CN105509716B - A kind of geographical information collection method and device based on augmented reality - Google Patents
A kind of geographical information collection method and device based on augmented reality Download PDFInfo
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Abstract
The present invention relates to a kind of mobile terminal geographical information collection method and device.Including：The camera of terminal is sighted into collection target, obtains the benchmark point coordinates (Ax, Ay) of now terminal position；The azimuth Az and roll angle Roll of target point and datum mark are obtained using Digital Photogrammetric System sensor, the distance L of target point and mobile terminal is highly calculated by roll angle Roll and terminal camera, and be based on following formula：Coordinate of ground point (Bx, By) is calculated in Bx=Ax+L × sin (Az) By=Ay+L × cos (Az).The present invention can gather the position that any camera can photograph, it is not necessary to anchor point be come to personally, independent of map datum and the technical ability of collector.
Description
Technical field
The present invention relates to a kind of information collecting method and device, belongs to GIS information collecting methods field, and in particular to a kind of
Mobile terminal geographical information collection method and device.
Background technology
On territory with planning industry, thering are many business to be directed to the work for implementing geographical information collection using mobile terminal
Make, such as territory inspection, plot report are built, and in follow-up business, the display of geography information on the mobile apparatus is also particularly heavy
Will.Geographical information collection work refers to user and the process that geography information carries out typing is carried out to certain atural object, and wherein geography information includes
Positional information, attribute information etc..Geography information shows to refer to passes through various hands on the device screen of mobile terminal by geographic information data
Section and mode are shown.
Traditional mobile terminal geographical information collection system, in terms of information gathering, the means of information gathering are divided into two kinds：Make
Gathered with GPS location and gathered on the electronic map by reconnaissance.Using GPS location gathering geographic position information the degree of accuracy according to
Lai Yu movement end equipments receive the signal intensity that satellite or communication base station are sent, and can be met in the place that housing-group is intensive or base station is sparse
To positioning precision is low or the unfavorable factor such as positioning duration.And the degree of accuracy for gathering position on the electronic map depends on operator
Using the proficiency and drawing reading ability of electronic map, require operator height, it is necessary to after being giveed training to operator just in itself
Can left-hand seat.
In terms of presentation of information, the means of presentation of information are divided into two kinds：Show using list display and on the electronic map.
Not directly perceived enough using list display geography information, user is difficult to go out sense with high efficiency extraction in word from full of thickly dotted numeral
The information of interest.And geography information is shown on the electronic map, although the ground of atural object key element intuitively can be shown on map
Position is managed, but for the unskilled user using electronic map, it is difficult to pass through the geographical position described on the electronic map
Put and judge atural object key element in reality relative to the azimuth-range of user current location.And Two-dimensional electron map does not possess
Height attribute, it can not intuitively show elevation information.
Augmented reality (Augmented Reality, abbreviation AR) technology, it is a kind of by real world information and virtual generation
The new technology that boundary's information is " seamless " to be integrated, it is difficult the reality experienced in the certain time spatial dimension of real world script to be
Body information (visual information, sound, taste, tactile etc.), by science and technology such as computers, is superimposed again after analog simulation, will be virtual
Information application to real world, perceived by human sensory, so as to reach the sensory experience of exceeding reality.Real environment and
Virtual object has been added in real time same picture or space while to be present.
The present invention provides a kind of new geographical information collection means,, can in terms of information gathering using augmented reality
Simply to gather the positional information of atural object as using mobile phone photograph in daily life, in terms of presentation of information, in mobile phone
Three dimensions is built in screen, geography information is mutually superimposed with reality scene that camera obtains, make the displaying of geography information
It is more directly perceived, allow user to obtain the relative bearing and distance of atural object easily.
The content of the invention
The present invention mainly solves use GPS location existing when gathering geography information in the prior art, and time-consuming,
Information gathering efficiency is low, and requires high technical problem in itself to map and operator using electronic map collection position, carries
A kind of geographical information collection method and device based on augmented reality is supplied.This method can gather any camera and can clap
The position taken the photograph, it is not necessary to come to anchor point personally, and independent of map datum, user need not carry out time-consuming figure of cutting and work,
Map datum of the equipment without storage Large Copacity.
In order to solve the above problems, according to an aspect of the invention, there is provided a kind of ground based on augmented reality
Information collecting method is managed, including：
The camera of terminal is sighted into collection target, obtains the benchmark point coordinates (Ax, Ay) of now terminal position；Profit
The azimuth Az and roll angle Roll of target point and datum mark are obtained with Digital Photogrammetric System sensor, passes through roll angle Roll
The distance L of target point and mobile terminal is highly calculated with terminal camera, and is based on following formula：
Bx=Ax+L × sin (Az)
By=Ay+L × cos (Az)
Coordinate of ground point (Bx, By) is calculated.
Optimization, a kind of above-mentioned geographical information collection method based on augmented reality, the azimuth Az passes through
Following formula is calculated：
Az=atan2 (R12,R21)
In formula, R is the 3*3 measured by direction sensor spin matrix, R12,R21In respectively spin matrix R
Corresponding matrix element.
Optimization, a kind of above-mentioned geographical information collection method based on augmented reality, the roll angle Roll leads to
Following formula is crossed to be calculated：
Roll=atan2 (- R31,R33)
In formula, R is the 3*3 measured by direction sensor spin matrix, R31,R33In respectively spin matrix R
Corresponding matrix element.
Optimization, a kind of above-mentioned geographical information collection method based on augmented reality, the distance L passes through following formula
It is calculated：
L=H × tan (Roll)
In formula, H is shooting grease head highness.
In order to solve the above problems, according to another aspect of the present invention, there is provided a kind of based on augmented reality
Geographical information collection device, including：
Reference coordinate harvester, for the camera of terminal to be sighted into collection target, and it is in place to obtain now terminal institute
The benchmark point coordinates (Ax, Ay) put；
Attitude parameter harvester, for obtaining the azimuth of target point and datum mark using Digital Photogrammetric System sensor
Az and roll angle Roll；
Target range computing device, for target point to be highly calculated with moving by roll angle Roll and terminal camera
The distance L of dynamic terminal,
Coordinates of targets computing device, for based on following formula：
Bx=Ax+L × sin (Az)
By=Ay+L × cos (Az)
Coordinate of ground point (Bx, By) is calculated.
Optimization, a kind of above-mentioned geographical information collection device based on augmented reality, the attitude parameter collection
Azimuth Az is calculated by following formula in device：
Az=atan2 (R12,R21)
In formula, R is the 3*3 measured by direction sensor spin matrix, R12,R21In respectively spin matrix R
Corresponding matrix element.
Optimization, a kind of above-mentioned geographical information collection device based on augmented reality, the attitude parameter collection
Roll angle Roll is calculated by following formula in device：
Roll=atan2 (- R31,R33)
In formula, R is the 3*3 measured by direction sensor spin matrix, R31,R33In respectively spin matrix R
Corresponding matrix element.
Optimization, a kind of above-mentioned geographical information collection device based on augmented reality, the target range calculates
Distance L is calculated by following formula in device：
L=H × tan (Roll)
In formula, H is shooting grease head highness.
Therefore, the invention has the advantages that：
1. information gathering by environmental restrictions where position, as long as the position that camera can photograph, can not pass through
This method directly gathers its positional information, it is not necessary to comes to anchor point personally；
2. information gathering is independent of map datum, it is not necessary to carries out time-consuming figure of cutting and works, equipment is big without storage
The map datum of capacity；
Brief description of the drawings
Accompanying drawing 1 is sensor of the invention coordinate acquisition function surface chart；
Accompanying drawing 2 is azimuth in rectangular coordinate system and apart from schematic diagram；
Azimuth when accompanying drawing 3 is the coordinate of multiple target points in rectangular coordinate system and apart from schematic diagram；
Accompanying drawing 4 is mobile phone rectangular coordinate system in space schematic diagram；
Accompanying drawing 5 is mobile phone attitude angle definition figure；
Accompanying drawing 6 is the geometrical relationship figure of video camera C, collection point B and datum mark A in cross-directional；
Accompanying drawing 7 is the error range schematic diagram that datum mark (A) calculates error；
Accompanying drawing 8 is the geometrical relationship schematic diagram of the high error of camera and the high true value of camera；
Accompanying drawing 9 is the geometrical relationship schematic diagram between resolution error and each clearing parameter；
Embodiment
Below by embodiment, and with reference to accompanying drawing, technical scheme is described in further detail.
Embodiment：
The present embodiment includes collection two parts of geography information.Introduce separately below.
First, geographical information collection.
, it is necessary to which one possesses GPS sensor, attitude transducer (side in the geographical information collection method and device of the present invention
To sensor, gyroscope), the mobile device of motion sensor (direction sensor), and install with sensor coordinates collection
Application program.
When user starts sensor coordinates acquisition function, application program will open camera and start GPS location function；
After user sets camera height, application program enters sensor coordinates acquisition state, as shown in Figure 1.User is by ten in screen
The quasi- heart of word silk (Fig. 1 middle arrows position) sights collection point, clicks on lower right corner red button, you can one coordinate points of completion are adopted
Collect work.
The concrete principle of the present embodiment is described in detail below.
1st, coordinate derivation principle
As shown in Fig. 2 determine that a coordinate points (B) is relative to another known coordinate point (A) in rectangular coordinate system
During relative position, it is desirable to provide two parameters：Azimuth (Az), distance (L).
According to triangle relation principle, the absolute coordinate prediction equation of B points is as follows：
Bx=Ax+L × sin (Az)
By=Ay+L × cos (Az)
Wherein, from West to East, for y-axis from south orientation north, Bx and By are respectively the x coordinate and y-coordinate of B points, Ax and Ay difference to x-axis
For the x coordinate and y-coordinate of A points.
I.e. when the coordinate of known at least one datum mark, the coordinate of target point, which calculates, needs azimuth (Az) and distance
(L) can be calculated.When calculating the coordinate of multiple target points, after the azimuth (Az) and the distance (L) that determine all coordinate points,
Settle accounts one by one, as shown in Figure 3.
According to above-mentioned, coordinate B and coordinate C absolute coordinate prediction equation is as follows：
Bx=Ax+L1×sin(Az1)
By=Ay+L1×cos(Az1)
Cx=Ax+L2×sin(Az2)
Cy=Ay+L2×cos(Az2)
2nd, mobile terminal realization principle
Realize that sensor sampling site normal coordinate calculates and be divided into three steps in mobile terminal：The azimuth (Az) of target point is determined,
Target point is determined to the distance (L) of known point and determines datum mark plane coordinates (A).
(Az) is directly obtained by mobile phone direction sensor at azimuth；Distance (L) combines the rolling that mobile phone sensor obtains
The camera height that angle (Roll) and user are set is calculated；Benchmark point coordinates is drawn by AGPS technology.
2.1 mobile phone establishment of coordinate system
First, rectangular coordinate system in space is established for mobile phone, mobile phone screen is towards zenith, towards magnetic north at the top of mobile phone.Wherein,
X-axis is from left to right；Y-axis top from mobile phone bottom to mobile phone；Z-axis is positive from cell phone back towards mobile phone, as shown in Figure 4.
With reference to the representation of photogrammetric IMU system sensors attitude angle, mobile phone attitude angle azimuth (Azimuth),
Roll angle (Roll), the expression of the angle of pitch (Pitch) and positive direction it is specified as shown in Figure 5.
2.2 determine azimuth Az
The azimuth of mobile phone is directly obtained by direction sensor.Direction sensor is the virtual-sensor based on software,
Its data are obtained jointly by acceleration transducer and magnetic field sensor.
The measurement result of direction sensor be one 3 be multiplied by 3 spin matrix R.According to the characteristic and meter of spin matrix
Calculation machine visual theory, after spin matrix R (3*3) is obtained, azimuth can be calculated by formula：
Az=atan2 (R12,R21)
Az result of calculation is the azimuth (Azimuth) in mobile phone attitude frame of reference.
The data of the direction sensor of mobile phone are obtained jointly by acceleration transducer and magnetic field sensor.Combination passes
The parameter of sensor output is the one-dimension array that a length is 9, is referred to as 3 spin matrixs for being multiplied by 3 in linear algebra field.Rotation
Torque battle array is that have the direction for changing vector when a vector is multiplied by but do not change the matrix of the effect of size, is to work as mobile phone
When camera is sighted direction and changed in reality scene, application program realizes that redrawing atural object label causes atural object label in hand
An important parameter in the algorithm that position in machine three-dimensional scenic does not change.The acquisition of spin matrix is the public affairs of this area
Know general knowledge, be not repeated herein.
2.3 determine distance L
It is assumed that collection point (B) is in same level with datum mark (A), target is sighted using mobile phone camera in user
When, the geometrical relationship of video camera (C), collection point (B) with datum mark (A) in cross-directional is as shown in Figure 6.
Wherein, angle Roll is mobile phone roll angle, and H is that camera is high, L A, the plan range of B point-to-point transmissions.
According to the characteristic and principle of computer vision of spin matrix, after spin matrix R (3*3) is obtained, roll angle can
To be calculated by formula：
Roll=atan2 (- R31,R33)
According to triangle relation principle, L calculating formula of length is as follows：
L=H × tan (Roll)
2.4 determine benchmark point coordinates A
Mobile phone obtains mobile phone coordinate (C) by AGPS technology, it is assumed that user is in standing upright shape when sighting target point
State, then camera coordinates (C) are identical with the plane coordinate value of datum mark (A), draw in summary：
Ax=Cx
Ay=Cy.
2.5 solving target point coordinates
When mobile phone obtains azimuth (Az) by sensor and solves apart from (L), and datum mark is obtained by AGPS technology
(A) after coordinate value, coordinate of ground point B absolute coordinate prediction equation is as follows：
Bx=Ax+L × sin (Az)
By=Ay+L × cos (Az).
3. error analysis
The error source of 3.1 sensor sampling site methods
The error of sensor sampling site method derives from following key element：Camera coordinates (C) GPS location error, datum mark (A)
Error is calculated, user sets the high error of camera, distance (L) resolution error.
(1) camera coordinates (C) GPS location error
Mobile device no longer only obtains spatial value by GPS technology at present, but combined using more location technologies
AGPS technology general settlement spatial value.
AGPS pervasive positioning precision is 10 meters；It is more than 60 degree of open area in elevation mask, positioning precision improves
To 5 meters；If it is further increased to 1 to 3 meter covered with WIFI signal or cellular network signals, positioning precision in positioning area.
By observing the actual conditions that numerous Map Services are applied on the market, and the actual use of my department's inspection system
Situation, GPS location precision comply fully with the requirement of people, and precision median reaches 2 meters.Popular says, stands wide at one
When carrying out GPS location for 5 meters of road north edges, positioning result is stablized in the range of positive and negative 1 meter of road north edge always, fresh
Cross the street center line and navigate to the road south.
Therefore, the error expression of camera coordinates (C) is as follows：
CxObservation=CxVery+ΔGPSx
CyObservation=CyVery+ΔGPSy
Wherein Δ GPSx and Δ GPSy is respectively position errors of the GPS on x directions and y directions.According to actual use feelings
Condition calculates that Δ GPSx and Δ GPSy maximum probability value are desirable 2 meters.
(2) datum mark (A) calculates error
The premise of solving target point coordinates of the present invention is benchmark point coordinates (A) and camera coordinates (C) in the vertical direction weight
Close.And in actually using, user constantly turns due to the direction of the camera when progressively sighting different target points using human body as the center of circle
Dynamic, and due to sighting carried out by handheld camera, position that the position of camera is stood with user is simultaneously misaligned, between the two
Differ one section of distance bent arms.
Therefore, datum mark (A) calculates that the error range of error is as shown in Figure 7.
Wherein, point on the basis of A, camera coordinates when C1, C2, C3 are respectively sighted three times, vector C are the mistake of point-to-point transmission
Difference, because user, during movement, the posture of handheld camera is basically unchanged, it is believed that the error vector in sighting three times
Mould perseverance be fixed value.
The handheld camera shooting style got used to according to people,Rice.
(3) user sets the high error of camera
Need user's specified camera high (H) when resolving distance (L).If the value of user's specified camera height (H) is its height, that
The geometrical relationship of the high error of camera and the high true value of camera is as shown in Figure 8.
That is HVeryRelational expression between the high H of camera and the high error delta H of camera that are set with user as：
HVery=HSet-ΔH
The handheld camera shooting style got used to according to people, 0.1 meter of Δ H ≈.
(4) distance L resolution errors
H value directly affects L result, in the high error delta H of consideration camera, joins apart from resolution error Δ L and each clearing
Geometrical relationship between number is as shown in Figure 9.
According to triangle relation principle, Δ L size prediction equation is as follows：
Δ L=Δs H × tan (Roll)
The handheld camera shooting style got used to according to people, Roll ≈ 70o, 0.1 meter of Δ H ≈.So Δ L is about
0.27 meter.LVery=L+ Δs L.
The error amount of 3.2 sensor sampling site methods
Equation group is drawn according to the error source of sensor as aforementioned sampling site method and mobile terminal realization principle：
CxObservation=CxVery+ΔGPSx
CyObservation=CyVery+ΔGPSy
AxObservation=CxObservation
AyObservation=CyObservation
Δ H=HSet-HVery
Δ L=Δs H × tan (Roll)
LVery=LObservation-ΔL
Bx=Ax+L × sin (Az)
By=Ay+L × cos (Az)
The error equation of unknown number coordinate of ground point (B) is：
Δ Bx=Δ GPSx+ Δs H × tan (Roll)) × sin (Az)
Δ By=Δ GPSy+ Δs H × tan (Roll)) × cos (Az)
The checkout result of unknown number coordinate of ground point (B) is：
In summary, the maximum probability value of the error amount of the target point (B) of sensor sampling site method in the x and y direction is as follows：
3.3 errors contrast
At present in mobile terminal application of the territory with planning industry, the means of coordinate collection have sampling site and GPS location on figure
Two kinds of sampling site, the error amount of existing simple analysis both approaches simultaneously compare with sensor sampling site method.
(1) sampling site error on figure
The occupation mode of sampling site is directly to click on screen capture coordinate data, precision on the electronic map by finger on figure
Depending on finger tip is with the engineer's scale of the contact position of screen, mobile device screen resolution ratio and electronic map.
Assuming that the finger tip of user is infinitely small with the overlapping area of screen, screen resolution is infinitely great, then touch point is not
In proportion in the electronic map of chi, skew 1 millimeter and caused by error it is as shown in the table：
Sampling site method error on the figure of table 1
| 1:500 | 0.5 meter |
| 1:200 | 0.2 meter |
| 1:100 | 0.1 meter |
| 1:50 | 0.05 meter |
| 1:20 | 0.02 meter |
So, on figure sampling site error delta Map_Col and touch point offset distance Δ Touch 1:In 500 electronic maps
Error formula is：
Δ Map_Col=Δs Touch × 0.5 meter
Wherein, Δ Touch units are millimeter.
The actual conditions of the upper sampling site of figure are carried out according to people, user clicks on screen and chooses offset of the target point on screen
About 2 millimeters, then sampling site error delta Map_Col is using 1 on figure:Maximum probability value during 500 electronic map is 1 meter.
(2) GPS location sampling site error
The mode of GPS location sampling site is that user is placed a device on collection point, or handheld mobile device, is stood in collection point
On, GPS location function is opened immediately, gathers the coordinate information of target point.
The error of GPS location sampling site derives from two parts：Offset and GPS location between equipment and target point are missed
Difference.Relational expression between GPS sampling site error delta GPS_Col and offset error Δ C and GPS error Δ GPS is as follows：
Δ GPS_Col=Δ C+ Δs GPS
Datum mark (A) calculates that Δ C is about 0.4 meter as described in error in being saved such as error source one；Such as 4.1 sensor sampling sites of this paper
During the error source one of method saves described in camera coordinates (C) GPS location error, Δ GPS is about 2 meters.So GPS location sampling site error delta
GPS_Col maximum probability value is 2.4 meters.
(3) Comprehensive Correlation
1:Sampling site error on 500 electronic map figures, GPS location sampling site error and sensor sampling site method error to such as
Following table：
The error of table 2 contrasts
4. feasibility analysis
Consider from technological layer, sensor sampling site method has solid mathematical theory basis, is reliable new sampling site technology.
, can be with from realizing that condition aspect considers that current mobile device is provided with all the sensors being related in method
It is to realize sensor sampling site method on nearly all territory and planning sector application.
Consider from error analysis aspect, although the error of sensor sampling site method is bigger than the error of both remaining, or even 3 times
Sampling site method on figure, but with another main flow sampling site mode, i.e. GPS location sampling site method, compare, error is sufficiently close to.Unexpectedly
The error of GPS location sampling site method is received by industry, then sensor sampling site method error is than GPS sampling sites method error slightly larger 11%
Situation by industry it is also contemplated that received.
Consider from use environment aspect, sensor sampling site method has the superiority of uniqueness, or even surmounts other two kinds collections
Means.When using acquisition method on figure, position of the target in map leans on the object of reference of target proximity in map to determine, if ground
Plate sheet is old, and the position that target is gathered in map is among a piece of wasteland in map, then just can not be by being adopted on figure
The position of point method collection target；And GPS location acquisition method is very time-consuming carries out positioning, it is necessary to reach collection point in person one by one and adopt
Collection, some are difficult to the place stopped, such as the building site surrounded by sandy soil heap, the puddles of water etc., it will be unable to use GPS.
The present invention, if intervisibility is normal between each angle point, need to only position once i.e. when gathering multiple angle points in same plot
Can.Conventional method often positions a point and takes t (s), n total time-consuming T=nt (s) of positioning.This method positioning datum point takes t
(s) m datum mark, is set up, sights total time-consuming T=mt (s) after n anchor point.I.e. total time-consuming is unrelated with positioning points, with benchmark
Point number is relevant, if intervisibility is normal between aiming point, need to only set up a datum mark, i.e. m=1.
2nd, geography information is shown
In the present embodiment, using augmented reality, can on screen according to the position coordinates of atural object directly virtual
Accurately draw out atural object label in three dimensions, the direction and distance that user can be directly by the position judgment atural object of label.
Augmented reality display data is to be based on 3 D stereo coordinate (latitude (B), longitude (L), elevation (H)), and electronically
Figure is based on two-dimensional plane coordinate (latitude (B), longitude (L)), and this method can intuitively show elevation information on screen, allows use
Learn the elevation distribution situation between atural object in family.
Concrete methods of realizing is as follows：
Obtain the data acquisition system of all key elements to be shown；Obtain acceleration of the equipment on mobile phone XYZ axles axial direction, pitching
Angle, yaw angle, roll angle, and calculate spin matrix R_r based on acquired data；Performed using spin matrix R_r parameter
Portrait layout coordinate system is to the conversion of mobile phones transverse screen coordinate system so as to obtaining mobile phone rotation attitude matrix R_p；Pass through the ground of data acquisition system
Information data generation texture label is managed, corresponding texture label is plotted in by OpenGL according to the geographical position of each display key element
In ES three-dimensional scenics.
Specific embodiment described herein is only to spirit explanation for example of the invention.Technology belonging to the present invention is led
The technical staff in domain can be made various modifications or supplement to described specific embodiment or be replaced using similar mode
Generation, but without departing from the spiritual of the present invention or surmount scope defined in appended claims.
Claims (7)
- A kind of 1. geographical information collection method based on augmented reality, it is characterised in that including：The camera of terminal is sighted into collection target, obtains the benchmark point coordinates (Ax, Ay) of now terminal position；Using taking the photograph Shadow measuring system sensor obtains the azimuth Az and roll angle Roll of target point and datum mark, passes through roll angle Roll and end The distance L of target point and mobile terminal is highly calculated in end camera, and is based on following formula：Bx=Ax+L × sin (Az)By=Ay+L × cos (Az)Coordinate of ground point (Bx, By) is calculated；Wherein, the relational expression between GPS sampling sites error delta GPS_Col and offset error Δ C and GPS error Δ GPS is as follows：Δ GPS_Col=Δ C+ Δs GPS；The azimuth Az is calculated by following formula：Az=atan2 (R12,R21)In formula, R is the 3*3 measured by direction sensor spin matrix, R12,R21Phase in respectively spin matrix R Answer matrix element.
- A kind of 2. geographical information collection method based on augmented reality according to claim 1, it is characterised in that institute Roll angle Roll is stated to be calculated by following formula：Roll=atan2 (- R31,R33)In formula, R is the 3*3 measured by direction sensor spin matrix, R31,R33Phase in respectively spin matrix R Answer matrix element.
- 3. a kind of geographical information collection method based on augmented reality according to claim 1, it is characterised in that obtain Take the data acquisition system of all key elements to be shown；Obtain acceleration of the equipment on mobile phone XYZ axles axial direction, the angle of pitch, yaw angle, turn over Roll angle, and calculate spin matrix R_r based on acquired data；Portrait layout coordinate system is performed using spin matrix R_r parameter to arrive The conversion of mobile phones transverse screen coordinate system is so as to obtaining mobile phone rotation attitude matrix R_p；Given birth to by the geographic information data of data acquisition system Into texture label, corresponding texture label is plotted in by OpenGL ES three-dimensional scenics according to the geographical position of each display key element In.
- A kind of 4. geographical information collection device based on augmented reality, it is characterised in that including：Reference coordinate harvester, for the camera of terminal to be sighted into collection target, and obtain now terminal position Benchmark point coordinates (Ax, Ay)；Attitude parameter harvester, for the azimuth Az of target point and datum mark is obtained using Digital Photogrammetric System sensor with And roll angle Roll；Target range computing device, it is whole with movement for target point to be highly calculated by roll angle Roll and terminal camera The distance L at end,Coordinates of targets computing device, for based on following formula：Bx=Ax+L × sin (Az)By=Ay+L × cos (Az)Coordinate of ground point (Bx, By) is calculated；Wherein, on figure sampling site error delta Map_Col and touch point offset distance Δ Touch 1:Error in 500 electronic maps Formula is：Δ Map_Col=Δs Touch × 0.5 meter.
- A kind of 5. geographical information collection device based on augmented reality according to claim 4, it is characterised in that institute State attitude parameter harvester and azimuth Az is calculated by following formula：Az=atan2 (R12,R21)In formula, R is the 3*3 measured by direction sensor spin matrix, R12,R21Phase in respectively spin matrix R Answer matrix element.
- A kind of 6. geographical information collection device based on augmented reality according to claim 5, it is characterised in that institute State attitude parameter harvester and roll angle Roll is calculated by following formula：Roll=atan2 (- R31,R33)In formula, R is the 3*3 measured by direction sensor spin matrix, R31,R33Phase in respectively spin matrix R Answer matrix element.
- A kind of 7. geographical information collection device based on augmented reality according to claim 5, it is characterised in that institute State target range computing device and distance L is calculated by following formula：L=H × tan (Roll)In formula, H is shooting grease head highness.
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| CN110069584B (en) * | 2017-11-29 | 2023-04-14 | 星际空间（天津）科技发展有限公司 | Information acquisition and feature matching method based on mobile terminal |
| CN109996032B (en) * | 2017-12-29 | 2020-10-02 | 杭州海康威视系统技术有限公司 | Information display method and device, computer equipment and storage medium |
| CN108303136B (en) * | 2018-01-17 | 2021-01-15 | 智慧光科技（深圳）有限公司 | Container classification and inspection method based on data acquisition and analysis |
| CN110988947B (en) * | 2019-02-20 | 2020-09-22 | 以见科技(上海)有限公司 | Augmented reality positioning method based on real-time dynamic carrier phase difference technology |
| CN111475026B (en) * | 2020-04-10 | 2023-08-22 | 李斌 | Spatial positioning method based on mobile terminal application augmented virtual reality technology |
| CN116380059A (en) * | 2021-12-23 | 2023-07-04 | 中兴通讯股份有限公司 | Method for determining walking trajectory, terminal and computer-readable storage medium |
| CN115359114B (en) * | 2022-08-16 | 2023-07-25 | 中建一局集团第五建筑有限公司 | Positioning method, positioning device, electronic equipment and computer readable storage medium |
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| CN104750969B (en) * | 2013-12-29 | 2018-01-26 | 刘进 | The comprehensive augmented reality information superposition method of intelligent machine |
| CN104833360B (en) * | 2014-02-08 | 2018-09-18 | 无锡维森智能传感技术有限公司 | A kind of conversion method of two-dimensional coordinate to three-dimensional coordinate |
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