finally obtained, and the relative position of the image capturing device to the center point of the line segment L in the plane is determined according to the following formula. When the line segment is changed into a two-dimensional plane figure, the space position of the image acquisition device can be determined.
L2,4=L2,3/[（ctgα3+ctgα4）·sinα4]
L2,4=L1,2/[（ctgα5-ctgα4）·sinα4]
Due to L2,3=L1,2，
ctgα5-ctgα4=ctgα3+ctgα4
α3+α4=α6+α7
α3+α5=α6+α8
It should be noted that the above is a description of the principle of calculation of the relative position, assuming that the perpendicular line from the aperture to the light-sensing plate is in the same plane as the line segment L. When the perpendicular line from the aperture to the light-sensing plate is not in the same plane as the line segment L, the relative position can also be calculated based on the above formula. The embodiment of the present invention will not be described in detail with respect to the specific calculation method.
In step 120, there are various implementations of obtaining the geographic location of the positioning identifier. For example, the geographical position information (e.g., text information, barcode information, two-dimensional code information, etc.) of the positioning identifier is marked on the positioning identifier, and the geographical position information of the positioning identifier is extracted through image analysis, so as to obtain the geographical position of the positioning identifier. For another example, barcode or two-dimensional code information is marked on the positioning identifier, barcode or two-dimensional code information is obtained through image scanning, and the geographic position of the positioning identifier is obtained by indicating to a specific server according to the barcode or two-dimensional code information. And so on. The embodiment of the invention provides a better implementation mode: determining the estimated position of the positioning identifier according to the relative position of the mobile terminal and the positioning identifier and the current rough geographic position of the mobile terminal; and acquiring the geographical position of the positioning identifier closest to the estimated position as the geographical position of the positioning identifier. Wherein the current rough geographical position of the mobile terminal is determined by means of existing positioning methods, such as dead reckoning or satellite positioning.
Specifically, the estimated location of the positioning identifier may be reported to the network side, the network side searches for the geographical location of the positioning identifier closest to the estimated location, and the geographical location of the positioning identifier found by the network side is received. The geographical position of the positioning identifier closest to the estimated position in the electronic map installed on the mobile terminal can also be searched as the geographical position of the positioning identifier.
Preferably, the rough geographic location of the mobile terminal may be continuously updated by dead reckoning based on the initial location of the mobile terminal. The rough geographic location of the mobile terminal may also be continuously updated by satellite positioning based on the initial location of the mobile terminal. The dead reckoning is realized by estimating the motion direction of the mobile terminal through a gyroscope and estimating the moving distance of the mobile terminal through a odometer, so as to determine the motion track of the mobile terminal. The geographical position of the mobile terminal can be updated according to the initial position of the mobile terminal in other existing positioning modes. Any method of updating the rough geographical location of a mobile terminal, which may occur to those skilled in the art without inventive effort, may be applied to the embodiments of the present invention. Because the geographic position of the mobile terminal determined by the existing positioning method is low in precision, the geographic position of the mobile terminal determined by the existing positioning method based on dead reckoning, satellite positioning and the like is called as a rough geographic position so as to distinguish the geographic position of the mobile terminal which is determined by positioning based on the positioning identifier.
And continuously updating the rough geographic position of the mobile terminal in any mode, so that the current rough geographic position of the mobile terminal can be determined.
The existing positioning method (such as dead reckoning) has the advantages of less calculation amount, but has the disadvantage of low positioning precision. The method provided by the embodiment of the invention can combine the positioning method based on the positioning identifier with the existing positioning method. Specifically, after the positioning identifier is identified, the mobile terminal is accurately positioned according to the positioning identifier. And then, updating the positioning of the mobile terminal by using the existing positioning method until the next positioning identifier is identified. And the process is circulated.
There are various ways to determine the initial position of the mobile terminal. Several of which are exemplified below: the initial position of the mobile terminal can be determined through a satellite positioning method; or reading a reference coordinate position from an electronic map installed on the mobile terminal as an initial position of the mobile terminal; or, acquiring a reference coordinate position from the broadcast message as an initial position of the mobile terminal; or acquiring the identified geographic position of another positioning identifier, determining the relative position of the mobile terminal and the other positioning identifier, and determining the initial position of the mobile terminal according to the geographic position of the other positioning identifier and the relative position of the other positioning identifier.
In the embodiment of the present invention, the distance between two positioning marks actually deployed in the driving direction is preferably greater than 2 times of the initial positioning error, so as to distinguish the two positioning marks. The initial positioning error may be the maximum value of the initial position error range when entering the predetermined area, the maximum value of the error range in the inertial navigation process, the horizontal positioning accuracy of the GPS positioning system, or the like. As shown in fig. 5, a circle surrounding the mobile terminal a on the vehicle is the horizontal positioning accuracy of the GPS positioning system. Then, when positioning is performed by the GPS positioning system, the geographical position of the mobile terminal a on the vehicle is determined to be at any point within the circle. In the driving direction, the distance between the two positioning marks is greater than the horizontal positioning accuracy of the GPS positioning system, and thus, when the mobile terminal a on the vehicle is at the position shown in fig. 5, only one positioning mark disposed on the lane 2 appears within the shooting range of the image acquisition device, which is convenient for determining the accurate position of the positioning mark.
Take the positioning of vehicles in an underground parking lot or tunnel scenario as an example. And deploying the positioning identifier at least at the entrance of the underground parking lot and in the underground parking lot. The distance between the two positioning marks can be about 50m, and the positioning marks are adjusted according to actual needs. A wireless signal broadcasting device is arranged in front of an entrance of an underground parking lot or a tunnel, and informs a vehicle of the coordinates of a reference position, the coordinates of each positioning mark of a nearby area, the attribute information of each positioning mark (the attribute information is information required for calculating the relative position of the positioning mark and the vehicle) in a wireless broadcasting mode. Of course, such information may also be communicated to the vehicle via existing communication systems (e.g., cellular communication systems, device-to-device (D2D) communication systems, etc.). In addition, the information can also be arranged in a database of the electronic map. It should be noted that the vehicle may also be made aware of these information in a combination of the above three ways. In the embodiment of the present invention, the vehicle actually means a device placed on the vehicle for positioning the vehicle.
The positioning process based on the application scene is as follows:
when the vehicle runs to an underground parking lot or a tunnel entrance, the coordinates of each positioning mark and the attribute information of each positioning mark in the nearby area are obtained. In addition, the coordinates of the reference position and/or the entry coordinates need to be acquired. The above information can be obtained by a wireless signal broadcasting device arranged in front of the entrance, the above information can be obtained through a communication network, and the above information can be obtained through a database of an electronic map. The database of the electronic map may be preset in the vehicle, or may be obtained from the wireless signal broadcasting device or the communication network.
The vehicle obtains a current initial position. The following acquisition modes can be used but are not limited to:
firstly, before driving into an underground parking lot or a tunnel, the initial position is determined by a satellite positioning method.
And secondly, taking the acquired coordinates of the reference position as the current initial position.
And thirdly, taking the acquired entrance coordinates as the current initial position.
And identifying the positioning identifier at the entrance, acquiring the geographic position of the positioning identifier, determining the relative position of the vehicle and the positioning identifier, and determining the initial position of the vehicle according to the position of the positioning identifier and the relative position.
And after the vehicle enters an underground parking lot or a tunnel, updating the rough geographic position of the vehicle according to the initial position of the vehicle through a dead reckoning algorithm. When a locating mark is identified, the relative position of the vehicle to the locating mark is measured. Based on the rough geographic position of the vehicle updated by the dead reckoning and the measured relative position, an estimated position r of the location marker can be calculated. And acquiring the geographical position of the positioning identifier closest to the estimated position r as the geographical position of the positioning identifier. Specifically, the geographical position of the positioning identifier closest to the estimated position r may be obtained by searching the electronic map. The geographical position of the positioning identifier closest to the estimated position r can be obtained by searching the obtained position coordinates of each positioning identifier. The estimated position r can also be sent to the network side, and the network side searches the geographical position of the positioning identifier closest to the estimated position r and sends the geographical position to the vehicle.
After the geographical position of the positioning identifier is obtained, the precise geographical position of the vehicle can be deduced.
For simplicity of description, the principle of inferring the precise geographic location of the vehicle is illustrated, again taking fig. 4 as an example.
Assuming that the position of endpoint 2 (the reference point, the center point position of the special identifier) is (x 2, y 2), the relative position of the vehicle (endpoint 4) to endpoint 2 is (L)2,4And α 4), then the position of the vehicle is: (x 4, y 4)
x4=x2+sin(α4)*L2,4
y4=y2+cos(α4)*L2,4
Based on the same inventive concept as the method, an embodiment of the present invention further provides a positioning apparatus, as shown in fig. 6, specifically including:
a positioning identifier recognition module 601, configured to recognize a positioning identifier in an image obtained in real time;
a relative position determining module 602, configured to determine a relative position between the mobile terminal and the positioning identifier;
a positioning identifier position determining module 603, configured to obtain a geographic position of the positioning identifier;
a mobile terminal location determining module 604, configured to determine a current geographic location of the mobile terminal according to the geographic location of the positioning identifier and the relative location of the mobile terminal and the positioning identifier.
The device provided by the embodiment of the invention can be a mobile terminal, a hardware entity or a logic entity which is arranged in the mobile terminal, or an independent device connected with the mobile terminal.
When the GPS positioning system cannot be used (for example, the GPS signal is weak or no GPS signal), the device provided by the embodiment of the invention can realize the positioning of the mobile terminal. In addition, the device provided by the embodiment of the invention acquires the image in real time in the moving process and detects the positioning identifier through the image recognition technology. The current geographic position of the mobile terminal can be determined by utilizing the geographic position of the positioning identifier and the relative position of the mobile terminal and the positioning identifier. The positioning mark is preset, so that the accurate position of the positioning mark can be obtained, and the error of the relative position of the mobile terminal and the positioning mark obtained through calculation is far smaller than the navigation deviation of a GPS positioning system. Therefore, the geographic position accuracy of the mobile terminal determined by the device provided by the embodiment of the invention is far higher than the positioning accuracy of a GPS positioning system.
Preferably, the location identity module is specifically configured to: and identifying the positioning identifier in the image acquired by the image acquisition equipment of the mobile terminal in real time.
Preferably, the relative position determining module is specifically configured to: and determining the relative position of the mobile terminal and the positioning mark according to the size information of the positioning mark in the image and the actual size information of the positioning mark.
Preferably, the actual size information of the positioning identifier is acquired from the network side, or the actual size information of the positioning identifier is preset in the mobile terminal or the device.
Preferably, the location identifier position determination module is specifically configured to: determining the estimated position of the positioning identifier according to the relative position of the mobile terminal and the positioning identifier and the current rough geographic position of the mobile terminal; and acquiring the geographical position of the positioning identifier closest to the estimated position as the geographical position of the positioning identifier. Wherein the current rough geographical position of the mobile terminal is determined by dead reckoning or satellite positioning.
Preferably, when the geographical position of the positioning identifier closest to the estimated position is obtained as the geographical position of the positioning identifier, the positioning identifier position determining module is specifically configured to:
searching the geographical position of the positioning identifier which is closest to the estimated position in an electronic map installed on the mobile terminal as the geographical position of the positioning identifier; or,
reporting the estimated position of the positioning identifier to a network side so as to search the geographical position of the positioning identifier closest to the estimated position by the network side; and receiving the geographic position of the positioning identifier searched by the network side, and taking the received geographic position as the geographic position of the positioning identifier.
Preferably, the mobile terminal position determining module is further configured to: determining the current rough geographic position of the mobile terminal according to the initial position of the mobile terminal through a dead reckoning algorithm; or determining the current rough geographic position of the mobile terminal according to the initial position of the mobile terminal by a satellite positioning method.
Preferably, the mobile terminal further comprises an initial position determining module, configured to: determining an initial position of the mobile terminal by a satellite positioning method; or reading a reference coordinate position from an electronic map installed on the mobile terminal as an initial position of the mobile terminal; or, acquiring a reference coordinate position from the broadcast message as an initial position of the mobile terminal; or acquiring the identified geographic position of another positioning identifier, determining the relative position of the mobile terminal and the other positioning identifier, and determining the initial position of the mobile terminal according to the geographic position of the other positioning identifier and the relative position of the other positioning identifier.
Based on any of the above embodiments of the apparatus, preferably, the positioning identifier is a cross-shaped graph; or the positioning mark is an arrow figure; alternatively, the location indicia is a bulls-eye graphic.
Based on any of the above-mentioned apparatus embodiments, preferably, the distance between two actually deployed positioning identifiers in the moving direction is greater than 2 times the initial positioning error.
Based on the same inventive concept as the method, the embodiment of the present invention further provides a positioning apparatus, as shown in fig. 7, including a data transmission interface 700 and a processor 701. The data transmission interface 700 is configured to: and receiving the image acquired in real time by the image acquisition equipment erected on the mobile terminal. The processor 701 is configured to: identifying a positioning identifier in the image acquired in real time; determining the relative position of the mobile terminal and the positioning identifier; acquiring the geographic position of the positioning identifier; and determining the current geographic position of the mobile terminal according to the geographic position of the positioning identifier and the relative position of the mobile terminal and the positioning identifier.
When the GPS positioning system cannot be used (for example, the GPS signal is weak or no GPS signal), the device provided by the embodiment of the invention can realize the positioning of the mobile terminal. In addition, the device provided by the embodiment of the invention acquires the image in real time in the moving process and detects the positioning identifier through the image recognition technology. The current geographic position of the mobile terminal can be determined by utilizing the geographic position of the positioning identifier and the relative position of the mobile terminal and the positioning identifier. The positioning mark is preset, so that the accurate position of the positioning mark can be obtained, and the error of the relative position of the mobile terminal and the positioning mark obtained through calculation is far smaller than the navigation deviation of a GPS positioning system. Therefore, the geographic position accuracy of the mobile terminal determined by the device provided by the embodiment of the invention is far higher than the positioning accuracy of a GPS positioning system.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (18)
1. A method of positioning, comprising:
identifying a positioning identifier in the image acquired in real time;
determining the relative position of the mobile terminal and the positioning identifier;
acquiring the geographic position of the positioning identifier;
and determining the current geographic position of the mobile terminal according to the geographic position of the positioning identifier and the relative position of the mobile terminal and the positioning identifier.
2. The method of claim 1, wherein identifying a location marker in the real-time acquired image comprises:
and identifying a positioning identifier in an image acquired by the image acquisition equipment of the mobile terminal in real time.
3. The method of claim 1, wherein determining the relative position of the mobile terminal and the positioning identifier comprises:
and determining the relative position of the mobile terminal and the positioning identifier according to the size information of the positioning identifier in the image and the actual size information of the positioning identifier.
4. The method according to claim 3, wherein the actual size information of the positioning identifier is obtained from a network side, or the actual size information of the positioning identifier is preset in the mobile terminal.
5. The method of claim 1, wherein obtaining the geographic location of the positioning identifier comprises:
determining the estimated position of the positioning identifier according to the relative position of the mobile terminal and the positioning identifier and the current rough geographic position of the mobile terminal, wherein the current rough geographic position of the mobile terminal is determined by a dead reckoning method or a satellite positioning method;
and acquiring the geographical position of the positioning identifier closest to the estimated position as the geographical position of the positioning identifier.
6. The method of claim 5, wherein obtaining the geographic location of the positioning identifier closest to the estimated location as the geographic location of the positioning identifier comprises:
searching the geographical position of the positioning identifier which is closest to the estimated position in an electronic map installed on the mobile terminal as the geographical position of the positioning identifier; or,
reporting the estimated position of the positioning identifier to a network side so as to search the geographical position of the positioning identifier closest to the estimated position by the network side; and receiving the geographic position of the positioning identifier searched by the network side, and taking the received geographic position as the geographic position of the positioning identifier.
7. The method of claim 5 or 6, further comprising:
determining the current rough geographic position of the mobile terminal according to the initial position of the mobile terminal through a dead reckoning algorithm; or,
and determining the current rough geographic position of the mobile terminal according to the initial position of the mobile terminal by a satellite positioning method.
8. The method of claim 7, further comprising:
determining an initial position of the mobile terminal by a satellite positioning method; or,
reading a reference coordinate position from an electronic map installed on the mobile terminal as an initial position of the mobile terminal; or,
acquiring a reference coordinate position from a broadcast message as an initial position of the mobile terminal; or,
and acquiring the identified geographic position of the other positioning identifier, determining the relative position of the mobile terminal and the other positioning identifier, and determining the initial position of the mobile terminal according to the geographic position of the other positioning identifier and the relative position of the other positioning identifier.
9. The method according to any one of claims 1 to 6 and 8, wherein the positioning identifier is a cross-shaped graph; or,
the positioning mark is an arrow figure; or,
the positioning marks are bulls-eye patterns.
10. A positioning device, comprising:
the positioning identifier recognition module is used for recognizing a positioning identifier in the image acquired in real time;
a relative position determining module, configured to determine a relative position between the mobile terminal and the positioning identifier;
the positioning identifier position determining module is used for acquiring the geographic position of the positioning identifier;
and the mobile terminal position determining module is used for determining the current geographic position of the mobile terminal according to the geographic position of the positioning identifier and the relative position of the mobile terminal and the positioning identifier.
11. The apparatus of claim 10, wherein the location identity module is specifically configured to: and identifying a positioning identifier in an image acquired by the image acquisition equipment of the mobile terminal in real time.
12. The apparatus of claim 10, wherein the relative position determining module is specifically configured to:
and determining the relative position of the mobile terminal and the positioning identifier according to the size information of the positioning identifier in the image and the actual size information of the positioning identifier.
13. The apparatus according to claim 12, wherein the actual size information of the positioning identifier is obtained from a network side, or the actual size information of the positioning identifier is preset in the mobile terminal or the apparatus.
14. The apparatus of claim 10, wherein the location identity position determination module is specifically configured to:
determining the estimated position of the positioning identifier according to the relative position of the mobile terminal and the positioning identifier and the current rough geographic position of the mobile terminal, wherein the current rough geographic position of the mobile terminal is determined by a dead reckoning method or a satellite positioning method;
and acquiring the geographical position of the positioning identifier closest to the estimated position as the geographical position of the positioning identifier.
15. The apparatus according to claim 14, wherein when the geographical location of the positioning identifier closest to the estimated location is obtained as the geographical location of the positioning identifier, the positioning identifier location determining module is specifically configured to:
searching the geographical position of the positioning identifier which is closest to the estimated position in an electronic map installed on the mobile terminal as the geographical position of the positioning identifier; or,
reporting the estimated position of the positioning identifier to a network side so as to search the geographical position of the positioning identifier closest to the estimated position by the network side; and receiving the geographic position of the positioning identifier searched by the network side, and taking the received geographic position as the geographic position of the positioning identifier.
16. The apparatus of claim 14 or 15, wherein the mobile terminal location determining module is further configured to:
determining the current rough geographic position of the mobile terminal according to the initial position of the mobile terminal through a dead reckoning algorithm; or,
and determining the current rough geographic position of the mobile terminal according to the initial position of the mobile terminal by a satellite positioning method.
17. The apparatus of claim 16, further comprising an initial position determination module configured to:
determining an initial position of the mobile terminal by a satellite positioning method; or,
reading a reference coordinate position from an electronic map installed on the mobile terminal as an initial position of the mobile terminal; or,
acquiring a reference coordinate position from a broadcast message as an initial position of the mobile terminal; or,
and acquiring the identified geographic position of the other positioning identifier, determining the relative position of the mobile terminal and the other positioning identifier, and determining the initial position of the mobile terminal according to the geographic position of the other positioning identifier and the relative position of the other positioning identifier.
18. The device according to any one of claims 10-15 and 17, wherein the positioning mark is a cross-shaped pattern; or,
the positioning mark is an arrow figure; or,
the positioning marks are bulls-eye patterns.
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| TW103144907A TW201525512A (en) | 2013-12-26 | 2014-12-23 | Positioning method and device |
| PCT/CN2014/094741 WO2015096717A1 (en) | 2013-12-26 | 2014-12-24 | Positioning method and device |
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| CN201310740702.9A CN104748736A (en) | 2013-12-26 | 2013-12-26 | Positioning method and device |
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| CN104748736A true CN104748736A (en) | 2015-07-01 |
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Also Published As
| Publication number | Publication date |
|---|---|
| WO2015096717A1 (en) | 2015-07-02 |
| TWI563281B (en) | 2016-12-21 |
| TW201525512A (en) | 2015-07-01 |
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