CN111337950B

CN111337950B - Data processing method, device, equipment and medium for improving landmark positioning precision

Info

Publication number: CN111337950B
Application number: CN202010437495.XA
Authority: CN
Inventors: 由克; 徐永军
Original assignee: Shenzhen Simple Taike Electronic Co ltd
Current assignee: Shenzhen Simple Taike Electronic Co ltd
Priority date: 2020-05-21
Filing date: 2020-05-21
Publication date: 2020-10-30
Anticipated expiration: 2040-05-21
Also published as: CN111999745A; CN111337950A

Abstract

The invention relates to the technical field of global satellite navigation positioning, in particular to a data processing method, a device, equipment and a medium for improving landmark positioning precision. The method includes step S1: aiming at any one of a plurality of vehicles, acquiring satellite positioning information of the vehicle when an image acquisition device arranged on the vehicle shoots a landmark for the last time within a set time interval delta t; step S2: the satellite positioning information comprises information of a plurality of satellites, and for any one of one or more satellite positioning information, the position of each satellite when a satellite positioning signal forming the satellite positioning information is transmitted and the distance between each satellite and a vehicle are obtained, wherein the vehicle is the vehicle for obtaining the satellite positioning information; step S3: the position of the landmark is acquired using the position of any one of the plurality of satellites that has been acquired and the distance between the satellite and the vehicle. By the method, the accuracy of the position of the landmark obtained by calculation can be improved.

Description

Data processing method, device, equipment and medium for improving landmark positioning precision

Technical Field

The invention relates to the technical field of global satellite navigation positioning, in particular to a data processing method, a device, equipment and a medium for improving landmark positioning precision.

Background

Urban environments have a large number of typical landmarks (landmarks), such as monuments, malls, bridges, tunnels, bus stops, traffic lights, etc. How to obtain the accurate positions of the landmarks has very important significance, for example, the landmarks can provide more reliable position reference for vehicle positioning navigation and future automatic driving technology, and can also help various position-Based services (LBS) to provide accurate positions, facilitate users to complete high-precision positioning and navigation, and accurately position and search various services such as surrounding catering, shopping, entertainment and the like.

Various urban landmarks are mainly located in outdoor environments, and the positioning of the urban outdoor environments mainly depends on satellite positioning represented by GPS, Beidou and the like. In satellite positioning, various mobile terminals such as vehicles and mobile phones receive satellite mobile phones and calculate the position of the mobile terminals. However, in urban environments, there are many kinds of shelters such as high buildings and high racks, and satellite positioning signals have various kinds of interference such as multipath and non-line-of-sight reception, and the satellite positioning position has a large deviation. Therefore, it is difficult for the satellite positioning signals to provide accurate and reliable landmark positions in urban environments, and how to solve the problem remains a very important and challenging problem.

The mainstream positioning technology of the urban outdoor environment is satellite positioning technology, and a positioning terminal receives satellite positioning signals from a GPS and a Beidou and calculates the position by utilizing a triangulation method. In a clear, unobstructed environment, satellite positioning can typically provide an average positioning accuracy of 10 meters. In an actual environment, a satellite positioning signal has a plurality of interference influences, which mainly include (1) satellite positioning signal shielding caused by buildings, bridges, trees, tunnels and the like, and (2) satellite positioning signal reflection caused by buildings, walls and the like. The existing research shows that the satellite positioning error of the complex urban environment can reach 30 to 50 meters, and a severe interference area is even hundreds of meters.

In order to realize high-precision satellite positioning in urban environment, especially urban landmark positioning, the current main methods include the following:

the document [1] combines the satellite positioning and inertial navigation devices, compensates and corrects extra errors introduced by multipath or shielding of the satellite positioning by using high-rate position updating of the inertial navigation, and improves the positioning accuracy. The method has the disadvantages that the inertial navigation technology needs to have a more accurate position initial value, and the inertial navigation has a large drift error along with the accumulation of time, which reaches dozens of meters or even hundreds of meters, so that the position accuracy of the inertial navigation is worse than the satellite shielding, and the compensation and correction function can not be generated.

Document [2] proposes a matching positioning method for icon images. The method is divided into an off-line training part and an on-line positioning part. In the off-line training process, acquiring road images, landmark positions, visual mileage and the like to obtain a huge database of urban landmarks and positions; in the on-line positioning process, the landmark and the pose information are obtained from the image and are compared with an off-line database, so that the position of the landmark is obtained. The method has the disadvantages that the method needs to implement the development of an off-line training process and establish a huge off-line database.

The existing method for positioning the landmark or the processing process is complex and tedious, or the accumulated error is serious, so that the method is difficult to widely popularize and use in urban areas.

Document [1 ]: jiangqingxian, field breeder, sun sunflower, beidou/INS integrated navigation key technology analysis, global positioning system, 2010,6, 56-60.

Document [2 ]: xiaoozhi Qu, Bahman Soheilian, and Nicolas Paparotitis.Landmarkbase localization in urea environment.ISPRS Journal of Photogrammetry and Remote sensing.2018,140, 90-103.

Disclosure of Invention

The embodiment of the invention provides a data processing method, a device, equipment and a medium for improving landmark positioning precision. The data processing method, the device, the equipment and the medium for improving the landmark positioning precision can simplify the processing process to a certain extent and improve the processing precision.

In one aspect, an embodiment of the present invention provides a data processing method for improving landmark positioning accuracy, where the method includes:

step S1: aiming at any one of a plurality of vehicles, acquiring satellite positioning information of the vehicle when an image acquisition device arranged on the vehicle shoots a landmark for the last time within a set time interval delta t;

step S2: the satellite positioning information comprises information of a plurality of satellites, and for any one of one or more pieces of satellite positioning information, the position of each satellite when a satellite positioning signal forming the satellite positioning information is transmitted and the distance between each satellite and a vehicle are obtained, wherein the vehicle is the vehicle for obtaining the satellite positioning information;

step S3: the position of the landmark is acquired by using the acquired position of any one of the plurality of satellites and the distance between the satellite and the vehicle.

In one aspect, an embodiment of the present invention further provides a data processing apparatus for improving landmark positioning accuracy, where the apparatus includes:

the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring satellite positioning information of any one vehicle in the plurality of vehicles when an image acquisition device arranged on the vehicle shoots a landmark for the last time within a set time interval delta t;

a second obtaining module, configured to obtain, for any one of one or more pieces of satellite positioning information, a position of each satellite when transmitting a satellite positioning signal forming the satellite positioning information, and a distance between each satellite and a vehicle, where the vehicle is a vehicle that obtains the satellite positioning information, where the satellite positioning information is included in the satellite positioning information;

and the third acquisition module is used for acquiring the position of the landmark by using the position of any acquired satellite in the plurality of satellites and the distance between the satellite and the vehicle.

In one aspect, an embodiment of the present invention provides a data processing apparatus for improving landmark positioning accuracy, where the apparatus includes:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the above-described data processing method for improving accuracy of landmark positioning.

In one aspect, an embodiment of the present invention provides a computer storage medium having computer program instructions stored thereon, where the computer program instructions, when executed by a processor, implement the above-mentioned data processing method for improving the accuracy of landmark positioning.

In summary, the data processing method, apparatus, device and medium for improving the accuracy of landmark positioning according to the embodiments of the present invention obtain satellite positioning information of a plurality of vehicles when the vehicles shoot the landmark for the last time within a set time period; acquiring the position of each satellite in the satellite positioning information when transmitting a satellite positioning signal for acquiring the satellite positioning information and the distance between each satellite and the vehicle, which is acquired according to the satellite positioning information, by using any satellite positioning information; the position of the landmark is obtained by using the obtained positions of the satellites and the distances between the satellites and the vehicle, so that the obtained position of the landmark is accurate, and the calculation process for obtaining the position of the landmark is simple.

Drawings

Fig. 1 is a scene diagram of an implementation of a data processing method for improving landmark positioning accuracy according to an embodiment of the present invention;

FIG. 2 is a flow chart illustrating a method for implementing a data processing method for improving landmark positioning accuracy using the devices of FIG. 1;

FIG. 3 is a schematic diagram of the connection of various modules of a vehicle used in implementing a data processing method for improving landmark positioning accuracy according to the present invention;

FIG. 4 is a diagram of an implementation scenario of a data processing method for improving landmark positioning accuracy according to the present invention;

FIG. 5 is a schematic diagram of a data processing system configured to improve landmark positioning accuracy in accordance with an embodiment of the present invention;

fig. 6 is a flowchart illustrating a data processing method for improving landmark positioning accuracy according to an embodiment of the present invention;

fig. 7 is a flowchart illustrating a data processing method for improving landmark positioning accuracy according to an embodiment of the present invention;

fig. 8 is a flowchart illustrating a data processing method for improving landmark positioning accuracy according to an embodiment of the present invention;

fig. 9 is a flowchart illustrating a data processing method for improving landmark positioning accuracy according to an embodiment of the present invention;

fig. 10 is a flowchart illustrating a data processing method for improving landmark positioning accuracy according to an embodiment of the present invention;

fig. 11 is a flowchart illustrating a data processing method for improving landmark positioning accuracy according to an embodiment of the present invention;

fig. 12 is a flowchart illustrating a data processing method for improving landmark positioning accuracy according to an embodiment of the present invention;

FIG. 13 is a geometric block diagram for calculating a vehicle position based on a satellite position and a distance between the satellite and the vehicle as provided in an embodiment of the present invention;

fig. 14 is a flowchart illustrating a data processing method for improving landmark positioning accuracy according to an embodiment of the present invention;

FIG. 15 is a schematic diagram illustrating a landmark position based on a satellite position and a distance between the satellite and the vehicle according to an embodiment of the present invention;

fig. 16 is a flowchart illustrating a data processing method for improving landmark positioning accuracy according to an embodiment of the present invention;

fig. 17 is a schematic connection diagram of a data processing apparatus for improving landmark positioning accuracy according to an embodiment of the present invention;

fig. 18 is a schematic connection diagram of a data processing apparatus for improving landmark positioning accuracy according to an embodiment of the present invention;

fig. 19 is a schematic connection diagram of a data processing apparatus for improving landmark positioning accuracy according to an embodiment of the present invention;

fig. 20 is a schematic diagram of a connection of a data processing apparatus for improving landmark positioning accuracy according to an embodiment of the present invention;

fig. 21 is a schematic connection diagram of a data processing apparatus for improving landmark positioning accuracy according to an embodiment of the present invention;

fig. 22 is a schematic connection diagram of a data processing apparatus for improving landmark positioning accuracy according to an embodiment of the present invention;

fig. 23 is a schematic connection diagram of a data processing apparatus for improving landmark positioning accuracy according to an embodiment of the present invention;

fig. 24 is a schematic connection diagram of a data processing apparatus for improving landmark positioning accuracy according to an embodiment of the present invention;

fig. 25 is a schematic diagram of the connection of the components of a data processing device for improving landmark positioning accuracy according to an embodiment of the present invention.

Detailed Description

Features and exemplary embodiments of various aspects of the present invention will be described in detail below, and in order to make objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not to be construed as limiting the invention. It will be apparent to one skilled in the art that the present invention may be practiced without some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of the present invention by illustrating examples of the present invention.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

Fig. 1 is an application scene diagram of a data processing method, device, equipment and medium for improving landmark positioning accuracy according to the present invention. In the figure a first vehicle 7 and a second vehicle 8 are provided. The first vehicle 7 and the second vehicle 8 are provided with image acquisition devices for acquiring images of the surroundings of the vehicles.

During the process that the first vehicle 7 and the second vehicle 8 travel along the urban road, the image acquisition devices respectively arranged on the first vehicle 7 and the second vehicle 8 can continuously acquire images of the surrounding environment of the vehicles and continuously transmit the acquired images to the server 9. The image of the surroundings of the vehicle captured by the image capturing device also includes an image of the surroundings of the vehicle with the landmark 10.

And Beidou GPS dual-mode satellite positioners are respectively arranged on the first vehicle 7 and the second vehicle 8. In the process that the first vehicle 7 and the second vehicle 8 travel along urban roads, the Beidou GPS dual-mode satellite positioner collects satellite positioning signals in real time, wherein the satellite positioning signals comprise satellite positioning positions, pseudo ranges of the satellite positioning signals and the like.

A plurality of satellites for positioning, such as a first satellite 1, a second satellite 2, a third satellite 2, a fourth satellite 4, a fifth satellite 5, and a sixth satellite 6 shown in fig. 1, are provided above the earth.

During operation, the first vehicle 7 and the second vehicle 8 continuously acquire satellite positioning signals including pseudo ranges of the respective satellites and satellite positioning positions of the vehicles, and transmit the satellite positioning signals to the server 9.

Fig. 2 is a flow chart for obtaining an elevation accuracy position using the devices of fig. 1.

As shown in fig. 2, the vehicle end executes step S120: the vehicle acquires an image of the environment around the vehicle.

The vehicle end includes a first vehicle 7 and a second vehicle 8 in fig. 1. The image acquisition devices on the first vehicle 7 and the second vehicle 8 continuously acquire images of the surrounding environment of the vehicles in the running process of the vehicles and continuously transmit the acquired images to the server side.

Fig. 3 is a schematic diagram of connection of the modules on the first vehicle 7 or the second vehicle 8.

The image capturing device 71 captures an image of the surroundings of the vehicle, and transmits the captured image of the surroundings of the vehicle to the processor module 74. The Beidou GPS dual-mode satellite positioner 72 receives the satellite positioning signals and passes the received satellite positioning signals to the processor module 74. The power management module 77 and the synchronous clock module 75 are used to assist the modules. The data storage module 76 is used to store the images of the vehicle surroundings and the satellite positioning signals received by the processor module 74. The processor module 74 communicates with the server 9 in fig. 1 through the communication module 73.

The processor module 74 stores image information of landmarks and an approximate position P1 of landmarks.

The processor module 74 needs to determine whether to drive around the city road sign. The specific method is to compare whether the landmark approximate position P1 and the satellite positioning position P2 are close enough, and in the practical system, if the distance between the landmark approximate position P1 and the satellite positioning position P2 is less than a predefined threshold value d, namely | P1-P2| < d, the vehicle is considered to have traveled to the vicinity of the landmark. Considering that the urban positioning error is large, the distance threshold d is 150 meters.

If the vehicle has traveled near the landmark, the processor module 74 begins analyzing the received image of the vehicle surroundings. And comparing the photographed image with the image information of the landmark through an image processing method, and if the matching is successful, considering that the landmark is found.

The processor module 74 takes the time when the vehicle last captured the landmark as the time when the vehicle is closest to the landmark. The processor module 74 transmits the acquired satellite positioning signals and the processed acquired landmark images to the server 9 on the server side at the time when the vehicle is closest to the landmark.

The server side comprises a server 9 for data processing.

The server 9 executes step S140: and positioning the database updating data.

After receiving the primary data transmitted by the processor module 74, the server 9 forms a positioning record and updates the primary positioning database.

Each record in the location database includes the following:

(1) the last time the vehicle captured the landmark.

(2) And the last shot landmark image of the image acquisition device.

(3) When the image acquisition device shoots the landmark image for the last time, the satellite positioning position of the vehicle is as follows: from big dipper GPS bimodulus satellite positioning module.

(4) When the image acquisition device shoots the landmark image for the last time, the pseudo range of each satellite: the distance from a Beidou GPS dual-mode satellite positioning module to a satellite is referred to as pseudo distance. Assuming that the vehicle can acquire N satellites, there are N different satellite pseudoranges.

(5) Position of each satellite when transmitting satellite signals used to generate each pseudorange: the real-time position of each satellite can be obtained from the public Beidou satellite and GPS satellite databases. Assuming that the satellite positioning module can acquire N satellites, there are N different satellite positions.

(6) The weight information is: the reliability of the positioning records of different vehicles is different, because some image capturing devices may not necessarily be close enough to the landmark when they last captured the landmark. As shown in fig. 4, the two vehicles have different driving routes, the vehicle V1 passes near the road sign, and the distance between the position point P1 when the image capturing device captured the landmark image last time and the road sign is short. In contrast, when the vehicle V2 turns left at the intersection, the position point P3 at which the image pickup device last captured the landmark image is farther from the landmark. Thus, the data reliability of the positioning records uploaded by the two vehicles is different.

By weighting each position point, the reliability of data recording can be quantified.

The weight calculation formula is ω ═ e^-|P1-Pn|P1 is the approximate position of the landmark, Pn is the position point when the image capturing device last captured the image of the landmark, and Pn includes P1, P2, and P3 … Pn. When the difference between the approximate position of the landmark and the position point of the image acquisition device when the image of the landmark is shot for the last time is 0, the maximum value omega of the weight is 1; when the difference between the approximate position of the landmark and the position point when the image acquisition device last shoots the landmark image tends to infinity, the weight takes the minimum value omega to be 0.

The server 9 executes step S160: and (5) positioning the landmark with high precision.

The server 9 will remove the distance data with larger error in the process of processing each positioning record data. Then, the server 9 performs one-time clustering on the satellite positioning positions in each piece of positioning record data to obtain a plurality of clustering centers, and removes the positioning record data not belonging to any cluster.

The server 9 finds the average weight of each cluster according to the weight of each positioning record data in the cluster; acquiring the cluster with the maximum average weight; and acquiring K positioning records with the highest positioning weight from the cluster with the highest average weight.

For each positioning record data, the position of each satellite contained in the positioning record data and the distance vector r from each satellite to the position point when the image acquisition device last shot the landmark image are known, and the landmark can be obtained.

The server 9 receives the vehicle surrounding image acquired by the vehicle and the satellite positioning signal sent by the Beidou GPS dual-mode satellite positioner, and updates the positioning database along the received vehicle surrounding image and the satellite positioning signal to realize the updating data of the positioning database in the step S140; processing the received vehicle surrounding environment image and satellite positioning signals to acquire a landmark in a vehicle surrounding environment image within a set time interval delta t, and acquiring the relative position relation between each satellite position and each satellite and the vehicle acquiring the vehicle surrounding environment image when the landmark is in the vehicle surrounding environment image in the last time; the position of the landmark is acquired by using the acquired position of any one of the satellites and the relative positional relationship between the satellite and the vehicle corresponding to the position of the satellite, thereby realizing high-precision positioning of the landmark in step S160.

In one embodiment, the present invention provides a data processing system that improves landmark positioning accuracy. As shown in fig. 5, the system includes: a server 9 and a plurality of in-vehicle terminals 701.

The vehicle-mounted terminal 701 is used for acquiring an image of the surrounding environment of the vehicle; processing the surrounding environment image of the vehicle to obtain the last shooting time when the landmark is shot for the last time in a set time interval delta t; and acquiring a satellite positioning signal of the vehicle at the last shooting time according to the last shooting time, wherein the satellite positioning signal comprises the relative position relationship between each satellite and the vehicle, and the last shooting time and the satellite positioning signal are sent to a server through a network 120, so that the server can acquire the position of the landmark according to the received last shooting time and the satellite positioning signal.

The server 9 comprises a memory 91, a processor 92 and an access device 93. The memory 91, the processor 92 and the access device 93 are connected by a bus 94.

The processor 92 comprises one or more Integrated circuits that may include a Central Processing Unit (CPU), or an Application Specific Integrated Circuit (ASIC), or may be configured to implement an embodiment of the present invention.

Memory 91 may include mass storage for data or instructions.

The access device 93 is mainly used for implementing communication between modules, apparatuses, units and/or devices in the embodiments of the present application.

The bus 94 includes hardware, software, or both that couple the components of the driving risk assessment device to one another.

The processor 92, by reading and executing the computer program instructions stored in the memory 111, is able to: for any vehicle in a plurality of vehicles, acquiring the last shooting time when the vehicle shoots the landmark for the last time within a set time interval delta t and the relative position relation between each satellite and the vehicle at the last shooting time from the vehicle-mounted terminal 701 of the vehicle; acquiring the positions of the satellites at the last shooting moment according to any one of the last shooting moments; and acquiring the position of the landmark by using any satellite position in any acquired last shooting moment and the relative position relationship between the satellite corresponding to the satellite position and the vehicle.

In one embodiment, the in-vehicle terminal 701 includes the modules of fig. 3.

An embodiment of the present invention further provides a data processing method for improving landmark positioning accuracy, which may be implemented by the server 9 in fig. 5. As shown in fig. 6, the method includes the following steps S1-S3.

Step S1: the satellite positioning method comprises the steps of acquiring satellite positioning information of any one of a plurality of vehicles when an image acquisition device arranged on the vehicle shoots a landmark for the last time within a set time interval delta t.

The vehicle is provided with an image acquisition device for acquiring images of the surrounding environment of the vehicle. When the vehicle runs towards the landmark, the image acquisition device on the vehicle continuously shoots and acquires the image of the surrounding environment of the vehicle, and when the vehicle is close to the landmark, the image of the surrounding environment of the vehicle shot by the image acquisition device contains the landmark. The vehicle is also provided with a vehicle-mounted terminal for processing the captured image of the surrounding environment of the vehicle. The vehicle-mounted terminal can acquire the shooting time of the image acquisition device for shooting the landmark for the last time in the set time interval delta t by processing the image of the surrounding environment of the vehicle, and further acquire the satellite positioning information of the vehicle at the time according to the shooting time. When the image acquisition device on the vehicle shoots the landmark for the last time within the set time interval delta t, the distance between the vehicle and the landmark is very close, so that the position of the vehicle can be used as the position of the landmark.

The satellite positioning information of the vehicle at the last shooting moment comprises: a satellite positioning position of the vehicle at the last shooting time, a pseudo distance between the vehicle and each satellite at the last shooting time, an acquisition time of the satellite positioning information, and the like.

The vehicle is usually provided with a big Dipper GPS dual-mode satellite positioner. The Beidou GPS dual-mode satellite positioner can continuously receive satellite positioning signals sent by various satellites. The satellite positioning signals include pseudoranges between each satellite and the vehicle. The Beidou GPS dual-mode satellite positioner processes the received satellite positioning information and can acquire the satellite positioning information of the vehicle.

After the vehicle-mounted terminal acquires the shooting time of the last shooting of the landmark by the image acquisition device arranged on the vehicle within the set time interval delta t, the satellite positioning information of the shooting time is acquired from the Beidou GPS dual-mode satellite positioner, and the satellite positioning information of the shooting time is sent to the server for processing and acquiring the position of the landmark according to the satellite positioning information.

The server receives and acquires satellite positioning information of a vehicle when the image acquisition device arranged on the vehicle shoots the landmark for the last time within a set time interval delta t and transmitted by any one of the vehicles, and acquires the position of the landmark according to the received satellite positioning information.

Step S2: the satellite positioning information includes information of a plurality of satellites, and for any one of the one or more satellite positioning information, a position of each satellite when a satellite positioning signal forming the satellite positioning information is transmitted and a distance between each satellite and a vehicle are acquired, and the vehicle is a vehicle acquiring the satellite positioning information.

The distance between each satellite and the vehicle obtained according to the satellite positioning signal is as follows: and processing the acquired distance between each satellite and the vehicle according to each satellite positioning signal received when the image acquisition device arranged on the vehicle shoots the landmark for the last time within the set time interval delta t.

In one embodiment, for one satellite positioning information, the distance between each acquired satellite and the vehicle is: the distance between each satellite included in the satellite positioning information and the vehicle is acquired.

In one embodiment, the satellite positioning information includes: a satellite positioning position of the vehicle corresponding to the satellite positioning information, pseudo distances between the vehicle and each satellite corresponding to the satellite positioning information, an acquisition time of the satellite positioning information, and the like.

The satellite positioning information includes: pseudoranges between each satellite and the vehicle. By processing the pseudo distances between each satellite and the vehicle, the distance between each satellite and the vehicle can be obtained.

According to the acquisition time of one piece of satellite positioning information in the satellite positioning information and the distance between the satellite and the vehicle, the time of the satellite for transmitting the satellite positioning signal forming the satellite positioning information can be acquired; the position of each satellite in the satellite positioning information can be acquired by referring to ephemeris based on the time at which the satellite transmits the satellite positioning signal forming the satellite positioning information.

In one embodiment, the satellite positioning information includes the position of each satellite and the distance between each satellite and the vehicle, and the satellite positioning information is obtained, that is, the position of each satellite and the distance between each satellite and the vehicle are obtained.

In one embodiment, as shown in fig. 7, before step S1, a step S101 is further included: acquiring a satellite positioning position contained in the satellite positioning information aiming at any one of the acquired satellite positioning information; step S102: in each of the satellite positioning positions, one or more satellite positioning positions are acquired having a distance from the approximate position of the landmark less than d 2.

Step S2 includes: and acquiring the position of each satellite and the distance between each satellite and the vehicle in the satellite positioning information corresponding to the satellite positioning position from one or more satellite positioning positions with the acquired distance to the landmark approximate position smaller than d 2.

The landmark approximate position includes a position having a distance from the landmark position smaller than the set value d 7. The value d7 is set to a value greater than zero. In one embodiment, the setting d7 is less than 50 meters.

The satellite positioning information required by subsequent calculation is acquired by utilizing the approximate position of the landmark, so that the interference of the satellite positioning information at the last shooting moment acquired at positions with longer distances from the landmark, such as turning, turning around and the like, on the calculation can be reduced.

In one embodiment, as shown in fig. 8, step S2 is preceded by step S103: acquiring a satellite positioning position contained in the satellite positioning information aiming at any one of the acquired satellite positioning information; step S104: calculating and acquiring the distance between the satellite positioning position and each other satellite positioning position aiming at any one satellite positioning position in the satellite positioning positions; step S105: acquiring one or more satellite positioning positions, wherein for any one of the acquired satellite positioning positions, the number of the satellite positioning positions with the distance to the satellite positioning position being less than a set value d5 in other satellite positioning positions is more than s, and s is a positive integer; step S2 includes: and acquiring the position of each satellite and the distance between each satellite and the vehicle in the satellite positioning information corresponding to the satellite positioning position aiming at any one of the acquired one or more satellite positioning positions.

By calculating the distance between any two satellite positioning positions in each satellite positioning position and judging whether the number of the satellite positioning positions with the distance between the satellite positioning positions smaller than a set value d5 in other satellite positioning positions is larger than s or not according to any satellite positioning position, each satellite positioning position in each cluster of the satellite positioning positions can be obtained, so that the satellite positioning positions which do not belong to any cluster are removed, and the satellite positioning positions which are far away from the landmark position are removed.

The setting value d5 is set according to the area size of each satellite positioning position cluster. The set value d5 is greater than zero.

In one embodiment, as shown in fig. 9, step S2 is preceded by step S106: acquiring a satellite positioning position contained in the satellite positioning information aiming at any one of the acquired satellite positioning information; step S107: and acquiring one or more regions, wherein the number of the satellite positioning positions contained in each unit area in each region is greater than a numerical value r, and the numerical value r is a positive integer.

Step S2: and acquiring satellite positioning information corresponding to the satellite positioning position, wherein the satellite positioning information includes the position of each satellite and the distance between each satellite and the vehicle, for any one of the satellite positioning positions in the one or more acquired regions.

The value r is an integer greater than zero. The value r is set in relation to the amount of satellite positioning information acquired. The larger the number of acquired satellite positions, the larger the value r.

For a plurality of the satellite based positioning locations in the one or more regions that have been acquired, including at least two of the satellite based positioning locations in the one or more regions that have been acquired.

By acquiring the regions of which the number of the satellite positioning positions contained in each unit area is greater than the value r, clusters of one or more satellite positioning positions can be acquired, so that the influence of the satellite positioning positions which do not belong to any cluster on subsequent calculation can be eliminated.

In one embodiment, as shown in fig. 10, step S2 is preceded by: step S108: acquiring a satellite positioning position contained in the satellite positioning information aiming at any one of the acquired satellite positioning information; step S109: acquiring one or more regions, wherein the number of the satellite positioning positions contained in each unit area in each region is greater than a numerical value r, and the numerical value r is a positive integer; step S110: for any one acquired region, acquiring an approximate weight of the region, wherein the approximate weight of the region is used for representing the degree of distance between the region and the landmark approximate position; step S111: and acquiring the region closest to the approximate position of the landmark by using the approximate weight of each region.

Step S2: and acquiring satellite positioning information corresponding to any one of the plurality of satellite positioning positions, wherein the satellite positioning information includes the position of each satellite and the distance between each satellite and the vehicle, and the plurality of satellite positioning positions are all located in the acquired area closest to the landmark approximate position.

And the approximate weight of a region is used for representing the distance between the region and the approximate position of the landmark. In one embodiment, the greater the approximate weight of a region, the closer the region is to the approximate location of the landmark. In another embodiment, the greater the approximate weight of a region, the further the region is from the landmark approximate location.

In one embodiment, as shown in FIG. 11, step S110 includes step S1101: respectively acquiring approximate weights of the satellite positioning positions contained in any region, wherein the approximate weights of the satellite positioning positions are used for representing the distance between the satellite positioning positions and the landmark approximate positions; step S1102: for any region, the average value of the approximate weights of the satellite positioning positions in the region is obtained, and the average value is used as the approximate weight of the region and the landmark approximate position.

The approximate weight of a region can be made to represent the weight of each satellite positioning position in the region by finding the approximate weight of each satellite positioning position in the region and then taking the average of the approximate weights of each satellite positioning position in the region as the approximate weight of the region.

In one embodiment, step S1101 includes: for any region, an approximate weight of each satellite positioning position included in the region is obtained by using a formula, where ω is the approximate weight of the satellite positioning position, P1 is the landmark approximate position, and Pn is the satellite positioning position.

In one embodiment, for any region, obtaining an approximate weight for the region comprises: for any region, acquiring the central position P8 of the region; using the formula ω e^-|P1-P8|And (3) solving the approximate weight of the region, wherein in the formula: p1 is the approximate position of the landmark, P8 is the center position of the region, and ω is the approximate weight of the region.

The plurality of satellite positioning positions are: at least two satellite based positioning locations located in an area proximate to the landmark approximation.

By acquiring the satellite positioning position in the area closest to the approximate position of the landmark and acquiring the position of the landmark by using the satellite positioning information corresponding to the satellite positioning position, the accuracy of calculating the acquired position of the landmark can be improved. The satellite positioning information corresponding to the satellite positioning position is: satellite positioning information including the satellite positioning location.

In one embodiment, a plurality of the satellite based positioning locations comprises: k of the satellite based positioning locations nearest to the landmark approximate locations, k being a positive integer.

As shown in fig. 12, step S2 includes step S21: acquiring k satellite positioning positions closest to the landmark approximate position in an area closest to the landmark approximate position; step S22: the satellite positioning information includes information of a plurality of satellites, and for any one of the k satellite positioning positions, the position of each satellite when a satellite positioning signal forming the satellite positioning information is transmitted and the distance between each satellite and the vehicle, which is acquired from the satellite positioning signal, are acquired from the satellite positioning information corresponding to the satellite positioning position.

Using the formula ω e^-|P1-Pn|An approximate weight of a satellite positioning location can be obtained, where ω is the approximate weight of the satellite positioning location, P1 is the landmark approximate location, and Pn is the satellite positioning location. Thus, a satellite-based position is close to the landmarkThe closer the position-like location, the greater the approximate weight of the satellite position location.

When using the formula ω e^-|P1-Pn|After the approximate weight of each satellite positioning position in the area closest to the landmark approximate position is obtained, the k satellite positioning positions closest to the landmark approximate position in the area closest to the landmark approximate position are obtained as follows: in the area closest to the landmark approximate position, the approximate weight is the largest for the k satellite positioning positions.

The distance between the satellite and the vehicle is obtained by receiving a satellite positioning signal transmitted by the satellite through a Beidou GPS dual-mode satellite positioner on the vehicle. Given that the time of satellite positioning signal transmission by the satellite is t1, and the time of satellite positioning signal reception by the Beidou GPS dual-mode satellite positioner is t2, the GPS dual-mode satellite positioner can acquire a pseudo range c (t2-t1) between the vehicle and the satellite, wherein c is the speed of light. The distance between the vehicle and the satellite can be calculated and obtained through the pseudo range c (t2-t1) between the vehicle and the satellite.

Satellite positioning information, comprising: the distance between the satellite and the vehicle, the satellite positioning position of the vehicle, the acquisition time of the satellite positioning information, and the like.

According to the acquisition time of the satellite positioning information and the distance between the vehicle and the satellite, the transmission time when the satellite transmits the satellite positioning signal forming the satellite positioning information can be calculated; the ephemeris can be referred to according to the transmission time when the satellite transmits the satellite positioning signal forming the satellite positioning information, and the position of the satellite when the satellite transmits the satellite positioning signal forming the satellite positioning information can be acquired.

The acquired positions of the satellites are: in step S2, the position of each satellite at the time of transmitting the satellite positioning signal forming the satellite positioning information is acquired from any of the satellite positioning information.

In one embodiment, as shown in fig. 13, point a is a satellite, point B is a position of the vehicle, and the position coordinates of the satellite at the known time t1 are (x)₁，y₁，z₁，t₁) The satellite t1 transmits a satellite positioning signal at point a. The vehicle receives satellite signals at the point B at the moment t, the position coordinate of the vehicle at the moment is (x, y, z, t), and the distance between the satellite and the vehicle

c is the speed of light, c (t-t)₁) Is a pseudo range between the satellite and the vehicle, and Δ R is a correction value for correcting the pseudo range.

Thus, the position of the vehicle can be calculated by knowing the positions of only three satellites.

In one embodiment, as shown in FIG. 14, step S3 includes step S31: aiming at any one of a plurality of satellites, acquiring a region where a landmark is located by using the acquired position of the satellite and the distance between the satellite and a vehicle; step S32: acquiring an overlapping area of areas where each landmark acquired according to a plurality of satellites is located, wherein the overlapping area is as follows: all the overlapping areas of the areas where the landmarks are located comprise the most overlapping areas of the areas where the landmarks are located; step S33: and acquiring the central position of the overlapping area, and taking the central position as the position of the landmark.

As shown in fig. 15, according to the position S1 of the first satellite and the distance R1 between the satellite and the vehicle, a sphere with S1 as the center of sphere and R1 as the radius can be obtained; according to the position S2 of the second satellite and the distance R2 between the satellite and the vehicle, a sphere with S2 as the center of sphere and R2 as the radius can be obtained; according to the position S3 of the third satellite and the distance R3 between the satellite and the vehicle, a sphere with S3 as the center of sphere and R3 as the radius can be obtained; … A sphere with Sn as the center and Rn as the radius can be obtained according to the position Sn of the nth satellite and the distance Rn between the satellite and the vehicle. Since the vehicles that acquire the respective radii Rn are all located near the landmarks, there will be overlapping regions for the respective spheres.

Acquiring an overlap region C which contains the most landmarks in each overlap region; then, the center position of the overlap area C is acquired and taken as the position of the landmark.

In one embodiment, in step S3, acquiring the position of the landmark by using the position of any acquired satellite in the plurality of satellites and the distance between the satellite and the vehicle further includes: and acquiring the position of the landmark by using a least square method according to the position of any acquired satellite in the plurality of satellites and the distance between the satellite and the vehicle.

Acquiring the position of the landmark according to the position of any acquired satellite in the plurality of satellites and the distance between the satellite and the vehicle by using a least square method, wherein the method comprises the following steps: establishing an equation:

wherein R is the distance from the satellite to the vehicle, (x)₁，y₁，z₁) Is the position coordinates of the satellite, (x, y, z) is the position of the vehicle; establishing a functional relation

By using

Respectively carrying out derivation on x, y and z to obtain a function equation set:

in the formula (I), the compound is shown in the specification,

n is the number of satellites, R_iDistance from the ith satellite to the vehicle, (x)_1i，y_1i，z_1i) Is the position of the ith satellite; and solving the x, y and z by using the function equation system, wherein the coordinate formula (x, y and z) is the position of the vehicle.

In one embodiment of the present invention, as shown in fig. 16, the following steps S01-S04 are further included after step S1. Steps S01-S04 may be implemented by the in-vehicle terminal 701 in fig. 5.

Step S01: an image of the surroundings of the vehicle is acquired.

In order to realize high-precision positioning of urban landmarks, a vehicle-mounted terminal is required to be mounted on a vehicle, an image of the surrounding environment of the vehicle is acquired by the vehicle-mounted terminal, the acquired image of the surrounding environment of the vehicle is processed, the shooting time of the vehicle terminal when the vehicle terminal shoots the landmark for the last time in a set time interval delta t is acquired, and then the position of the landmark is calculated and acquired according to a satellite positioning signal and the positions of various satellites at the last shooting time.

The vehicle-mounted terminal comprises an image acquisition device for acquiring images. In the running process of the vehicle, the image acquisition device in the vehicle-mounted terminal can continuously shoot images around the vehicle to form images of the environment around the vehicle.

When a landmark in a city is positioned with high precision, a vehicle needs to run in the city, and an image acquisition device in a vehicle-mounted terminal can continuously acquire an image in the city and acquire an image of the surrounding environment of the city containing the landmark image.

Step S02: and processing the surrounding environment image of the vehicle to obtain the last shooting time when the landmark is shot for the last time in the set time interval delta t.

When the vehicle runs near the landmark, the image acquisition device on the vehicle can shoot the image of the surrounding environment of the vehicle with the landmark. In the process that the vehicle continuously moves towards the landmark, the image acquisition device on the vehicle continuously shoots the image with the landmark.

The time interval Δ t is set to a time interval greater than zero. By setting the set time interval delta t, the situation that when the vehicle repeatedly moves around the landmark, the last shooting time of shooting the landmark for the last time when the vehicle runs through the landmark cannot be found through the surrounding environment image of the vehicle can be prevented.

In one embodiment, the vehicle takes a period of time to travel past the landmark, and the set time interval Δ t is greater than the time it takes for the vehicle to travel past the landmark once and less than the time it takes for the vehicle to travel past the landmark twice.

When a vehicle is close to a landmark and travels toward the landmark, images of the surroundings of the vehicle including the landmark are continuously captured. When the vehicle shoots the landmark for the last time, the distance between the vehicle and the landmark is small, and the default position of the vehicle at the time is the position of the landmark. And the last shooting time when the vehicle shoots the landmark for the last time is the time when the vehicle is closest to the landmark.

In the running process of the vehicle, the image acquisition device can continuously send the acquired images of the surrounding environment of the vehicle to a processor in the vehicle-mounted terminal, and the processor processes the images to acquire the final shooting moment.

The in-vehicle terminal also includes a processor and a memory. The memory stores landmark images. The processor receives the vehicle surrounding environment images continuously sent by the image acquisition device and processes the received images. In the process of processing the vehicle surrounding image, the processor can identify the landmark from the vehicle surrounding image according to the landmark image stored in the memory, so as to judge the last shooting time when the image acquisition device shoots the landmark for the last time within the set time interval delta t.

In one embodiment, the processor identifies landmarks in the image of the vehicle surroundings that is continuously transmitted by the image capture device. When the processor can not identify the landmark any more in one frame of image sent by the image acquisition device, but can identify the landmark in continuous frames of images before the frame of image, the processor considers the shooting time of the frame of image as: and setting the last shooting time of the last time of shooting the landmark in the time interval delta t.

In one embodiment, the vehicle surroundings image includes: and partial images in the acquired vehicle surrounding environment images. The partial image in the vehicle surroundings image is: the distance of the vehicle from the landmark approximate position is less than the vehicle surroundings image within the range of d 1.

Step S01 includes: partial images in the captured image of the surroundings of the vehicle are acquired.

Step S02 includes: and processing the partial images in the acquired vehicle surrounding environment images to acquire the last shooting time of the last time of shooting the landmark within the set time interval delta t.

The memory in the vehicle-mounted terminal stores the approximate position of the landmark. The approximate positions of the landmarks are: the distance from the landmark position is less than the position of the set value d 7. The value d7 is set to a value greater than zero. In one embodiment, the setting d7 is less than 50 meters.

Step S03: and acquiring satellite positioning information of the vehicle at the last shooting moment according to the last shooting moment.

The vehicle-mounted terminal also comprises a Beidou GPS dual-mode satellite positioner. The Beidou GPS dual-mode satellite positioner can continuously receive satellite positioning signals of the vehicle and acquire satellite positioning information of the vehicle according to the satellite positioning signals of the vehicle. The satellite positioning information includes: the satellite positioning position of the vehicle, the pseudo range between the vehicle and each satellite, the distance between the vehicle and each satellite, the acquisition time of the satellite positioning information, and the like.

The satellite transmits a ranging code signal, the signal is received by a Beidou GPS dual-mode satellite positioner after a time interval of delta t, and the pseudo range rho between the vehicle and the satellite is delta t.c. Since the propagation time Δ t includes an error of asynchronism between the satellite clock and the receiver clock, a satellite ephemeris error, a receiver measurement noise, a delay error of the propagation of the ranging code in the atmosphere, and the like, the obtained pseudorange is not a distance between a true satellite and the big dipper GPS dual-mode satellite locator and is conventionally called as a pseudorange.

By processing the pseudo range between the vehicle and the satellite, the distance between the vehicle and the satellite can be acquired.

Step S04: and sending the satellite positioning information of the vehicle at the last shooting moment to a server so that the server can acquire the position of the landmark according to the received satellite positioning information.

After acquiring the satellite positioning information, the vehicle-mounted terminal sends the satellite positioning information to the server. And the server can acquire the position of the landmark according to the received satellite positioning information.

An embodiment of the present invention provides a data processing apparatus for improving landmark positioning accuracy, and as shown in fig. 17, the apparatus includes a first obtaining module 01, a second obtaining module 02, and a third obtaining module 03.

The system comprises a first acquisition module 01, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring satellite positioning information of any one vehicle in the plurality of vehicles when an image acquisition device arranged on the vehicle shoots a landmark for the last time within a set time interval delta t;

a second obtaining module 02, configured to obtain, for any one of the one or more satellite positioning information, a position of each satellite when transmitting a satellite positioning signal forming the satellite positioning information, and a distance between each satellite and a vehicle, where the vehicle is a vehicle that obtains the satellite positioning information, where the satellite positioning information includes information of a plurality of satellites;

the third obtaining module 03 is configured to obtain the position of the landmark by using the position of any one of the plurality of satellites that has been obtained and the distance between the satellite and the vehicle.

In one embodiment, as shown in fig. 18, the apparatus further comprises: a fourth obtaining module 04, a calculating module 05 and a fifth obtaining module 06.

A fourth obtaining module 04, configured to obtain, for any one of the obtained plurality of pieces of satellite positioning information, a satellite positioning position included in the satellite positioning information;

a calculation module 05, configured to calculate, for any one of the satellite positioning positions, a distance between the satellite positioning position and each of the other satellite positioning positions;

a fifth obtaining module 06, configured to obtain one or more satellite positioning positions, where, for any one of the obtained satellite positioning positions, the number of the satellite positioning positions in which a distance from the satellite positioning position is smaller than a set value d5 in other satellite positioning positions is greater than s, where s is a positive integer;

the second obtaining module 02 is further configured to, for any one of the one or more obtained satellite positioning positions, obtain, from the satellite positioning information corresponding to the satellite positioning position, a position of each satellite and a distance between each satellite and the vehicle.

In one embodiment, as shown in fig. 19, the apparatus further comprises: a sixth obtaining module 07 and a seventh obtaining module 08.

A sixth obtaining module 07, configured to obtain, for any one of the obtained plurality of pieces of satellite positioning information, a satellite positioning position included in the satellite positioning information;

a seventh obtaining module 08, configured to obtain one or more regions, where the number of the satellite positioning positions included in each unit area in the region is greater than a value r, and the value r is a positive integer;

a second obtaining module 02, configured to obtain, for any one of the satellite positioning positions in the one or more obtained regions, a position of each satellite and a distance between each satellite and the vehicle in the satellite positioning information corresponding to the satellite positioning position.

In one embodiment, as shown in fig. 20, the apparatus further comprises: an eighth acquiring module 09, a ninth acquiring module 010, a tenth acquiring module 011, and an eleventh acquiring module 012.

An eighth obtaining module 09, configured to obtain, for any one of the obtained plurality of satellite positioning information, a satellite positioning position included in the satellite positioning information;

a ninth obtaining module 010, configured to obtain one or more regions, where the number of the satellite positioning positions included in each unit area in the region is greater than a numerical value r, and the numerical value r is a positive integer;

a tenth obtaining module 011, configured to obtain, for any one of the obtained regions, an approximate weight of the region, where the approximate weight of the region is used to indicate a degree of closeness between the region and the landmark approximate position;

an eleventh acquiring module 012 configured to acquire an area closest to the landmark approximate position by using the approximate weight of each area;

the second obtaining module 02 is further configured to, for any one of the plurality of satellite positioning positions, obtain satellite positioning information corresponding to the satellite positioning position, where the plurality of satellite positioning positions are located in an area closest to the obtained landmark approximate position, and a position of each satellite and a distance between each satellite and the vehicle.

As shown in fig. 21, the second obtaining module 02 further includes: a first acquisition sub-module 021 and a second acquisition sub-module 022.

A first obtaining submodule 021, configured to obtain k satellite positioning locations that are closest to the landmark approximate position in an area closest to the landmark approximate position;

a second obtaining sub-module 022 is configured to obtain, for any one of the k satellite positioning positions, a position of each satellite and a distance between each satellite and the vehicle in the satellite positioning information corresponding to the satellite positioning position.

In one embodiment, as shown in fig. 22, the tenth acquisition module 011 includes: a third acquisition submodule 0111 and a calculation submodule 0112.

A third obtaining submodule 0111, configured to obtain, for any one region, an approximate weight of each of the satellite positioning positions included in the region, where the approximate weight of the satellite positioning position is used to indicate how far the satellite positioning position is from the landmark approximate position;

and the calculating submodule 0112 is used for averaging the approximate weights of the satellite positioning positions in any region, and taking the average value as the approximate weight of the region and the approximate position of the landmark.

In an embodiment, the third obtaining submodule 0111 is further configured to, for any region, respectively obtain an approximate weight of each satellite positioning location included in the region by using a formula, where ω is the approximate weight of the satellite positioning location, P1 is the landmark approximate location, and Pn is the satellite positioning location.

In one embodiment, as shown in fig. 23, the third obtaining module 03 includes: a fourth acquisition sub-module 031, a fifth acquisition sub-module 032, and a sixth acquisition sub-module 033.

A fourth obtaining sub-module 031, configured to, for any satellite of the multiple satellites, obtain a region in which a landmark is located by using the obtained position of the satellite and a distance between the satellite and the vehicle;

a fifth obtaining sub-module 032, configured to obtain an overlapping region of regions where the landmarks obtained according to the multiple satellites are located, where the overlapping region is: all the overlapping areas of the areas where the landmarks are located comprise the most overlapping areas of the areas where the landmarks are located;

a sixth obtaining sub-module 033 configured to obtain a center position of the overlap region, and use the center position as the position of the landmark.

In one embodiment, the apparatus comprises: a twelfth obtaining module 013, a processing module 014, a thirteenth obtaining module 015 and a sending module 016.

A twelfth acquiring module 013, configured to acquire, for any one of the plurality of vehicles, an image of an environment around the vehicle before satellite positioning information of the vehicle when an image acquisition device provided on the vehicle last captures a landmark within a set time interval Δ t;

the processing module 014 is used for processing the vehicle surrounding environment image and acquiring the last shooting time when the landmark is shot for the last time in a set time interval delta t;

a thirteenth acquiring module 015, configured to acquire, according to the last shooting time, satellite positioning information of the vehicle at the last shooting time;

a sending module 016, configured to send satellite positioning information of the vehicle at the last shooting time to a server, so that the server can obtain the location of the landmark according to the received satellite positioning information.

In one embodiment, the vehicle surroundings image includes: partial images in the acquired vehicle surroundings image;

the partial image in the vehicle surroundings image is: the vehicle surroundings image within a range where the distance of the vehicle from the landmark approximate position is smaller than d 1;

the thirteenth acquiring module 015 is further configured to process the partial image in the acquired image of the environment around the vehicle, and acquire a last shooting time when the landmark is shot for the last time within the set time interval Δ t.

When the device is used for calculating the position of the landmark, the operation method of each module in the device is the same as the data processing method for improving the positioning precision of the landmark, so the using method of each module in the device is also the same as the data processing method for improving the positioning precision of the landmark. The modules, the using methods and the operating methods of the sub-modules in the data processing device for improving the landmark positioning accuracy of the present invention can refer to the data processing method for improving the landmark positioning accuracy, and are not described in detail here.

Referring to fig. 25, the data processing method for improving the accuracy of landmark positioning according to the above embodiment of the present invention further provides a data processing device for improving the accuracy of landmark positioning, where the data processing device mainly includes:

at least one processor 401; and the number of the first and second groups,

a memory 402 communicatively coupled to the at least one processor; wherein the content of the first and second substances,

the memory 402 stores instructions executable by the at least one processor, the instructions being executable by the at least one processor 401 to enable the at least one processor 401 to perform the method of embodiment 1 of the present invention. For a detailed description of the apparatus, refer to embodiment 1, which is not repeated herein.

Specifically, the processor 401 may include a Central Processing Unit (CPU), or an Application Specific Integrated Circuit (ASIC), or may be configured as one or more Integrated circuits implementing embodiments of the present invention.

Memory 402 may include mass storage for data or instructions. By way of example, and not limitation, memory 402 may include a Hard Disk Drive (HDD), floppy Disk Drive, flash memory, optical Disk, magneto-optical Disk, tape, or Universal Serial Bus (USB) Drive or a combination of two or more of these. Memory 402 may include removable or non-removable (or fixed) media, where appropriate. The memory 402 may be internal or external to the data processing apparatus, where appropriate. In a particular embodiment, the memory 402 is a non-volatile solid-state memory. In a particular embodiment, the memory 402 includes Read Only Memory (ROM). Where appropriate, the ROM may be mask-programmed ROM, Programmable ROM (PROM), Erasable PROM (EPROM), Electrically Erasable PROM (EEPROM), electrically rewritable ROM (EAROM), or flash memory or a combination of two or more of these.

The processor 401 reads and executes the computer program instructions stored in the memory 402 to implement the data processing method for improving the accuracy of landmark positioning in any of the above embodiments.

In one example, the data processing device to improve landmark positioning accuracy may further include a communication interface 403 and a bus 410. As shown in fig. 25, the processor 401, the memory 402, and the communication interface 403 are connected by a bus 410 to complete communication therebetween.

The communication interface 403 is mainly used for implementing communication between modules, apparatuses, units and/or devices in the embodiments of the present invention.

The bus 410 includes hardware, software, or both to couple the components of the data processing device that improve landmark positioning accuracy to one another. By way of example, and not limitation, a bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a Hypertransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an infiniband interconnect, a Low Pin Count (LPC) bus, a memory bus, a Micro Channel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a video electronics standards association local (VLB) bus, or other suitable bus or a combination of two or more of these. Bus 410 may include one or more buses, where appropriate. Although specific buses have been described and shown in the embodiments of the invention, any suitable buses or interconnects are contemplated by the invention.

In addition, in combination with the data processing method for improving the landmark positioning accuracy in the foregoing embodiments, embodiments of the present invention may provide a computer-readable storage medium to implement the method. The computer readable storage medium having stored thereon computer program instructions; the computer program instructions, when executed by a processor, implement any of the above-described embodiments of a data processing method for improving landmark positioning accuracy.

In summary, the data processing method, apparatus, device and medium for improving the landmark positioning accuracy provided by the embodiments of the present invention can solve the problems of inaccurate landmark positioning in a city due to the influence of high-rise buildings and other high-rise buildings by using a mathematical modeling manner and relying on a pure computer algorithm after acquiring the satellite positioning information of the vehicle.

It is to be understood that the invention is not limited to the specific arrangements and instrumentality described above and shown in the drawings. A detailed description of known methods is omitted herein for the sake of brevity. In the above embodiments, several specific steps are described and shown as examples. However, the method processes of the present invention are not limited to the specific steps described and illustrated, and those skilled in the art can make various changes, modifications and additions or change the order between the steps after comprehending the spirit of the present invention. These are all intended to be covered by the scope of protection of the present invention.

Claims

1. A data processing method for improving accuracy of landmark positioning, the method comprising:

step S3: acquiring the position of the landmark by using the position of any acquired satellite in the plurality of satellites and the distance between the satellite and the vehicle;

step S3 includes:

step S31: aiming at any one of a plurality of satellites, acquiring a region where a landmark is located by using the acquired position of the satellite and the distance between the satellite and a vehicle;

step S32: acquiring an overlapping area of areas where each landmark acquired according to a plurality of satellites is located, wherein the overlapping area is as follows: all the overlapping areas of the areas where the landmarks are located comprise the most overlapping areas of the areas where the landmarks are located;

step S33: and acquiring the central position of the overlapping area, and taking the central position as the position of the landmark.

2. The method according to claim 1, wherein step S2 is preceded by:

step S103: acquiring a satellite positioning position contained in the satellite positioning information aiming at any one of the acquired satellite positioning information;

step S104: calculating and acquiring the distance between the satellite positioning position and each other satellite positioning position aiming at any one satellite positioning position in the satellite positioning positions;

step S105: acquiring one or more satellite positioning positions, wherein for any one of the acquired satellite positioning positions, the number of the satellite positioning positions with the distance to the satellite positioning position being less than a set value d5 in other satellite positioning positions is more than s, and s is a positive integer;

step S2 includes: and acquiring the position of each satellite and the distance between each satellite and the vehicle in the satellite positioning information corresponding to the satellite positioning position aiming at any one of the acquired one or more satellite positioning positions.

3. The method according to claim 1, wherein step S2 is preceded by:

step S106: acquiring a satellite positioning position contained in the satellite positioning information aiming at any one of the acquired satellite positioning information;

step S107: acquiring one or more regions, wherein the number of the satellite positioning positions contained in each unit area in each region is greater than a numerical value r, and the numerical value r is a positive integer;

4. The method according to claim 1, wherein step S2 is preceded by:

step S108: acquiring a satellite positioning position contained in the satellite positioning information aiming at any one of the acquired satellite positioning information;

step S109: acquiring one or more regions, wherein the number of the satellite positioning positions contained in each unit area in each region is greater than a numerical value r, and the numerical value r is a positive integer;

step S110: for any one acquired region, acquiring an approximate weight of the region, wherein the approximate weight of the region is used for representing the degree of distance between the region and the landmark approximate position;

step S111: acquiring a region closest to the landmark approximate position by using the approximate weight of each region;

5. The method of claim 4, wherein the plurality of satellite based positioning locations comprises: k of said satellite based positioning locations nearest to said landmark approximate locations, said k being a positive integer;

step S2 includes:

step S21: acquiring k satellite positioning positions closest to the landmark approximate position in an area closest to the landmark approximate position;

step S22: and acquiring, for any one of the k satellite positioning positions, a position of each satellite and a distance between each satellite and the vehicle in the satellite positioning information corresponding to the satellite positioning position.

6. The method according to claim 4 or 5, wherein step S110 comprises:

step S1101: respectively acquiring approximate weights of the satellite positioning positions contained in any region, wherein the approximate weights of the satellite positioning positions are used for representing the distance between the satellite positioning positions and the landmark approximate positions;

step S1102: for any region, the average value of the approximate weights of the satellite positioning positions in the region is obtained, and the average value is used as the approximate weight of the region and the landmark approximate position.

7. The method according to claim 1, further comprising, before step S1:

step S01: acquiring an image of the surrounding environment of the vehicle;

step S02: processing the surrounding environment image of the vehicle to obtain the last shooting time when the landmark is shot for the last time in a set time interval delta t;

step S03: acquiring satellite positioning information of the vehicle at the last shooting moment according to the last shooting moment;

8. A data processing apparatus for improving accuracy of landmark positioning, the apparatus comprising:

the third acquisition module is used for acquiring the position of the landmark by using the position of any acquired satellite in the plurality of satellites and the distance between the satellite and the vehicle;

the third obtaining module includes: a fourth obtaining submodule, a fifth obtaining submodule and a sixth obtaining submodule;

the fourth acquisition submodule is used for acquiring the area where the landmark is located by using the acquired position of the satellite and the distance between the satellite and the vehicle for any one of the plurality of satellites;

the fifth obtaining sub-module is configured to obtain an overlapping area of areas where each landmark obtained according to the multiple satellites is located, where the overlapping area is: all the overlapping areas of the areas where the landmarks are located comprise the most overlapping areas of the areas where the landmarks are located;

the sixth obtaining submodule is configured to obtain a center position of the overlap area, and use the center position as the position of the landmark.

9. A data processing apparatus for improving accuracy of landmark positioning, the apparatus comprising:

at least one processor; and

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-7.