CN112804636B - Outdoor positioning navigation system and positioning navigation method - Google Patents
Outdoor positioning navigation system and positioning navigation method Download PDFInfo
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- CN112804636B CN112804636B CN202110290726.3A CN202110290726A CN112804636B CN 112804636 B CN112804636 B CN 112804636B CN 202110290726 A CN202110290726 A CN 202110290726A CN 112804636 B CN112804636 B CN 112804636B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/18—Stabilised platforms, e.g. by gyroscope
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/024—Guidance services
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W84/00—Network topologies
- H04W84/02—Hierarchically pre-organised networks, e.g. paging networks, cellular networks, WLAN [Wireless Local Area Network] or WLL [Wireless Local Loop]
- H04W84/04—Large scale networks; Deep hierarchical networks
- H04W84/06—Airborne or Satellite Networks
Abstract
The invention discloses an outdoor positioning navigation system and a positioning navigation method, and belongs to the technical field of positioning navigation. The system comprises: the mobile device comprises a communication module, an information processing module and a position monitoring module, wherein the communication module is in communication connection with a satellite network and used for receiving map information of the terminal device, the information processing module is electrically connected with the communication module and used for storing the map information and calculating the position of the mobile device in a map, and the position monitoring module is electrically connected with the communication module and the information processing module and used for monitoring the displacement direction and the distance of the mobile device. According to the invention, the intensity of the contact signal of the communication module and the satellite network communication connection is monitored in real time through the position monitoring module, the position monitoring module records the position information when the signal is reduced, and the information processing module calculates the position of the mobile equipment in the map according to the displacement direction and the distance monitored by the position monitoring module, so that the problem of inaccurate navigation of the navigation equipment caused by the loss of positioning information when the coverage density of a network base station of the conventional navigation equipment is low is solved.
Description
Technical Field
The invention belongs to the technical field of positioning and navigation, and particularly relates to an outdoor positioning and navigation system and a positioning and navigation method.
Background
The existing navigation positioning method only has two types, one type is satellite system positioning, the method needs mobile equipment and a satellite system to exchange position information to realize positioning, the other type is base station ranging positioning, the method needs a plurality of base stations to measure the positions of the mobile equipment to realize positioning, the positioning accuracy of the mobile equipment and the base stations depends on the signal intensity of communication equipment and a satellite network and the density of the base stations respectively, in outdoor environments such as desert or snowfield and the like, because the coverage density of the network base stations is low, the problem that the network communication is weak or interrupted occurs, and the problem that the positioning of the navigation equipment is inaccurate due to the loss of the positioning information, and further the navigation error is caused is solved.
Disclosure of Invention
The purpose of the invention is as follows: an outdoor positioning navigation system and a positioning navigation method are provided to solve the above problems in the prior art.
The technical scheme is as follows: an outdoor positioning navigation system comprising: and the terminal equipment is in communication connection with the satellite network and is used for recording and updating the map information.
The mobile device comprises a communication module, an information processing module and a position monitoring module.
And the communication module is in communication connection with the satellite network and is used for receiving the map information of the terminal equipment and transmitting the positioning information of the mobile equipment to the terminal equipment.
And the information processing module is electrically connected with the communication module and used for storing map information and calculating the position of the mobile device in a map.
The position monitoring module is electrically connected with the communication module and the information processing module and used for monitoring the displacement direction and the distance of the mobile equipment, when the contact signal between the communication module and the satellite network is reduced to be below a preset value, the position monitoring module records the position information when the signal is reduced, and the information processing module calculates the position of the mobile equipment in a map according to the displacement direction and the distance monitored by the position monitoring module.
In a further embodiment, the position monitoring module comprises a gyroscope electrically connected with the information processing module and used for monitoring the displacement direction of the mobile device.
Visual monitoring equipment, be connected with information processing module electricity, a picture for shoot external environment object, and will shoot the picture and send to information processing module, information processing module calculates mobile device's displacement speed and displacement distance, shoot the picture of external environment object through visual monitoring equipment, the displacement distance that makes the marker in the information processing module monitoring picture can calculate mobile device's displacement distance according to the displacement information of outside scenery, make car displacement distance more accurate, and visual monitoring equipment can use in mountain forest environment's pedestrian's staff and pedestrian travel personnel's mobile device.
In a further embodiment, the visual monitoring device is installed behind the mobile device and used for shooting pictures of marks left on the ground by vehicles or walking, the information processing module calculates the displacement speed and the displacement distance of the mobile device by taking the marks left on the ground by the vehicles or walking as markers, so that the visual monitoring device shoots the marks left by the vehicles or walking passing through the desert or the ice ground, and the marks left by passing through the desert or the ice ground are taken as reference data for calculating the displacement speed and the displacement distance of the mobile device.
The positioning method based on the outdoor positioning navigation system comprises the following steps: and S1, the position monitoring module monitors the intensity of the contact signal of the communication module and the satellite network, when the contact signal of the communication module and the satellite network is reduced to be below a preset value, the position monitoring module records the position information when the signal is reduced, and the information processing module calculates the position of the mobile equipment in the map according to the displacement direction and the distance monitored by the position monitoring module.
And S2, the information processing module starts to store the moving route of the mobile device by taking the position when the signal is reduced to be below the preset value as an initial position.
In a further embodiment, a method of a location monitoring module monitoring displacement distance of a mobile device includes: and S3, the visual monitoring equipment shoots the picture of the external environment object and sends the shot picture to the information processing module.
And S4, the information processing module selects a preset marker in the pictures of the continuous frames, and calculates the displacement speed and the displacement distance of the mobile equipment according to the displacement distance of the marker in the preset time.
S5, the information processing module fits the position of the mobile device on a map for navigation for subsequent rescues.
The positioning method based on the outdoor positioning and navigation system comprises at least two visual monitoring devices which are symmetrically arranged at two ends of the mobile device, are electrically connected with the information processing module and are used for shooting pictures of objects in the external environment and sending the shot pictures to the information processing module.
The navigation method comprises the following steps: and S6, when the intensity of the contact signal between the communication module of the mobile equipment and the satellite network is lower than the preset value and exceeds the preset time, sending out an alarm signal, wherein the alarm signal is used for alarming the position of the mobile equipment, which is higher than the preset value, along the moving route return signal recorded by the information processing module in S2.
And S7, in the process that the mobile device returns to the position where the signal is higher than the preset value along the moving route recorded by the information processing module in the S2, the mobile device displays the map information, the moving path formed by the positioning information leaving the initial position and the scene picture shot by the visual monitoring device, and meanwhile, the information processing module uses an image corresponding algorithm to enable the picture shot by the visual monitoring device when the mobile device leaves the initial position to correspond to the picture shot by the visual monitoring device when the mobile device goes to the initial position, so that the navigation precision is improved.
S8, when the moving path information composed of the positioning information is different from the picture corresponding information shot by the vision monitoring device in S7, the returning route is adjusted based on the picture corresponding information shot by the vision monitoring device and is displayed in a color different from the moving path composed of the positioning information leaving the initial position, and the moving path information composed of the positioning information leaving the initial position is retained.
And S9, when the signal rises above the preset value, the mobile device sends the situation that the moving path information formed by the positioning information is different from the corresponding information of the picture shot by the visual monitoring device to the terminal device.
In a further embodiment, the image correspondence algorithm for correspondence of the visual monitoring device captured pictures in S7 includes: the images after leaving the initial position are arranged in reverse time sequence, and one of the images after leaving the initial position or the images when returning to the initial position is subjected to symmetrical transformation along the y axis.
Setting at least three predetermined points in the transformed image to
Finding at least three matching points in the matching image
The coordinate correspondence can be realized by a 2X 2 transformation matrix T and a displacement vector
Represents:
or
Wherein three predetermined points
Non-collinear, three corresponding points
And when at least three matching points corresponding to the predetermined points exist in the matching image, judging that the direction is correct.
And when the number of the matching images with insufficient matching points exceeds three continuously, judging that the direction is wrong, and reminding the mobile equipment to return to the correct point in the previous direction to replan the path returning to the initial position.
In a further embodiment, the navigation method further comprises: and S10, when the signal rises above the preset value, the mobile device sends the moving path information consisting of the positioning information and the picture shot by the visual monitoring device to the terminal device through the satellite network.
The terminal device sends a distress signal to other mobile devices or rescue organizations within a preset range of the mobile device sending the positioning information through a satellite network, the moving path information formed by the positioning information of the mobile device and the picture shot by the visual monitoring device, and the other mobile devices or rescue organizations implement search and rescue through the moving path information of the mobile device and the picture shot by the visual monitoring device.
Has the advantages that: the invention discloses an outdoor positioning navigation system and a positioning navigation method, the system monitors the intensity of a contact signal of a communication module and a satellite network communication connection in real time through a position monitoring module, when the intensity of the contact signal is reduced to be below a preset value, the position monitoring module records position information when the signal is reduced, an information processing module calculates the position of mobile equipment in a map according to the displacement direction and the distance monitored by the position monitoring module, a user can return along the original path when the direction can not be found, a rescue organization can search and rescue along the displacement path of the user, the problem that the navigation is lost due to low intensity of the contact signal in front of the user can be reminded, the problem that the existing navigation equipment has weak or interrupted signal due to low coverage density of a network base station in outdoor environments such as desert or snowfield and the like is solved, there is a problem of inaccurate navigation of the navigation device caused by the loss of the positioning information.
Drawings
FIG. 1 is a schematic workflow diagram of the present invention.
Fig. 2 is a schematic diagram of the connection relationship of the working modules of the present invention.
Fig. 3 is a schematic diagram of sand rut training of the visual monitoring device of the present invention.
Fig. 4 is a schematic diagram of the visual monitoring device of the invention for mud rut training.
FIG. 5 is a schematic diagram of sand footprint training of the visual monitoring apparatus of the present invention.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the invention.
The existing navigation positioning method only has two types, one type is satellite system positioning, the method needs mobile equipment and a satellite system to exchange position information to realize positioning, the other type is base station ranging positioning, the method needs a plurality of base stations to measure the positions of the mobile equipment to realize positioning, the positioning accuracy of the mobile equipment and the base stations depends on the signal strength of communication equipment and a satellite network and the density of the base stations respectively, in outdoor environments such as desert or snowfield and the like, because the coverage density of the network base stations is low, the problem of weak or interrupted network communication occurs, the problem of inaccurate positioning of the navigation equipment caused by the loss of the positioning information exists, and further the problem of navigation error is caused.
The outdoor positioning navigation system comprises: the mobile terminal comprises terminal equipment, mobile equipment, a communication module, an information processing module and a position monitoring module.
The terminal equipment is in communication connection with the satellite network and is used for recording and updating map information.
The mobile device comprises a communication module, an information processing module, a position monitoring module, a satellite positioning module, a base station ranging module, a display module and a voice module.
The communication module is in communication connection with the satellite network and used for receiving the map information of the terminal equipment and transmitting the positioning information of the mobile equipment to the terminal equipment.
The information processing module is electrically connected with the communication module and used for storing map information and calculating the position of the mobile device in a map.
The position monitoring module is electrically connected with the communication module and the information processing module and used for monitoring the displacement direction and the distance of the mobile equipment, when the contact signal between the communication module and the satellite network is reduced to be below a preset value, the position monitoring module records the position information when the signal is reduced, and the information processing module calculates the position of the mobile equipment in a map according to the displacement direction and the distance monitored by the position monitoring module.
The satellite positioning module, the base station ranging module, the display module and the voice module are all electrically connected with the information processing module.
The satellite positioning module and the base station ranging module are used for conventional positioning when the signal strength is high.
The display module and the voice module are used for displaying and reminding the intensity of the contact signal, a map, positioning and navigation information.
And the information processing module correspondingly matches the information of the satellite positioning module, the base station ranging module and the position monitoring module during positioning to realize accurate positioning.
The working principle is as follows: the system monitors the intensity of the contact signal of the communication connection between the communication module and the satellite network in real time through the position monitoring module, when the intensity of the contact signal is reduced to be below a preset value, the position monitoring module records the position information when the signal is reduced, the information processing module calculates the position of the mobile equipment in a map according to the displacement direction and the distance monitored by the position monitoring module, so that a user can return along the original path when the user can not find the direction, a rescue organization can search and rescue along the displacement path of the user, the problem that the contact signal intensity is low in the front of people and the navigation is lost is also reminded, the problem that the existing navigation equipment is used in outdoor environments such as desert or snowfield and the like is solved, due to the low coverage density of the network base station, when the network communication has the problem of weak signals or interruption, the navigation equipment navigation is inaccurate due to the loss of the positioning information.
In a further embodiment, most position monitoring modules in the prior art are applied to automobiles, and the displacement direction and the distance of the automobiles are calculated according to the angular displacement of the automobile wheels and the steering angles of the wheels, but the problem that the calculated displacement distance of the angular displacement of the automobile wheels is not accurate due to the slipping of the wheels in desert areas is easily caused, and the calculation modes of the angular displacement of the automobile wheels and the steering angles of the wheels are not suitable for hikers and hikers in mountain forest environments.
In order to solve the problems, the position monitoring module comprises a gyroscope electrically connected with the information processing module and used for monitoring the displacement direction of the mobile equipment.
The visual monitoring equipment is electrically connected with the information processing module and used for shooting pictures of objects in the external environment and sending the shot pictures to the information processing module, and the information processing module calculates the displacement speed and the displacement distance of the mobile equipment.
The image of the external environment object is shot through the visual monitoring equipment, the displacement distance of the marker in the image monitored by the information processing module can be calculated according to the displacement information of the external scenery, so that the automobile displacement distance is more accurate, and the visual monitoring equipment can be applied to the mobile equipment of hiking workers and hiking personnel in mountain and forest environments.
In a further embodiment, in desert and ice environment, because the environment is too spacious and the environment color is single, there are problems that the reference object is too few and the physical parameter of the reference object is not easy to measure.
In order to solve the problems, the visual monitoring device is installed behind the mobile device and is used for shooting pictures of traces such as ruts or footprints left on the ground by vehicles or pedestrians, and the information processing module calculates the displacement speed and the displacement distance of the mobile device by taking the traces left on the ground by the vehicles or the pedestrians as markers.
The embodiments shown in fig. 3, 4 and 5 are implemented by training the vision monitoring device and the information processing module in a network graph and neural network manner, so that the vision monitoring device and the information processing module can identify and mark trace information such as ruts or footprints left on the ground of the vehicle or the pedestrian, and the vision monitoring device and the information processing module can judge the displacement distance and the displacement angle of the vehicle or the pedestrian when moving according to the trace information such as ruts or footprints.
The method has the advantages that the visual monitoring equipment shoots the trace left by the passing of a vehicle or walking on the desert or ice land ground, the trace left by the passing is used as the reference data for calculating the displacement speed and the displacement distance of the mobile equipment, and the problems that in the desert and ice land environment, due to the fact that the environment is too spacious, the environment color is single, the reference objects are too few, and the physical parameters of the reference objects are not easy to measure can be solved.
The positioning method based on the outdoor positioning navigation system comprises the following steps: and S1, the position monitoring module monitors the intensity of the contact signal of the communication module and the satellite network, when the contact signal of the communication module and the satellite network is reduced to be below a preset value, the position monitoring module records the position information when the signal is reduced, and the information processing module calculates the position of the mobile equipment in the map according to the displacement direction and the distance monitored by the position monitoring module.
And S2, the information processing module starts to store the moving route of the mobile device by taking the position when the signal is reduced to be below the preset value as an initial position.
In a further embodiment, a method of a location monitoring module monitoring displacement distance of a mobile device includes: and S3, the visual monitoring equipment shoots the picture of the external environment object and sends the shot picture to the information processing module.
And S4, the information processing module selects a preset marker in the pictures of the continuous frames, and calculates the displacement speed and the displacement distance of the mobile equipment according to the displacement distance of the marker in the preset time.
S5, the information processing module fits the position of the mobile device on a map for navigation for subsequent rescues.
In a further embodiment, the positioning and navigation method comprises at least two visual monitoring devices symmetrically installed at two ends of the mobile device, electrically connected with the information processing module, and configured to shoot a picture of an external environment object and send the shot picture to the information processing module.
The navigation method comprises the following steps: and S6, when the intensity of the contact signal between the communication module of the mobile equipment and the satellite network is lower than the preset value and exceeds the preset time, sending out an alarm signal, wherein the alarm signal is used for alarming the position of the mobile equipment, which is higher than the preset value, along the moving route return signal recorded by the information processing module in S2.
And S7, in the process that the mobile device returns to the position where the signal is higher than the preset value along the moving route recorded by the information processing module in the S2, the mobile device displays the map information, the moving path formed by the positioning information leaving the initial position and the scene picture shot by the visual monitoring device, and meanwhile, the information processing module uses an image corresponding algorithm to enable the picture shot by the visual monitoring device when the mobile device leaves the initial position to correspond to the picture shot by the visual monitoring device when the mobile device goes to the initial position, so that the navigation precision is improved.
S8, when the moving path information composed of the positioning information is different from the picture corresponding information shot by the vision monitoring device in S7, the returning route is adjusted based on the picture corresponding information shot by the vision monitoring device and is displayed in a color different from the moving path composed of the positioning information leaving the initial position, and the moving path information composed of the positioning information leaving the initial position is retained.
And S9, when the signal rises above the preset value, the mobile device sends the situation that the moving path information formed by the positioning information is different from the corresponding information of the picture shot by the visual monitoring device to the terminal device.
In a further embodiment, the image correspondence algorithm for correspondence of the visual monitoring device captured pictures in S7 includes: the images after leaving the initial position are arranged in reverse time sequence, and one of the images after leaving the initial position or the images when returning to the initial position is subjected to symmetrical transformation along the y axis.
Setting at least three predetermined points in the transformed image to
Finding at least three matching points in the matching image
The coordinate correspondence can be realized by a 2X 2 transformation matrix T and a displacement vector
Represents:
or
Wherein three predetermined points
Non-collinear, three corresponding points
Non-collinear, using random sampling consistency in setting predetermined pointsThe algorithm sets a predetermined point and determines that the direction is correct when there are at least three matching points in the matching image that correspond to the predetermined point.
And when the number of the matching images with insufficient matching points exceeds three continuously, judging that the direction is wrong, and reminding the mobile equipment to return to the correct point in the previous direction to replan the path returning to the initial position.
In a further embodiment, the navigation method further comprises: and S10, when the signal rises above the preset value, the mobile device sends the moving path information consisting of the positioning information and the picture shot by the visual monitoring device to the terminal device through the satellite network.
The terminal device sends a distress signal to other mobile devices or rescue organizations within a preset range of the mobile device sending the positioning information through a satellite network, the moving path information formed by the positioning information of the mobile device and the picture shot by the visual monitoring device, and the other mobile devices or rescue organizations implement search and rescue through the moving path information of the mobile device and the picture shot by the visual monitoring device.
Claims (4)
1. A positioning navigation method based on an outdoor positioning navigation system is characterized in that,
the outdoor positioning navigation system comprises:
the terminal equipment is in communication connection with the satellite network and is used for recording and updating map information;
the mobile equipment comprises a communication module, an information processing module and a position monitoring module;
the communication module is in communication connection with the satellite network and is used for receiving the map information of the terminal equipment and transmitting the positioning information of the mobile equipment to the terminal equipment;
the information processing module is electrically connected with the communication module and used for storing map information and calculating the position of the mobile equipment in a map;
the position monitoring module is electrically connected with the communication module and the information processing module and used for monitoring the displacement direction and the distance of the mobile equipment, when the contact signal between the communication module and the satellite network is reduced to be below a preset value, the position monitoring module records the position information when the signal is reduced, and the information processing module calculates the position of the mobile equipment in a map according to the displacement direction and the distance monitored by the position monitoring module;
the position monitoring module comprises a gyroscope, is electrically connected with the information processing module and monitors the displacement direction of the mobile equipment;
the visual monitoring equipment is electrically connected with the information processing module and used for shooting pictures of objects in the external environment and sending the shot pictures to the information processing module, and the information processing module calculates the displacement speed and the displacement distance of the mobile equipment;
the positioning method comprises the following steps: s1, the position monitoring module monitors the intensity of the contact signal of the communication module and the satellite network, when the contact signal of the communication module and the satellite network is reduced to be below a preset value, the position monitoring module records the position information when the signal is reduced, and the information processing module calculates the position of the mobile equipment in a map according to the displacement direction and the distance monitored by the position monitoring module;
s2, the information processing module starts to store the moving route of the mobile equipment by taking the position when the signal is reduced to be lower than the preset value as an initial position;
the outdoor positioning navigation system also comprises: the at least two visual monitoring devices are symmetrically arranged at two ends of the mobile device, are electrically connected with the information processing module, and are used for shooting pictures of objects in the external environment and sending the shot pictures to the information processing module;
the navigation method comprises the following steps: s3, when the intensity of the contact signal between the communication module of the mobile device and the satellite network is lower than the preset value and exceeds the preset time, sending out a warning signal, wherein the warning signal is used for warning the mobile device to the position, where the return signal of the mobile device is higher than the preset value, along the moving route recorded by the information processing module in the S2;
s4, in the process that the mobile device returns to the position where the signal is higher than the preset value along the moving route recorded by the information processing module in S2, the mobile device displays the map information, the moving path formed by the positioning information leaving the initial position and the scene picture shot by the visual monitoring device, and meanwhile, the information processing module uses an image corresponding algorithm to enable the picture shot by the visual monitoring device when the mobile device leaves the initial position to correspond to the picture shot by the visual monitoring device when the mobile device goes to the initial position, so that the navigation precision is improved;
s5, when the moving path information composed of the positioning information is different from the corresponding information of the picture shot by the vision monitoring device in S4, adjusting the returning route based on the corresponding information of the picture shot by the vision monitoring device and displaying the returning route in the color different from the moving path composed of the positioning information away from the initial position, and meanwhile, keeping the moving path information composed of the positioning information away from the initial position;
s6, when the signal rises above the preset value, the mobile device sends the moving path information formed by the positioning information and the corresponding information of the picture shot by the visual monitoring device to the terminal device;
the image correspondence algorithm for the visual monitoring device in S4 to take the picture includes: carrying out time sequence reverse arrangement on the images after leaving the initial position, and carrying out symmetrical transformation along the y axis on one of the images after leaving the initial position or the images when returning to the initial position;
setting at least three predetermined points in the transformed image to
Finding at least three matching points in the matching image
The coordinate correspondence can be realized by a 2X 2 transformation matrix T and a displacement vector
To represent
Or
Wherein three predetermined points
Non-collinear, three corresponding points
The images are not collinear, the predetermined points are set by using a random sampling consistency algorithm when the predetermined points are set, and the direction is judged to be correct when at least three matching points corresponding to the predetermined points exist in the matching images;
and when the number of the matching images with insufficient matching points exceeds three continuously, judging that the direction is wrong, and reminding the mobile equipment to return to the correct point in the previous direction to replan the path returning to the initial position.
2. The outdoor positioning and navigation system based positioning and navigation method according to claim 1, wherein the visual monitoring device is installed behind the mobile device, the visual monitoring device is used for taking pictures of the marks left on the ground by the vehicles or the pedestrians, and the information processing module calculates the displacement speed and the displacement distance of the mobile device by taking the marks left on the ground by the vehicles or the pedestrians as markers.
3. The positioning and navigation method based on the outdoor positioning and navigation system as claimed in claim 1, wherein the method for monitoring the displacement distance of the mobile device by the position monitoring module comprises: s7, the visual monitoring equipment shoots the picture of the external environment object and sends the shot picture to the information processing module;
s8, the information processing module selects a preset marker in the continuous frame picture, and calculates the displacement speed and the displacement distance of the mobile equipment according to the displacement distance of the marker in the preset time;
s9, the information processing module fits the position of the mobile device on a map for navigation for subsequent rescues.
4. The outdoor positioning and navigation system based positioning and navigation method according to claim 1, wherein the navigation method further comprises: s10, when the signal rises above the preset value, the mobile device sends the moving path information formed by the positioning information and the picture shot by the visual monitoring device to the terminal device through the satellite network;
the terminal device sends a distress signal to other mobile devices or rescue organizations within a preset range of the mobile device sending the positioning information through a satellite network, the moving path information formed by the positioning information of the mobile device and the picture shot by the visual monitoring device, and the other mobile devices or rescue organizations implement search and rescue through the moving path information of the mobile device and the picture shot by the visual monitoring device.
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