CN115655258A

CN115655258A - Positioning method, device, server and medium for mobile equipment

Info

Publication number: CN115655258A
Application number: CN202211316281.2A
Authority: CN
Inventors: 韩少飞
Original assignee: Shenzhen Ailing Network Co ltd
Current assignee: Shenzhen Ailing Network Co ltd
Priority date: 2022-10-26
Filing date: 2022-10-26
Publication date: 2023-01-31

Abstract

The invention provides a positioning method, a positioning device, a server and a positioning medium of mobile equipment, and relates to the technical field of computers. The method comprises the following steps: receiving a positioning request sent by a mobile device, wherein the positioning request comprises: communication positioning information of the mobile equipment and an environment image acquired by the mobile equipment; determining a first preset image matched with the environment image from a plurality of preset images of the target site according to the communication positioning information and the environment image, wherein the plurality of preset images are a plurality of images collected at a plurality of position coordinates in the target site in advance; and determining the target position coordinates of the mobile equipment in the target field according to the first preset image and the environment image. According to the communication positioning information and the environment image, a first preset image matched with the environment image is determined from the plurality of preset images, and the first preset image can be accurately and efficiently searched; and determining the target position coordinates of the mobile equipment in the target field according to the first preset image and the environment image, so as to realize the accurate positioning of the mobile equipment.

Description

Positioning method, device, server and medium for mobile equipment

Technical Field

The invention relates to the technical field of computers, in particular to a positioning method, a positioning device, a positioning server and a positioning medium for mobile equipment.

Background

With the rapid development of mobile communication, mobile devices are developing more and more towards intellectualization, and various mobile devices are increasing, so that the positioning of the mobile devices is also a research hotspot.

In the related art, longitude information and latitude information of a mobile device are acquired, and a location of the mobile device can be determined according to the longitude information and the latitude information, so that the mobile device is located.

However, in the related art, the mobile device performs positioning according to the longitude and latitude information of the mobile device, and the problem of low accuracy of the positioning result is likely to occur.

Disclosure of Invention

The present invention is directed to a positioning method, apparatus, server and medium, which solve the above technical problems in the related art.

In order to achieve the above purpose, the embodiment of the present invention adopts the following technical solutions:

in a first aspect, an embodiment of the present invention provides a mobile device location method, including:

receiving a positioning request sent by a mobile device, wherein the positioning request comprises: communication positioning information of the mobile equipment and an environment image acquired by the mobile equipment;

determining a first preset image matched with the environment image from a plurality of preset images of a target site according to the communication positioning information and the environment image, wherein the plurality of preset images are a plurality of images collected at a plurality of position coordinates in the target site in advance;

and determining the target position coordinate of the mobile equipment in the target site according to the first preset image and the environment image.

Optionally, the communication positioning information is longitude and latitude information; the determining, according to the communication positioning information and the environment image, a first preset image matched with the environment image from a plurality of preset images of a target site includes:

determining a plurality of second preset images corresponding to the longitude and latitude information from the plurality of preset images according to the longitude and latitude information and longitude and latitude labels corresponding to the plurality of preset images;

and determining the first preset image matched with the environment image from the plurality of second preset images according to the environment image.

Optionally, the positioning request further includes: the shooting direction corresponding to the environment image;

the determining, according to the environment image, a first preset image matching the environment image from the plurality of second preset images includes:

determining a plurality of third preset images matched with the environment images from the plurality of second preset images according to the shooting directions and shooting direction labels corresponding to the plurality of second preset images;

and determining the first preset image according to the plurality of third preset images and the environment image.

Optionally, the determining the first preset image according to the plurality of third preset images and the environment image includes:

and performing similarity matching on the plurality of third preset images and the environment image, and determining an image with the highest similarity with the environment image from the plurality of third preset images as the first preset image.

Optionally, the determining, according to the first preset image and the environment image, a target position coordinate of the mobile device in the target site includes:

performing feature matching on the first preset image and the environment image to obtain a feature matching result;

and determining the position coordinate of the mobile equipment in the target field according to the feature matching result and the preset position coordinate corresponding to the first preset image.

Optionally, before determining, according to the shooting direction and the shooting direction labels corresponding to the plurality of second preset images, a plurality of third preset images matched with the environment image from the plurality of second preset images, the method includes:

receiving a plurality of historical longitude and latitude information in a recent historical time period sent by a communication server corresponding to the mobile equipment;

determining the advancing direction of the mobile equipment according to the plurality of historical longitude and latitude information;

and sending the forward direction to the mobile equipment so that the mobile equipment determines the shooting direction according to the forward direction.

Optionally, the determining the advancing direction of the mobile device according to the plurality of historical longitude and latitude information includes:

calculating the track information of the mobile equipment according to the plurality of historical longitude and latitude information;

and determining the advancing direction of the mobile equipment according to the track information of the mobile equipment.

In a second aspect, an embodiment of the present invention further provides a mobile device positioning apparatus, including:

a receiving module, configured to receive a positioning request sent by a mobile device, where the positioning request includes: communication positioning information of the mobile equipment and an environment image acquired by the mobile equipment;

the determining module is used for determining a first preset image matched with the environment image from a plurality of preset images of a target site according to the communication positioning information and the environment image, wherein the plurality of preset images are a plurality of pieces of image information collected at a plurality of position coordinates in the target site in advance; and determining the target position coordinate of the mobile equipment in the target site according to the first preset image and the environment image.

Optionally, the communication positioning information is longitude and latitude information; the determining module is further specifically configured to determine, according to the longitude and latitude information and the longitude and latitude labels corresponding to the plurality of preset images, a plurality of second preset images corresponding to the longitude and latitude information from the plurality of preset images; and determining the first preset image matched with the environment image from the plurality of second preset images according to the environment image.

the determining module is further specifically configured to determine, according to the shooting direction and the shooting direction tags corresponding to the plurality of second preset images, a plurality of third preset images matched with the environment image from the plurality of second preset images; and determining the first preset image according to the plurality of third preset images and the environment image.

Optionally, the determining module is further specifically configured to perform similarity matching on the plurality of third preset images and the environment image, and determine an image with a highest similarity to the environment image from the plurality of third preset images as the first preset image.

Optionally, the determining module is further specifically configured to perform feature matching on the first preset image and the environment image to obtain a feature matching result; and determining the position coordinate of the mobile equipment in the target field according to the feature matching result and the preset position coordinate corresponding to the first preset image.

Optionally, the apparatus includes:

the first receiving module is used for receiving a plurality of historical longitude and latitude information in a recent historical time period sent by a communication server corresponding to the mobile equipment;

the first determination module is used for determining the advancing direction of the mobile equipment according to the plurality of historical longitude and latitude information;

and the sending module is used for sending the advancing direction to the mobile equipment so that the mobile equipment determines the shooting direction according to the advancing direction.

Optionally, the first determining module is further specifically configured to calculate, according to the multiple historical longitude and latitude information, trajectory information of the mobile device; and determining the advancing direction of the mobile equipment according to the track information of the mobile equipment.

In a third aspect, an embodiment of the present invention further provides a server, including: a memory storing a computer program executable by the processor, and a processor implementing the mobile device positioning method of any of the first aspect described above when executing the computer program.

In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, where the storage medium stores a computer program, and when the computer program is read and executed, the method for positioning a mobile device according to any of the first aspect is implemented.

The invention has the beneficial effects that: the embodiment of the invention provides a mobile equipment positioning method, which comprises the following steps: receiving a positioning request sent by a mobile device, wherein the positioning request comprises: communication positioning information of the mobile equipment and an environment image acquired by the mobile equipment; determining a first preset image matched with the environment image from a plurality of preset images of the target site according to the communication positioning information and the environment image, wherein the plurality of preset images are a plurality of images collected at a plurality of position coordinates in the target site in advance; and determining the target position coordinates of the mobile equipment in the target field according to the first preset image and the environment image. According to the communication positioning information and the environment image, a first preset image matched with the environment image is determined from the plurality of preset images, so that the first preset image can be accurately and efficiently searched; according to the first preset image and the environment image, the target position coordinates of the mobile equipment in the target field are determined, and accurate positioning of the mobile equipment can be achieved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.

Fig. 1 is a flowchart illustrating a method for positioning a mobile device according to an embodiment of the present invention;

fig. 2 is a flowchart illustrating a method for positioning a mobile device according to an embodiment of the present invention;

fig. 3 is a flowchart illustrating a method for positioning a mobile device according to an embodiment of the present invention;

fig. 4 is a flowchart illustrating a method for positioning a mobile device according to an embodiment of the present invention;

fig. 5 is a flowchart illustrating a method for positioning a mobile device according to an embodiment of the present invention;

fig. 6 is a flowchart illustrating a method for positioning a mobile device according to an embodiment of the present invention;

fig. 7 is a schematic structural diagram of a positioning apparatus for mobile devices according to an embodiment of the present invention;

fig. 8 is a schematic structural diagram of a server according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention.

Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

In the description of the present application, it should be noted that if the terms "upper", "lower", etc. are used for indicating the orientation or positional relationship based on the orientation or positional relationship shown in the drawings or the orientation or positional relationship which is usually arranged when the product of the application is used, the description is only for convenience of describing the application and simplifying the description, but the indication or suggestion that the referred device or element must have a specific orientation, be constructed in a specific orientation and operation, and thus, cannot be understood as the limitation of the application.

Furthermore, the terms "first," "second," and the like in the description and in the claims, as well as in the drawings, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in other sequences than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

It should be noted that the features of the embodiments of the present application may be combined with each other without conflict.

In the related art, longitude information and latitude information of a mobile device are acquired, and a position of the mobile device can be determined according to the longitude information and the latitude information, so that the mobile device is positioned. However, in the related art, the mobile device performs positioning according to the longitude and latitude information of the mobile device, and the problem of low accuracy of the positioning result is likely to occur.

In order to solve the above technical problems in the related art, an embodiment of the present application provides a mobile device positioning method, where a first preset image matched with an environment image is determined from a plurality of preset images of a target site according to communication positioning information and the environment image in a positioning request sent by a mobile device, so that the first preset image can be accurately and efficiently found from the plurality of preset images of the target site; according to the first preset image and the environment image, the target position coordinates of the mobile equipment in the target field are determined, and accurate positioning of the mobile equipment can be achieved.

A mobile device positioning method provided in an embodiment of the present application is explained below.

Fig. 1 is a schematic flowchart of a method for positioning a mobile device according to an embodiment of the present invention, as shown in fig. 1, the method includes:

s101, receiving a positioning request sent by the mobile equipment.

Wherein, the positioning request includes: communication positioning information of the mobile device, and an environment image acquired by the mobile device.

In some embodiments, the communication server may obtain communication positioning information of the mobile device, the communication server may send the communication positioning information to the mobile device, the mobile device may receive the communication positioning information, then the mobile device may form a positioning request according to the communication positioning information and the collected environment image, the terminal device may send the positioning request to the server, and the server may receive the positioning request.

It should be noted that the communication positioning information may be low-precision positioning information, and the environment image acquired by the mobile device may be an image currently acquired by the mobile device in the target site.

The mobile device may be a device that has a communication function and is easy to move, and may be a mobile terminal, an AGV (Automated Guided Vehicle) mounted with a mobile terminal, or a transport Vehicle equipped with an automatic navigation device such as an electromagnetic or optical device, capable of traveling along a predetermined navigation route, and having a safety protection function and various transfer functions.

S102, according to the communication positioning information and the environment image, a first preset image matched with the environment image is determined from a plurality of preset images of the target site.

The preset images are acquired at a plurality of position coordinates in a target field in advance. The plurality of preset images can be constructed into a three-dimensional virtual target site.

In the embodiment of the application, a plurality of images can be collected towards different directions aiming at each position coordinate in a target field, a plurality of preset images can be obtained, the preset images can be collected by mobile equipment in advance, other image collecting equipment can be adopted for collecting in advance, and then the preset images are stored in a server.

In some embodiments, according to the communication positioning information, part of the preset images in the plurality of preset images of the target site are matched with the environment image, so that the first preset image matched with the environment image can be obtained from the part of the preset images, and the first preset image can be determined accurately and efficiently.

S103, determining the target position coordinates of the mobile equipment in the target field according to the first preset image and the environment image.

The target position coordinates of the mobile equipment in the target field can be three-dimensional coordinates of the mobile equipment in the target field, and the three-dimensional coordinates of the mobile equipment are high-precision positioning information, namely the high-precision positioning information is determined based on low-precision positioning information and an environment image.

In some embodiments, the first preset image and the environment image are subjected to image analysis to obtain an image analysis result, and a target position coordinate of the mobile device in the target field is determined according to the image analysis result.

In practical application, when the mobile device can be an AGV trolley carrying a mobile terminal, the target position coordinates of the AGV trolley in a target field can be acquired, and accurate positioning of the AGV trolley is achieved.

In summary, an embodiment of the present invention provides a method for positioning a mobile device, including: receiving a positioning request sent by a mobile device, wherein the positioning request comprises: communication positioning information of the mobile equipment and an environment image acquired by the mobile equipment; determining a first preset image matched with the environment image from a plurality of preset images of the target site according to the communication positioning information and the environment image, wherein the plurality of preset images are a plurality of images collected at a plurality of position coordinates in the target site in advance; and determining the target position coordinates of the mobile equipment in the target field according to the first preset image and the environment image. According to the communication positioning information and the environment image, a first preset image matched with the environment image is determined from the plurality of preset images, so that the first preset image can be accurately and efficiently searched; according to the first preset image and the environment image, the target position coordinates of the mobile equipment in the target field are determined, and accurate positioning of the mobile equipment can be achieved.

In the embodiment Of the present application, the Communication server may implement a TDOA (Time Difference Of Arrival) positioning algorithm Of 5G (5 th Generation Mobile Communication Technology, fifth Generation Mobile Communication Technology), and the Communication server implements low-precision positioning Of the 5G terminal, that is, implements Communication positioning information for the Mobile device, through cooperation Of the 5G base station and the 5G core network.

Wherein, the 5G base station: is a fixed-site high-power multi-channel two-way radio transmitter. They are typically used for low power channel two-way wireless communications such as mobile phones, cell phones, and wireless routers. When a mobile phone is used for making a call, signals are simultaneously transmitted and received by a base station nearby. The telephone is accessed into the wired network of the mobile telephone network via the base station.

In addition, the location procedure of 5G TDOA is implemented according to 3GPP (3 rd Generation Partnership Project) protocol, and there are standard procedures defined, which will not be described herein again, and it is assumed here that 5G TDOA location is already ongoing, and the communication server continuously obtains the low-precision location result of the 5G terminal, i.e. continuously obtains the communication location information of the mobile device, through the TDOA location algorithm.

Optionally, the communication positioning information may be latitude and longitude information.

Fig. 2 is a flowchart of a mobile device positioning method according to an embodiment of the present invention, and as shown in fig. 2, the process of determining, in S102, a first preset image matched with an environment image from a plurality of preset images of a target site according to communication positioning information and the environment image may include:

s201, according to the longitude and latitude information and the longitude and latitude labels corresponding to the preset images, determining a plurality of second preset images corresponding to the longitude and latitude information from the preset images.

And each preset image is provided with a corresponding longitude and latitude label. And the longitude and latitude label corresponding to each preset image is used for representing the longitude and latitude information of the shooting position when the preset image is shot.

In some embodiments, the longitude and latitude information of the mobile device is matched with the longitude and latitude tags corresponding to the plurality of preset images to obtain a target longitude and latitude tag matched with the longitude and latitude information of the mobile device, and the preset images corresponding to the target longitude and latitude tag are used as the plurality of second preset images.

It should be noted that the number of the second preset images is less than the number of the first preset images.

S202, according to the environment image, a first preset image matched with the environment image is determined from the plurality of second preset images.

In some embodiments, each second preset image and the environment image are matched to obtain a first preset image matched with the environment image, where each second preset image and the environment image may be sequentially matched, or each second preset image and the environment image may be simultaneously matched, which is not specifically limited in the embodiment of the present application.

It should be noted that, the first preset image matched with the environment image is determined from the plurality of second preset images, so that the matching range is reduced, the matching efficiency is improved, and the first preset image matched with the environment image can be accurately and efficiently found.

Optionally, the positioning request may further include: shooting direction corresponding to the environment image;

fig. 3 is a flowchart of a mobile device positioning method according to an embodiment of the present invention, and as shown in fig. 3, the process of determining, in S202, a first preset image matching an environment image from a plurality of second preset images according to the environment image may include:

s301, determining a plurality of third preset images matched with the environment images from the plurality of second preset images according to shooting directions and shooting direction labels corresponding to the plurality of second preset images.

And each second preset image is provided with a corresponding shooting direction label, and the shooting direction label corresponding to the second preset image is used for representing the shooting direction when the second preset image is shot.

In some embodiments, a target shooting direction label matching the shooting direction is obtained by matching the shooting direction with shooting direction labels corresponding to the plurality of second preset images, and the preset images corresponding to the target shooting direction label are used as the plurality of third preset images.

It should be noted that the number of the third preset images is smaller than the number of the second preset images. The range of the preset images is further reduced, the third preset image and the environment image are matched, the calculated amount is reduced, the matching efficiency is improved, and the efficiency of determining the first preset image is also improved.

S302, determining a first preset image according to the plurality of third preset images and the environment image.

In some embodiments, each third preset image and the environment image are matched to obtain a first preset image matched with the environment image, where each third preset image and the environment image may be sequentially matched, or each third preset image and the environment image may be simultaneously matched, which is not specifically limited in the embodiment of the present application.

Optionally, the step of determining the first preset image according to the plurality of third preset images and the environment image in S302 may include:

In the embodiment of the application, similarity matching is performed on a plurality of third preset images and an environment image to obtain the similarity corresponding to each third preset image; and sequencing the plurality of third preset images according to the similarity corresponding to each third preset image, and taking the third preset image with the highest similarity as the first preset image.

Optionally, fig. 4 is a schematic flowchart of a mobile device positioning method according to an embodiment of the present invention, as shown in fig. 4, a process of determining a target position coordinate of the mobile device in the target site according to the first preset image and the environment image in S103 may include:

s401, performing feature matching on the first preset image and the environment image to obtain a feature matching result.

S402, determining the position coordinate of the mobile equipment in the target field according to the feature matching result and the preset position coordinate corresponding to the first preset image.

In some embodiments, a preset algorithm may be used to perform feature matching on the first preset image and the environment image, so as to obtain a feature matching result. Wherein, the preset algorithm may include: P3P (perfect-3-Point, three-Point method), EPnP (non-iterative PnP algorithm), DLT (Direct Linear Transform, which is an algorithm for solving the least square problem including the scale problem), and the like, and BA (Bundle Adjustment ) algorithm.

It should be noted that the first preset image corresponds to a three-dimensional Point, the environment image corresponds to a two-dimensional Point, the visual positioning problem is changed into a classical PnP (passive-n-Point, which is a method for solving Point-to-Point motion from 3D to 2D), an initial value is obtained by using algorithms such as P3P, EPnP, DLT, and the like, and then, a BA (Bundle Adjustment) is used for performing optimization solution to obtain a position coordinate of the mobile device in the target field.

In this embodiment of the application, the server may further send the location coordinates of the mobile device in the target site to the mobile device, and the mobile device may receive the location coordinates in the target site.

Optionally, fig. 5 is a flowchart of a mobile device positioning method according to an embodiment of the present invention, as shown in fig. 5, before a process of determining, in S301, a plurality of third preset images matched with an environment image from a plurality of second preset images according to a shooting direction and shooting direction tags corresponding to the plurality of second preset images, the method may include:

s501, receiving a plurality of historical longitude and latitude information in the recent historical time period sent by a communication server corresponding to the mobile device.

Wherein, the plurality of historical longitude and latitude information in the recent historical time period are as follows: a plurality of historical latitude and longitude information of the mobile device over a recent historical time period.

In some embodiments, the communication server corresponding to the mobile device may send the plurality of historical longitude and latitude information within the recent historical time period to the server, and the server may receive the plurality of historical longitude and latitude information within the recent historical time period.

For example, the recent historical time period may be a time period 1 minute away from the current time, or may be a time period 30 seconds away from the current time. The recent history time period may be set according to actual requirements, and this is not specifically limited in the embodiment of the present application.

And S502, determining the advancing direction of the mobile equipment according to the plurality of historical longitude and latitude information.

It should be noted that the forward direction of the mobile device is determined according to the plurality of historical longitude and latitude information by using a preset direction evaluation algorithm or a preset direction evaluation model.

And S503, sending the advancing direction to the mobile equipment so that the mobile equipment determines the shooting direction according to the advancing direction.

The installation position of the camera on the mobile equipment is preset on the mobile equipment.

In this embodiment of the application, the server may send the moving direction of the mobile device to the mobile device, and the mobile device may receive the moving direction of the mobile device, and determine the shooting direction according to the moving direction of the mobile device and the installation position of the camera on the mobile device.

Optionally, fig. 6 is a flowchart illustrating a method for positioning a mobile device according to an embodiment of the present invention, as shown in fig. 6, the process of determining the heading direction of the mobile device according to a plurality of historical longitude and latitude information in S502 may include:

s601, calculating the track information of the mobile equipment according to the plurality of historical longitude and latitude information.

S602, determining the advancing direction of the mobile equipment according to the track information of the mobile equipment.

In some embodiments, a plurality of historical positioning points of the mobile device may be determined according to a plurality of historical longitude and latitude information, and trajectory information of the mobile device may be calculated according to the plurality of historical positioning points of the mobile device. And determining the advancing direction of the mobile equipment according to the track information of the mobile equipment, wherein the advancing direction of the mobile equipment is the moving direction of the mobile equipment in the target field.

To sum up, an embodiment of the present application provides a method for positioning a mobile device, including: receiving a positioning request sent by a mobile device, wherein the positioning request comprises: communication positioning information of the mobile equipment and an environment image acquired by the mobile equipment; determining a first preset image matched with the environment image from a plurality of preset images of the target site according to the communication positioning information and the environment image, wherein the plurality of preset images are a plurality of images collected at a plurality of position coordinates in the target site in advance; and determining the target position coordinates of the mobile equipment in the target field according to the first preset image and the environment image. According to the communication positioning information and the environment image, a first preset image matched with the environment image is determined from the plurality of preset images, so that the first preset image can be accurately and efficiently searched; according to the first preset image and the environment image, the target position coordinates of the mobile equipment in the target field are determined, and accurate positioning of the mobile equipment can be achieved.

Moreover, the scope of the preset images is reduced through a 5G positioning result, namely longitude and latitude information, so that a plurality of second preset images are obtained, the scope of the preset images is further reduced through the shooting direction, a plurality of third preset images are obtained, the positioning efficiency is further improved, the image query efficiency is improved, the positioning efficiency of the first preset images is improved, cooperation is carried out through 5G positioning and visual positioning, and the positioning precision of the mobile equipment is improved.

For specific implementation processes and technical effects, reference is made to relevant contents of the above-mentioned mobile device positioning method, and details will not be described below.

Fig. 7 is a schematic structural diagram of a mobile device positioning apparatus according to an embodiment of the present invention, and as shown in fig. 7, the apparatus may include:

a receiving module 701, configured to receive a positioning request sent by a mobile device, where the positioning request includes: communication positioning information of the mobile equipment and an environment image acquired by the mobile equipment;

a determining module 702, configured to determine, according to the communication positioning information and the environment image, a first preset image matched with the environment image from multiple preset images of a target site, where the multiple preset images are multiple pieces of image information collected in advance at multiple position coordinates in the target site; and determining the target position coordinate of the mobile equipment in the target site according to the first preset image and the environment image.

Optionally, the communication positioning information is longitude and latitude information; the determining module 702 is further specifically configured to determine, according to the longitude and latitude information and the longitude and latitude labels corresponding to the plurality of preset images, a plurality of second preset images corresponding to the longitude and latitude information from the plurality of preset images; and determining the first preset image matched with the environment image from the plurality of second preset images according to the environment image.

the determining module 702 is further specifically configured to determine, according to the shooting direction and the shooting direction tags corresponding to the multiple second preset images, multiple third preset images matched with the environment image from the multiple second preset images; and determining the first preset image according to the plurality of third preset images and the environment image.

Optionally, the determining module 702 is further specifically configured to perform similarity matching on the plurality of third preset images and the environment image, and determine an image with a highest similarity to the environment image from the plurality of third preset images as the first preset image.

Optionally, the determining module 702 is further specifically configured to perform feature matching on the first preset image and the environment image to obtain a feature matching result; and determining the position coordinate of the mobile equipment in the target field according to the feature matching result and the preset position coordinate corresponding to the first preset image.

Optionally, the apparatus includes:

Optionally, the first determining module is further specifically configured to calculate trajectory information of the mobile device according to the plurality of historical longitude and latitude information; and determining the advancing direction of the mobile equipment according to the track information of the mobile equipment.

The above-mentioned apparatus is used for executing the method provided by the foregoing embodiment, and the implementation principle and technical effect are similar, which are not described herein again.

These above modules may be one or more integrated circuits configured to implement the above methods, such as: one or more Application Specific Integrated Circuits (ASICs), or one or more microprocessors (DSPs), or one or more Field Programmable Gate Arrays (FPGAs), among others. For another example, when one of the above modules is implemented in the form of a Processing element scheduler code, the Processing element may be a general-purpose processor, such as a Central Processing Unit (CPU) or other processor capable of calling program code. For another example, these modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).

Fig. 8 is a schematic structural diagram of a server according to an embodiment of the present invention, and as shown in fig. 8, the server includes: a processor 801 and a memory 802.

The memory 802 is used for storing programs, and the processor 801 calls the programs stored in the memory 802 to execute the above method embodiments. The specific implementation and technical effects are similar, and are not described herein again.

Optionally, the invention also provides a program product, for example a computer-readable storage medium, comprising a program which, when being executed by a processor, is adapted to carry out the above-mentioned method embodiments.

In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.

The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute some steps of the methods according to the embodiments of the present invention. And the aforementioned storage medium includes: a U disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A mobile device location method, comprising:

2. The method of claim 1, wherein the communication positioning information is latitude and longitude information; the determining, according to the communication positioning information and the environment image, a first preset image matched with the environment image from a plurality of preset images of a target site includes:

3. The method as claimed in claim 2, wherein the positioning request further comprises: the shooting direction corresponding to the environment image;

4. The method according to claim 3, wherein the determining the first preset image according to the plurality of third preset images and the environment image comprises:

5. The method of claim 1, wherein determining the target location coordinates of the mobile device in the target venue from the first preset image and the environment image comprises:

6. The method according to claim 3, wherein before determining a plurality of third preset images matching the environment image from the plurality of second preset images according to the shooting direction and shooting direction labels corresponding to the plurality of second preset images, the method comprises:

receiving a plurality of historical longitude and latitude information in a recent historical time period sent by a communication server corresponding to the mobile device;

7. The method of claim 6, wherein determining the heading of the mobile device based on the plurality of historical latitude and longitude information comprises:

8. A mobile device positioning apparatus, comprising:

9. A server, comprising: a memory storing a computer program executable by the processor, and a processor implementing the mobile device positioning method of any of the preceding claims 1-7 when executing the computer program.

10. A computer-readable storage medium, characterized in that the storage medium has stored thereon a computer program which, when read and executed, implements the mobile device positioning method of any of the preceding claims 1-7.