CN106446200A - Positioning method and device - Google Patents
Positioning method and device Download PDFInfo
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- CN106446200A CN106446200A CN201610867251.9A CN201610867251A CN106446200A CN 106446200 A CN106446200 A CN 106446200A CN 201610867251 A CN201610867251 A CN 201610867251A CN 106446200 A CN106446200 A CN 106446200A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
- G06F16/29—Geographical information databases
Abstract
The invention discloses a positioning method and a positioning device. The positioning method comprises the following steps: acquiring stratum data of a current position; acquiring electronic map data, wherein the electronic map data comprise geographic position data and stratum data corresponding to the geographic position data; according to the stratum data of the current position and the electronic map data, determining the geographic position data of the current position. By adopting the positioning method, the positioning precision can be improved.
Description
Technical field
The application is related to technical field of data processing, more particularly to a kind of localization method and device.
Background technology
It is basis that unmanned vehicle is planned with high accuracy map and travelled that the high accuracy of vehicle is self-positioning, is to drive automatically
That sailed relies primarily on module.In correlation technique, usual combining camera and optical detection and measurement (Light Detection And
Ranging, LiDAR) to carry out vehicle self-positioning for technology.But, above-mentioned method for self-locating is easily by weather, light and ageing system
About, self-positioning precision has much room for improvement.
Content of the invention
The application is intended at least to solve to a certain extent one of technical problem in correlation technique.
For this purpose, a purpose of the application is to propose a kind of localization method, the method can improve positioning precision.
Further object is to propose a kind of positioner.
For reaching above-mentioned purpose, the localization method that the application first aspect embodiment is proposed, including：Obtain current location
Formation data；Electronic map data is obtained, the electronic map data includes geographic position data and and geographic position data
Corresponding formation data；According to formation data and the electronic map data of the current location, the ground of current location is determined
Reason position data.
The localization method that the application first aspect embodiment is proposed, completes positioning by formation data, due to formation data
, change relatively stable with respect to ground data is less, and the acquisition mode of formation data is with respect to the side of collection ground data
Formula, is not easily susceptible to the impact of weather, light, therefore can improve positioning precision.
For reaching above-mentioned purpose, the positioner that the application second aspect embodiment is proposed, including：First acquisition module,
For obtaining the formation data of current location；Second acquisition module, for obtaining electronic map data, the electronic map data
Include geographic position data and formation data corresponding with geographic position data；Locating module, for according to the present bit
The formation data that puts and the electronic map data, determine the geographic position data of current location.
The positioner that the application second aspect embodiment is proposed, completes positioning by formation data, due to formation data
, change relatively stable with respect to ground data is less, and the acquisition mode of formation data is with respect to the side of collection ground data
Formula, is not easily susceptible to the impact of weather, light, therefore can improve positioning precision.
The embodiment of the present application also proposed a kind of device for positioning, including：Processor；Can hold for storing processor
The memorizer of row instruction；Wherein, the processor is configured to：Obtain the formation data of current location；Obtain electronic chart number
According to the electronic map data includes geographic position data and formation data corresponding with geographic position data；According to described
The formation data of current location and the electronic map data, determine the geographic position data of current location.
The embodiment of the present application also proposed a kind of non-transitorycomputer readable storage medium, when in the storage medium
When instruction is performed by the processor of terminal so that terminal is able to carry out a kind of localization method, and methods described includes：Obtain current
The formation data of position；Obtain electronic map data, the electronic map data include geographic position data and with geographical position
Put the corresponding formation data of data；According to formation data and the electronic map data of the current location, present bit is determined
The geographic position data that puts.
The embodiment of the present application also proposed a kind of computer program, at the instruction in the computer program
When reason device is executed, a kind of localization method is executed, methods described includes：Obtain the formation data of current location；Obtain electronic chart
Data, the electronic map data includes geographic position data and formation data corresponding with geographic position data；According to institute
The formation data of current location and the electronic map data is stated, determines the geographic position data of current location.
The aspect that the application is added and advantage will be set forth in part in the description, and partly will become from the following description
Obtain substantially, or recognized by the practice of the application.
Description of the drawings
The above-mentioned and/or additional aspect of the application and advantage will become from the following description of the accompanying drawings of embodiments
Substantially and easy to understand, wherein：
Fig. 1 is the schematic flow sheet of the localization method that the application one embodiment is proposed；
Fig. 2 is the schematic flow sheet of the localization method that another embodiment of the application is proposed；
Fig. 3 is the schematic flow sheet of the method for creating electronic chart in the embodiment of the present application；
Fig. 4 is the structural representation of the positioner that the application one embodiment is proposed；
Fig. 5 is the structural representation of the positioner that another embodiment of the application is proposed.
Specific embodiment
Embodiments herein is described below in detail, the example of the embodiment is shown in the drawings, wherein from start to finish
Same or similar label represents same or similar module or the module with same or like function.Below with reference to attached
The embodiment of figure description is exemplary, is only used for explaining the application, and it is not intended that restriction to the application.Conversely, this
The embodiment of application includes the spirit for falling into attached claims and all changes in the range of intension, modification and equivalent
Thing.
Fig. 1 is the schematic flow sheet of the localization method that the application one embodiment is proposed.
As shown in figure 1, the present embodiment is comprised the following steps：
S11：Obtain the formation data of current location.
By vehicle carry out self-positioning as a example by, the equipment for obtaining in real time formation data can be installed on vehicle, be such as visited
Ground radar, such that it is able to get the formation data of current location in real time.
The data for obtaining when generally positioning are the data of object on ground, the such as data of some marks.
In the present embodiment, need to obtain formation data.Formation data be positioned at underground rock stratum, deposit and people's producing material
The related data of the underground mediums such as material.Specifically formation data can be got using GPR.GPR be by transmitting
Antenna launches frequency electromagnetic waves to underground, receives the electromagnetic wave for being reflected back ground by reception antenna, and electromagnetic wave is in underground medium
Reflect when running into, during middle propagation, the separating surface that there is electrical property difference, the waveform according to the electromagnetic wave for receiving, oscillator intensity
Locus, structure, form and buried depth of underground medium etc. is inferred with features such as the changes of time.
S12：Obtain electronic map data, the electronic map data include geographic position data and with geographical position number
According to corresponding formation data.
Wherein it is possible to electronic chart is pre-created, so as to obtain electronic map data in the electronic chart being pre-created.
From unlike the common electronic map data for only including geographic position data, the electronic map data that the present embodiment is adopted is also
Including formation data.
Geographic position data can specifically refer to global positioning system (Global Positioning System, GPS) number
According to the longitude and latitude of gps data such as atural object.The gps data of diverse location when electronic chart is created, can be gathered by GPS module,
Furthermore it is also possible to the formation data that GPR gathers diverse location is loaded, so as to include gps data in electronic map data
And formation data, in addition, according to the gps data of same position and formation data set up between gps data and formation data right
Should be related to.
S13：According to formation data and the electronic map data of the current location, the geographical position of current location is determined
Put data.
As the geographic position data that electronic map data includes has corresponding relation with formation data, therefore right according to this
Should be related to and current location formation data, it may be determined that geographic position data corresponding with the formation data of current location,
So as to using corresponding geographic position data as the geographic position data of current location, complete positioning.
In the present embodiment, positioning is completed by formation data, as formation data is relatively stable with respect to ground data, change
Change is less, and the acquisition mode of formation data is not easily susceptible to the shadow of weather, light with respect to the mode of collection ground data
Ring, therefore can improve positioning precision.Specifically, when gathering ground data in correlation technique, in the case of special weather, ground
Face can be covered by object (as water, ice and snow, dust, stone), therefore can affect the accuracy of the ground data of collection, so as to reduce
Positioning precision.In addition, in correlation technique using camera and LiDAR gathered data when, be to be acquired using visible ray, this can receive
Affect to light, data acquisition during such as night dark, can be affected, reduce positioning precision.Further, since ground object updates
Comparatively fast, electronic map data can be subject to ageing restriction, and it is fixed to will result in when not changing in ground object change electronic chart
Position is inaccurate.And the present embodiment gathers formation data using GPR, will not be affected by mulching material and light, and ground
Layer data stability is very strong, it is also possible to break through ageing restriction, therefore can improve positional accuracy and precision.
As above, shown in an embodiment, positioned by formation data.As electronic map data is huger, if
The formation data of current location is mated one by one with whole electronic map datas, then operand can be very big, for this purpose, can be first
Coarse positioning is carried out, is determined the data of a small range, then the data of the small range are mated, complete final positioning.
Fig. 2 is the schematic flow sheet of the localization method that another embodiment of the application is proposed.The present embodiment with vehicle from
As a example by positioning, and so that geographic position data is as gps data as an example.
As shown in Fig. 2 the method for the present embodiment includes：
S21：Obtain electronic map data.
Similar with a upper embodiment, corresponding electronic map data can be obtained according to the electronic chart being pre-created, should
Electronic map data refers to the electronic map data of gps data and corresponding formation data.
S22：Obtain the gps data of current location.
For example, on vehicle, GPS module is installed, gps data collection is carried out in real time by GPS module, therefore can obtain and work as
The gps data of front position.
S23：Coarse positioning is carried out according to the gps data of current location and the precision of current location, determines that current location is located
Region.
Wherein, in electronic chart, zones of different can be with different precision, and the precision of zones of different is creating electronics
Be known after map, the precision of current location is therefore can determine according to the electronic chart for creating.Above-mentioned precision is generally come
Say that open area precision is higher, mountain area, urban canyon area, precision is relatively low.
After the gps data for obtaining current location and precision, can be according to the gps data of current location and corresponding essence
Degree, it may be determined that vehicle is currently located region.For example, the precision of current location is 100m, then by the gps data week of current location
The region in the range of 100m that encloses is defined as current location region.
S24：Obtain the formation data of current location.
For example, loading GPR, real-time detection formation data on vehicle, therefore can get the ground of current location
Layer data.
S25：By the stratum in corresponding with current location region for the formation data of current location electronic map data
Data are mated, and determine the formation data for mating with the formation data of current location.
Such as, the corresponding location point of the gps data of current location is that O point, the precision of current location is 100m, then obtain O
The electronic map data of the zonule around point in the range of 100m, then by the formation data of current location and the zonule for obtaining
Formation data in electronic map data is mated, and obtains the formation data for mating with the formation data of current location.
When formation data mates, can be in the way of using rasterizing be carried out step by step.Can specifically include：
Current location region is carried out rasterizing using the first precision, the region division is multiple grids；
The formation data degree of association highest of a corresponding formation data and current location is selected in the plurality of grid
Grid；
Using the second precision, rasterizing is carried out again to the grid for selecting and grid is selected according to degree of association, until adopting
Precision reach precision threshold；
Corresponding for the grid for reaching precision threshold for selecting formation data is defined as the formation data with current location
The formation data that joins.
Above-mentioned the first precision, the second precision and precision threshold can rule of thumb wait setting.In order to improve positioning accurate
Degree, the precision threshold of the present embodiment could be arranged to Centimeter Level, be only being accurately positioned for Centimeter Level so as to complete error.
Assume that the first precision is 10M, the second precision is 1M, then can to the zonule that coarse positioning is determined with 10M be first
Radius be divided into multiple grids, then calculated between the formation data in the formation data of current location and each grid respectively
Relative coefficient, selects a grid of relative coefficient maximum, then the grid is divided again, is half such as by 10M
The grid in footpath is again divided into multiple grids with 1M as radius, then recalculates the formation data of current location and each 1M is
The relative coefficient between formation data in the grid of radius, by that analogy, until the precision of grid meets require, such as
To radius for Centimeter Level grid, then in the grid of centimetre class precision according to degree of association select a grid, by select li
The formation data that the corresponding formation data of the grid of meter accuracy mates as the formation data with current location.
It is understood that above-mentioned as a example by calculating relative coefficient, other algorithms can also be adopted to calculate formation data
Between degree of association, such as least square scheduling algorithm.
S26：In electronic map data, gps data corresponding with the formation data of the coupling is defined as present bit
The gps data that puts, completes vehicle self-positioning.
As the formation data in electronic map data and gps data have corresponding relation, therefore according to the corresponding relation
Gps data corresponding with the formation data of coupling is can determine, using the corresponding gps data as the self-positioning result of vehicle,
Self-positioning so as to complete vehicle.
In the present embodiment, formation data coupling is carried out again in the region that coarse positioning is obtained by first coarse positioning, can be subtracted
Little operand.Further, by carrying out rasterizing to region and carrying out grid selection step by step, it is also possible to reduce operand and carry
High operation efficiency.
As described in above-mentioned embodiment, electronic map data can be used in positioning, the establishment to electronic chart below
Process is described.
Fig. 3 is the schematic flow sheet of the method for creating electronic chart in the embodiment of the present application.
As shown in figure 3, the method for the present embodiment includes：
S31：The region for treating drafting electronic chart is repeatedly traveled through, and gathers multiframe stratum during single ergodic
Data.
So that road is drawn as an example, it is assumed that to A point is drawn to the road of B point, then A point can be entered to the region between B point
Row repeatedly travels through (concrete number of times can be arranged), and gathers multiframe formation data in each ergodic process.Specifically, Ke Yi
GPR is loaded in collecting vehicle, to collect multiframe formation data, region and the spy of concrete frame number and electronic chart to be drawn
The region that ground radar is able to detect that every time is relevant.
S32：The multiframe formation data for gathering during single ergodic is spliced.
Wherein, GPR is when formation data is gathered, it may be determined that the phase of GPR when collection is per frame formation data
To position (position with relative GPS module), attitude data (the such as angle of pitch) etc., afterwards according to per the corresponding spy of frame formation data
The relative position of ground radar and attitude data etc. are translated to the formation data of respective frame and/or are rotated, to multiframe stratum
Data are spliced.It is understood that little for multiframe image mosaic with the anglec of rotation can similar be by specific translation distance
The flow process of the big image of one entirety, will not be described in detail herein.
Further, respectively every frame formation data can also be processed before splicing, at filtering and normalization
Reason, with eliminate time delay, thermal change and other noises etc. impact.Specific filtering and normalization algorithm are to arrange
's.
S33：The multiframe formation data of multiple ergodic process is merged.
Wherein, can be that the every frame formation data to different ergodic processes merges respectively in fusion, such as to the
First frame formation data of ergodic process is merged with the first frame formation data in second ergodic process；Or,
Can also be that the splicing result obtained by different ergodic processes merges in fusion, such as right in first time ergodic process
Multiframe formation data obtains the splicing result of first time ergodic process after being spliced, similar can obtaining is traversed for the second time
The splicing result of journey, afterwards the splicing result of the splicing result to first time ergodic process and second ergodic process melt
Close.
As the data for gathering during single ergodic there may be error, in order to improve the accuracy of electronic chart,
The data of multiple ergodic process can be merged.By taking the fusion of splicing result twice as an example, can first determine twice and splice
As a result the overlapping region (as all comprising same landmark) in, mates to the overlapping region in different splicing results,
Further according to matching result, respective handling is carried out to misaligned region.Such as, by same landmark in different splicing results
The average (or weighted mean) of formation data is used as the formation data for finally adopting in electronic map data after coupling, then counts
The difference between the formation data of the landmark in each splicing result and the formation data of the final employing is calculated, for which
Remaining region corresponding plus or minus difference in splicing result.Of course, it should be understood that above-mentioned blending algorithm is only letter
Change explanation, concrete blending algorithm can be more complicated in actual enforcement, can arrange.
S34：The formation data in the region of electronic chart to be drawn is obtained according to splicing result and fusion results.
Such as, after splicing to the multiframe formation data of each ergodic process collection respectively, each ergodic process is obtained
Splicing result, repeatedly the splicing result of ergodic process obtains the ground number of plies in the region of electronic chart to be drawn after being merged again
According to.Or, it is also possible to first corresponding first fusion per frame formation data carries out splicing further according to fusion results and obtains waiting to draw electricity
The formation data in the region of sub- map.
S35：Gather the geographic position data in the region of electronic chart to be drawn.
Geographic position data is, for example, gps data, therefore can collect electronic chart to be drawn by loading GPS module
Region in object (landmark or road) gps data.
S36：Right between the formation data in the region for setting up the geographic position data and the electronic chart to be drawn
Should be related to, obtain the electronic map data.
Getting after the gps data in region of electronic chart and formation data is drawn, can be according to GPS module and spy
Relative position relation between Rhizoma Anemones flaccidae soothing the liver, determines the corresponding relation between gps data and formation data, such that it is able to set up electronics
Corresponding relation in map datum between geographic position data and formation data.
In the present embodiment, formation data is gathered during by building electronic chart, such that it is able to construct comprising formation data
Electronic map data, such that it is able to for based on formation data positioning provide basis.
Fig. 4 is the structural representation of the positioner that the application one embodiment is proposed.
As shown in figure 4, the device 40 includes：First acquisition module 401, the second acquisition module 402 and locating module 403.
First acquisition module 401, for obtaining the formation data of current location；
Second acquisition module 402, for obtaining electronic map data, the electronic map data includes geographical position number
According to and formation data corresponding with geographic position data；
Locating module 403, for formation data and the electronic map data according to the current location, determines current
The geographic position data of position.
In some embodiments, referring to Fig. 5, the device 40 also includes：
3rd acquisition module 404, for obtaining the geographic position data of current location and the precision of current location；
Determining module 405, for according to the geographic position data of the current location and the precision of current location, determining and working as
Front position region.
In some embodiments, referring to Fig. 5, the locating module 403 includes：
Matched sub-block 4031, for corresponding with the current location region by the formation data of the current location
Electronic map data in formation data mated, determine the formation data that mates with the formation data of current location；
Determination sub-module 4032, in electronic map data, by geography corresponding with the formation data of the coupling
Position data, is defined as the geographic position data of current location.
In some embodiments, the matched sub-block 431 specifically for：
Current location region is carried out rasterizing using the first precision, the region division is multiple grids；
The formation data degree of association highest of a corresponding formation data and current location is selected in the plurality of grid
Grid；
Using the second precision, rasterizing is carried out again to the grid for selecting and grid is selected according to degree of association, until adopting
Precision reach precision threshold；
Corresponding for the grid for reaching precision threshold for selecting formation data is defined as the formation data with current location
The formation data that joins.
In some embodiments, referring to Fig. 5, the device 40 also includes：
First acquisition module 406, is repeatedly traveled through for treating the region for drawing electronic chart, and in single ergodic mistake
Multiframe formation data is gathered in journey；
Concatenation module 407, splices for the multiframe formation data to gathering during single ergodic；
Fusion Module 408, for merging to the splicing result of multiple ergodic process, obtains electronic chart to be drawn
The formation data in region；
4th acquisition module 409, for obtaining the region of electronic chart to be drawn according to splicing result and fusion results
Formation data；
Second acquisition module 410, for gathering the geographic position data in the region of electronic chart to be drawn；
Module 411 is set up, for setting up the stratum of the geographic position data and the region of the electronic chart to be drawn
Corresponding relation between data, obtains the electronic map data.
In some embodiments, the precision threshold is：Centimetre class precision.
In some embodiments, the formation data of the current location is the GPR collection by itself loading.
It is understood that the device of the present embodiment is corresponding with said method embodiment, particular content may refer to method
The associated description of embodiment, here is no longer described in detail.
In the present embodiment, positioning is completed by formation data, as formation data is relatively stable with respect to ground data, change
Change is less, and the acquisition mode of formation data is not easily susceptible to the shadow of weather, light with respect to the mode of collection ground data
Ring, therefore can improve positioning precision.
It is understood that in the various embodiments described above, same or similar part mutually can refer to, in certain embodiments
Unspecified content may refer to same or analogous content in other embodiment.
It should be noted that in the description of the present application, term " first ", " second " etc. are only used for describing purpose, and not
It is understood that as indicating or implying relative importance.Additionally, in the description of the present application, unless otherwise stated, the implication of " multiple "
Refer at least two.
In flow chart or here any process described otherwise above or method description are construed as, expression includes
One or more for realizing specific logical function or process the step of the module of code of executable instruction, fragment or portion
Point, and the scope of the preferred implementation of the application includes other realization, wherein can not be by the suitable of shown or discussion
Sequence, including according to involved function by basic and meanwhile in the way of or in the opposite order, carry out perform function, this should be by the application
Embodiment person of ordinary skill in the field understood.
It should be appreciated that each several part of the application can be realized with hardware, software, firmware or combinations thereof.Above-mentioned
In embodiment, the software that multiple steps or method can be executed in memory and by suitable instruction execution system with storage
Or firmware is realizing.For example, if realized with hardware, and in another embodiment, can be with well known in the art
Any one of row technology or their combination are realizing：The logic gates having for realizing logic function to data signal
Discrete logic, the special IC with suitable combinational logic gate circuit, programmable gate array (PGA), scene
Programmable gate array (FPGA) etc..
Those skilled in the art are appreciated that to realize all or part of step of above-described embodiment method carrying
Suddenly the hardware that can be by program to instruct correlation is completed, and described program can be stored in a kind of computer-readable storage medium
In matter, the program upon execution, including one or a combination set of the step of embodiment of the method.
Additionally, each functional unit in each embodiment of the application can be integrated in a processing module, it is also possible to
It is that unit is individually physically present, it is also possible to which two or more units are integrated in a module.Above-mentioned integrated mould
Block both can be realized in the form of hardware, it would however also be possible to employ the form of software function module is realized.The integrated module is such as
Fruit using in the form of software function module realize and as independent production marketing or use when, it is also possible to be stored in a computer
In read/write memory medium.
Storage medium mentioned above can be read only memory, disk or CD etc..
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or the spy for describing with reference to the embodiment or example
Point is contained at least one embodiment or the example of the application.In this manual, to the schematic representation of above-mentioned term not
Identical embodiment or example are necessarily referred to.And, the specific features of description, structure, material or feature can be any
One or more embodiments or example in combine in an appropriate manner.
Although embodiments herein has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is impossible to the restriction to the application is interpreted as, one of ordinary skill in the art within the scope of application can be to above-mentioned
Embodiment is changed, changes, replacing and modification.
Claims (12)
1. a kind of localization method, it is characterised in that include：
Obtain the formation data of current location；
Electronic map data is obtained, the electronic map data includes geographic position data and corresponding with geographic position data
Formation data；
According to formation data and the electronic map data of the current location, the geographic position data of current location is determined.
2. method according to claim 1, it is characterised in that also include：
Obtain the geographic position data of current location and the precision of current location；
According to the geographic position data of the current location and the precision of current location, current location region is determined.
3. method according to claim 2, it is characterised in that the formation data according to the current location and described
Electronic map data, determines the geographic position data of current location, including：
By the stratum in corresponding with the current location region for the formation data of current location electronic map data
Data are mated, and determine the formation data for mating with the formation data of current location；
In electronic map data, geographic position data corresponding with the formation data of the coupling is defined as current location
Geographic position data.
4. method according to claim 3, it is characterised in that the formation data by the current location is worked as with described
Formation data in the corresponding electronic map data in front position region is mated, and determines the formation data with current location
The formation data of coupling, including：
Current location region is carried out rasterizing using the first precision, the region division is multiple grids；
The formation data degree of association highest grid of a corresponding formation data and current location are selected in the plurality of grid
Lattice；
Using the second precision, rasterizing is carried out again to the grid for selecting and grid is selected according to degree of association, until the essence for adopting
Degree reaches precision threshold；
The corresponding formation data of the grid for reaching precision threshold for selecting is defined as mating with the formation data of current location
Formation data.
5. the method according to any one of claim 1-4, it is characterised in that also include：
The region for treating drafting electronic chart is repeatedly traveled through, and gathers multiframe formation data during single ergodic；
The multiframe formation data for gathering during single ergodic is spliced；
The multiframe formation data of multiple ergodic process is merged；
The formation data in the region of electronic chart to be drawn is obtained according to splicing result and fusion results；
Gather the geographic position data in the region of electronic chart to be drawn；
Corresponding relation between the formation data in the region for setting up the geographic position data and the electronic chart to be drawn, obtains
To the electronic map data.
6. method according to claim 4, it is characterised in that the precision threshold is：Centimetre class precision.
7. method according to claim 1, it is characterised in that the formation data of the current location is loaded by itself
GPR collection.
8. a kind of positioner, it is characterised in that include：
First acquisition module, for obtaining the formation data of current location；
Second acquisition module, for obtaining electronic map data, the electronic map data include geographic position data and with
The corresponding formation data of geographic position data；
Locating module, for formation data and the electronic map data according to the current location, determines current location
Geographic position data.
9. device according to claim 8, it is characterised in that also include：
3rd acquisition module, for obtaining the geographic position data of current location and the precision of current location；
Determining module, for according to the geographic position data of the current location and the precision of current location, determining current location
Region.
10. device according to claim 9, it is characterised in that the locating module includes：
Matched sub-block, for will be corresponding electronically with the current location region for the formation data of the current location
Formation data in diagram data is mated, and determines the formation data for mating with the formation data of current location；
Determination sub-module, in electronic map data, by geographic position data corresponding with the formation data of the coupling,
It is defined as the geographic position data of current location.
11. devices according to claim 10, it is characterised in that the matched sub-block specifically for：
Current location region is carried out rasterizing using the first precision, the region division is multiple grids；
The formation data degree of association highest grid of a corresponding formation data and current location are selected in the plurality of grid
Lattice；
Using the second precision, rasterizing is carried out again to the grid for selecting and grid is selected according to degree of association, until the essence for adopting
Degree reaches precision threshold；
The corresponding formation data of the grid for reaching precision threshold for selecting is defined as mating with the formation data of current location
Formation data.
12. devices according to any one of claim 8-11, it is characterised in that also include：
First acquisition module, is repeatedly traveled through for treating the region for drawing electronic chart, and is adopted during single ergodic
Collection multiframe formation data；
Concatenation module, splices for the multiframe formation data to gathering during single ergodic；
Fusion Module, for merging to the multiframe formation data of multiple ergodic process；
4th acquisition module, for obtaining the ground number of plies in the region of electronic chart to be drawn according to splicing result and fusion results
According to；
Second acquisition module, for gathering the geographic position data in the region of electronic chart to be drawn；
Module is set up, for setting up between the formation data in the region of the geographic position data and the electronic chart to be drawn
Corresponding relation, obtain the electronic map data.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610867251.9A CN106446200A (en) | 2016-09-29 | 2016-09-29 | Positioning method and device |
| PCT/CN2017/074443 WO2018058890A1 (en) | 2016-09-29 | 2017-02-22 | Positioning method and apparatus |
Applications Claiming Priority (1)
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| CN201610867251.9A CN106446200A (en) | 2016-09-29 | 2016-09-29 | Positioning method and device |
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| CN107945446A (en) * | 2017-11-20 | 2018-04-20 | 北京中科锐景科技有限公司 | The method and apparatus that forest hot spot is identified in monitoring based on multi-source satellite |
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| CN109186618A (en) * | 2018-08-31 | 2019-01-11 | 平安科技（深圳）有限公司 | Map constructing method, device, computer equipment and storage medium |
| CN113406622A (en) * | 2021-06-22 | 2021-09-17 | 中国科学院空天信息创新研究院 | Mobile carrier, positioning system and method thereof, control device and storage medium |
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| WO2018058890A1 (en) | 2018-04-05 |
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