CN107734449B - Outdoor auxiliary positioning method, system and equipment based on optical label - Google Patents
Outdoor auxiliary positioning method, system and equipment based on optical label Download PDFInfo
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- CN107734449B CN107734449B CN201711098393.4A CN201711098393A CN107734449B CN 107734449 B CN107734449 B CN 107734449B CN 201711098393 A CN201711098393 A CN 201711098393A CN 107734449 B CN107734449 B CN 107734449B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
Abstract
The invention discloses an outdoor auxiliary positioning method, system and equipment based on optical labels, which comprises the following steps: arranging at least two optical label anchors in a to-be-positioned range, wherein each optical label anchor displays the ID information of the optical label anchor, and a camera on equipment to be positioned collects the ID information displayed by each optical label anchor; obtaining the geographical position information of each optical label anchor point by using the ID information; measuring the distance between the equipment to be positioned and each optical label anchor point through the optical label; the method, the system and the equipment can realize outdoor positioning, and have strong anti-interference capability and high positioning precision.
Description
Technical Field
The invention relates to an outdoor auxiliary positioning method, system and equipment, in particular to an outdoor auxiliary positioning method, system and equipment based on an optical label.
Background
Positioning presents difficulties in situations where the outdoor satellite positioning signal is weak or disturbed. Or in the occasion with high positioning accuracy requirement, the existing satellite signal positioning can not meet the requirement, and in order to solve the problem that the positioning can not be carried out under the condition, an outdoor auxiliary positioning method needs to be provided, and the positioning method has strong anti-interference capability and higher positioning accuracy.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides an outdoor auxiliary positioning method, system and equipment based on optical labels.
In order to achieve the above object, the outdoor auxiliary positioning method based on optical labels of the present invention comprises:
arranging at least two optical label anchors in a to-be-positioned range, wherein each optical label anchor displays the ID information of the optical label anchor, and a camera on equipment to be positioned collects the ID information displayed by each optical label anchor;
obtaining the geographical position information of each optical label anchor point by using the ID information;
measuring the distance between the equipment to be positioned and each optical label anchor point through the optical label;
and calculating the geographical position information of the equipment to be positioned according to the geographical position information of each optical label anchor point and the distance between the equipment to be positioned and each optical label anchor point.
The positioning server numbers each optical label anchor point and records the geographic information P of each optical label anchor point and the corresponding relation of the number of the optical label anchor point; the equipment to be positioned obtains the geographical position information of each optical label anchor point from the positioning server based on the ID information of the optical labels; the geographic position information is longitude and latitude coordinates of the optical label anchor point.
The number of the optical label anchor points is two, and the distance s between the equipment to be positioned and the first optical label anchor point is calculated through the optical label based on the camera imaging principle1And the distance s between the device to be positioned and the second optical label anchor point2。
The outdoor auxiliary positioning system based on the optical label comprises:
the optical label anchors are used for displaying the ID information of the optical label, and the number of the optical label anchors is more than or equal to 2;
the positioning server is used for storing the optical label ID information and the corresponding geographic position information;
the positioning device is used for calculating the geographical position information of the positioning device, and is provided with a positioning module.
The positioning server (3) numbers each optical label anchor point and records the geographic information P of each optical label anchor point and the corresponding relation of the number.
The number of the optical label anchor points is two, and the positioning module calculates the positioning equipment and the first optical label anchor point through the optical label based on the camera imaging principleS between1And the distance s between the device to be positioned and the second optical label anchor point2。
And the positioning equipment calculates the geographical position information of the positioning equipment according to the geographical position information of each optical label anchor point and the distance between the equipment to be positioned and each optical label anchor point.
The outdoor auxiliary positioning equipment based on the optical label comprises:
the system comprises an acquisition module, a positioning module and a positioning module, wherein the acquisition module is used for acquiring ID information of each optical label anchor point, and each optical label anchor point is arranged in a to-be-positioned range in advance;
the communication module is used for obtaining the geographic position information of each optical label anchor point from the positioning server based on the ID information of the optical label anchor points;
the positioning module is used for acquiring the distance between the equipment to be positioned and each optical label anchor point;
and the calculation module is used for calculating the geographical position information of the equipment to be positioned according to the geographical position information of each optical label anchor point and the distance between the equipment to be positioned and each optical label anchor point.
The positioning module calculates the distance between the equipment to be positioned and each optical label anchor point through the optical label based on the camera imaging principle.
And the calculation module calculates the geographical position information of the equipment to be positioned according to the geographical position information of each optical label anchor point and the distance between the equipment to be positioned and each optical label anchor point.
The invention has the following beneficial effects:
when the outdoor auxiliary positioning method, the system and the equipment based on the optical label are specifically operated, N optical label anchor points are arranged in a to-be-positioned range, the geographical longitude and latitude information of each optical label anchor point is obtained, the image information of the optical label on any two optical label anchor points is collected through a camera on the positioning equipment, the distance between the positioning equipment and the two optical label anchor points is obtained, then the distance between the positioning equipment and the two optical label anchor points and the geographical longitude and latitude information of the two optical label anchor points are calculated to obtain the longitude and latitude coordinate of the positioning equipment, and therefore the positioning of the to-be-positioned equipment is realized, the operation is simple and convenient. It should be noted that the invention positions the device to be positioned by means of optical label identification, avoids the weak or interference influence of outdoor satellite positioning signals during positioning, and has higher precision.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic diagram of the calculation of the distance between the positioning device 1 and the first optical label anchor point 4 according to the present invention;
FIG. 3 is a schematic diagram of the present invention for calculating the position of the pointing device 1;
fig. 4 is a schematic diagram of the present invention.
Wherein, 1 is a positioning device, 2 is a second optical label anchor point, 3 is a positioning server, 4 is a first optical label anchor point, and 5 is a network device.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings:
the outdoor auxiliary positioning method based on the optical label comprises the following steps:
arranging at least two optical label anchors in a to-be-positioned range, wherein each optical label anchor displays the ID information of the optical label anchor, and a camera on the to-be-positioned equipment 1 acquires the ID information displayed by each optical label anchor;
obtaining the geographical position information of each optical label anchor point by using the ID information;
measuring the distance between the equipment 1 to be positioned and each optical label anchor point through an optical label;
and calculating the geographical position information of the equipment 1 to be positioned according to the geographical position information of each optical label anchor point and the distance between the equipment 1 to be positioned and each optical label anchor point.
The positioning server 3 numbers each optical label anchor point and records the geographic information P of each optical label anchor point and the corresponding relation of the number; the equipment 1 to be positioned obtains the geographical position information of each optical label anchor point from the positioning server 3 based on the ID information of the optical label; the geographic position information is longitude and latitude coordinates of the optical label anchor point.
Optical label anchor pointIs two, and the distance s between the equipment 1 to be positioned and the first optical label anchor point 4 is calculated by the optical label based on the camera imaging principle1And the spacing s between the device 1 to be positioned and the second optical label anchor point 22。
The outdoor auxiliary positioning system based on the optical label comprises:
the optical label anchors are used for displaying the ID information of the optical label, and the number of the optical label anchors is more than or equal to 2;
a positioning server 3 for storing optical tag ID information and corresponding geographical location information;
the positioning device 1 is used for calculating the geographical position information of the positioning device 1, and the positioning device 1 is provided with a positioning module.
The positioning server 3 numbers each optical label anchor point and records the geographic information P of each optical label anchor point and the corresponding relationship of the number thereof.
The number of the optical label anchor points is two, and the positioning module calculates the distance s between the positioning equipment 1 and the first optical label anchor point 4 through the optical label based on the camera imaging principle1And the spacing s between the device 1 to be positioned and the second optical label anchor point 22。
And the positioning equipment 1 calculates the geographical position information of the positioning equipment 1 according to the geographical position information of each optical label anchor point and the distance between the equipment 1 to be positioned and each optical label anchor point.
The outdoor auxiliary positioning equipment based on the optical label comprises:
the system comprises an acquisition module, a positioning module and a positioning module, wherein the acquisition module is used for acquiring ID information of each optical label anchor point, and each optical label anchor point is arranged in a to-be-positioned range in advance;
a communication module for obtaining the geographical position information of each optical label anchor point from the positioning server 3 based on the ID information of the optical label anchor point;
the positioning module is used for acquiring the distance between the equipment to be positioned 1 and each optical label anchor point 4;
and the calculation module is used for calculating the geographical position information of the equipment to be positioned 1 according to the geographical position information of each optical label anchor point and the distance between the equipment to be positioned 1 and each optical label anchor point.
The positioning module calculates the distance between the equipment 1 to be positioned and each optical label anchor point 4 through the optical label based on the camera imaging principle.
And the calculation module calculates the geographical position information of the equipment to be positioned 1 according to the geographical position information of each optical label anchor point and the distance between the equipment to be positioned 1 and each optical label anchor point.
Example one
The specific process of the outdoor auxiliary positioning method comprises the following steps:
referring to fig. 1, fig. 2, fig. 3 and fig. 4, the outdoor assisted positioning method based on optical labels of the present invention includes the following steps:
1) arranging N optical label anchor points in a range to be positioned, setting optical labels on the optical label anchor points, and acquiring geographic longitude and latitude information P of each optical label anchor point, wherein P { (x)1，y1)，….，(xi，yi)，…，(xN，yN) Wherein (x)i，yi) The longitude and latitude coordinates of the ith optical label anchor point;
2) the camera on the equipment 1 to be positioned collects the image information of the optical labels on any two optical label anchor points to obtain the space s between the equipment 1 to be positioned and the first optical label anchor point 41And the spacing s between the device 1 to be positioned and the second optical label anchor point 22；
3) According to the longitude and latitude coordinates (x) of the first optical label anchor point 40，y0) Longitude and latitude coordinates (x) of the second optical label anchor point 2k，yk) The space s between the device 1 to be positioned and the first optical label anchor point 4 and the space s between the device 1 to be positioned and the second optical label anchor point 21Calculating the latitude and longitude coordinates (x) of the device 1 to be positionedx，yx)。
Latitude and longitude coordinates (x) of the device 1 to be positionedx，yx) Comprises the following steps:
calculating the distance s between the equipment 1 to be positioned and the first optical label anchor point 4 and the distance s between the equipment 1 to be positioned and the second optical label anchor point 2 based on the camera imaging principle1The distance s between the device 1 to be positioned and the first optical label anchor point 4 is:
wherein l is the length of the reference edge of the optical label on the first optical label anchor point 4, f is the focal length of the camera on the device 1 to be positioned, and l' is the length of the image formed by the reference edge of the optical label.
Further comprising: numbering each optical label anchor point in sequence, sending the geographic longitude and latitude information P of each optical label anchor point and the corresponding number thereof to the positioning server 3, and storing the geographic longitude and latitude information P of each optical label anchor point and the corresponding number thereof by the positioning server 3;
the positioning device 1 identifies the optical label on the first optical label anchor point 4 to obtain the number of the optical label on the first optical label anchor point 4, and then obtains the longitude and latitude coordinates (x) of the first optical label anchor point 4 according to the number of the optical label on the first optical label anchor point 40，y0) (ii) a The positioning device 1 identifies the optical label on the second optical label anchor point 2 to obtain the number of the optical label on the second optical label anchor point 2, and then obtains the longitude and latitude coordinates (x) of the second optical label anchor point 2 according to the number of the optical label on the second optical label anchor point 2k，yk)。
Sending the geographic longitude and latitude information P of each optical label anchor point and the corresponding number thereof to the positioning server 3 through the network equipment 5; acquiring longitude and latitude coordinates (x) of a first optical label anchor point 4 from a positioning server 3 according to the number of an optical label on the first optical label anchor point 4 in an online or offline mode0，y0) (ii) a The optical label is anchored on the anchor point 2 in an online or offline manner according to the second optical labelObtains the longitude and latitude coordinates (x) of the second optical label anchor point 2 from the positioning server 3k，yk) And finishing.
Example two
The auxiliary positioning method provided by the invention has the following operation processes in a specific scene:
the method has the advantages that a certain area is strongly interfered by electromagnetic signals, satellite positioning signals cannot be obtained, a user U needs to implement positioning in the area, the length of the reference side of an optical label is 1 meter, and the focal length of a camera of a user holding a mobile terminal is 30 mm: to achieve the positioning in this area, the positioning process is: firstly, 2 optical label anchor points are arranged in the area, are named as A, B respectively, have the serial numbers of 00 and 01, and the coordinates of the two anchor points are measured as follows: a: (10,10) B, (110,210) uploading the data to the positioning server 3 for storage; acquiring an image of the anchor point A, wherein the image length of the anchor point A is 0.3mm, the optical label data of the anchor point A is read as the serial number '00' of the anchor point A, and the length of a user U from the anchor point A is 100 meters; rotating in situ, and then carrying out image acquisition on the anchor point B, wherein the image length of the anchor point B is 0.15mm, the optical label data of the anchor point B is read as the serial number '01' of the anchor point B, and the distance B between the user U and the anchor point B is 200 meters; the user U downloads the coordinate data of the anchor point A and the anchor point B from the positioning server in advance, and the coordinate data are represented by ID numbers: 00 and 01, obtaining the coordinates of the anchor point A and the anchor point B, then taking the coordinates (10,10), (110 ), 100 and 200 into the formula (1), and obtaining the absolute coordinates of the position of the user U as (110, 10), and finishing.
EXAMPLE III
The operation process of the outdoor auxiliary positioning system in a specific scene is as follows:
a certain area is strongly interfered by electromagnetic signals, a satellite positioning signal cannot be obtained, a user U needs to perform positioning in the area, and in order to perform positioning in the area, the positioning process is as follows: firstly, laying optical label anchor points in the area; uploading the data to a positioning server for storage; the positioning equipment respectively collects images of the anchor points A, B to obtain the distance between the user U and A, B; and the user U downloads the coordinate data of the anchor point A and the anchor point B from the positioning server in advance, and brings the coordinate data into the formula (1) together with the distance between the U and A, B to obtain the absolute coordinate of the position of the user U, and then the process is finished.
Example four
The operation process of the outdoor auxiliary positioning equipment in a specific scene comprises the following steps:
a certain area is strongly interfered by electromagnetic signals, a satellite positioning signal cannot be obtained, a user U needs to perform positioning in the area, and in order to perform positioning in the area, the positioning process is as follows: u firstly uses an acquisition module to respectively acquire images of anchor points A, B; then the distance between the user U and the user A, B is obtained by utilizing a positioning module; and the U downloads the coordinate data of the anchor point A and the anchor point B from the positioning server in advance through the communication module, and the calculation module is brought into the formula (1) together with the distance between the U and A, B to obtain the absolute coordinate of the position of the user U, thus finishing the process.
Claims (6)
1. An outdoor auxiliary positioning method based on optical labels is characterized by comprising the following steps:
arranging at least two optical label anchors in a to-be-positioned range, wherein each optical label anchor displays the ID information of the optical label anchor, and a camera on equipment (1) to be positioned collects the ID information displayed by each optical label anchor;
obtaining the geographical position information of each optical label anchor point by using the ID information;
measuring the distance between the equipment (1) to be positioned and each optical label anchor point according to the length of the reference edge of the optical label on the optical label anchor point, the focal length of a camera on the equipment (1) to be positioned and the length of an image formed by the reference edge of the optical label;
and calculating the geographical position information of the equipment (1) to be positioned according to the geographical position information of each optical label anchor point and the distance between the equipment (1) to be positioned and each optical label anchor point.
2. The outdoor assisted positioning method based on optical labels of claim 1,
the positioning server (3) numbers each optical label anchor point and records the geographic information P of each optical label anchor point and the corresponding relation of the number; the equipment (1) to be positioned obtains the geographical position information of each optical label anchor point from the positioning server (3) based on the ID information of the optical label; the geographic position information is longitude and latitude coordinates of the optical label anchor point.
3. An outdoor assisted positioning system based on optical labels, comprising:
the optical label anchors are used for displaying the ID information of the optical label, and the number of the optical label anchors is more than or equal to 2;
a positioning server (3) for storing optical tag ID information and corresponding geographical location information;
the positioning device (1) is used for calculating geographical position information of the positioning device (1), the positioning device (1) is provided with a positioning module, the positioning device (1) calculates the geographical position information of the positioning device (1) according to the geographical position information of each optical label anchor point and the distance between the positioning device (1) and each optical label anchor point, and the distance between the positioning device (1) and each optical label anchor point is measured through the length of the reference edge of the optical label on the optical label anchor point, the focal length of a camera on the positioning device (1) and the length of an image formed by the reference edge of the optical label.
4. An optical label based outdoor assistant positioning system according to claim 3,
the positioning server (3) numbers each optical label anchor point and records the geographic information P of each optical label anchor point and the corresponding relation of the number.
5. An outdoor auxiliary positioning device based on optical labels, comprising:
the system comprises an acquisition module, a positioning module and a positioning module, wherein the acquisition module is used for acquiring ID information of each optical label anchor point, and each optical label anchor point is arranged in a to-be-positioned range in advance;
the communication module is used for obtaining the geographic position information of each optical label anchor point from the positioning server (3) based on the ID information of the optical label anchor points;
the positioning module is used for acquiring the distance between the equipment (1) to be positioned and each optical label anchor point (4), wherein the distance between the equipment (1) to be positioned and each optical label anchor point is acquired through the length of the reference edge of the optical label on the optical label anchor point, the focal length of a camera on the equipment (1) to be positioned and the length of an image formed by the reference edge of the optical label;
and the calculation module is used for calculating the geographical position information of the equipment (1) to be positioned according to the geographical position information of each optical label anchor point and the distance between the equipment (1) to be positioned and each optical label anchor point.
6. The optical-label-based outdoor auxiliary positioning device according to claim 5, wherein the calculation module calculates the geographical position information of the device (1) to be positioned according to the geographical position information of each optical label anchor point and the distance between the device (1) to be positioned and each optical label anchor point.
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| CN110472452B (en) * | 2018-05-09 | 2021-05-25 | 北京外号信息技术有限公司 | Auxiliary identification method based on optical label network |
| CN110472702B (en) * | 2018-05-09 | 2021-07-20 | 北京外号信息技术有限公司 | Method for constructing an optical label network and corresponding optical label network |
| CN110471580B (en) * | 2018-05-09 | 2021-06-15 | 北京外号信息技术有限公司 | Information equipment interaction method and system based on optical labels |
| CN110470312B (en) * | 2018-05-09 | 2021-11-16 | 北京外号信息技术有限公司 | Navigation method based on optical label network and corresponding computing equipment |
| CN110471403B (en) | 2018-05-09 | 2023-11-03 | 北京外号信息技术有限公司 | Method for guiding an autonomously movable machine by means of an optical communication device |
| CN110942115A (en) * | 2018-09-25 | 2020-03-31 | 北京外号信息技术有限公司 | Service providing method and system based on optical label |
| CN112561953A (en) * | 2019-09-26 | 2021-03-26 | 北京外号信息技术有限公司 | Method and system for target recognition and tracking in real scenes |
| CN112558008B (en) * | 2019-09-26 | 2024-03-12 | 北京外号信息技术有限公司 | Navigation method, system, equipment and medium based on optical communication device |
| CN112788443B (en) * | 2019-11-11 | 2023-05-05 | 北京外号信息技术有限公司 | Interaction method and system based on optical communication device |
| CN114038267B (en) * | 2021-11-30 | 2023-06-06 | 重庆电子工程职业学院 | Unmanned aerial vehicle aerial photogrammetry teaching system |
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