CN106403955A - Positioning method and positioning system - Google Patents
Positioning method and positioning system Download PDFInfo
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- CN106403955A CN106403955A CN201610895619.2A CN201610895619A CN106403955A CN 106403955 A CN106403955 A CN 106403955A CN 201610895619 A CN201610895619 A CN 201610895619A CN 106403955 A CN106403955 A CN 106403955A
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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
- G01C21/20—Instruments for performing navigational calculations
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10004—Still image; Photographic image
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/20—Special algorithmic details
- G06T2207/20212—Image combination
- G06T2207/20221—Image fusion; Image merging
Abstract
The invention discloses a positioning method and a positioning system which are used for positioning a to-be-positioned object in an emplacement space. The emplacement space includes a plurality of subspaces, and aiming at at least one subspace, a positioning mode suitable for the subspace is determined according to spatial characteristics of the subspace; according to the subspace where the to-be-positioned object stays, the positioning mode corresponding to the subspace is adopted to position the to-be-positioned object. The positioning method and the positioning system have the advantages that the to-be-positioned object in the subspace can be positioned by a positioning mode, corresponding to the subspace, from multiple positioning modes, and a positioning effect is better.
Description
Technical field
The present invention relates to positioning field, more particularly to a kind of localization method and system.
Background technology
At present, with the development of virtual reality technology, virtual reality experience space becomes a focus, similar to virtual existing
Entity is tested the so large-scale application demand in paradise and is also got more and more.Constantly develop with virtual reality technology, empty on a large scale
Intending experience of reality becomes the trend of a certainty.
Virtual reality experience is always a difficult point for VR industry on a large scale.Main reason is that, empty on a large scale
The experiencing Space intended corresponding to experience of reality is larger, and experiencing Space characteristic (degree of blocking, space complexity etc.) everywhere is not complete
Exactly the same, and existing multiple location technology all has respective advantage and defect, every kind of location technology is all poorly suited for use in
On a large scale experiencing Space, so that the positioning under virtual reality experience scene is relatively difficult on a large scale.
Thus, it is desirable to a kind of scheme that large-scale experiencing Space can be positioned well.
Content of the invention
Present invention mainly solves a technical problem be provide one kind large-scale experiencing Space can be carried out very well
The localization method of ground positioning and system.
According to an aspect of the invention, it is provided a kind of localization method, for the object to be positioned in located space
Positioned, wherein, located space includes many sub-spaces, and the method includes：For at least one subspace, according to subspace
Spatial character, determine respectively and be applied to the positioning mode of subspace；Subspace according to residing for object to be positioned, using with son
The corresponding positioning mode in space determines the position of object to be positioned.
Preferably, determine that the step of the positioning mode being applied to subspace can include：Determine the master being applied to subspace
Positioning mode and auxiliary positioning mode；Using main positioning mode, object to be positioned is positioned, wherein, using main positioning side
Formula fails in the case of determining the position of object to be positioned, determines the position of object to be positioned using auxiliary positioning mode.
Preferably, many sub-spaces can include the first subspace and the second subspace, and the first subspace corresponds to first
Positioning mode, the second subspace corresponds to the second positioning mode, and the first positioning mode is different from the second positioning mode, located space
Also include buffering area, buffering area is adjacent with the first subspace, the second subspace respectively, and the method can also include：To be positioned
When object is from the first subspace movement to buffering area, determine the position of object to be positioned using the second positioning mode.
Preferably, buffering area can be to be not belonging to the first subspace and the isolated area of the second subspace, or, the first son
Space is adjacent with the second subspace, and in the first subspace, the region of neighbouring second subspace is first buffering area, the second subspace
In the region of neighbouring first subspace be second buffering area, buffering area is first buffering area and/or second buffering area.
Preferably, positioning mode can include：
Laser positioning；And/or
Image recognition positions；And/or
Radio position finding radio directional bearing；And/or
Inertial navigation positions；And/or
Magnetic orientation.
Preferably, spatial character can include：
Spatial occlusion situation；And/or
Magnetic disturbance situation；And/or
Space size；And/or
Radio interference scenarios；And/or
Space illumination situation；And/or
Persistently using a kind of time of positioning mode；And/or
The fine degree of corresponding virtual reality scenario.
According to another aspect of the present invention, additionally provide a kind of alignment system, for to be positioned in located space
Object is positioned, and wherein, located space is divided into many sub-spaces, and this system includes：Multiple made based on different positioning principles
Location equipment, be suitable to be arranged in located space and/or object to be positioned on；And processor, empty at least one son
Between, processor, according to the spatial character of subspace, determines the location equipment being applied to subspace respectively, and according to object to be positioned
Residing subspace, determines the position of object to be positioned using the location equipment corresponding with subspace.
Preferably, processor can determine the main location equipment and auxiliary positioning equipment being applied to subspace, and processor makes
With main location equipment, object to be positioned is positioned, wherein, determine object to be positioned failing using main location equipment
Position in the case of, determine the position of object to be positioned using auxiliary positioning equipment.
Preferably, many sub-spaces can include the first subspace and the second subspace, and the first subspace corresponds to first
Location equipment, the second subspace corresponds to the second location equipment, and the first location equipment is different from the second location equipment, located space
Also include buffering area, buffering area is adjacent with the first subspace, the second subspace respectively, moves from the first subspace in object to be positioned
When moving to buffering area, processor determines the position of object to be positioned using the second location equipment.
Preferably, buffering area is the isolated area being not belonging to the first subspace and the second subspace, or, the first subspace
Adjacent with the second subspace, in the first subspace, the region of neighbouring second subspace is first buffering area, adjacent in the second subspace
The region of nearly first subspace is second buffering area, and buffering area is first buffering area and/or second buffering area.
Preferably, location equipment can include：
Laser Positioning Equipment；And/or
Image recognition location equipment；And/or
Radio fixing aid(s)；And/or
Inertial navigation location equipment；And/or
Magnetic localization device.
Preferably, spatial character can include：
Spatial occlusion situation；And/or
Magnetic disturbance situation；And/or
Space size；And/or
Radio interference scenarios；And/or
Space illumination situation；And/or
Persistently using a kind of time of positioning mode；And/or
The fine degree of corresponding virtual reality scenario.
To sum up, using localization method and the system of the present invention, can be according to the feature of subspace, from multiple positioning modes
Choose the positioning mode being adapted with subspace the object to be positioned being in this subspace is positioned.Thus, the present invention
The fusion of multiple location technologies in scene on a large scale can be realized, such that it is able to preferably meet the positioning experiencing scene on a large scale
Demand.
Brief description
By combining accompanying drawing, disclosure illustrative embodiments are described in more detail, the disclosure above-mentioned and its
Its purpose, feature and advantage will be apparent from, wherein, in disclosure illustrative embodiments, identical reference number
Typically represent same parts.
Fig. 1 shows the indicative flowchart of localization method according to an embodiment of the invention.
Fig. 2 shows a kind of view of buffering area.
Fig. 3 shows another kind of view of buffering area.
Fig. 4 shows the structured flowchart of alignment system according to an embodiment of the invention.
Specific embodiment
It is more fully described the preferred embodiment of the disclosure below with reference to accompanying drawings.Although showing the disclosure in accompanying drawing
Preferred embodiment, however, it is to be appreciated that may be realized in various forms the disclosure and the embodiment party that should not illustrated here
Formula is limited.On the contrary, these embodiments are provided so that the disclosure is more thorough and complete, and can be by the disclosure
Scope intactly conveys to those skilled in the art.
For the ease of more fully understanding the present invention, before the present invention is described, first with regard to according to the present invention one
The operative scenario that a little concepts and the present invention can be suitable for illustrates.
First, multiple location technology according to the present invention
1st, optical locating techniques, main inclusion laser positioning technology and the location technology based on image recognition.
1.1) laser positioning technology
By building the positioning light tower of transmitting laser in located space (for example, it is possible in located space cornerwise two
The position at end builds a positioning light tower respectively), laser fire is carried out to located space.Object to be positioned designs multiple can
To receive the laser pick-off inductor of optical signal, calculation process is carried out by the data that laser pick-off inductor is received, just
The positional information of object to be positioned can be obtained.
1.2) location technology based on image recognition
Set up multiple camera heads (can be such as wide-angle camera) in located space, space is shot.Undetermined
Demarcated with reflectorized material or illuminator (lamp) on the object of position.By being analyzed to the picture that camera head photographs locating
Reason is it is possible to obtain the positional information of object to be positioned.
Wherein, different according to positioning accuracy request, the camera head of varying number can be set up in space.Each shooting
Device knows oneself three dimensional local information in space.The image that multiple camera heads are shot carries out fusion calculation, can obtain
Obtain the locus of object to be positioned, and finally realize three-dimensionalreconstruction.
The positioning precision of optical locating techniques is higher, but when being applied to the higher located space of complexity, can exist
The problem that light blocks, the stability of impact positioning.
2nd, radio-location technology, main inclusion WIFI location technology, bluetooth location technology and UWB location technology.
2.1) WIFI location technology
WIFI location technology belongs to the location technology based on signal strength signal intensity, and its general principle is according to the signal receiving
Intensity calculates the distance between signal receiver and signal source.With based on time of arrival (toa) (TOA) and signal arrival time difference
(TDOA) and the location technology of direction of arrival degree (AOA) is compared, it does not need to add extra hardware device.Even more important
, it is not easily susceptible to the interference of shelter, positioning precision will be led to acutely to decline because indoor environment is excessively complicated.
2.2) bluetooth location technology
Its working method is, equipped with low-power consumption bluetooth (BLE) communication function equipment using BLE technology to around sending
Oneself distinctive ID, the application software receiving this ID can take some actions according to the information that it carries.This specific ID is by fixed
The broadcast " announcement frame " (Advertising) of phase transmitting carries.In announcement broadcasting frame, the valid data being comprised are consulted by four kinds
Ask and constitute, respectively:UUID (universal unique identifier), Major, Minor, Measured Power.Wherein, Major,
Minor can be used to writing area information or fault message etc., and Measured Power is between iBeacon module and receiver
Strong (the RSSI of reference receipt signal during 1m apart：Received Signal Strength Indicator).Receiver according to
This reference receipt signal is strong and the distance to calculate sending module and receiver for the intensity of receipt signal.
2.3) UWB location technology
UWB signal：Ultra-short pulse below nanosecond or nanosecond.
Ultra broadband (Ultra Wide Band, abbreviation UWB) alignment system comprises three parts：Battery powered active tags,
UWB signal can be launched to determine position；The fixing sensor in position, can receive and estimate the letter sending over from label
Number；And the software platform of all positional informations of synthesis, obtain, analyze and convey information to user and other relevant information systems
System.Within the system, the extremely short UWB pulse signal of label transmitting, sensor receives this signal, and using comprehensive measurement means
To calculate the position of label.
Radio-location technology resists blocking property strong, but there is a problem of that positioning precision is low, orientation distance is little.
3rd, inertial navigation location technology.
Inertial navigation system (INS, Inertial Navigation System) is also referred to as inertial reference system, is a kind of
Do not rely on external information, also not to the autonomic navigation system of outside emittance (as radionavigation), have anti-
The advantage blocked.
Based on Newton mechanics law, using the exercise data of inertial sensor collection, such as acceleration transducer, gyro
The information such as the speed of the measurement object such as instrument, direction, acceleration, by integrating localization method or being based on dead reckoning, pass through
Various computings obtain the positional information of object.Increase with travel time, the error of inertial navigation positioning is also accumulated continuous.Tool
Body flow process is as follows：
Wear integrated accelerometer in the important node of moving object, the inertial sensor equipment such as gyroscope and magnetometer,
Sensor device catches the exercise data of target object, including information such as the attitude of body part, orientation, then these data is led to
Cross data transmission set to be transferred in data processing equipment, after data correction, process, finally set up threedimensional model, and
Threedimensional model is moved really, naturally with moving object.
Due to navigation information be through integration produce so that position error increases in time, there is accumulated error,
Can not continuously using the long period, and every time using need before calibrate.
4th, magnetic orientation technology, main inclusion earth magnetism location technology and magnetic tracking.
4.1) earth magnetism location technology
Earth magnetism location technology is the indoor orientation method based on earth's magnetic field, is generally divided into off-line training step and On-line matching
Stage.
The establishment stage of fingerprint map data base is off-line training step.This stage needs to the region that will position
Carry out omnibearing measurement, make position coordinates and Geomagnetic signal feature association.Due to there is the behaviour such as measure error, direction transformation
Make, its measured value also can change, environmental factor also can produce impact to measurement simultaneously, therefore each point will be carried out multi-faceted
Measurement is to increase the precision of positioning.The On-line matching stage is the basis having with reference to quantity map obtaining in off-line training step
On, using corresponding matching algorithm, position magnetic signature amount sequence during detecting goal activities using sensor and right
The map geographic feature answered, the data that relatively more actually measured data is stored with earth magnetism, reference map, thus obtain and measurement data
Closest data storage, and the position according to this data estimation now target.
4.2) magnetic tracking
Electromagnetic positioning system is mainly made up of it is provided that receiving transmitter, three parts of receiver data processor
Device six-degree-of-freedom information including position and attitude with respect to transmitter.Its operation principle is that transmitter is ceaselessly launched
Electromagnetic wave, has three mutually orthogonal coils in receiver, produce electromagnetic induction when coil receives electromagnetic wave and just can feel
Know movement locus in three dimensions for the receiving transducer, just can be calculated by calculating three coil-induced electromagnetic field field intensity
Receiver is with respect to the position (x, y, z) of emitter apparatus and angle (α, beta, gamma).
Magnetic orientation technology can penetrate the transmission that some barriers enter row information, and anti-to block ability strong.And with respect to other
Location technology, based on the targeting scheme in earth's magnetic field have the advantages that green, free, dispose without additional hardware.But magnetic is fixed
There is a common inferior position in position technology：Easily disturbed by Metals in Environments or magnet material.
2nd, experiencing Space, subspace
As it was noted above, in order to meet user's virtual reality experience demand on a large scale, a big model can be assumed to user
The experiencing Space enclosed, user can experience the virtual reality scenario of plurality of kinds of contents in this experiencing Space.For example, it is possible to experience
To there is no any simple scenario blocked, labyrinth scene, cavern scene etc..Different virtual reality scenarios can correspond to body
Test the zones of different in space that is to say, that when user is in the zones of different of experiencing Space it is possible to experience different void
Intend reality scene.
Wherein, the spatial character corresponding to the region of different virtual reality scenarios in experiencing Space can be not quite similar.Example
As, in experiencing Space correspond to simple scenario region can be do not block, open space, in experiencing Space correspond to fan
The region of palace scene can be the space in the branch road with roundabout bending.
Therefore, it can, according to the virtual reality scenario being presented, experiencing Space is divided into many sub-spaces, different sons is empty
Between corresponding to different virtual reality scenarios.According to spatial character (for example, the complexity in space), experiencing Space can also be divided
Become many sub-spaces, adjacent subspace can have different spatial characters.Furthermore it is also possible to manually experiencing Space be split
Become many sub-spaces.It is, of course, also possible to there be multiple other modes dividing subspace, repeat no more here.
3rd, targeting scheme proposed by the present invention
For above-mentioned experiencing Space, the invention provides a kind of positioning side experiencing Space being accurately positioned
Case.The targeting scheme of the present invention can select suitably according to the feature of experiencing Space from the multiple location technologies addressed above
Location technology, realize one on a large scale in scene multiple location technologies fusion, to reach best locating effect.Wherein, originally
The targeting scheme of invention can be implemented as a kind of localization method it is also possible to be embodied as a kind of alignment system, does below in conjunction with the accompanying drawings
To describe in detail.
Fig. 1 shows the indicative flowchart of localization method according to an embodiment of the invention.The positioning side of the present invention
Method can position to the object to be positioned in located space, wherein, the located space addressed here can be used to
Family assumes the space of virtual reality scenario, the experiencing Space addressed above.Correspondingly, located space can include many height skies
Between.Dividing mode herein in relation to subspace can be found in associated description above.
Referring to Fig. 1, in step S110, at least one subspace, according to the spatial character of subspace, determine suitable respectively
Positioning mode for subspace.
Here the spatial character addressed can include the space complexity of subspace (as spatial occlusion situation, space size
Deng) it is also possible to include the other characteristics being associated with subspace, for example, can be the virtual reality scenario corresponding to this subspace
Fine degree, to positioning accuracy request of this subspace etc..In addition, the spatial character addressed here can also be to stating above
And positioning mode the other factorses that impact of use, for example, it may be magnetic disturbance situation (can cause to do to magnetic orientation
Disturb), radio interference scenarios (radio position finding radio directional bearing is interfered), space illumination situation (to using image recognition position may
Interfere), persistently using a kind of time of positioning mode (persistently use to inertial navigation positioning positioning precision cause shadow
Ring).Wherein, " persistently using a kind of time of positioning mode " addressed here may be considered user from enter this subspace to
Leave this subspace elapsed time.
According to the spatial character of subspace, can be from the matched positioning mode with this spatial character as this subspace
Positioning mode.Here it is possible to pass through the artificial positioning mode determining that subspace is suitable in advance.
For example, for the subspace blocked less, the higher optical locating techniques of positioning precision can be chosen (as laser positioning
Technology, the location technology based on image recognition) positioned；The less subspace for space, user is experienced wherein
Time may be shorter, the inertial navigation positioning mode of suitable short time positioning can be chosen；Metal, ferromagnetic material are done
Disturb little subspace, positioning precision height can be chosen, resist and block the strong magnetic orientation mode of ability；For blocking very serious son
Space, can be to choose the radio position finding radio directional bearing mode resisting blocking property strong；For the subspace assuming finer virtual reality scenario,
The positioning mode (as laser positioning technology, the location technology based on image recognition) that high precision can be chosen is positioned.Certainly,
The positioning mode of this subspace suitable for certain sub-spaces, in conjunction with many factors, can be considered.
It is possible to execution step S120 after determining the positioning mode that subspace is suitable for, according to object institute to be positioned
The subspace at place, determines the position of object to be positioned using the positioning mode corresponding with subspace.
Wherein, for every sub-spaces, the spatial character according to subspace is it may be determined that be applied to this subspace
Main positioning mode and auxiliary positioning mode.Wherein, under normal circumstances, it is possible to use main positioning mode carries out fixed to object to be positioned
Position, under the abnormal conditions of the position determining object to be positioned that failed using main positioning mode, it is possible to use auxiliary positioning
Mode determines the position of object to be positioned.
That is, can preferentially be positioned using main positioning mode, (the example when being positioned using main positioning mode
As invalid signals in main location technology signal), then can be switched to assistant positioning system, treat that main positioning mode can be again
During positioning, main positioning mode can be switched back into again.
Because inertial navigation positioning mode does not need outside input, resist blocking property strong, but be because there is accumulated error, and
Be not suitable for positioning for a long time, and auxiliary positioning mode only when main positioning mode is invalid using so that auxiliary positioning mode uses
Time is shorter.Therefore, inertial navigation positioning mode is adapted as auxiliary positioning mode, and main positioning mode can be according to subspace
Spatial character chosen.
So far, the basic procedure of the localization method of the present invention is described in detail in conjunction with Fig. 1.
When object to be positioned is from a sub-spaces movement to another sub-spaces, it is possible to use with the subspace after movement
Matched positioning mode is positioned.Wherein, the spatial character of residing subspace before movement with mobile after subspace
Spatial character identical or essentially identical when, mobile before the positioning mode corresponding to subspace with mobile after subspace right
The positioning mode answered is identical or essentially identical, in this case, can be without the used positioning mode of switching.
In other words, the switching of positioning mode is mainly present between the different subspace of spatial character.Thus, in order to
It is easy to the positioning mode being used is switched over, a buffering area can be set between the different subspace of spatial character,
When object movement to be positioned is to buffering area it is possible to carry out the switching of positioning mode.
, the first subspace A corresponds to the first positioning mode taking Fig. 2 as a example, and the second subspace B corresponds to the second positioning side
Formula, the first positioning mode is different from the second positioning mode.It is provided with buffering area C between the first subspace A and the second subspace B,
Buffering area C is adjacent with the first subspace A, the second subspace B respectively.
When object to be positioned moves in the first subspace A, it is possible to use the first positioning mode positions to it, when
Object to be positioned from the first subspace A mobile to during buffering area C it is believed that its next residing subspace will become
Change (i.e. it is considered that object to be positioned will move to the second subspace B), now can use corresponding with the second subspace B
The position to determine object to be positioned for second positioning mode.
Wherein, Fig. 2 shows that buffering area C is to be not belonging to the first subspace A, is also not belonging to the independent zones of the second subspace B
Schematic diagram during domain.It should be understood that buffering area C can also be belonging to the first subspace A and/or the part area of the second subspace B
Domain.
As shown in figure 3, the first subspace A is adjacent with the second subspace B, neighbouring second son in the first subspace A can be taken
The subregion A ' of space B is as buffer area it is also possible to take the subregion of neighbouring first subspace A in the second subspace B
B ' is as buffer area naturally it is also possible to take the overlap-add region of A ' and B ' as buffer area.
So far, in conjunction with Fig. 1-Fig. 3, the localization method of the present invention is elaborated.In addition, present invention also offers one
Plant alignment system.
Fig. 4 shows the schematic block diagram of the structure of alignment system according to an embodiment of the invention.
Referring to Fig. 4, the alignment system 100 of the embodiment of the present invention include processor 10 and multiple based on different positioning principle systems
(referring to the first location equipment 20-1 of in figure, the second location equipment 20-2 ... N location equipment 20-N, N is the location equipment becoming
Integer more than 1).Wherein, multiple location equipments can be made based on the multiple positioning principles addressed above.
Location equipment 20 can be carried out different settings by the difference of the positioning principle according to location equipment 20, such as permissible
Location equipment 20 is arranged in located space and/or object to be positioned on.
For example, when location equipment 20 is to be made using laser positioning principle, location equipment 20 can include being suitable to
The transmitting end equipment being arranged in located space and be suitable to the receiving device that is arranged on object to be positioned；In location equipment 20
When being to be made using image recognition principle, location equipment 20 can be arranged in located space it is also possible to be arranged on thing to be positioned
On body；When location equipment 20 is to be made using inertial navigation positioning principle, location equipment 20 can include multiple be suitable to arrange
Sensing equipment on object to be positioned.
For at least one subspace, processor 10 can determine and be applied to son according to the spatial character of subspace respectively
The location equipment 20 in space, and the subspace according to residing for object to be positioned, using the location equipment 20 corresponding with subspace
To determine the position of object to be positioned.Here, with regard to the description of subspace and the spatial character of subspace, may refer to above
Associated description.
Wherein, processor 10 can determine main location equipment and the auxiliary being applied to subspace from multiple location equipments 20
Location equipment.Under normal circumstances, processor 10 can be positioned to object to be positioned using main location equipment, wherein, makes
Failed with main location equipment in the case of determining the position of object to be positioned, it is possible to use auxiliary positioning equipment determines undetermined
The position of position object.
Furthermore it is also possible to arrange a buffering area between the different subspace of spatial character, move in object to be positioned
To during buffering area it is possible to carry out the switching of positioning mode.The concrete setting of buffering area, may refer to above in association with Fig. 2, Fig. 3
Associated description.
Localization method and the system according to the present invention is above described in detail by reference to accompanying drawing.
It is described above various embodiments of the present invention, described above is exemplary, and non-exclusive, and
It is not limited to disclosed each embodiment.In the case of the scope and spirit without departing from illustrated each embodiment, for this skill
For the those of ordinary skill in art field, many modifications and changes will be apparent from.The selection of term used herein, purport
Best explaining principle, practical application or the improvement to the technology in market of each embodiment, or make the art
Other those of ordinary skill are understood that each embodiment disclosed herein.
Claims (12)
1. a kind of localization method, for positioning to the object to be positioned in located space, wherein, described located space includes
Many sub-spaces, the method includes：
For subspace at least one described, according to the spatial character of described subspace, determine respectively and be applied to described subspace
Positioning mode；
Subspace according to residing for described object to be positioned, treats using described in the positioning mode determination corresponding with described subspace
The position of positioning object.
2. localization method according to claim 1, wherein, described determination is applied to the step of the positioning mode of described subspace
Rapid inclusion：
Determine main positioning mode and the auxiliary positioning mode being applied to described subspace；
Using described main positioning mode, described object to be positioned is positioned, wherein, failed using described main positioning mode
In the case that success determines the position of described object to be positioned, determine described object to be positioned using described auxiliary positioning mode
Position.
3. localization method according to claim 1, wherein, the plurality of subspace includes the first subspace and the second son is empty
Between, described first subspace correspond to the first positioning mode, described second subspace correspond to the second positioning mode, described first
Positioning mode is different from described second positioning mode, and described located space also includes buffering area, described buffering area respectively with described
First subspace, described second subspace are adjacent, and the method also includes：
When described object to be positioned is from described first subspace movement to described buffering area, true using described second positioning mode
The position of fixed described object to be positioned.
4. localization method according to claim 3, wherein,
Described buffering area is the isolated area being not belonging to described first subspace and described second subspace, or,
Described first subspace is adjacent with described second subspace, and in described first subspace the area of neighbouring described second subspace
Domain is first buffering area, and in described second subspace, the region of neighbouring described first subspace is second buffering area, described buffering
Area is described first buffering area and/or described second buffering area.
5. the localization method according to any one of Claims 1-4, wherein, described positioning mode includes：
Laser positioning；And/or
Image recognition positions；And/or
Radio position finding radio directional bearing；And/or
Inertial navigation positions；And/or
Magnetic orientation.
6. the localization method according to any one of Claims 1-4, wherein, described spatial character includes：
Spatial occlusion situation；And/or
Magnetic disturbance situation；And/or
Space size；And/or
Radio interference scenarios；And/or
Space illumination situation；And/or
Persistently using a kind of time of positioning mode；And/or
The fine degree of corresponding virtual reality scenario.
7. a kind of alignment system, for positioning to the object to be positioned in located space, wherein, described located space is divided into
Many sub-spaces, this system includes：
Multiple location equipments made based on different positioning principles, are suitable to be arranged in described located space and/or described undetermined
On the object of position；And
Processor, for subspace at least one described, described processor, according to the spatial character of described subspace, determines respectively
Be applied to the location equipment of described subspace, and the subspace according to residing for described object to be positioned, using with described subspace
Corresponding location equipment is determining the position of described object to be positioned.
8. alignment system according to claim 7, wherein, described processor determines the main positioning being applied to described subspace
Equipment and auxiliary positioning equipment,
Described processor is positioned to described object to be positioned using described main location equipment, wherein, fixed using described master
Position equipment fails in the case of determining the position of described object to be positioned, treats using described in the determination of described auxiliary positioning equipment
The position of positioning object.
9. alignment system according to claim 7, wherein, the plurality of subspace includes the first subspace and the second son is empty
Between, described first subspace correspond to the first location equipment, described second subspace correspond to the second location equipment, described first
Location equipment is different from described second location equipment, and described located space also includes buffering area, described buffering area respectively with described
First subspace, described second subspace are adjacent,
When described object to be positioned is from described first subspace movement to described buffering area, described processor uses described second
Location equipment determines the position of described object to be positioned.
10. alignment system according to claim 9, wherein,
Described buffering area is the isolated area being not belonging to described first subspace and described second subspace, or,
Described first subspace is adjacent with described second subspace, and in described first subspace the area of neighbouring described second subspace
Domain is first buffering area, and in described second subspace, the region of neighbouring described first subspace is second buffering area, described buffering
Area is described first buffering area and/or described second buffering area.
11. alignment systems according to any one of claim 7 to 10, wherein, described location equipment includes：
Laser Positioning Equipment；And/or
Image recognition location equipment；And/or
Radio fixing aid(s)；And/or
Inertial navigation location equipment；And/or
Magnetic localization device.
12. alignment systems according to any one of claim 7 to 10, wherein, described spatial character includes：
Spatial occlusion situation；And/or
Magnetic disturbance situation；And/or
Space size；And/or
Radio interference scenarios；And/or
Space illumination situation；And/or
Persistently using a kind of time of positioning mode；And/or
The fine degree of corresponding virtual reality scenario.
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