CN117760413A

CN117760413A - Geomagnetic positioning method and electronic equipment

Info

Publication number: CN117760413A
Application number: CN202211172623.8A
Authority: CN
Inventors: 史翔
Original assignee: Huawei Device Co Ltd
Current assignee: Huawei Device Co Ltd
Priority date: 2022-09-26
Filing date: 2022-09-26
Publication date: 2024-03-26

Abstract

Provided are a geomagnetic positioning method and electronic equipment, and relates to the technical field of terminals. The environment image when the electronic equipment moves can be acquired, and the image content of the environment image is identified. And combining the identified image content, the environment map and the like, and quickly determining a position candidate range for positioning the electronic equipment. And then determining a candidate geomagnetic sequence corresponding to the position candidate range from an environment geomagnetic library, and matching geomagnetic information acquired in real time with the candidate geomagnetic sequence, so as to determine a target geomagnetic sequence and a target range corresponding to the target geomagnetic sequence. And finally, determining the position of the electronic equipment in the current environment in the target range according to the geomagnetic information acquired in real time. The candidate range of the position of the electronic equipment is determined, interference of some irrelevant ranges can be eliminated, geomagnetic positioning time is shortened, and geomagnetic positioning efficiency is improved. In addition, the influence of a plurality of irrelevant positioning ranges is eliminated, and the positioning accuracy can be improved.

Description

Geomagnetic positioning method and electronic equipment

Technical Field

The application relates to the technical field of terminals, in particular to a geomagnetic positioning method and electronic equipment.

Background

At present, because the structures of different floors of the underground parking garage are basically similar, the position references are fewer, and the sense of direction of a user in the underground parking garage is poor, so that the user often cannot easily find a vehicle when the user returns to the underground parking garage after parking. In addition, the underground parking garage basically has no global navigation satellite system signal, and the wireless signal is almost no, so that a user can hardly position himself through the signal, and cannot know the distance, the relative position and the like between himself and a vehicle, and therefore the vehicle cannot be found in the underground parking garage accurately.

In order to accurately find vehicles in an underground parking field, a user can perform geomagnetic positioning on a parking lot in the lower place through a mobile phone to determine the position of the user in the parking lot, so that the user can find the parked vehicles conveniently. However, the positioning time in this way is relatively long, and the positioning result is not accurate enough, so that the use experience of the user is affected.

Disclosure of Invention

The embodiment of the application provides a geomagnetic positioning method and electronic equipment, which can collect environment images when the electronic equipment moves, quickly determine a position candidate range for positioning the electronic equipment by combining identified image contents, environment maps and the like, eliminate interference of some irrelevant ranges, reduce geomagnetic positioning time and improve geomagnetic positioning efficiency.

In order to achieve the above purpose, the embodiments of the present application adopt the following technical solutions:

in a first aspect, a geomagnetic positioning method is provided, which is applied to an electronic device. In the method, the electronic equipment acquires an environment image and geomagnetic information in the moving process, and identifies image content from the environment image. And then, the electronic equipment acquires at least one position candidate range for positioning the electronic equipment according to the image content in an environment map of the environment, and acquires a target range according to the at least one position candidate range, geomagnetic information and an environment geomagnetic library of the environment. Wherein the at least one location candidate range includes a target range and the environmental geomagnetic library includes geomagnetic data at different locations in the environment. And finally, the electronic equipment determines the current position of the electronic equipment in the target range according to geomagnetic information and displays the current position of the electronic equipment.

In the method, the candidate range of the position of the electronic equipment is determined, interference of a few irrelevant ranges is eliminated, the position candidate range is matched with the geomagnetic sequence in the geomagnetic library, the target range of the electronic equipment is determined without traversing the geomagnetic sequence in the geomagnetic library, geomagnetic positioning time is shortened, and geomagnetic positioning efficiency is improved. In addition, the influence of a plurality of irrelevant positioning ranges is eliminated, and the positioning accuracy can be improved.

In addition, by adopting the geomagnetic positioning method, bluetooth, WIFI and other devices are not required to be additionally installed in the scene and environment where the target object is located, so that geomagnetic positioning cost is greatly reduced. In addition, the electronic equipment does not need to be provided with a visual feature library and the like, a technician does not need to maintain the visual feature library regularly, the labor investment can be reduced, and the updating and maintenance cost of the visual feature library can be reduced.

In an implementation manner of the first aspect, the electronic device may acquire a moving direction of the electronic device itself during the moving process, and acquire at least one location candidate range in the environment map according to the image content and the moving direction. In such an implementation, the electronic device may define a more accurate range of location candidates in combination with the identified image content and the direction of movement.

In an implementation manner of the first aspect, in the process of acquiring the target range, the electronic device may acquire a geomagnetic candidate sequence corresponding to at least one position candidate range in an environmental geomagnetic library. Then, the electronic device determines a target geomagnetic candidate sequence matched with geomagnetic information in at least one geomagnetic candidate sequence, and a position candidate range corresponding to the target geomagnetic candidate sequence is a target range. In this implementation, the plurality of geomagnetic candidate sequences may provide a preliminary selection range for accurately determining the target range and the target position where the electronic device is located, so that the electronic device does not need to traverse geomagnetic data in a geomagnetic library to determine the target range, and the time for determining the target range is reduced.

In an implementation manner of the first aspect, the electronic device may obtain, according to the image content, location information of the electronic device itself on the candidate road. Wherein the azimuth information indicates that the user is on the right, middle or left side of the candidate road. Then, the electronic device can determine the current position of the electronic device in the target range according to the geomagnetic data and the azimuth information which are finally acquired and obtained in the geomagnetic information. In the implementation mode, the electronic equipment can more accurately determine the position of the electronic equipment in the target range by combining the position information of the electronic equipment in the position candidate range.

In an implementation manner of the first aspect, the electronic device displays the first positioning prompt information when the target range is not acquired. The first positioning prompt information is information for prompting a user to control the electronic equipment to move unidirectionally in a geomagnetic coverage area; the geomagnetic coverage area represents an area in which geomagnetic data acquisition has been performed in an environment where the electronic equipment is located. After the user views the first positioning prompt information, the user can carry the electronic equipment to move to a geomagnetic coverage area. And the electronic device acquires the position candidate range and the target range again in response to an operation of moving itself within the geomagnetic coverage area. Therefore, the first positioning prompt information is favorable for guiding the user and the electronic equipment to perform geomagnetic positioning, and the success rate and accuracy of geomagnetic positioning are improved.

In an implementation manner of the first aspect, the electronic device determines, in a case where the target range is not acquired, whether the electronic device is in a geomagnetic coverage area according to the environmental image. The geomagnetic coverage area represents an area where geomagnetic data acquisition is performed in an environment where the electronic equipment is located. And if the electronic equipment is in the geomagnetic coverage area, the electronic equipment displays second positioning prompt information. The second positioning prompt information is information for prompting a user to control the electronic equipment to move unidirectionally. After the user views the second positioning prompt information, the user can carry the electronic equipment to move unidirectionally in the geomagnetic coverage area. And the electronic device acquires the position candidate range and the target range again in response to an operation of moving itself within the geomagnetic coverage area. Therefore, the second positioning prompt information is also beneficial to guiding the user and the electronic equipment to perform geomagnetic positioning, and the success rate and accuracy of geomagnetic positioning are improved.

In an implementation manner of the first aspect, if the electronic device is in the geomagnetic uncovered area, the electronic device displays the third positioning prompt information. The third positioning prompt information is information for prompting a user to control the electronic equipment to move to a geomagnetic coverage area, and the geomagnetic non-coverage area represents an area where geomagnetic data acquisition is not performed in an environment where the electronic equipment is located. After the user views the third positioning prompt information, the user can carry the electronic equipment to move into the geomagnetic coverage area. And the electronic device acquires the environmental image again in response to the operation of the movement. If the electronic equipment is in the geomagnetic coverage area according to the acquired environmental image, displaying second positioning prompt information by the electronic equipment, and continuously responding to the operation of moving in the geomagnetic coverage area, and acquiring the position candidate range and the target range again. Therefore, the third positioning prompt information is also beneficial to guiding the user and the electronic equipment to perform geomagnetic positioning, and the success rate and accuracy of geomagnetic positioning are improved.

In an implementation manner of the first aspect, when the electronic device acquires the position candidate range and the target range again in response to the operation that the electronic device itself moves in the geomagnetic coverage area or the operation that the electronic device itself moves without acquiring the target range, the electronic device may acquire the environment image again and acquire geomagnetic information during movement with reference to the content in the implementation manner, and identify the image content from the environment image acquired again. Then, the electronic device acquires at least one position candidate range for positioning the electronic device again in the environment map according to the image content. Finally, the electronic equipment acquires a target range according to the acquired at least one position candidate range, the acquired geomagnetic information and the environmental geomagnetic library.

In an implementation manner of the first aspect, the electronic device acquires the environmental image through the camera when the camera is turned on. And under the condition that the camera is not started, the electronic equipment displays prompt information for prompting a user to start the camera. After the user views the prompt information, the camera can be controlled to be started through operation. And the electronic equipment responds to the operation of the user on the camera, and starts the camera and acquires the environment image through the camera.

In an implementation manner of the first aspect, the electronic device determines that the target range is not acquired in a case of being in a geomagnetic uncovered area and/or being reciprocally moved in the environment.

In an implementation manner of the first aspect, the electronic device may display a relative position between the electronic device and a target object that is sought by a user; or, a path between the electronic device and the target object sought by the user is displayed. In the implementation manner, the relative position or path displayed by the electronic equipment can guide the user to search the target object more quickly and accurately.

In one implementation manner of the first aspect, the environment in which the electronic device is located may be an underground parking garage, and the target object that the user seeks may be a parked vehicle. Therefore, according to the geomagnetic positioning mode in the implementation mode, a user can quickly know the position of the user in the underground parking lot, and the parked party vehicle can be quickly and accurately found.

In an implementation manner of the first aspect, the at least one location candidate range obtained includes at least one candidate road on an environment map. The target range is also a road on the environment map. The electronic device may determine and display a location of the electronic device on a road of the environmental map.

In an implementation manner of the first aspect, the image content in the implementation manner includes lane information, identification information, vehicle information, and building information in an environment where the electronic device is located.

In a second aspect, an electronic device is provided, the electronic device comprising a memory, one or more processors; the memory is coupled with the processor; the memory has stored therein computer program code for execution by the processor; the processor is configured to: in the moving process of the electronic equipment, acquiring an environment image and acquiring geomagnetic information in the moving process; identifying image content from the ambient image; acquiring at least one position candidate range for positioning the electronic equipment according to the image content in an environment map of the environment; acquiring a target range according to at least one position candidate range, geomagnetic information and an environmental geomagnetic library of the environment; the at least one location candidate range includes a target range; the environment geomagnetic library comprises geomagnetic data at different positions in the environment; and determining the current position of the electronic equipment in the target range according to the geomagnetic information, and displaying the current position of the electronic equipment.

In an implementation manner of the second aspect, the processor is further configured to: and acquiring the moving direction of the electronic equipment in the moving process of the electronic equipment. And the processor is configured to obtain at least one location candidate range for locating the electronic device according to the image content in an environment map of the environment, and the method comprises the following steps: at least one location candidate range is acquired in the environment map according to the image content and the moving direction.

In an implementation manner of the second aspect, the processor is configured to obtain the target range according to at least one location candidate range, geomagnetic information and an environmental geomagnetic library of a local environment, and includes: acquiring a geomagnetic candidate sequence corresponding to at least one position candidate range from an environmental geomagnetic library; and determining a target geomagnetic candidate sequence matched with geomagnetic information in at least one geomagnetic candidate sequence, wherein a position candidate range corresponding to the target geomagnetic candidate sequence is a target range.

In an implementation manner of the second aspect, the processor is configured to determine, according to geomagnetic information, a current location of the electronic device in the target range, including: acquiring azimuth information of the electronic equipment on the candidate road according to the image content; the azimuth information indicates that the electronic device is on the right, middle or left side of the candidate road; and determining the current position of the electronic equipment in the target range according to the geomagnetic data and azimuth information which are finally acquired and obtained in the geomagnetic information.

In an implementation manner of the second aspect, the processor is further configured to: displaying first positioning prompt information under the condition that the target range is not acquired; the first positioning prompt information is information for prompting a user to control the electronic equipment to move unidirectionally in a geomagnetic coverage area; the geomagnetic coverage area represents an area where geomagnetic data acquisition is performed in an environment where the electronic equipment is located; and acquiring the position candidate range and the target range again in response to the operation of the electronic device moving in the geomagnetic coverage area.

In an implementation manner of the second aspect, the processor is further configured to: under the condition that the target range is not acquired, determining whether the electronic equipment is in a geomagnetic coverage area or not according to the environment image; the geomagnetic coverage area represents an area where geomagnetic data acquisition is performed in an environment where the electronic equipment is located; if the electronic equipment is in the geomagnetic coverage area, displaying second positioning prompt information; the second positioning prompt information is information for prompting a user to control the electronic equipment to move unidirectionally; and acquiring the position candidate range and the target range again in response to the operation of the electronic device moving in the geomagnetic coverage area.

In an implementation manner of the second aspect, the processor is further configured to: if the electronic equipment is in the geomagnetic uncovered area, displaying third positioning prompt information; the third positioning prompt information is information for prompting a user to control the electronic equipment to move to a geomagnetic coverage area; the geomagnetic uncovered area represents an area where geomagnetic data acquisition is not performed in the environment where the electronic equipment is located; acquiring an environment image again in response to an operation of moving the electronic device; if the electronic equipment is determined to be in the geomagnetic coverage area according to the acquired environmental image, displaying second positioning prompt information; and acquiring the position candidate range and the target range again in response to the operation of the electronic device moving in the geomagnetic coverage area.

In an implementation manner of the second aspect, the processor is configured to acquire the location candidate range and the target range again, including: acquiring the environment image again, acquiring geomagnetic information in the moving process, and identifying image content from the acquired environment image again; acquiring at least one position candidate range for positioning the electronic equipment again in the environment map according to the image content; and acquiring a target range according to the re-acquired at least one position candidate range, the re-acquired geomagnetic information and the environmental geomagnetic library.

In an implementation manner of the second aspect, the processor is configured to collect an environmental image, including: under the condition that the camera is started, acquiring an environment image through the camera; displaying prompt information for prompting a user to start the camera under the condition that the camera is not started; and responding to the operation of the user on the camera, starting the camera and collecting the environment image through the camera.

In an implementation manner of the second aspect, the processor is further configured to: and determining that the target range is not acquired under the condition that the electronic equipment is in a geomagnetic uncovered area and/or the electronic equipment reciprocates in the environment.

In an implementation manner of the second aspect, the processor is configured to display a current location of the electronic device, and further includes: displaying the relative position between the electronic equipment and the target object sought by the user; or, a path between the electronic device and the target object sought by the user is displayed.

In one implementation manner of the second aspect, the environment in which the electronic device is located is an underground parking garage, and the target object that the user searches for is a parked vehicle.

In one implementation of the second aspect, the at least one location candidate range includes at least one candidate road on an environment map.

In one implementation manner of the second aspect, the image content includes lane information, identification information, vehicle information, and building information in an environment where the electronic device is located.

In a third aspect, there is provided a computer readable storage medium comprising computer instructions which, when run on an electronic device, cause the electronic device to perform a method of geomagnetic positioning as in any of the implementations of the first aspect.

In a fourth aspect, there is provided a computer program product for, when run on a computer, causing the computer to perform the method of geomagnetic positioning as in any of the implementations of the first aspect.

It will be appreciated that the advantages achieved by the electronic device according to the second aspect, the computer readable storage medium according to the third aspect, and the computer program product according to the fourth aspect provided above may refer to the advantages in the first aspect and any possible design manner thereof, and are not described herein.

Drawings

Fig. 1 is a schematic diagram of a geomagnetic positioning system according to an embodiment of the present application;

fig. 2 is a schematic diagram of a hardware structure of an electronic device according to an embodiment of the present application;

FIG. 3 is a schematic diagram of a software architecture of an electronic device according to an embodiment of the present application;

fig. 4 is a flowchart of a geomagnetic positioning method according to an embodiment of the present application;

fig. 5 is a schematic diagram of a mobile phone displaying a parking position according to an embodiment of the present application;

fig. 6 is a schematic diagram of a mobile phone shooting environment image according to an embodiment of the present application;

fig. 7 is a schematic diagram of a mobile phone display map according to an embodiment of the present application;

fig. 8 is a schematic diagram of still another image of a shooting environment of a mobile phone according to an embodiment of the present application;

FIG. 9 is a schematic diagram of a mobile phone display map according to an embodiment of the present disclosure;

fig. 10 is a schematic diagram of geomagnetic sequences in a geomagnetic library according to an embodiment of the present application;

Fig. 11 is a schematic diagram illustrating a mobile phone displaying a position of an electronic device according to an embodiment of the present application;

FIG. 12 is a schematic diagram of a mobile phone displaying a location of an electronic device according to an embodiment of the present application;

FIG. 13 is a flowchart of another geomagnetic positioning method according to an embodiment of the present application;

fig. 14 is a schematic diagram of a mobile phone displaying prompt information according to an embodiment of the present application;

fig. 15 is a schematic diagram of still another image of a shooting environment of a mobile phone according to an embodiment of the present application;

fig. 16 is a schematic diagram of geomagnetic library collection data according to an embodiment of the present application;

FIG. 17 is a schematic diagram of another mobile phone displaying prompt information according to an embodiment of the present disclosure;

FIG. 18 is a schematic diagram of another mobile phone displaying prompt information according to an embodiment of the present disclosure;

fig. 19 is a schematic diagram of still another mobile phone displaying prompt information according to an embodiment of the present application;

FIG. 20 is a schematic diagram of another mobile phone displaying prompt information according to an embodiment of the present disclosure;

fig. 21 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application. Wherein, in the description of the present application, "/" means that the related objects are in a "or" relationship, unless otherwise specified, for example, a/B may mean a or B; the term "and/or" in this application is merely an association relation describing an association object, and means that three kinds of relations may exist, for example, a and/or B may mean: there are three cases, a alone, a and B together, and B alone, wherein a, B may be singular or plural. Also, in the description of the present application, unless otherwise indicated, "a plurality" means two or more than two. "at least one of" or the like means any combination of these items, including any combination of single item(s) or plural items(s). For example, at least one (one) of a, b, or c may represent: a, b, c, a-b, a-c, b-c, or a-b-c, wherein a, b, c may be single or plural. In addition, in order to clearly describe the technical solutions of the embodiments of the present application, in the embodiments of the present application, the words "first", "second", and the like are used to distinguish the same item or similar items having substantially the same function and effect. It will be appreciated by those of skill in the art that the words "first," "second," and the like do not limit the amount and order of execution, and that the words "first," "second," and the like do not necessarily differ. Meanwhile, in the embodiments of the present application, words such as "exemplary" or "such as" are used to mean serving as examples, illustrations, or descriptions. Any embodiment or design described herein as "exemplary" or "for example" should not be construed as preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "such as" is intended to present related concepts in a concrete fashion that may be readily understood.

In addition, the service scenario described in the embodiment of the present application is for more clearly describing the technical solution of the embodiment of the present application, and does not constitute a limitation on the technical solution provided in the embodiment of the present application, and as a person of ordinary skill in the art can know that, with the appearance of a new service scenario, the technical solution provided in the embodiment of the present application is also applicable to similar technical problems.

An underground parking garage, as the name implies, is a parking garage that occupies an underground space. Unlike an above-ground parking lot, an below-ground parking lot is in a closed environment, and multiple floors can be built, thereby providing parking spaces for more vehicles. The structure of the different floors of the underground parking garage is basically similar, and the position references are fewer, so that the sense of direction of a user in the underground parking garage is poor. When a user returns to an underground parking garage after parking, the user often cannot easily find a vehicle. In addition, the underground parking garage basically has no global navigation satellite system (global navigation satellite system, GNSS) signals and almost no Wireless-Fidelity (WIFI) signals, so that a user can hardly position himself or herself through signals, and cannot know the distance, the relative position and the like between himself or herself and a vehicle, and thus the vehicle cannot be found accurately in the underground parking garage.

In order to accurately find a vehicle in an underground parking field, a user can perform geomagnetic positioning on a parking lot in the lower place through a mobile phone to determine the position of the user in the parking lot, so that the distance, the relative position and the like between the user and the vehicle are known. The positioning mode can determine the position information of the user by utilizing the magnetic field differences of different positions. When the positioning is performed in this way, geomagnetic positioning initialization is performed first, and the current position of the user is initially positioned. In the geomagnetic positioning initialization process, a user generally needs to walk a track (for example, 20-30 meters, etc.) in an underground parking lot, then a mobile phone collects geomagnetic sequences on the walking track and matches the geomagnetic sequences with a geomagnetic library of the parking lot acquired in advance, so that the current position of the user is determined. However, each time the geomagnetic positioning is initialized, the geomagnetic positioning time is increased, and the geomagnetic positioning efficiency is reduced; in addition, each time of positioning, the geomagnetic library of the whole parking lot needs to be traversed to match the position of the user, and the problem of inaccurate position matching is caused because of more geomagnetic information in the geomagnetic library.

Currently, in order to improve the accuracy of locating users in a parking lot, in some locating methods, a visual feature library may be generally introduced. After a user enters an underground parking garage, the user can shoot images in the walking process by using the mobile phone, and the characteristic content in the shot images is identified according to a visual characteristic library which is introduced in advance, so that the current position of the user is positioned according to the identified content. However, in order to enable such positioning to be applied to various underground parking lots, a technician is required to update and maintain the visual characteristics library according to icons, identifications, contents, etc. in different parking lots in time. It can be seen that this positioning method, depending on manual updating and maintenance of technicians, can improve the accuracy of user positioning, but wastes manpower and increases the cost of updating and maintenance. In addition, if the feature content contained in the visual feature library is inaccurate, the problem of inaccurate vehicle positioning can be caused.

In other positioning methods, wireless devices such as Bluetooth and WIFI can be installed in an underground parking garage, and a user can communicate with the Bluetooth and WIFI devices through a mobile phone, so that the position of the user can be determined. However, this approach, although improving the accuracy of the user positioning, requires a lot of bluetooth, WIFI, etc. devices to be installed in the underground parking garage, which also increases the cost.

Based on the foregoing, the embodiments of the present application provide a geomagnetic positioning method. When a user starts to search for a target object, the electronic equipment can be used for collecting an environment image when the user searches for the target object, and carrying out image content identification on the environment image. And combining the identified image content, a map of the environment where the electronic equipment is located and the like to quickly provide a candidate range for determining the position where the electronic equipment is located. And then determining a candidate geomagnetic sequence corresponding to the position candidate range from an environment geomagnetic library, and matching geomagnetic information acquired in real time with the candidate geomagnetic sequence, so as to determine a target geomagnetic sequence from the candidate geomagnetic sequence. The position candidate range corresponding to the target geomagnetic sequence is the target range. And finally, determining the position of the electronic equipment in the current environment in the target range according to the geomagnetic information acquired in real time.

Typically, a user carries an electronic device in an environment to find a target object, and thus the location of the electronic device in the environment may represent the location of the user in the environment.

According to the method, the candidate range of the position of the electronic equipment is determined, interference of some irrelevant ranges is eliminated, the position candidate range is matched with the geomagnetic sequence in the geomagnetic library, the target range of the electronic equipment is determined in a mode that the geomagnetic sequence is traversed in the geomagnetic library is not needed, geomagnetic positioning time is shortened, and geomagnetic positioning efficiency is improved. In addition, the influence of a plurality of irrelevant positioning ranges is eliminated, and the accuracy of the position positioning can be improved.

In addition, by adopting the geomagnetic positioning method in the embodiment of the application, bluetooth, WIFI and other devices are not required to be additionally installed in the scene and the environment where the target object is located, so that geomagnetic positioning cost is greatly reduced. In addition, the electronic equipment does not need to be provided with a visual feature library and the like, a technician does not need to maintain the visual feature library regularly, the labor investment can be reduced, and the updating and maintenance cost of the visual feature library can be reduced.

In the embodiment of the present application, the target object that the user finds may refer to a target person, a target object, or the like. For example, when the target object is a target vehicle, after the user parks the target vehicle in the underground parking lot, and returns to the parking lot again to find the target vehicle, the method in the embodiment of the application may be adopted to perform geomagnetic positioning, so as to determine the position of the electronic device in the underground parking lot, and the distance, the relative position, and the like between the electronic device and the target vehicle, so as to accurately find the parked target vehicle in the underground parking lot.

The geomagnetic positioning method in the embodiment of the application can be applied to a geomagnetic positioning system. Referring to fig. 1, the geomagnetic positioning system includes an electronic apparatus 100 and a server 200. Taking the example of a user looking for a parked vehicle in an underground parking garage. The user may be located on the electronic device 100 using location software or a map of an underground parking garage, etc. The electronic device 100 may capture an environment image during the user's search after the user enters the underground parking garage, and transmit the environment image together with the moving direction of the electronic device 100, etc., detected by the sensor, to the server 200. The server 200 recognizes the image content in the environment image, and provides a candidate range for determining the location of the electronic device 100 quickly in combination with the image content and a map of the environment where the electronic device 100 is located, the moving direction of the electronic device 100, and the like. Then, the server 200 determines a geomagnetic sequence candidate corresponding to the position candidate range from a geomagnetic library of the underground parking garage, and matches geomagnetic information acquired in real time with the geomagnetic sequence candidate, thereby determining a target geomagnetic sequence from the geomagnetic sequence candidate. The position candidate range corresponding to the target geomagnetic sequence is the target range. And the server 200 may also determine the location of the electronic device 100 in the current environment in the target range according to geomagnetic information collected in real time. Finally, the server 200 transmits the positioning result to the electronic device 100. After receiving the positioning result, the electronic device 100 displays the position of the electronic device 100 on the positioning software or a map of the underground parking garage.

In the geomagnetic positioning system shown in fig. 1, the server 200 determines a candidate range of the position of the electronic device 100, eliminates interference of some irrelevant ranges, determines a geomagnetic candidate sequence corresponding to the position candidate range from a geomagnetic library of an underground parking garage, matches geomagnetic information acquired in real time with the geomagnetic candidate sequence, and further determines a target range. Therefore, the geomagnetic positioning time is reduced, and the geomagnetic positioning efficiency is improved. In addition, the influence of a plurality of irrelevant positioning ranges is eliminated, and the accuracy of the position positioning can be improved.

In some embodiments, the server 200 may not be included in the geomagnetic positioning system. That is, the electronic device 100 may capture an environment image during the process of searching by the user, identify image content in the environment image, and quickly provide a candidate range for determining the location of the electronic device 100 in combination with the image content, a map of the environment where the electronic device 100 is located, a direction in which the electronic device 100 moves, and the like, and the electronic device 100 may also determine the target range, the location of the electronic device 100, and the like. The electronic device 100 may obtain a geomagnetic library, a map, and the like corresponding to the current environment from the server 200.

The geomagnetic library includes geomagnetic sequences in the environment or the field where the electronic apparatus 100 is located. The geomagnetic sequence is composed of a plurality of geomagnetic data, and the geomagnetic data is acquired in advance for a certain environment or field.

For example, if the electronic device 100 performs geomagnetic positioning in an underground parking garage, the required geomagnetic library is the geomagnetic library corresponding to the underground parking garage. The different geomagnetic sequences in the geomagnetic library may represent geomagnetic data of routes in different directions in the underground parking garage, geomagnetic data of different areas, or the like.

In some embodiments, the geomagnetic positioning system may further include a target vehicle, and the electronic device 100 may display a position of the target vehicle on a map of the positioning software or the underground parking garage, so as to display a relative position between the electronic device 100 and the target vehicle, and so on. The relative position may guide the user to find the target vehicle in the underground parking garage.

The geomagnetic positioning method in the embodiment of the application can be applied to electronic equipment 100 such as mobile phones, tablet computers, notebook computers, intelligent watches, intelligent bracelets and intelligent head-mounted equipment. The electronic device 100 is provided with a camera and sensors such as a compass, a magnetometer, a gyroscope, and an accelerometer.

Taking the example that the electronic device is a mobile phone, fig. 2 shows a schematic hardware structure of the electronic device.

Referring to fig. 2, the electronic device 100 may include a processor 110, an external memory interface 120, an internal memory 121, a universal serial bus (universal serial bus, USB) interface 130, a charge management module 140, a power management module 141, a battery 142, an antenna 1, an antenna 2, a mobile communication module 150, a wireless communication module 160, an audio module 170, wherein the audio module may include a speaker, a receiver, a microphone, an earphone interface, a sensor module 180, a key 190, a motor 191, an indicator 192, a camera 193, a display 194, a subscriber identity module (subscriber identification module, SIM) card interface 195, and the like. The sensor module 180 may include, among other things, a pressure sensor, a gyroscope sensor, a barometric sensor, a magnetic sensor, an acceleration sensor, a distance sensor, a proximity light sensor, a fingerprint sensor, a temperature sensor, a touch sensor, an ambient light sensor, a bone conduction sensor, etc. In some embodiments, a magnetometer, compass, or like sensor may also be included in the electronic device 100.

It is to be understood that the structure illustrated in the embodiments of the present application does not constitute a specific limitation on the electronic device 100. In other embodiments of the present application, electronic device 100 may include more or fewer components than shown, or certain components may be combined, or certain components may be split, or different arrangements of components. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

The processor 110 may include one or more processing units, such as: the processor 110 may include an application processor (application processor, AP), a modem processor, a graphics processor (graphics processing unit, GPU), an image signal processor (image signal processor, ISP), a controller, a memory, a video codec, a digital signal processor (digital signal processor, DSP), a baseband processor, and/or a neural network processor (neural-network processing unit, NPU), etc. Wherein the different processing units may be separate devices or may be integrated in one or more processors. A memory may also be provided in the processor 110 for storing instructions and data. The controller may be a neural hub and a command center of the electronic device 100, among others. The controller can generate operation control signals according to the instruction operation codes and the time sequence signals to finish the control of instruction fetching and instruction execution.

In some embodiments, the processor 110 may include one or more interfaces. The interfaces may include an integrated circuit (inter-integrated circuit, I2C) interface, an integrated circuit built-in audio (inter-integrated circuit sound, I2S) interface, a pulse code modulation (pulse code modulation, PCM) interface, a universal asynchronous receiver transmitter (universal asynchronous receiver/transmitter, UART) interface, a mobile industry processor interface (mobile industry processor interface, MIPI), a general-purpose input/output (GPIO) interface, a subscriber identity module (subscriber identity module, SIM) interface, and/or a universal serial bus (universal serial bus, USB) interface, among others. The USB interface 130 is an interface conforming to the USB standard specification. The USB interface 130 may be used to connect a charger to charge the electronic device 100, and may also be used to transfer data between the electronic device 100 and a peripheral device. And can also be used for connecting with a headset, and playing audio through the headset.

It should be understood that the interfacing relationship between the modules illustrated in the embodiments of the present application is only illustrative, and does not limit the structure of the electronic device 100. In other embodiments of the present application, the electronic device 100 may also use different interfacing manners, or a combination of multiple interfacing manners in the foregoing embodiments.

The charge management module 140 is configured to receive a charge input from a charger. The charger can be a wireless charger or a wired charger. The charging management module 140 may also supply power to the electronic device through the power management module 141 while charging the battery 142. The power management module 141 receives input from the battery 142 and/or the charge management module 140 and provides power to the processor 110, the internal memory 121, the external memory, the display 194, the camera 193, the wireless communication module 160, and the like. The power management module 141 may also be configured to monitor battery capacity, battery cycle number, battery health (leakage, impedance) and other parameters.

The wireless communication function of the electronic device 100 may be implemented by the antenna 1, the antenna 2, the mobile communication module 150, the wireless communication module 160, a modem processor, a baseband processor, and the like. The antennas 1 and 2 are used for transmitting and receiving electromagnetic wave signals. The mobile communication module 150 may provide a solution for wireless communication including 2G/3G/4G/5G, etc., applied to the electronic device 100. The mobile communication module 150 can amplify the signal modulated by the modem processor, and convert the signal into electromagnetic waves through the antenna 1 to radiate. The wireless communication module 160 may provide solutions for wireless communication including wireless local area network (wireless local area networks, WLAN) (e.g., wireless fidelity (wireless fidelity, wi-Fi) network), bluetooth (BT), global navigation satellite system (global navigation satellite system, GNSS), frequency modulation (frequency modulation, FM), near field wireless communication technology (near field communication, NFC), infrared technology (IR), etc., as applied to the electronic device 100. The wireless communication module 160 may also receive a signal to be transmitted from the processor 110, frequency modulate it, amplify it, and convert it to electromagnetic waves for radiation via the antenna 2.

The electronic device 100 implements display functions through a GPU, a display screen 194, an application processor, and the like. The GPU is a microprocessor for image processing, and is connected to the display 194 and the application processor. The GPU is used to perform mathematical and geometric calculations for graphics rendering. The display screen 194 is used to display images, videos, and the like. The electronic device 100 may implement photographing functions through an ISP, a camera 193, a video codec, a GPU, a display screen 194, an application processor, and the like. The camera 193 is used to capture still images or video. The object generates an optical image through the lens and projects the optical image onto the photosensitive element. The photosensitive element converts the optical signal into an electrical signal, which is then transferred to the ISP to be converted into a digital image signal. The ISP outputs the digital image signal to the DSP for processing. The DSP converts the digital image signal into an image signal in a standard RGB, YUV, or the like format. In some embodiments, electronic device 100 may include 1 or N cameras 193, N being a positive integer greater than 1.

In some embodiments, camera 193 may also capture images of the user's environment during the search for vehicles. By way of example, other vehicles within the parking lot, lane lines, space marking numbers, road markings, etc. may typically be included in the environmental image.

The NPU is a neural-network (NN) computing processor, and can rapidly process input information by referencing a biological neural network structure, for example, referencing a transmission mode between human brain neurons, and can also continuously perform self-learning. Applications such as intelligent awareness of the electronic device 100 may be implemented through the NPU, for example: image recognition, face recognition, speech recognition, text understanding, etc.

For example, the NPU may also identify image content of other vehicles, lane lines, parking space sign numbers, road signs, etc. in the parking lot from the environmental image collected by the camera 193.

The external memory interface 120 may be used to connect an external memory card, such as a Micro SD card, to enable expansion of the memory capabilities of the electronic device 100. The internal memory 121 may be used to store computer executable program code including instructions. The processor 110 executes various functional applications of the electronic device 100 and data processing by executing instructions stored in the internal memory 121.

In some embodiments, the processor 110 may control the camera 193 to capture images, the NPU to identify image content in the images, the sensor or the like to determine a direction of movement of the electronic device 100 (i.e., a direction of movement of the user), and the location candidate range for locating the electronic device 100 in combination with the identified image content, the direction of movement, a map of the environment in which the electronic device 100 is located, and the like by executing instructions stored in the internal memory 121.

The electronic device 100 may implement audio functions through an audio module, speaker, receiver, microphone, headphone interface, application processor, and the like. Such as music playing, recording, etc.

The gyroscopic sensor may be used to determine a motion pose of the electronic device 100. In some embodiments, the angular velocity of electronic device 100 about three axes (i.e., x, y, and z axes) may be determined by a gyroscopic sensor. The gyro sensor may be used for photographing anti-shake. For example, when the shutter is pressed, the gyro sensor detects the shake angle of the electronic device 100, calculates the distance to be compensated by the lens module according to the angle, and makes the lens counteract the shake of the electronic device 100 through the reverse motion, so as to realize anti-shake. The gyroscopic sensor may also be used to navigate, somatosensory a game scene. The gyro sensor may also be used to obtain a moving direction of the electronic apparatus 100, or the like. For example, when a user walks or turns around the electronic device 100 in an underground parking garage, the gyro sensor may detect a moving direction, a turning direction, etc. of the electronic device 100.

The acceleration sensor may detect the magnitude of acceleration of the electronic device 100 in various directions (typically three axes). The magnitude and direction of gravity may be detected when the electronic device 100 is stationary. The method can also be used for identifying the gesture of the electronic equipment 100, and can be applied to applications such as horizontal and vertical screen switching, pedometers and the like. The movement direction, the rotation direction, and the like of the electronic device 100 can be determined from data or the like detected by the acceleration sensor.

In some embodiments, sensors such as magnetometers and compasses may also be included in the electronic device 100. The magnetometer may detect the magnetic field at the location of the electronic device 100, so as to obtain magnetic field data at the location of the electronic device 100, and since the magnetic field data at different locations are different, the electronic device 100 may locate its own location according to the magnetic field data. The compass can detect the direction in which the electronic device 100 is pointing, and when the user moves with the electronic device 100, the compass can also detect the direction in which the electronic device 100 moves.

The electronic device 100 may determine a more accurate location candidate range, such as a candidate road, a candidate area, etc., from the environmental map in combination with the detected results of the gyro sensor, the acceleration sensor, the magnetometer, the compass, etc., so that the location of the electronic device 100 is also more accurate.

Alternatively, the electronic device 100 may also include an inertial measurement unit (inertial measurement unit, IMU), so that the electronic device 100 may combine the detection results of the inertial measurement unit and the compass to determine a more accurate candidate range of positions from the environmental map, thereby making the positioning of the electronic device 100 more accurate.

The keys 190 include a power-on key, a volume key, etc. The keys 190 may be mechanical keys. Or may be a touch key. The motor 191 may generate a vibration cue. The motor 191 may be used for incoming call vibration alerting as well as for touch vibration feedback. The indicator 192 may be an indicator light, may be used to indicate a state of charge, a change in charge, a message indicating a missed call, a notification, etc. The SIM card interface 195 is used to connect a SIM card.

When the geomagnetic positioning method in the embodiment of the present application is implemented in conjunction with the electronic device shown in fig. 2, the processor 110 of the electronic device 100 may control the camera 193 to collect images, control the NPU to identify image contents in the images, control the sensor, etc. to determine the moving direction of the electronic device 100, and more accurately obtain the position candidate range for positioning the electronic device 100 in conjunction with the identified image contents, moving direction, map of the environment where the electronic device 100 is located, etc. by executing the instructions stored in the internal memory 121. Then, the processor 110 of the electronic device 100 determines a geomagnetic sequence candidate corresponding to the position candidate range from a geomagnetic library of an environment where the electronic device 100 is located by executing instructions stored in the internal memory 121, and matches geomagnetic information acquired by the electronic device 100 in real time during movement with the geomagnetic sequence candidate, thereby determining a target geomagnetic sequence from the geomagnetic sequence candidate. The position candidate range corresponding to the target geomagnetic sequence is the target range. And the electronic device 100 may also determine its own position in the target range according to geomagnetic information collected in real time. Thus, the accuracy of geomagnetic matching can be improved. In addition, the geomagnetic positioning initialization can be reduced by the method that the user walks along a longer track, namely, the method that the electronic equipment 100 moves a longer distance is reduced to perform the positioning initialization, so that the geomagnetic positioning time is shortened, and the geomagnetic positioning speed is improved.

The software system of the electronic device 100 may employ a layered architecture, an event driven architecture, a microkernel architecture, a microservice architecture, or a cloud architecture. In this embodiment, taking an Android system with a layered architecture as an example, a software structure of the electronic device 100 is illustrated.

Taking the example that the electronic device is a mobile phone, fig. 3 shows a software structure schematic diagram of the electronic device.

Referring to fig. 3, the hierarchical architecture of the electronic device divides the software into several layers, each with a clear role and division of effort. The layers communicate with each other through a software interface. In some embodiments, the Android system is divided into four layers, from top to bottom, an application layer, an application framework layer, an Zhuoyun row (Android run) and system libraries, and a kernel layer, respectively.

The application layer may include a series of application packages.

As shown in fig. 3, the application package may include applications for cameras, gallery, calendar, phone calls, maps, navigation, WLAN, bluetooth, music, video, short messages, etc. In some embodiments, the application package may further include an application program for implementing geomagnetic positioning, providing geomagnetic positioning functions, and the like. And, the map may include a map of a place where the user is located, a map of an environment, a map of a place where the target object is located, and the like. And the map can display the position of the target object, the position of the electronic equipment and the like. In some embodiments, applications providing compass, gyroscope, accelerometer, magnetometer, etc. functionality may also be included in the application package.

The application framework layer provides an application programming interface (application programming interface, API) and programming framework for application programs of the application layer. The application framework layer includes a number of predefined functions. As shown in FIG. 3, the application framework layer may include a window manager, a content provider, a view system, a telephony manager, a resource manager, a notification manager, and the like. Wherein the window manager is used for managing window programs. The content provider is used to store and retrieve data and make such data accessible to applications. The view system includes visual controls, such as controls to display text, controls to display pictures, and the like. The telephony manager is used to provide the communication functions of the electronic device 100. The resource manager provides various resources for the application program, such as localization strings, icons, pictures, layout files, video files, and the like. The notification manager allows the application to display notification information in a status bar, can be used to communicate notification type messages, can automatically disappear after a short dwell, and does not require user interaction.

Android runtimes include core libraries and virtual machines. Android run time is responsible for scheduling and management of the Android system.

The core library consists of two parts: one part is a function which needs to be called by java language, and the other part is a core library of android.

The application layer and the application framework layer run in a virtual machine. The virtual machine executes java files of the application program layer and the application program framework layer as binary files. The virtual machine is used for executing the functions of object life cycle management, stack management, thread management, security and exception management, garbage collection and the like.

The system library may include a plurality of functional modules. For example: surface manager (surface manager), media Libraries (Media Libraries), three-dimensional graphics processing Libraries (e.g., openGL ES), 2D graphics engines (e.g., SGL), etc. The surface manager is used for managing the display subsystem and providing fusion of 2D and 3D layers for a plurality of application programs. Media libraries support a variety of commonly used audio, video format playback and recording, still image files, and the like. The three-dimensional graphic processing library is used for realizing three-dimensional graphic drawing, image rendering, synthesis, layer processing and the like. The 2D graphics engine is a drawing engine for 2D drawing.

The kernel layer is a layer between hardware and software. The inner core layer at least comprises a display driver, a camera driver, an audio driver and a sensor driver.

When the geomagnetic positioning method in the embodiment of the application is implemented in combination with the electronic device shown in fig. 3, the electronic device 100 acquires an image through the kernel layer driving camera 193, identifies the image content in the image, determines the moving direction of the electronic device 100 through the kernel layer driving sensor and the like, and more accurately obtains the position candidate range for positioning the electronic device 100 in combination with the identified image content, the moving direction, the map of the environment where the electronic device 100 is located and the like. And then determining a geomagnetic candidate sequence corresponding to the position candidate range from an environment geomagnetic library, and matching geomagnetic information acquired in real time with the geomagnetic candidate sequence, so as to determine a target geomagnetic sequence from the geomagnetic candidate sequence. The position candidate range corresponding to the target geomagnetic sequence is the target range. And finally, determining the initial position of the electronic equipment 100 in the target range according to the geomagnetic information acquired in real time. Thus, the accuracy of geomagnetic matching can be improved. In addition, the geomagnetic positioning method can also reduce geomagnetic positioning by a user through a long track walking mode, so that geomagnetic positioning time is shortened, and geomagnetic positioning speed is improved.

The method of geomagnetic positioning in the embodiment of the present application will be described below by taking an example in which the electronic device is a mobile phone and the target object is a vehicle. Referring to fig. 4, the geomagnetic positioning method in the embodiment of the present application may include the following steps S401 to S403.

S401, the mobile phone collects an environment image of a user after entering a parking lot, and identifies image content in the environment image.

Typically, after a user parks the vehicle in a parking lot, the vehicle will send current location information to the user's cell phone. The user's mobile phone may mark the location of the vehicle on an interface such as positioning software, a map, etc.

The mobile phone of the user and the vehicle of the user can be connected in a Bluetooth pairing and wireless communication mode. The vehicle may be equipped with a sensor or the like for positioning. Referring to fig. 5, the vehicle sends the position information of the present underground parking garage to the mobile phone of the user, and after receiving the position information, the mobile phone displays the position of the vehicle on positioning software, a map and the like, so that the user can know the present parking position of the vehicle. Wherein, the map and the like displayed on the mobile phone are all plane views.

When the user enters the parking lot again to find the vehicle, the user moves towards the direction of the vehicle according to the position of the vehicle displayed on the mobile phone. During the moving process, the mobile phone of the user can shoot the environment image during the moving process through the camera (such as a rear camera).

In some embodiments, when a user looks down at the positioning software, map, etc. displayed on the mobile phone, the screen of the mobile phone faces the direction of the user, and the rear camera of the mobile phone faces the direction of the ground, so that a more complete environment image including the road can be captured. At this time, the environmental image collected or photographed by the mobile phone may include some characteristic contents such as roads, vehicles, buildings, signs, and the like in the parking lot. Then, the mobile phone identifies the corresponding image content, such as lane lines, road marks, running marks, vehicle information, building information, and the like, for characters, data, graphics, and the like in the environment image. The mobile phone can identify the image content in the environment image based on a neural network model and the like. For example, if the rear camera of the mobile phone faces the ground, the environment image photographed by the mobile phone may be shown in fig. 6, and then the mobile phone may recognize the image contents of the road mark (e.g., right turn mark), lane line, vehicle, pillar, etc. on the road from the environment image shown in fig. 6.

In some embodiments, to ensure the accuracy of the determined image content, the mobile phone may continuously capture the environmental image during the moving process, and identify the accurate image content by combining a plurality of environmental images, instead of identifying the image content according to only one environmental image. For example, the mobile phone may capture an environmental image every preset time period, for example, the preset time period is 1 second, 2 seconds, 5 seconds, etc., i.e., the mobile phone may capture an environmental image every 1 second, 2 seconds, 5 seconds, etc. Still further exemplary, the cell phone may also capture an image of the environment at predetermined distances, such as 1 meter, 2 meters, 3 meters, etc.

In other embodiments, the mobile phone may also perform the identification of the image content based on a preset number of environmental images. For example, the preset number can be 3, 5, 10, etc., that is, the mobile phone can perform image content recognition based on 3 environmental images, can perform image content recognition based on 5 images, and can perform image content recognition based on 10 environmental images.

S402, the mobile phone combines the image content, the moving direction and the environment map to determine a position candidate range for positioning the mobile phone.

In general, a mobile phone is provided with sensors such as a compass, a gyroscope, a magnetometer, an accelerometer and the like, and the gesture and the moving direction of the mobile phone can be determined according to the data detected by the sensors.

In addition, a map for the environment, such as a map of an underground parking garage, can be preset in the mobile phone. In some embodiments, the user may download a map corresponding to the parking lot in advance before entering an environment such as an underground parking lot, or may acquire the map of the underground parking lot by scanning a two-dimensional code or the like provided by the parking lot when entering the underground parking lot.

After the image content is identified according to the environment image, the mobile phone can determine a position candidate range for positioning the mobile phone on the environment map according to the image content. Or the mobile phone can also combine the image content and the moving direction to determine a more accurate position candidate range for positioning the mobile phone on the environment map.

In some embodiments, the location candidate range may refer to a road, an area, etc. on the environment map. Further, a plurality of position candidate ranges can be determined on the environment map according to the image content, the moving direction, and the like. For example, referring to fig. 5, determining the image content in conjunction with the environment image shown in fig. 6 may include: right turn sign, lane line, vehicle, pillar, etc. And the mobile phone determines that the moving direction is the positive east. Then, by combining the image content and the moving direction, the related information of the road where the mobile phone is located can be determined, for example, the mobile phone moves towards the right side to the east on the road (i.e. the user carrying the mobile phone moves towards the right side to the east on the road), and the road is about to have a branch on the right side. Based on the determined information about the road, referring to fig. 7, a plurality of routes of the road 1, the road 2, the road 3, and the like can be determined on the above-described environment map, so that each route can be regarded as a position candidate range.

Alternatively, determining the image content in conjunction with the environmental image shown in FIG. 8 may include: straight line identification, lane lines and the like. And the mobile phone determines that the moving direction is the positive east. Then, by combining the image content and the moving direction, the related information of the road where the mobile phone is located can be determined, for example, the mobile phone moves to the east in the center of the road (i.e. the user carrying the mobile phone moves to the east in the center of the road), and no other branch exists in the road at present. Based on the determined information about the road, referring to fig. 9, a plurality of areas such as area 1, area 2, area 3, etc. can be determined on the above-described environment map, so that each area can be regarded as a position candidate range.

In the above embodiment, the candidate roads, areas, and the like have the preset length, the preset diameter, the preset area, and the like. The preset size may be determined according to a moving distance of the mobile phone, for example, the preset length, the preset diameter, etc. may be 5 meters, 10 meters, etc. The moving distance of the mobile phone is also related to the preset number of the environment images processed by the mobile phone. That is, in the time when the mobile phone acquires the preset number of environmental images, the mobile phone moves by how much, and the preset length of the candidate road is what. For example, when the mobile phone moves 5 meters during the time when the mobile phone acquires the preset number of environmental images, the preset length of the candidate road may be 5 meters, or the preset length or the preset diameter of the candidate area may be 5 meters. The predetermined number may be one or more.

In some embodiments, the mobile phone also collects geomagnetic data at different positions in the moving direction during the moving process, so as to obtain geomagnetic information corresponding to the currently identified image content. The geomagnetic information may include a plurality of geomagnetic data acquired by the mobile phone in the process of acquiring the environment image. For example, when the mobile phone moves 5 meters in the time when the mobile phone obtains the preset number of environmental images, the mobile phone may collect a plurality of geomagnetic data of the user in the process of moving the mobile phone 5 meters, so as to obtain corresponding geomagnetic information. The mobile phone identifies image content according to a preset number of environment images, and meanwhile, the mobile phone can acquire geomagnetic information of the period of time, so that the image content and geomagnetic sequences can be corresponding.

In some embodiments, the handset may also determine location information for the handset within the location candidate range, e.g., to the right, left, middle, etc., of the candidate road based on image content identified from the ambient image. And when the target position of the mobile phone is determined in the target range, the position of the mobile phone in the target range can be determined more accurately by combining the azimuth information and the like of the mobile phone in the position candidate range, for example, whether the mobile phone moves close to the right side, moves left side or moves in the middle on the target road.

In the above embodiment, the mobile phone may determine a plurality of candidate roads, candidate areas, and the like on the environment map according to the identified image content, and these candidate roads or candidate areas may provide a candidate for accurately determining the range and the position of the mobile phone. Therefore, the mobile phone does not need to traverse the range and the position of the mobile phone from the complete geomagnetic library of the environment and the scene, and the time for determining the range and the position of the mobile phone can be saved.

S403, the mobile phone acquires a geomagnetic sequence candidate corresponding to the position candidate range from a geomagnetic library of the underground parking lot, matches a target geomagnetic sequence from the geomagnetic sequence candidate by utilizing geomagnetic information acquired in real time, and determines a target range where the mobile phone is located and a target position of the mobile phone in the target range according to the target geomagnetic sequence.

The geomagnetic library of the underground parking garage comprises geomagnetic data in the whole parking garage range, which is acquired in advance. In some embodiments, geomagnetic data for an underground parking garage may be collected in a full range, such that the geomagnetic library covers the underground parking garage in a full range. In other embodiments, geomagnetic data of a partial area such as a road of an underground parking garage may be collected in a small range, so that the geomagnetic library only covers the road of the underground parking garage.

The geomagnetic data in the geomagnetic library may include information such as the intensity of geomagnetism, the position where the geomagnetism is collected, and the like. Geomagnetic data in the geomagnetic library is usually arranged in sequence according to collected positions, and any geomagnetic sequence composed of continuous geomagnetic data in the geomagnetic library can represent a route, a road, an area or the like in any direction in an underground parking garage. When the position and the direction of a certain road in the underground parking garage are determined, the geomagnetic sequence corresponding to the road can be found in the geomagnetic library correspondingly.

In some embodiments, after the mobile phone obtains the position candidate range, the geomagnetic sequence candidate corresponding to the position candidate range may be determined in the geomagnetic library according to the position, the moving direction, and the like of the position candidate range. If there are a plurality of the above-mentioned determined position candidate ranges, there are a plurality of the candidate geomagnetic sequences determined in the geomagnetic library in the mobile phone. The plurality of candidate geomagnetic sequences can provide a preliminary selection range for accurately determining the target range and the target position of the mobile phone. Therefore, the mobile phone does not need to traverse geomagnetic data in a geomagnetic library to be matched with geomagnetic information acquired in real time, and the time for determining the target range is reduced. By way of example, still taking road 1, road 2, road 3 shown in fig. 7 as an example, the positions and directions of road 1, road 2, and road 3 may be determined on the environment map based on the preset length of the candidate road, etc. And according to the positions and directions of the road 1, the road 2 and the road 3, geomagnetic sequences a, b and c respectively corresponding to the road 1, the road 2 and the road 3 are determined in a geomagnetic library shown in fig. 10.

After the candidate geomagnetic sequences corresponding to the candidate road position candidate ranges in the geomagnetic library are determined, the mobile phone sequentially matches each candidate geomagnetic sequence with the geomagnetic information which is actually collected and corresponds to the image content, and a target geomagnetic sequence which is matched with the geomagnetic information which is actually collected is determined from each candidate geomagnetic sequence. In some embodiments, the matching of the actually collected geomagnetic information with the target geomagnetic sequence may indicate that the actually collected geomagnetic information is the same as or similar to the target geomagnetic sequence, and the similarity may indicate that the similarity of the actually collected geomagnetic information with the target geomagnetic sequence is greater than or equal to a preset similarity. For example, the mobile phone matches the actually collected geomagnetic information M with the geomagnetic sequence a, the geomagnetic sequence b, and the geomagnetic sequence c, and if the geomagnetic sequence a is the same as or similar to the geomagnetic information M, the geomagnetic sequence a may be determined as the target geomagnetic sequence.

After determining the target geomagnetic sequence, the mobile phone can determine a target range corresponding to the target geomagnetic sequence. For example, the geomagnetic sequence a is a target geomagnetic sequence, and then the road 1 corresponding to the geomagnetic sequence a is a target range.

In the above embodiment, geomagnetic data in geomagnetic information actually collected by the mobile phone is arranged according to a collection sequence, a moving direction or a collection time. Therefore, the last geomagnetic data in the geomagnetic information actually collected by the mobile phone can represent the current target position of the mobile phone. In some embodiments, since the actually collected geomagnetic information is matched with the target geomagnetic sequence corresponding to the target range, the last geomagnetic data in the target geomagnetic sequence may also represent the current target position of the mobile phone. After the mobile phone determines the target range, the target position of the mobile phone can be determined according to the last geomagnetic data in the geomagnetic information which is actually acquired, and the target position of the mobile phone can also be determined according to the last geomagnetic data in the target geomagnetic sequence.

After the target range and the target position are determined, the mobile phone can determine the position range of the mobile phone according to the target range on the positioning software or the map, then determine the specific position of the mobile phone according to the target position, and then display the specific position of the mobile phone on the positioning software or the map. For example, the mobile phone first determines that the target range is the road 1, so that the target position is the position a indicated by the last geomagnetic information in the geomagnetic sequence corresponding to the road 1. Referring to fig. 11, the mobile phone may display a positioning control or the like at the position a of the road 1, thereby indicating the current position of the mobile phone.

In some embodiments, the mobile phone may further combine the azimuth information of the mobile phone in the candidate location range in the foregoing embodiments to determine the location of the mobile phone in the target range more accurately, for example, whether the mobile phone moves near the right, moves left, moves in the middle, etc. on the target road.

In the geomagnetic positioning process, the method in the embodiment of the application can identify image content in advance according to shot environment images and the like, and then determine a position candidate range for positioning the mobile phone by combining the image content, the moving direction, the environment map and the like. The mobile phone carried by the user can determine a candidate geomagnetic sequence corresponding to the position candidate range in a geomagnetic library corresponding to the current environment, so that interference of a few irrelevant ranges and irrelevant geomagnetic sequences is eliminated, geomagnetic information acquired by the mobile phone in real time is matched with the candidate geomagnetic sequence, a target geomagnetic sequence is determined, and a target range and a target position for positioning the mobile phone are obtained. The positioning mode does not need to determine the target range of the mobile phone by traversing the geomagnetic library, and only needs to determine the target range of the mobile phone according to the candidate geomagnetic sequence, so that geomagnetic positioning time is shortened, and geomagnetic positioning efficiency is improved. In addition, influence of a plurality of irrelevant ranges and irrelevant geomagnetic sequences is eliminated, and the positioning accuracy of the mobile phone can be improved.

In addition, by adopting the geomagnetic positioning method in the embodiment of the application, bluetooth, WIFI and other devices are not required to be additionally installed in the scene and environment where the target object such as a vehicle is located, so that geomagnetic positioning cost is greatly reduced. In addition, the mobile phone does not need to be provided with a visual feature library and the like, a technician does not need to maintain the visual feature library regularly, the labor investment can be reduced, and the updating and maintenance cost of the visual feature library can be reduced.

In some embodiments, after S403, the user may continue to carry the electronic device such as a mobile phone to find a vehicle, and in the process of continuing to move, the electronic device may stop capturing the environmental image. Since the electronic device has displayed its own position in S403, the user can learn the relative position between himself and the vehicle from the displayed position of the electronic device and the position of the vehicle to find the vehicle even if the electronic device does not continue photographing any more in the course of seeking and moving thereafter.

Or in some other embodiments, after S403, in the case where the electronic device such as a mobile phone has displayed its own position, the electronic device may still capture an environmental image during the movement while the user continues to find the vehicle, and continue to locate the position of the electronic device during the movement with reference to the content in the foregoing embodiments. For example, referring to fig. 12, after S403, the mobile phone displays on the map that the user is at the position a, and the user can view the position where the vehicle is parked and the position where the user is located at the same time. And then, the user continuously moves towards the direction of parking the vehicle, in the moving process, the mobile phone continuously acquires an environment image, and uses geomagnetic library matching and the like to determine the position of the mobile phone in the moving process, and the position of the mobile phone is updated on a map, so that a positioning control corresponding to the mobile phone is positioned at a position B, a position C, a position D and the like. Position B is closer to the vehicle-parked position than position a, position C is closer to the vehicle-parked position than position B, and position D is closer to the vehicle-parked position than position C. By continuously displaying the position of the mobile phone, the user can know the distance and the relative position between the user and the vehicle, so that the vehicle can be found more quickly and accurately.

In some embodiments, after displaying the position of the user, the electronic device such as a mobile phone may further determine a path between the electronic device and the target object (e.g. the target vehicle) on the environment map, and display the path, so as to guide the user to more quickly and accurately find the target object according to the displayed path.

In some embodiments, before the electronic device such as the mobile phone collects the environmental image by using the camera (such as a rear camera), it is further required to determine whether the positioning software or the map for geomagnetic positioning obtains the user permission, that is, whether the user allows the current positioning software or the map to use the camera. If the user allows the camera to be used, the electronic device can directly use the camera after the geomagnetic positioning function is started. If the user does not allow the camera to be used, the electronic device cannot use the camera after the geomagnetic positioning function is started, and the geomagnetic positioning process can only be performed by collecting geomagnetic sequences in the moving process. For example, referring to fig. 13, after the geomagnetic positioning is turned on, the mobile phone may perform the following steps S1301 to S1306. In S1301, the mobile phone determines whether the camera is turned on. In S1302, if the camera is turned on, the mobile phone photographs an environmental image during movement through the camera. In S1303, the mobile phone recognizes image content in the environment image, and determines the azimuth information of the mobile phone on the road, such as left, center, right, etc., according to the image content. In S1304, the mobile phone determines a moving direction of the mobile phone through a compass, and determines a candidate road in combination with a map of the underground parking garage. In S1305, the mobile phone matches in the geomagnetic library corresponding to the underground parking garage by using the candidate road, the azimuth information of the user on the road, the geomagnetic information acquired in real time, and the like, and determines the target road and the target position of the mobile phone on the map.

In addition, if the camera of the mobile phone is not turned on, in S1306, the mobile phone may also display a prompt message for turning on the camera, so as to remind the user to turn on the camera. For example, referring to fig. 14, the prompt message displayed by the mobile phone may be "positioning, you can turn on the camera", etc. If the user wants to turn on the camera, the yes control can be selected by clicking, touching, etc. to control the camera to turn on, after which the mobile phone can continue to execute S1302. If the user does not start the camera after watching the prompt, in S1307, the mobile phone needs to match the geomagnetic sequence of the underground parking garage with the acquired geomagnetic information in the moving process.

In the above embodiment, the electronic device may identify the image content by using the collected environmental image under the condition of starting the camera, initially determine the location candidate range of the electronic device according to the image content, the environmental map, the moving direction, and the like, and then match the location candidate range with the target range according to the geomagnetic library of the environment in which the electronic device is located, and determine the location of the electronic device in the target range. In addition, the electronic equipment can also perform geomagnetic positioning through collecting geomagnetic information in the moving process under the condition that the camera is not started. Therefore, various geomagnetic positioning modes can be provided in the embodiment of the application, so that the geomagnetic positioning modes are more flexible.

Taking the mobile phone as an example, a user may shield a camera of the mobile phone due to improper operation and unequal posture in the process of holding the mobile phone for moving, so that the feature content in the shot environment image is less; or the shooting angle of the camera is not aligned with the road, so that the shot environment image has fewer characteristic contents, and the like. Under the condition, the mobile phone can prompt the user to adjust the shooting angle, so that the camera can shoot a complete road image.

Or even if the user does not adjust the shooting angle of the camera, under the condition that the characteristic content included in the current shot environment image is less, the image content identified according to the environment image can be combined with geomagnetic information, geomagnetic library and the like acquired in real time to perform geomagnetic positioning. For example, if the environment image shot by the camera does not include the feature content such as the building and the sign, and only includes the feature content such as the road and the vehicle, the mobile phone can recognize the vehicle information by recognizing the environment image, so that the mobile phone can be determined to move on the side close to the vehicle on the road. For example, referring to fig. 15, when a row of vehicles is parked on the right side of a road in an environment image photographed by a mobile phone, it may be determined that the mobile phone is moving on the right side of the current road after identifying vehicle information. And then combining the moving direction determined by the mobile phone and the like, and determining some position candidate ranges on the map of the underground parking garage. Then, the mobile phone refers to the content in the foregoing embodiment, and performs geomagnetic positioning by using geomagnetic information, a position candidate range, a geomagnetic library, and the like acquired in real time.

Therefore, in the geomagnetic positioning method in the embodiment of the application, when the camera of the electronic equipment is blocked or the shooting angle of the camera is not aligned to the road, the image content of the environment image shot by the camera can be identified. The method can flexibly identify image contents according to the actually shot images, and can also determine candidate ranges of the positions of the electronic equipment according to the image contents, and can also exclude interference of some irrelevant ranges, so that geomagnetic positioning time is reduced, and geomagnetic positioning efficiency is improved.

In some embodiments, if a camera of an electronic device directly captures a parking space number, an elevator entrance, etc. of a parking space near the electronic device in an underground parking garage or the like. The electronic equipment can also directly determine the current position of the electronic equipment according to the parking space number, the position of the elevator and the like, so that the geomagnetic positioning process is completed. Then, in the moving process, if the electronic equipment can continuously shoot the parking space number, the elevator opening and the like, the electronic equipment can still continuously position the electronic equipment according to the parking space number, the elevator position and the like.

If the electronic device cannot continuously shoot the parking space number, the elevator entrance and the like in the subsequent moving process, the electronic device can refer to the mode in the embodiment to perform image content identification through the shot environment image and acquire geomagnetic information in the moving process in real time. And continuing to position the electronic equipment according to the recognized image content, the detected moving direction of the electronic equipment, the map of the underground parking garage, the geomagnetic information acquired in real time, the geomagnetic library and the like.

In the case of actually performing geomagnetic positioning, positioning is not successful every time. In some embodiments, geomagnetic positioning failure may occur if the current environmental geomagnetic library does not cover the location where the electronic equipment is moving, or if the user is operating improperly during positioning, etc.

The current situation that the environmental geomagnetic library does not cover the moving position of the electronic device may be referred to as a geomagnetic uncovered situation, that is, when geomagnetic library is built by collecting geomagnetic data in a parking area in advance, the geomagnetic library is not collected comprehensively, for example, geomagnetic data of a parking space is not collected, geomagnetic data of a non-main road is not collected, geomagnetic data of an elevator hoistway is not collected, and the like. Under the situation, if the electronic equipment moves to the geomagnetic uncovered area during positioning, even if the electronic equipment can acquire geomagnetic information of the current position in real time, the geomagnetic data of the positions are not stored in the geomagnetic library, so that matching can not be performed in the geomagnetic library by utilizing the geomagnetic information acquired in real time, and the target range and the position of the electronic equipment can not be acquired. Resulting in a geomagnetic positioning failure.

For example, referring to fig. 16, when a geomagnetic library of an underground parking garage is constructed, only geomagnetic data (e.g., road 1, road 2, road 3, etc.) on a main road is collected, and then the range of the underground parking garage covered by the geomagnetic library includes only the range of the main road. When the underground parking garage performs geomagnetic positioning, if the electronic equipment moves on a non-main road (for example, road 4) all the time, the geomagnetic positioning failure occurs at this time.

The user may indicate that the user reciprocates on the road with the electronic device instead of moving unidirectionally in one direction when he or she is operating improperly in geomagnetic positioning. In this case, since the user reciprocates on the road, the electronic device repeatedly collects a plurality of repeated geomagnetic data, and matches the structure of the geomagnetic data, which is sorted in the time sequence of collection, as geomagnetic information in the geomagnetic library. The electronic device does not distinguish the repeated geomagnetic data in the geomagnetic information, so that the geomagnetic information acquired in real time cannot represent the actual moving direction or moving position of the electronic device, the matching cannot be performed in a geomagnetic library, and the target range and the position of the electronic device cannot be acquired. Resulting in a geomagnetic positioning failure.

For example, in geomagnetic positioning, when the user moves around a section of road 1 with the electronic device and does not move unidirectionally along road 1, there is a case that geomagnetic positioning fails.

If geomagnetic positioning fails, a user cannot know the relative positions of the user and a parked vehicle and other target objects, and the target objects cannot be found more quickly and conveniently.

Based on the above, in order to reduce the failure of geomagnetic positioning, in some embodiments, the electronic device may display the prompt information of geomagnetic positioning for the user when geomagnetic positioning starts or after the geomagnetic positioning fails (for example, the geomagnetic positioning does not match the target range, etc.), so that the user performs geomagnetic positioning or performs geomagnetic positioning again according to guidance, indication, etc. of the prompt information, and the success rate and accuracy of geomagnetic positioning are improved. For example, prompting the user to move the portable electronic device to the geomagnetic coverage area, prompting the user to control the unidirectional movement of the electronic device (i.e., prompting the user to move the portable electronic device in one direction), prompting the user to control the unidirectional movement of the electronic device in the geomagnetic coverage area (i.e., prompting the user to move the portable electronic device in one direction in the geomagnetic coverage area), and the like.

For example, referring to fig. 17, when geomagnetic positioning starts, the mobile phone may display a first positioning prompt message of "positioning is being performed, please walk straight forward on the arterial road", where the first positioning prompt message may prompt the user to control the mobile phone to move in a single line in the geomagnetic coverage area, the arterial road indicates the geomagnetic coverage area, and the unidirectional movement may be straight walking or the like. Or, when the geomagnetic positioning fails, the mobile phone can display a first positioning prompt message of 'positioning is being performed, please walk forward in a straight line on a main road'. If the user sees the prompt information and then moves on the main road in a one-way according to the prompt content, so that the mobile phone is controlled to move on the main road in a one-way, the mobile phone can acquire the corresponding geomagnetic information again, and as the mobile phone moves in a one-way, no repeated data exists in the geomagnetic information, the mobile phone can be matched in a geomagnetic library based on the environment image acquired again when moving on the main road, the moving direction and the acquired geomagnetic information again, and the target range is acquired again according to the content of the embodiment, so that the more accurate target range is obtained, and the positioning of the mobile phone is more accurate.

For further example, referring to fig. 18, when geomagnetic positioning starts, the mobile phone may display a prompt message of "turn on the camera to perform visual guidance positioning", and simultaneously may display "yes" and "no" controls, and when the user selects the "yes" control through clicking, touching, etc., the mobile phone turns on the camera to shoot an environmental image in the moving process, and identifies the image content in the environmental image, and determines whether the mobile phone moves in the geomagnetic covered area or the geomagnetic uncovered area according to the image content.

For example, referring to fig. 19, after the camera of the mobile phone is turned on, the mobile phone may display the captured environmental image, and when the image content of the environmental image is identified as the main road, the mobile phone may continuously display the straight guidance such as arrow, the unidirectional movement guidance, and the like on the image of the main road, and display the second positioning prompt information such as "straight along arrow to avoid turning around. The second positioning prompt information may be information for reminding the user to control the mobile phone to move unidirectionally when the mobile phone is in the geomagnetic coverage area, and the unidirectionally moving mode may be straight walking or the like. The user can operate according to the second positioning prompt information and go straight on the main road, so that the mobile phone is controlled to move straight on the main road, the mobile phone can acquire the corresponding geomagnetic information again, the environment image and the moving direction acquired again when the mobile phone moves on the main road are matched with the acquired geomagnetic information in the geomagnetic library, the target range is acquired again according to the content of the embodiment, and therefore the more accurate target range is obtained, and the positioning of the mobile phone is more accurate.

For another example, referring to fig. 20, if the mobile phone recognizes that the image content of the environmental image is a parking space, but does not capture a parking space number, the mobile phone may display a third positioning prompt message, such as "non-geomagnetic coverage area, please move to arterial road" on the current image. The third positioning prompt information can remind the user to control the mobile phone to move to the geomagnetic coverage area under the condition that the mobile phone is in the geomagnetic uncovered area, the parking space indicates that the geomagnetic coverage area is not covered, and the main road indicates that the geomagnetic coverage area. The user can operate according to the third positioning prompt information, and move to the geomagnetic coverage area (such as a trunk road and the like) first, so that the mobile phone is controlled to move to the geomagnetic coverage area first. And simultaneously, the mobile phone continuously shoots an environment image, and after the mobile phone is determined to be in a geomagnetic coverage area according to the identified image content, the mobile phone displays the second positioning prompt information. The user can operate according to the second positioning prompt information and go straight on the main road, so that the mobile phone is controlled to continue to move straight on the main road, the mobile phone can acquire corresponding geomagnetic information again, the environment image and the moving direction acquired again when the mobile phone moves on the main road are matched with the acquired geomagnetic information in the geomagnetic library, the target range is acquired again according to the content of the embodiment, and therefore the more accurate target range is obtained, and the positioning of the mobile phone is more accurate.

Or, when the geomagnetic positioning fails, the mobile phone may display the prompt information shown in fig. 18, so as to prompt the user to start the visual guide, and move unidirectionally in the geomagnetic coverage area according to the visual guide, and re-perform the geomagnetic positioning. And after the visual guide is started, the mobile phone can display the image and the prompt information shown in fig. 19 or 20. Thus, the success rate of geomagnetic positioning is improved.

In the above embodiment of the present application, when a user starts to search for a target object such as a vehicle, an electronic device may be used to collect an environmental image when the user searches for the target object, and perform image content identification on the environmental image. And combining the identified image content, geomagnetic information acquired by the electronic equipment in real time, a map of the environment where the electronic equipment is located, a moving direction detected by the electronic equipment and the like, and rapidly providing a candidate range for determining the position where the electronic equipment is located. In this way, disturbances of some irrelevant extent can be excluded.

And then determining a candidate geomagnetic sequence corresponding to the position candidate range from an environment geomagnetic library, and matching geomagnetic information acquired in real time with the candidate geomagnetic sequence, so as to determine a target geomagnetic sequence from the candidate geomagnetic sequence. The position candidate range corresponding to the target geomagnetic sequence is the target range. Therefore, the target range of the electronic equipment is determined without adopting a geomagnetic sequence traversing mode in a geomagnetic library, geomagnetic positioning time is reduced, and geomagnetic positioning efficiency is improved. In addition, the influence of a plurality of irrelevant positioning ranges is eliminated, and the accuracy of the position positioning can be improved.

It will be appreciated that in order to achieve the above-described functionality, the electronic device comprises corresponding hardware and/or software modules that perform the respective functionality. The steps of an algorithm for each example described in connection with the embodiments disclosed herein may be embodied in hardware or a combination of hardware and computer software. Whether a function is implemented as hardware or computer software driven hardware depends upon the particular application and design constraints imposed on the solution. Those skilled in the art may implement the described functionality using different approaches for each particular application in conjunction with the embodiments, but such implementation is not to be considered as outside the scope of this application.

The present embodiment may divide the functional modules of the electronic device according to the above method example, for example, each functional module may be divided corresponding to each function, or two or more functions may be integrated into one processing module. The integrated modules described above may be implemented in hardware. It should be noted that, in this embodiment, the division of the modules is schematic, only one logic function is divided, and another division manner may be implemented in actual implementation.

Embodiments of the present application also provide an electronic device, as shown in fig. 21, which may include one or more processors 1001, memory 1002, and a communication interface 1003.

Wherein a memory 1002, a communication interface 1003, and a processor 1001 are coupled. For example, the memory 1002, the communication interface 1003, and the processor 1001 may be coupled together by a bus 1004.

Wherein the communication interface 1003 is used for data transmission with other devices. The memory 1002 has stored therein computer program code. The computer program code comprises computer instructions which, when executed by the processor 1001, cause the electronic device to perform the method of geomagnetic positioning in embodiments of the present application.

The processor 1001 may be a processor or a controller, for example, a central processing unit (Central Processing Unit, CPU), a general purpose processor, a digital signal processor (Digital Signal Processor, DSP), an Application-specific integrated circuit (ASIC), a field programmable gate array (Field Programmable Gate Array, FPGA) or other programmable logic device, a transistor logic device, a hardware component, or any combination thereof. Which may implement or perform the various exemplary logic blocks, modules, and circuits described in connection with this disclosure. The processor may also be a combination that performs the function of a computation, e.g., a combination comprising one or more microprocessors, a combination of a DSP and a microprocessor, and the like.

The bus 1004 may be a peripheral component interconnect standard (Peripheral Component Interconnect, PCI) bus, an extended industry standard architecture (Extended Industry Standard Architecture, EISA) bus, or the like. The bus 1004 may be classified into an address bus, a data bus, a control bus, and the like. For ease of illustration, only one thick line is shown in fig. 21, but not only one bus or one type of bus.

The present application also provides a computer readable storage medium having stored therein computer program code which, when executed by the above processor, causes an electronic device to perform the relevant method steps of the method embodiments described above.

The present application also provides a computer program product which, when run on a computer, causes the computer to perform the relevant method steps of the method embodiments described above.

The electronic device, the computer storage medium or the computer program product provided in the present application are configured to perform the corresponding methods provided above, and therefore, the advantages achieved by the electronic device, the computer storage medium or the computer program product may refer to the advantages of the corresponding methods provided above, which are not described herein.

It will be apparent to those skilled in the art from this description that, for convenience and brevity of description, only the above-described division of the functional modules is illustrated, and in practical application, the above-described functional allocation may be performed by different functional modules according to needs, i.e. the internal structure of the apparatus is divided into different functional modules to perform all or part of the functions described above.

In the several embodiments provided in this application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the modules or units is merely a logical functional division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another apparatus, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.

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

In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.

The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a readable storage medium. Based on such understanding, the technical solution of the embodiments of the present application may be essentially or contributing part or all or part of the technical solution may be embodied in the form of a software product stored in a storage medium, where the software product includes several instructions for causing a device (may be a single-chip microcomputer, a chip or the like) or a processor (processor) to perform all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read Only Memory (ROM), a random access memory (random access memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.

The foregoing is merely a specific embodiment of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions within the technical scope of the present disclosure should be covered in the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A method of geomagnetic positioning, characterized by being applied to an electronic apparatus, the method comprising:

in the moving process of the electronic equipment, acquiring an environment image and acquiring geomagnetic information in the moving process;

identifying image content from the ambient image;

acquiring at least one position candidate range for positioning the electronic equipment according to the image content in an environment map of the environment;

acquiring a target range according to the at least one position candidate range, the geomagnetic information and an environmental geomagnetic library of the environment; the at least one location candidate range includes the target range; the environment geomagnetic library comprises geomagnetic data at different positions in the environment;

and determining the current position of the electronic equipment in the target range according to the geomagnetic information, and displaying the current position of the electronic equipment.

2. The method according to claim 1, wherein the method further comprises:

acquiring the moving direction of the electronic equipment in the moving process of the electronic equipment;

and acquiring at least one position candidate range for positioning the electronic equipment according to the image content in an environment map of the environment, wherein the position candidate range comprises:

and acquiring the at least one position candidate range in the environment map according to the image content and the moving direction.

3. The method of claim 1, wherein the obtaining the target range from the at least one location candidate range, the geomagnetic information, and an environmental geomagnetic library of the environment comprises:

acquiring a geomagnetic candidate sequence corresponding to the at least one position candidate range from the environmental geomagnetic library;

and determining a target geomagnetic sequence matched with the geomagnetic information in at least one geomagnetic sequence candidate, wherein a position candidate range corresponding to the target geomagnetic sequence candidate is a target range.

4. A method according to any one of claims 1-3, wherein said determining the current location of the electronic device in the target range based on the geomagnetic information comprises:

Acquiring azimuth information of the electronic equipment on the candidate road according to the image content; the azimuth information indicates that the electronic device is on the right, middle or left side of the candidate road;

and determining the current position of the electronic equipment in the target range according to the geomagnetic data and the azimuth information which are finally acquired and obtained in the geomagnetic information.

5. The method according to any one of claims 1-4, further comprising:

displaying first positioning prompt information under the condition that the target range is not acquired; the first positioning prompt information is information for prompting a user to control the electronic equipment to move unidirectionally in a geomagnetic coverage area; the geomagnetic coverage area represents an area where geomagnetic data acquisition is performed in an environment where the electronic equipment is located;

and acquiring the position candidate range and the target range again in response to the operation of the electronic equipment moving in the geomagnetic coverage area.

6. The method according to any one of claims 1-4, further comprising:

under the condition that the target range is not acquired, determining whether the electronic equipment is in a geomagnetic coverage area or not according to the environment image; the geomagnetic coverage area represents an area where geomagnetic data acquisition is performed in an environment where the electronic equipment is located;

If the electronic equipment is in the geomagnetic coverage area, displaying second positioning prompt information; the second positioning prompt information is information for prompting a user to control the electronic equipment to move unidirectionally;

and acquiring a position candidate range and a target range again in response to the operation of the electronic equipment moving in the geomagnetic coverage area.

7. The method of claim 6, wherein the method further comprises:

if the electronic equipment is in the geomagnetic uncovered area, displaying third positioning prompt information; the third positioning prompt information is information for prompting a user to control the electronic equipment to move to a geomagnetic coverage area; the geomagnetic uncovered area represents an area where geomagnetic data acquisition is not performed in the environment where the electronic equipment is located;

acquiring an environment image again in response to the operation of the movement of the electronic equipment;

if the electronic equipment is determined to be in the geomagnetic coverage area according to the acquired environmental image, displaying the second positioning prompt information;

8. The method of any of claims 5-7, wherein the reacquiring the location candidate range and the target range comprises:

Acquiring an environment image again, acquiring geomagnetic information in the moving process, and identifying image content from the acquired environment image again;

acquiring at least one position candidate range for positioning the electronic equipment again in the environment map according to the image content;

and acquiring a target range according to the at least one position candidate range acquired again, the geomagnetic information acquired again and the environmental geomagnetic library.

9. The method of any one of claims 1-8, wherein the acquiring the environmental image comprises:

under the condition that a camera is started, acquiring the environment image through the camera;

displaying prompt information for prompting a user to start the camera under the condition that the camera is not started;

and responding to the operation of the user on the camera, starting the camera and collecting the environment image through the camera.

10. The method according to any one of claims 5-8, further comprising:

and determining that the target range is not acquired under the condition that the electronic equipment is in a geomagnetic uncovered area and/or the electronic equipment reciprocates in the environment.

11. The method of any of claims 1-10, wherein the displaying the current location of the electronic device further comprises:

displaying the relative position between the electronic equipment and the target object sought by the user; or displaying a path between the electronic equipment and the target object sought by the user.

12. The method of any one of claims 1-11, wherein the environment in which the electronic device is located is an underground parking garage and the target object sought by the user is a parked vehicle.

13. The method of any of claims 1-12, wherein the at least one location candidate range comprises at least one candidate road on the environmental map.

14. The method of any one of claims 1-13, wherein the image content includes lane information, identification information, vehicle information, and building information in an environment in which the electronic device is located.

15. An electronic device comprising a memory, one or more processors; the memory is coupled with the processor; wherein the memory has stored therein computer program code for execution by the processor;

The processor is configured to:

identifying image content from the ambient image;

16. The electronic device of claim 15, wherein the processor is further configured to:

and the processor is configured to obtain at least one location candidate range for locating the electronic device according to the image content in an environment map of the environment, comprising:

17. The electronic device of claim 15, wherein the processor is configured to obtain a target range from the at least one location candidate range, the geomagnetic information, and an environmental geomagnetic library of an environment in which the target range is located, comprising:

18. The electronic device of any of claims 15-17, wherein the processor is configured to determine a current location of the electronic device in the target range based on the geomagnetic information, comprising:

19. The electronic device of any one of claims 15-18, wherein the processor is further configured to:

20. The electronic device of any one of claims 15-18, wherein the processor is further configured to:

21. The electronic device of claim 20, wherein the processor is further configured to:

22. The electronic device of any of claims 19-21, wherein the processor is configured to re-acquire a location candidate range and a target range, comprising:

23. The electronic device of any one of claims 15-22, wherein the processor is configured to acquire an environmental image, comprising:

24. The electronic device of any one of claims 19-22, wherein the processor is further configured to:

25. The electronic device of any one of claims 15-24, wherein the processor is configured to display a current location of the electronic device, further comprising:

26. The electronic device of any one of claims 15-25, wherein the environment in which the electronic device is located is an underground parking garage and the target object sought by the user is a parked vehicle.

27. The electronic device of any of claims 15-26, wherein the at least one location candidate range comprises at least one candidate road on the environment map.

28. The electronic device of any one of claims 15-27, wherein the image content includes lane information, identification information, vehicle information, and building information in an environment in which the electronic device is located.

29. A computer readable storage medium having instructions stored therein which, when executed on a computer, cause the computer to perform a method of geomagnetic positioning as claimed in any of claims 1 to 14.