CN112558131A

CN112558131A - AR navigation method and apparatus, electronic device, navigation system, and storage medium

Info

Publication number: CN112558131A
Application number: CN202011333185.XA
Authority: CN
Inventors: 葛婷婷; 甘勋
Original assignee: Beijing Baidu Netcom Science and Technology Co Ltd
Current assignee: Beijing Baidu Netcom Science and Technology Co Ltd
Priority date: 2020-11-24
Filing date: 2020-11-24
Publication date: 2021-03-26

Abstract

The application discloses an AR navigation method, and relates to the fields of AR navigation, computer vision and the like. The specific implementation scheme is as follows: positioning a target object to obtain positioning information based on an electronic device carried by the target object, wherein the target object is positioned by at least one of the following signals associated with the electronic device: a transmission signal between the electronic device and a base station deployed within a preset environment; pseudo-GPS satellite signals received by the electronic equipment; the electronic equipment receives a Bluetooth signal transmitted by a Bluetooth module arranged on a base station; and performing AR navigation by the electronic device based on the positioning information.

Description

AR navigation method and apparatus, electronic device, navigation system, and storage medium

Technical Field

The present application relates to the field of AR navigation, and in particular, to an AR navigation method and apparatus, a navigation system, an electronic device, and a storage medium.

Background

With the increasingly wide application of new technologies such as 5G (fifth generation mobile communication technology), AR (Augmented Reality), big data, etc., users have increasingly high acceptance of AR applications. One of the important application scenarios of AR technology is in enabling AR navigation. AR navigation is divided into two categories: one is outdoor navigation, and a GPS positioning mode is used; one is indoor navigation, and a computer vision positioning mode is used.

However, in implementing the embodiments of the present application, the inventors found that: under the indoor AR navigation scene, a computer vision positioning mode is used, so that not only can better experience be brought to a user, but also higher cost needs to be paid.

Disclosure of Invention

The application provides an AR navigation method, an AR navigation device, an AR navigation system, an electronic device and a storage medium.

According to a first aspect, there is provided an AR navigation method, comprising: positioning a target object to obtain positioning information based on an electronic device carried by the target object, wherein the target object is positioned by at least one of the following signals associated with the electronic device: a transmission signal between the electronic device and a base station deployed in a preset environment; pseudo-GPS satellite signals received by the electronic equipment; the electronic equipment receives a Bluetooth signal transmitted by a Bluetooth module arranged on the base station; and performing AR navigation through the electronic device based on the positioning information.

According to a second aspect, there is provided an AR navigation device comprising: a positioning module, configured to position, based on an electronic device carried by a target object, the target object to obtain positioning information, where the target object is positioned through at least one of the following signals associated with the electronic device: a transmission signal between the electronic device and a base station deployed in a preset environment; pseudo-GPS satellite signals received by the electronic equipment; the electronic equipment receives a Bluetooth signal transmitted by a Bluetooth module arranged on the base station; and a navigation module for performing AR navigation through the electronic device based on the positioning information.

According to a third aspect, there is provided an electronic device comprising: the AR navigation device of the embodiment of the application.

According to a fourth aspect, there is provided an AR navigation system comprising: the electronic device of the embodiment of the present application; and the base station and/or the radio equipment are deployed in a preset environment, wherein the base station is provided with a Bluetooth module, and the radio equipment is used for simulating a real GPS satellite to transmit pseudo-GPS satellite signals according to the information recorded in the ephemeris and the position information of the radio equipment.

According to a fifth aspect, there is provided another electronic device comprising: at least one processor; and a memory communicatively coupled to the at least one processor; the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the method of the embodiment of the present application.

According to a sixth aspect, there is provided a non-transitory computer readable storage medium having computer instructions stored thereon, comprising: the computer instructions are used for causing the computer to execute the method of the embodiment of the application.

According to the embodiment of the application, at least one of mobile communication technology positioning (such as 5G positioning), pseudo satellite positioning and novel Bluetooth positioning is adopted to replace computer vision positioning, so that a user does not need to always turn on a camera device (such as a mobile phone camera) of the navigation equipment when using an AR navigation function, and the phenomenon that the power consumption of the navigation equipment is too large due to the fact that the AR navigation function is started can be avoided; in addition, in the AR navigation process, the user does not need to always hold the navigation equipment (such as a mobile phone) to scan the surrounding environment, so that the use experience of the user can be improved, and meanwhile, the user can move by attentively without always holding the navigation equipment to scan the surrounding environment, so that the probability of safety problems can be reduced; in addition, the GPU device needs to be frequently used based on computer vision positioning, and the cost of the GPU device is relatively high at present, which results in high overall cost of the system, and besides the cost consumed by purchasing the GPU device, the GPU device needs to be continuously maintained during use, so that maintenance cost needs to be paid for the GPU device every year, and the positioning (such as 5G positioning), pseudolite positioning and novel bluetooth positioning can be adopted to save part of the cost.

It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present application, nor do they limit the scope of the present application. Other features of the present application will become apparent from the following description.

Drawings

The drawings are included to provide a better understanding of the present solution and are not intended to limit the present application. Wherein:

FIG. 1A illustrates a system architecture suitable for the AR navigation method and apparatus of embodiments of the present application;

FIGS. 1B-1D are diagrams illustrating scenarios of AR navigation methods and apparatus suitable for embodiments of the present application;

FIG. 2 illustrates a flow chart of an AR navigation method according to an embodiment of the application;

FIG. 3A illustrates a schematic diagram of 5G positioning according to an embodiment of the present application;

FIG. 3B illustrates a schematic diagram of pseudolite positioning in accordance with an embodiment of the present application;

FIG. 4 illustrates a block diagram of an AR navigation device according to an embodiment of the present application;

FIG. 5 illustrates a block diagram of an electronic device in accordance with an embodiment of the present application;

FIG. 6 illustrates a block diagram of an AR navigation system in accordance with an embodiment of the present application; and

fig. 7 is a block diagram illustrating an electronic device for implementing the AR navigation method according to an embodiment of the present application.

Detailed Description

The following description of the exemplary embodiments of the present application, taken in conjunction with the accompanying drawings, includes various details of the embodiments of the application for the understanding of the same, which are to be considered exemplary only. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present application. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

It should be understood that, in an indoor AR navigation scene, a computer vision positioning mode is used, which not only cannot bring better experience to a user, but also needs to pay higher cost. This is because: 1) when the user uses the AR navigation technology of the positioning mode, the camera device of the navigation equipment needs to be always opened, so that the problem of overlarge power consumption of the navigation equipment is caused; 2) in the navigation process of using the positioning AR navigation technology, the user also needs to hold the navigation device (such as a mobile phone) all the time to scan the surrounding environment, so that the user cannot walk with concentration, the safety problem is easily caused, and the use experience of the user is also influenced; 3) the GPU device needs to be frequently used based on computer vision positioning, but the cost of the GPU device is relatively high at present, which results in high overall cost of the system, and besides the cost consumed by purchasing the GPU device, the GPU device needs to be continuously maintained during use, so that the GPU device needs to be paid maintenance cost every year.

In view of the above, the embodiment of the present application provides a novel AR navigation scheme, and the inventive concept is that at least one of mobile communication technology positioning (such as 5G positioning), pseudolite positioning, and novel bluetooth positioning is used to replace computer vision positioning, so that when using an AR navigation function, a user does not need to directly open a camera of a navigation device or hold a navigation device (such as a mobile phone) to sweep the surrounding environment, and these positioning methods do not need to use a GPU device at a high frequency, and can completely reuse deployed hardware devices in the surrounding environment, such as a 5G communication network, and the like, thereby overcoming the above technical problems existing in the AR navigation scheme based on computer vision positioning.

The present application will be described in detail with reference to specific examples.

The system architecture of the AR navigation method and apparatus suitable for the embodiments of the present application is introduced as follows.

Fig. 1A illustrates a system architecture of an AR navigation method and apparatus suitable for embodiments of the present application. It should be noted that fig. 1A is only an example of a system architecture to which the embodiments of the present application may be applied, so as to help those skilled in the art understand the technical content of the present application, but does not mean that the embodiments of the present application may not be used in other environments or scenarios.

As shown in fig. 1A, the system architecture 100 may include: a base station 101 and a radio device 102 deployed within a preset environment, a terminal device 103, an electronic device 104 that a user can carry around, and a server 105. The base station 101 may include a bluetooth module 1011. The electronic device 104 may comprise a smartphone. The server 105 may include a GPU processor to provide image processing services for AR navigation.

With the popularization of the 5G technology, it is a great trend to lay a large number of 5G small base stations indoors, so that the AR navigation scheme provided by the embodiment of the application can directly position a user by using transmission signals between the smart phone carried by the user and the indoor 5G small base stations, and then display of navigation and navigation is carried out by using the AR technology, and immersive interactive experience on space positions and environments can be brought to the user.

Or, a 5G small base station laid in a large number indoors can be slightly improved, for example, a bluetooth beacon module (bluetooth module) is arranged on the 5G small base station, and then the bluetooth module arranged on the 5G small base station is used for positioning the user. On one hand, the infrastructure of the 5G network can be directly utilized to supply power to the Bluetooth module so as to solve the deployment problem of the Bluetooth module; on the other hand, the state of the Bluetooth module can be monitored by using a 5G network so as to solve the maintenance problem of the Bluetooth module.

Alternatively, it is also possible to lay some radios indoors. The terminal device 103 downloads ephemeris in which information about the position of each GPS satellite in the interplanetary every moment and the GPS satellite signal to be received by the ground reception device every moment is described, and broadcasts the downloaded ephemeris to the radio device installed indoors. And then, each radio device determines the GPS satellite signal which should be received at every moment at the ground position of the radio device according to the information recorded in the ephemeris, and further generates and transmits a pseudo-GPS satellite signal for simulating the currently received GPS satellite signal according to the GPS satellite signal. Finally, the pseudo-GPS satellite signals received by the electronic equipment carried by the user can be utilized to position the user.

Or, two or three of the three positioning modes can be used for positioning respectively, and then the positioning results of the positioning modes are weighted and averaged to obtain a final positioning result.

It should be noted that, in the embodiment of the present application, the electronic device 104 may perform calculation by itself according to the transmission signal between itself and the base station 101, and/or the pseudo GPS satellite signal received by itself, and/or the bluetooth signal received by itself, so as to obtain the positioning information; or the electronic device 104 may send the received transmission signal, and/or pseudo GPS satellite signal, and/or bluetooth signal to the server 105, and then the server 105 performs calculation based on the signal sent from the electronic device 104, so as to obtain positioning information, and provide corresponding AR navigation information based on the positioning information.

It should be understood that the number of base stations and radios, terminal devices, electronic devices, and servers in fig. 1A are merely illustrative. Any number of base stations and radios, terminal devices, electronic devices, and servers may be provided according to implementation requirements, and embodiments of the present application are not limited herein.

Application scenarios of the AR navigation method and apparatus suitable for the embodiments of the present application are introduced below.

The embodiment of the application can be used for any AR navigation and navigation scene of indoor environment and outdoor environment, and especially can be used for AR navigation and navigation scene of indoor environment. For example, with the popularization of the 5G technology, it is a great trend that a large number of 5G small base stations are laid indoors in places such as shopping malls and business circles, and therefore the AR navigation and navigation scheme based on the positioning method provided by the embodiment of the application can be used in the scenes such as shopping malls and business circles to provide the shopping experience of users.

Fig. 1B to 1D are scene diagrams illustrating AR navigation methods and apparatuses suitable for embodiments of the present application.

As shown in fig. 1B, this is a scenario of using the AR navigation method based on the above positioning method in a shopping mall. By using the positioning scheme, a user does not need to keep on the mobile phone camera all the time, does not need to keep lifting the mobile phone all the time to scan the surrounding environment, and only needs to open the mobile phone camera when walking to an interested place (such as a certain type of business or the vicinity of a certain storefront). In addition, the positioning modes do not need to use GPU equipment at high frequency, so that expensive GPU equipment does not need to be deployed in a market, and hardware equipment already deployed in the surrounding environment, such as a 5G network and the like, can be completely reused. Or, a hardware device already deployed in the surrounding environment may be slightly improved, for example, a bluetooth module is disposed on a 5G small cell, so as to implement bluetooth positioning based on a 5G network.

As shown in fig. 1C, this is a scene that implements AR navigation based on AR navigation. When the user opens the AR navigation and walks to the side of a certain type of business, related brand information, activity information and the like can be displayed in the AR navigation interface in an AR mode.

As shown in fig. 1D, this is the presentation of scenes of a related interactive game based on geographic location/scene based on AR navigation. The interactivity of the user with a specific position/scene can be enhanced, and the immersive experience of the user is improved.

According to an embodiment of the present application, there is provided an AR navigation method.

Fig. 2 illustrates a flowchart of an AR navigation method according to an embodiment of the present application.

As shown in fig. 2, the AR navigation method 200 may include operations S210 and S220.

In operation S210, a target object is located based on an electronic device carried by the target object to obtain location information.

Wherein the target object is located by at least one of the following signals associated with the electronic device: transmission signals between the electronic device and base stations deployed within a preset environment (first positioning mode); pseudo-GPS satellite signals received by the electronic device (second positioning mode); the electronic device receives a bluetooth signal transmitted by a bluetooth module provided on the base station (third positioning mode).

In operation S220, AR navigation is performed through the electronic device based on the positioning information.

In the embodiment of the present application, the target object may be a user or a robot. Further, in operation S210, the positioning information determined for the electronic device may be taken as the positioning information for the target object.

In some embodiments of the present application, the target object may be located based on any one of the first to third locating manners separately to obtain the locating information. Or, in other embodiments of the present application, any two or three positioning manners of the first to third positioning manners may be further adopted to simultaneously position the target object, and the positioning information obtained by the plurality of positioning manners is weighted and averaged, so as to obtain the final positioning information.

It should be noted that, if a plurality of base stations are laid in a certain preset environment, in the first positioning mode, positioning may be performed based on a transmission signal between the electronic device and any one of the base stations at the current time, for example, a downlink signal sent by the base station to the electronic device.

In addition, in the second positioning mode, for example, positioning may be performed based on pseudo GPS satellite signals transmitted by a radio device closest to the electronic device, where the pseudo GPS satellite signals include true GPS satellite signals simulating at least 3 GPS satellites, that is, the electronic device needs to receive at least three pseudo GPS satellite signals transmitted by the same radio device at the same time.

As an alternative embodiment, locating the target object through a transmission signal between the electronic device and a base station deployed in a preset environment may include the following operations.

The method comprises the steps of determining the position of a target object and the distance between the target object and a base station based on transmission signals (such as any downlink signal from the base station at the current moment) between electronic equipment (such as a mobile phone) carried by a user and the base station deployed in a preset environment (such as a commercial site).

Position information of a base station is acquired.

Based on the position, distance, and location information, positioning information for the target object is determined.

It should be noted that, regardless of whether the downlink signal sent by the base station to the electronic device or the uplink signal sent by the electronic device to the base station includes the sending time of the signal and the transmission direction of the signal, and the transmission rates of the downlink signal and the uplink signal are known, the receiving time is recorded when the base station receives the uplink signal from the electronic device, and the receiving time is also recorded when the electronic device receives the downlink signal from the base station. Therefore, taking positioning based on a downlink signal as an example, as shown in fig. 3A, a distance d between the electronic device 304 and the base station 301 may be obtained by multiplying a time difference obtained by subtracting the sending time from the receiving time of the downlink signal by the transmission rate of the downlink signal, and then, based on the position information of the base station 301 and the direction information (e.g., θ) included in the downlink signal, a specific position where the electronic device 304 is currently located may be determined, thereby positioning a target object carrying the electronic device may be achieved. Similarly, positioning can also be performed based on the uplink signal.

Specifically, in a scenario where positioning is performed by using a transmission signal between an electronic device (e.g., a mobile phone) and a base station deployed in a preset environment (e.g., a business district) and AR navigation is implemented, positioning based on a single base station may be implemented by using an algorithm such as a proximity detection method, an Angle Of Arrival (AOA), a Time Of Arrival (TOA), and an Observed Time Difference Of Arrival (OTDOA). And adopt the mobile communication technology, especially adopt 5G new technology to fix a position, because 5G new technology adopts high frequency or millimeter wave communication, millimeter wave communication has very good directionality again, therefore can realize range finding and angle measurement of higher accuracy. In addition, in an indoor scene, the laid 5G small base stations can be used for realizing high-precision positioning, and an AR technology is used as a navigation interaction mode.

As an alternative embodiment, locating the target object by pseudo GPS satellite signals may include the following operations.

pseudoGPS satellite signals transmitted by radios deployed within a predetermined environment (e.g., indoors) are received by an electronic device carried by a user. The terminal equipment downloads the ephemeris and broadcasts the downloaded ephemeris to the radio equipment, and the radio equipment simulates a real GPS satellite according to the information recorded in the ephemeris and the position information of the radio equipment to transmit pseudo-GPS satellite signals.

At least 3 pseudo-GPS satellite signals are extracted from the pseudo-GPS satellite signals received by the electronic device. Wherein each of the at least 3 pseudo-GPS satellite signals is transmitted for the radio to simulate a different real GPS satellite.

And positioning the target object based on the extracted at least 3 pseudo-GPS satellite signals.

In an embodiment of the application, the terminal device downloads ephemeris, which describes the position of each GPS satellite in the interplanetary at every moment, and transmits the downloaded ephemeris to each radio device in a preset environment. Each radio device determines a real satellite signal which should be received currently at the ground position where the radio device is located according to the information recorded in the ephemeris, wherein the real satellite signal includes a real GPS satellite signal which is transmitted by at least 3 different real GPS satellites at the current time, and generates at least 3 corresponding pseudo GPS satellite signals for simulating the at least 3 real GPS satellite signals which should be received at the current ground position (the position where the radio device is located), and simultaneously transmits the generated pseudo GPS satellite signals to an electronic device, such as a mobile phone terminal, carried by a user, so as to realize positioning.

Illustratively, as shown in fig. 3B, terminal device 303 is responsible for downloading ephemeris and broadcasting the downloaded ephemeris to

radios

302a, 302B, 302c.

According to the embodiment of the application, the pseudo-GPS satellite signal is transmitted by simulating the real GPS satellite signal to be used for positioning of the indoor AR navigation system, and the GPS principle suitable for positioning of outdoor scenes can be skillfully applied to positioning of indoor scenes.

As an alternative embodiment, the locating the target object by using a bluetooth signal transmitted by a bluetooth module disposed on the base station may include: the target object is positioned by fitting the Bluetooth signal actually received by the electronic equipment with the Bluetooth signal theoretically received in the area represented by each grid in the grids set for a preset environment (such as a certain shopping mall).

Illustratively, the bluetooth signal currently received by the electronic device includes bluetooth signals generated by a bluetooth module arranged on the base station a and a bluetooth module arranged on the base station B, and this can be successfully fitted with the bluetooth signal that should be theoretically received in the area represented by the grid 1, thus indicating that the position of the electronic device at this time is the area represented by the grid 1.

It should be appreciated that bluetooth location technology can typically achieve 3-5m location accuracy in indoor environments, but deployment and maintenance of bluetooth beacon devices is a relatively cumbersome problem. According to the embodiment of the application, the Bluetooth beacon module can be added in the laying of a mobile communication network such as a 5G network, on one hand, the Bluetooth beacon module in the mobile communication network can be used for indoor positioning, on the other hand, the infrastructure of the mobile communication network is used for supplying power to the Bluetooth beacon module, and on the other hand, the mobile communication network can be used for monitoring the state of the Bluetooth beacon module, so that the problem that the Bluetooth beacon module is troublesome to lay and maintain can be solved.

As another alternative, locating the target object through a bluetooth signal transmitted by a bluetooth module disposed on the base station may include the following operations.

The bluetooth signals transmitted by the bluetooth modules on at least 3 base stations are extracted from the bluetooth signals actually received by the electronic equipment.

Based on the extracted bluetooth signal, the bearing where the target object is located and the distance between the target object and the target base station that transmitted the extracted bluetooth signal are determined.

And acquiring the position information of the target base station.

For example, three bluetooth signals respectively transmitted by bluetooth modules arranged on the base station a, the base station B, and the base station C may be extracted from all bluetooth signals received by the electronic device at the current time, and then a first distance between the electronic device and the base station a, a second distance between the electronic device and the base station B, a third distance between the electronic device and the base station C, and then positioning information for the electronic device may be determined according to a transmission direction of each bluetooth signal, respective position information of the base station a, the base station B, and the base station C, and the three distance values, respectively, according to the transmission time, the arrival time, and the transmission rate of the bluetooth signals.

Similar to the above embodiments, according to the embodiments of the present application, the bluetooth beacon module may be added in the laying of the mobile communication network, such as a 5G network, on one hand, the bluetooth beacon module in the mobile communication network may be used to perform indoor positioning, on the other hand, the infrastructure of the mobile communication network may be used to supply power to the bluetooth beacon module, and the mobile communication network may be used to monitor the state of the bluetooth beacon module, so that the problem that the bluetooth beacon module is troublesome to lay and maintain may also be solved.

In addition, in the embodiment of the application, because the bluetooth modules are arranged on the base station, the base station can regularly sweep the current state parameters of each bluetooth module through the gateway device, so as to realize the monitoring of the bluetooth modules.

As an alternative embodiment, based on the positioning information, the AR navigation performed by the electronic device may include: and responding to the starting of the AR navigation function on the electronic equipment, executing AR navigation operation and displaying an AR navigation interface based on the positioning information. Based on the fact that when the user really starts the AR navigation function, the camera device of the electronic equipment is started, and based on the positioning information acquired through the positioning mode, images are rendered on the images captured by the camera device through the AR technology, and therefore AR navigation is achieved.

Through the embodiment of the application, the AR navigation scheme realized through the positioning mode enables the AR navigation based on computer vision to become selectable, and a user does not need to constantly open a camera device of the electronic equipment and constantly lift the electronic equipment to sweep the surrounding environment, so that the user can put down the electronic equipment (such as a mobile phone) most of the time, pay special attention to shopping malls, shopping malls and the like, and only lift the mobile phone to play AR interactive games or browse navigation contents when meeting interested shops.

As an alternative embodiment, the method may further include the following operations.

In response to the positioning information indicating that the target object is currently located near a specific object (such as a certain shop), navigation content (such as brand information, activity information, coupon information, and comment information of customers) associated with the specific object is acquired.

And displaying the navigation content after the navigation content is superposed on the AR navigation interface.

In particular, AR navigation may be made based on AR image rendering. The presentation manner of the navigation content may include, but is not limited to, text, pictures, short videos, animation models, animation videos, and the like, and the embodiment of the present application is not limited herein.

By the embodiment of the application, AR navigation is realized on the basis of AR navigation by utilizing an AR technology, so that a user can have spatial position and environment perception experience beyond the visual impression of the user under the environments such as shopping malls, business drawings and the like; the merchant can also make the shop exceed the limit of physical conditions, reach each customer entering the business circle as far as possible, and establish a brand-new and cool digital connection and communication mode with the customer.

According to the embodiment of the application, the application also provides an AR navigation device.

Fig. 4 illustrates a block diagram of an AR navigation device according to an embodiment of the present application.

As shown in fig. 4, the AR navigation device 400 may include a positioning module 410 and a navigation module 420. The AR navigation device 400 may be used to implement the AR navigation method 200 shown in fig. 2, among other things.

Specifically, the positioning module 410 is configured to position the target object to obtain positioning information based on an electronic device carried by the target object, where the target object is positioned through at least one of the following signals associated with the electronic device: a transmission signal between the electronic device and a base station deployed within a preset environment; pseudo-GPS satellite signals received by the electronic equipment; the electronic equipment receives Bluetooth signals transmitted by a Bluetooth module arranged on the base station.

And a navigation module 420, configured to perform AR navigation through the electronic device based on the positioning information.

As an alternative embodiment, the positioning module may be configured to position the target object by transmitting a signal. In this case, the positioning module may include: the first determining unit is used for determining the position of the target object and the distance between the target object and the base station based on the transmission signal; a first obtaining unit, configured to obtain location information of a base station; and a second determination unit for determining positioning information for the target object based on the position, the distance, and the location information.

As an alternative embodiment, the positioning module may be used to locate the target object by pseudo-GPS satellite signals. In this case, the positioning module may include: the system comprises a receiving unit, a processing unit and a processing unit, wherein the receiving unit is used for receiving pseudo-GPS satellite signals transmitted by radio equipment deployed in a preset environment through electronic equipment, and the radio equipment simulates real GPS satellites to transmit the pseudo-GPS satellite signals according to information recorded in ephemeris and position information of the radio equipment; a first extraction unit for extracting at least 3 pseudo-GPS satellite signals from the received pseudo-GPS satellite signals, wherein each of the at least 3 pseudo-GPS satellite signals is transmitted for simulating a different real GPS satellite; and a positioning unit for positioning the target object based on the extracted at least 3 pseudo-GPS satellite signals.

As an alternative embodiment, the positioning module may be used to locate the target object through bluetooth signals. In this case, the positioning module may be specifically configured to: the target object is positioned by fitting the Bluetooth signal actually received by the electronic equipment with the Bluetooth signal received in the area corresponding to each grid in the grids set for the preset environment.

As an alternative embodiment, the positioning module may be used to locate the target object through bluetooth signals. In this case, the positioning module may include: the second extraction unit is used for extracting Bluetooth signals transmitted by Bluetooth modules on at least 3 base stations from the Bluetooth signals actually received by the electronic equipment; a third determining unit, configured to determine, based on the extracted bluetooth signal, a position where the target object is located and a distance between the target object and a target base station that transmits the extracted bluetooth signal; a second obtaining unit, configured to obtain location information of the target base station; and a fourth determination unit for determining positioning information for the target object based on the position, the distance, and the position information.

As an alternative embodiment, the navigation module may be configured to: and responding to the starting of the AR navigation function on the electronic equipment, executing AR navigation operation and displaying an AR navigation interface based on the positioning information.

As an alternative embodiment, the AR navigation device further comprises: the acquisition module is used for responding to the positioning information representation target object to be positioned near the specific object and acquiring the navigation content associated with the specific object; and the navigation module is used for displaying after the navigation content is superposed on the AR navigation interface.

It should be understood that the embodiments of the apparatus portion of the present application correspond to the same or similar embodiments of the method portion of the present application, and are not described herein again.

According to an embodiment of the present application, the present application also provides an electronic device.

Fig. 5 illustrates a block diagram of an electronic device according to an embodiment of the application.

As shown in fig. 5, the electronic device 500 includes an AR navigation device 510. It should be understood that the AR navigation device 510 in the embodiment of the present application may be an AR navigation device in any of the foregoing embodiments, and the description of the embodiment of the present application is omitted here.

FIG. 6 illustrates a block diagram of an AR navigation system in accordance with an embodiment of the present application.

As shown in fig. 6, the AR navigation system 600 includes: an electronic device 610, a base station 620 deployed within a preset environment, and/or a radio 630.

Wherein, the base station 620 is provided with a bluetooth module (not shown in the figure). The radio 630 is used to simulate real GPS satellites for pseudo-GPS satellite signal transmission based on the information described in the ephemeris and the location information of itself.

Further, the navigation system further includes: a terminal device 640 for downloading the ephemeris and sending the downloaded ephemeris to the radio 630.

It should be understood that, in the embodiment of the present application, the AR navigation apparatus in the electronic device 610 may be an AR navigation apparatus in any of the foregoing embodiments, and details of the embodiment of the present application are not described herein again.

According to an embodiment of the present application, an electronic device and a readable storage medium are also provided.

Fig. 7 is a block diagram of an electronic device of an AR navigation method according to an embodiment of the present application. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the present application that are described and/or claimed herein.

As shown in fig. 7, the electronic apparatus includes: one or more processors 701, a memory 702, and interfaces for connecting the various components, including a high-speed interface and a low-speed interface. The various components are interconnected using different buses and may be mounted on a common motherboard or in other manners as desired. The processor may process instructions for execution within the electronic device, including instructions stored in or on the memory to display graphical information of a GUI on an external input/output apparatus (such as a display device coupled to the interface). In other embodiments, multiple processors and/or multiple buses may be used, along with multiple memories and multiple memories, as desired. Also, multiple electronic devices may be connected, with each device providing portions of the necessary operations (e.g., as a server array, a group of blade servers, or a multi-processor system). In fig. 7, one processor 701 is taken as an example.

The memory 702 is a non-transitory computer readable storage medium as provided herein. Wherein the memory stores instructions executable by at least one processor to cause the at least one processor to perform the AR navigation method provided herein. The non-transitory computer-readable storage medium of the present application stores computer instructions for causing a computer to perform the AR navigation method provided herein.

The memory 702, which is a non-transitory computer readable storage medium, may be used to store non-transitory software programs, non-transitory computer executable programs, and modules, such as program instructions/modules (e.g., the positioning module 410 and the navigation module 420 shown in fig. 4) corresponding to the AR navigation method in the embodiments of the present application. The processor 701 executes various functional applications of the server and data processing by running non-transitory software programs, instructions, and modules stored in the memory 702, that is, implements the AR navigation method in the above-described method embodiments.

The memory 702 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to use of the AR navigation electronic device, and the like. Further, the memory 702 may include high speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, memory 702 may optionally include memory located remotely from processor 701, which may be connected to the AR navigation electronics over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The electronic device for implementing the AR navigation method of the present application may further include: an input device 703 and an output device 704. The processor 701, the memory 702, the input device 703 and the output device 704 may be connected by a bus or other means, and fig. 7 illustrates an example of a connection by a bus.

The input device 703 may receive input numeric or character information and generate key signal inputs related to user settings and function control of the AR navigation electronics, such as a touch screen, keypad, mouse, track pad, touch pad, pointer stick, one or more mouse buttons, track ball, joystick, or other input device. The output devices 704 may include a display device, auxiliary lighting devices (e.g., LEDs), and tactile feedback devices (e.g., vibrating motors), among others. The display device may include, but is not limited to, a Liquid Crystal Display (LCD), a Light Emitting Diode (LED) display, and a plasma display. In some implementations, the display device can be a touch screen.

Various implementations of the systems and techniques described here can be realized in digital electronic circuitry, integrated circuitry, application specific ASICs (application specific integrated circuits), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.

These computer programs (also known as programs, software applications, or code) include machine instructions for a programmable processor, and may be implemented using high-level procedural and/or object-oriented programming languages, and/or assembly/machine languages. As used herein, the terms "machine-readable medium" and "computer-readable medium" refer to any computer program product, apparatus, and/or device (e.g., magnetic discs, optical disks, memory, Programmable Logic Devices (PLDs)) used to provide machine instructions and/or data to a programmable processor, including a machine-readable medium that receives machine instructions as a machine-readable signal. The term "machine-readable signal" refers to any signal used to provide machine instructions and/or data to a programmable processor.

To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), and the Internet.

The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other; the server may be a server of a distributed system or a server incorporating a blockchain. The server can also be a cloud server, or an intelligent cloud computing server or an intelligent cloud host with artificial intelligence technology.

According to the technical scheme of the embodiment of the application, at least one of mobile communication technology positioning (such as 5G positioning), pseudo satellite positioning and novel Bluetooth positioning is adopted to replace computer vision positioning, so that a user does not need to always turn on a camera device (such as a mobile phone camera) of the navigation equipment when using an AR navigation function, and the phenomenon that the power consumption of the navigation equipment is too large due to the fact that the AR navigation function is started can be avoided; in addition, in the AR navigation process, the user does not need to always hold the navigation equipment (such as a mobile phone) to scan the surrounding environment, so that the use experience of the user can be improved, and meanwhile, the user can move by attentively without always holding the navigation equipment to scan the surrounding environment, so that the probability of safety problems can be reduced; in addition, the GPU device needs to be frequently used based on computer vision positioning, and the cost of the GPU device is relatively high at present, which results in high overall cost of the system, and besides the cost consumed by purchasing the GPU device, the GPU device needs to be continuously maintained during use, so that maintenance cost needs to be paid for the GPU device every year, and the positioning (such as 5G positioning), pseudolite positioning and novel bluetooth positioning can be adopted to save part of the cost.

It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present application may be executed in parallel, sequentially, or in different orders, and the present invention is not limited thereto as long as the desired results of the technical solutions disclosed in the present application can be achieved.

The above-described embodiments should not be construed as limiting the scope of the present application. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An AR navigation method, comprising:

positioning a target object to obtain positioning information based on an electronic device carried by the target object, wherein the target object is positioned by at least one of the following signals associated with the electronic device: a transmission signal between the electronic device and a base station deployed within a preset environment; pseudo-GPS satellite signals received by the electronic equipment; the electronic equipment receives Bluetooth signals transmitted by a Bluetooth module arranged on the base station; and

and based on the positioning information, performing AR navigation through the electronic equipment.

2. The method of claim 1, wherein locating the target object via the transmission signal comprises:

determining the position of the target object and the distance between the target object and the base station based on the transmission signal;

acquiring the position information of the base station; and

determining positioning information for the target object based on the position, the distance, and the location information.

3. The method of claim 1, wherein locating the target object via the pseudo-GPS satellite signals comprises:

receiving, by the electronic device, a pseudo-GPS satellite signal transmitted by a radio device deployed in the preset environment, wherein the radio device simulates a real GPS satellite according to information described in ephemeris and position information of the radio device itself to perform pseudo-GPS satellite signal transmission;

extracting at least 3 pseudo-GPS satellite signals from the received pseudo-GPS satellite signals, wherein each of the at least 3 pseudo-GPS satellite signals is transmitted to simulate a different real GPS satellite; and

4. The method of claim 1, wherein locating the target object via the Bluetooth signal comprises:

and positioning the target object by fitting the Bluetooth signal actually received by the electronic equipment with the Bluetooth signal received in the area corresponding to each grid in the grids set for the preset environment.

5. The method of claim 1, wherein locating the target object via the Bluetooth signal comprises:

extracting Bluetooth signals transmitted by Bluetooth modules on at least 3 base stations from the Bluetooth signals actually received by the electronic equipment;

determining the position of the target object and the distance between the target object and a target base station transmitting the extracted Bluetooth signal based on the extracted Bluetooth signal;

acquiring the position information of the target base station; and

6. The method of any of claims 1-5, wherein performing, by the electronic device, AR navigation based on the positioning information comprises:

and responding to the starting of the AR navigation function on the electronic equipment, executing AR navigation operation and displaying an AR navigation interface based on the positioning information.

7. The method of claim 6, further comprising:

in response to the positioning information characterizing that the target object is in the vicinity of a specific object, acquiring navigation content associated with the specific object; and

and displaying after the navigation content is superposed on the AR navigation interface.

8. An AR navigation device, comprising:

a positioning module, configured to position a target object to obtain positioning information based on an electronic device carried by the target object, where the target object is positioned through at least one of the following signals associated with the electronic device: a transmission signal between the electronic device and a base station deployed within a preset environment; pseudo-GPS satellite signals received by the electronic equipment; the electronic equipment receives Bluetooth signals transmitted by a Bluetooth module arranged on the base station; and

and the navigation module is used for performing AR navigation through the electronic equipment based on the positioning information.

9. The apparatus of claim 8, wherein the positioning module comprises:

a first determining unit, configured to determine, based on the transmission signal, a position where the target object is located and a distance between the target object and the base station;

a first obtaining unit, configured to obtain location information of the base station; and

a second determination unit configured to determine positioning information for the target object based on the position, the distance, and the position information.

10. The apparatus of claim 8, wherein the positioning module comprises:

a receiving unit, configured to enable the electronic device to receive a pseudo-GPS satellite signal transmitted by a radio device deployed in the preset environment, where the radio device simulates a real GPS satellite according to information described in ephemeris and position information of the radio device to perform pseudo-GPS satellite signal transmission;

a first extraction unit for extracting at least 3 pseudo-GPS satellite signals from the received pseudo-GPS satellite signals, wherein each of the at least 3 pseudo-GPS satellite signals is transmitted for simulating a different real GPS satellite; and

and the positioning unit is used for positioning the target object based on the extracted at least 3 pseudo-GPS satellite signals.

11. The apparatus of claim 8, wherein the positioning module is further configured to:

12. The apparatus of claim 8, wherein the positioning module comprises:

the second extraction unit is used for extracting Bluetooth signals transmitted by Bluetooth modules on at least 3 base stations from the Bluetooth signals actually received by the electronic equipment;

a third determining unit, configured to determine, based on the extracted bluetooth signal, a position where the target object is located and a distance between the target object and a target base station that transmits the extracted bluetooth signal;

a second obtaining unit, configured to obtain location information of the target base station; and

a fourth determination unit configured to determine positioning information for the target object based on the position, the distance, and the position information.

13. The apparatus of any of claims 8 to 12, wherein the navigation module is further to:

14. The apparatus of claim 13, further comprising:

an obtaining module, configured to obtain navigation content associated with a specific object in response to the positioning information indicating that the target object is in the vicinity of the specific object; and

and the navigation module is used for displaying the navigation contents after the navigation contents are superposed on the AR navigation interface.

15. An electronic device, comprising: the AR navigation device of any one of claims 8 to 14.

16. A navigation system, comprising:

the electronic device of claim 15; and

the system comprises a base station and/or a radio device deployed in a preset environment, wherein the base station is provided with a Bluetooth module, and the radio device is used for simulating a real GPS satellite to transmit pseudo-GPS satellite signals according to information recorded in ephemeris and self position information.

17. The navigation system of claim 16, further comprising:

and the terminal equipment is used for downloading the ephemeris and sending the downloaded ephemeris to the radio equipment.

18. An electronic device, comprising:

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 method of any one of claims 1-7.

19. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any one of claims 1-7.