WO2015096717A1

WO2015096717A1 - Positioning method and device

Info

Publication number: WO2015096717A1
Application number: PCT/CN2014/094741
Authority: WO
Inventors: 周海军; 刘刚; 邓猛
Original assignee: 电信科学技术研究院; 北京大唐高鸿数据网络技术有限公司
Priority date: 2013-12-26
Filing date: 2014-12-24
Publication date: 2015-07-02
Also published as: TW201525512A; CN104748736A; TWI563281B

Abstract

A positioning method and device. The method comprises: recognizing a positioning identifier in an image which is acquired in real time (100); according to a recognition result of the positioning identifier, determining a position of a mobile terminal relative to the positioning identifier (110); acquiring a geographical position of the positioning identifier (120); and according to the geographical position of the positioning identifier and the position of the mobile terminal relative to the positioning identifier, determining a current geographical position of the mobile terminal (130). When a GPS positioning system cannot be used, the mobile terminal can be positioned using the method. Since the positioning identifier is pre-set, an accurate position of the positioning identifier can be acquired, while an error of the position of the mobile terminal relative to the positioning identifier, which is obtained through calculation, is far less than a navigation deviation of the GPS positioning system. Therefore, the accuracy of the geographical position of the mobile terminal determined via the method is far higher than the accuracy of positioning by the GPS positioning system.

Description

Positioning method and device

The present application claims priority to Chinese Patent Application No. 2013-1074070, filed on Dec. 26, 2013, the entire disclosure of which is hereby incorporated by reference.

Technical field

The present invention relates to the field of positioning technologies, and in particular, to a positioning method and apparatus.

Background technique

At present, the positioning system is mainly implemented by a Global Positioning System (GPS) positioning system. However, the positioning accuracy of the GPS positioning system is low, and the horizontal positioning accuracy is usually 10 meters (m), so the lane cannot be distinguished. In traffic navigation, if the lane cannot be distinguished, it may be misleading. For example, the correct navigation route is merged into the main road from the auxiliary road, but it is misleading due to misjudgment of the main road and the auxiliary road. In applications where vehicle safety information is issued, safety-related information such as collision warnings may be missed or misidentified if the lane cannot be distinguished.

In addition, in places where GPS signals such as tunnels and underground parking lots are weak, GPS positioning systems cannot be used for positioning.

Summary of the invention

It is an object of the present invention to provide a positioning method and apparatus for solving the problem of positioning when the GPS positioning system is not available and the positioning accuracy of the GPS positioning system is low.

The object of the invention is achieved by the following technical solutions:

A positioning method comprising:

Identifying the location identifier in the image acquired in real time;

Determining a relative position of the mobile terminal and the positioning identifier;

Get the geographic location of the location identifier;

Determining a current geographic location of the mobile terminal according to a geographic location of the location identifier and a relative location of the mobile terminal and the location identifier.

When the GPS positioning system is not available (for example, the GPS signal is weak or no GPS signal), the positioning of the mobile terminal can be implemented by using the method provided by the embodiment of the present invention. In addition, the method provided by the embodiment of the present invention acquires an image in real time during the moving process, and detects the positioning identifier by using an image recognition technology. The current geographic location of the mobile terminal can be determined by using the geographical location of the location identifier and the relative location of the mobile terminal and the location identifier. Since the positioning identifier is preset, the precise position of the positioning identifier can be obtained, and the error of the relative position of the mobile terminal and the positioning identifier calculated by the calculation is far less than the navigation deviation of the GPS positioning system. Therefore, the geographic location accuracy of the mobile terminal determined by the method provided by the embodiment of the present invention is much higher than the positioning accuracy by the GPS positioning system.

Preferably, the location identifier can be identified in an image acquired by the image acquisition device of the mobile terminal in real time.

Preferably, the relative position of the mobile terminal and the positioning identifier may be determined according to the size information of the positioning identifier in the image and the actual size information of the positioning identifier.

Preferably, the actual size information of the location identifier is obtained from the network side, or may be preset in the mobile terminal, or may be preset in the apparatus for performing positioning by using the method provided by the embodiment of the present invention, etc. Wait.

Preferably, the obtaining the location of the location identifier may be: determining the estimated location of the location identifier according to the relative location of the mobile terminal and the current location of the mobile terminal; The geographic location of the location identifier from the nearest location identifier is estimated as the geographic location of the location identifier. The current rough geographic location of the mobile terminal is determined by a dead reckoning algorithm or a satellite positioning method.

Preferably, the realizing the geographic location of the location identifier closest to the estimated location as the geographic location of the location identifier may be, but is not limited to:

Finding a geographical location of the location identifier closest to the estimated location in the electronic map installed by the mobile terminal as the geographic location of the location identifier; or

And reporting, to the network side, the estimated location of the location identifier, so that the network side searches for a geographic location of the location identifier that is closest to the estimated location; and receives the geographic location of the location identifier that is found by the network side, and receives the received location The geographic location is the geographic location of the location identifier.

Further, the current rough geographic location of the mobile terminal may be determined according to the initial location of the mobile terminal by using a dead reckoning algorithm. The current rough geographic location of the mobile terminal may also be determined according to the initial location of the mobile terminal by satellite positioning.

Specifically, the initial position of the mobile terminal may be determined by a satellite positioning method; or, the reference coordinate position is read from the electronic map installed by the mobile terminal as an initial position of the mobile terminal; or the reference coordinate position is obtained from the broadcast message as the Or initial location of the mobile terminal; or obtaining a geographical location of the identified another location identifier, determining a relative location of the mobile terminal and the another location identifier, according to the geographic location of the another location identifier and the another location identifier The relative position of the mobile terminal is determined.

Preferably, the positioning identifier is a "ten" graphic; or the positioning identifier is an arrow graphic; or the positioning identifier is a bull's eye graphic.

Based on any of the foregoing method embodiments, preferably, in the actually deployed positioning identifier, the distance between the two positioning identifiers in the moving direction is greater than 2 times the initial positioning error.

Based on the same inventive concept as the method, the embodiment of the present invention further provides a positioning device, including:

a positioning identifier recognition module, configured to identify a positioning identifier in an image acquired in real time;

a relative position determining module, configured to determine a relative position of the mobile terminal and the positioning identifier;

a location identifier location determining module, configured to obtain a geographic location of the location identifier;

The mobile terminal location determining module is configured to determine a current geographic location of the mobile terminal according to the geographic location of the location identifier and a relative location of the mobile terminal and the location identifier.

When the GPS positioning system is not available (for example, the GPS signal is weak or no GPS signal), the device provided by the embodiment of the present invention can implement the positioning of the mobile terminal. In addition, the device provided by the embodiment of the present invention acquires an image in real time during the moving process, and detects the positioning identifier by using an image recognition technology. The current geographic location of the mobile terminal can be determined by using the geographical location of the location identifier and the relative location of the mobile terminal and the location identifier. Since the positioning identifier is preset, the precise position of the positioning identifier can be obtained, and the error of the relative position of the mobile terminal and the positioning identifier calculated by the calculation is far less than the navigation deviation of the GPS positioning system. Therefore, the geographic location accuracy of the mobile terminal determined by the apparatus provided by the embodiment of the present invention is much higher than the positioning accuracy by the GPS positioning system.

Preferably, the location identifier identification module is specifically configured to: identify the location identifier in an image acquired by the image acquisition device of the mobile terminal in real time.

Preferably, the relative position determining module is specifically configured to: determine a relative position of the mobile terminal and the positioning identifier according to the size information of the positioning identifier in the image and the actual size information of the positioning identifier.

Preferably, the actual size information of the location identifier is obtained from the network side, or the actual size information of the location identifier is preset in the mobile terminal or the device.

Preferably, the location identifier location determining module is configured to: determine an estimated location of the location identifier according to a relative location of the mobile terminal and the location identifier, and a current rough geographic location of the mobile terminal; and obtain a distance from the estimated location. The geographic location of the location identifier is the geographic location of the location identifier. The current rough geographic location of the mobile terminal is determined by a dead reckoning algorithm or a satellite positioning method.

Preferably, when the geographic location of the location identifier closest to the estimated location distance is obtained as the geographic location of the location identifier, the location identifier location determining module is specifically configured to:

Finding a geographical location of the location identifier closest to the estimated location in the electronic map installed by the mobile terminal as the geographical location of the location identifier; or

Evaluating the estimated location of the location identifier to the network side, so that the network side searches for the geographic location of the location identifier closest to the estimated location; receives the geographic location of the location identifier found by the network side, and uses the received geographic location as the location The geographic location of the location identifier.

Preferably, the mobile terminal location determining module is further configured to: determine, according to the initial location of the mobile terminal, a current rough geographic location of the mobile terminal by using a dead reckoning algorithm; or, according to the satellite positioning method, according to the initial of the mobile terminal Location, determining the current rough geographic location of the mobile terminal.

Preferably, the method further includes: an initial location determining module, configured to: determine an initial location of the mobile terminal by using a satellite positioning method; or read a reference coordinate location from an electronic map installed by the mobile terminal as an initial location of the mobile terminal; or Obtaining a reference coordinate position from the broadcast message as an initial location of the mobile terminal; or acquiring a geographical location of the identified another location identifier, determining a relative location of the mobile terminal and the another location identifier, according to the another location identifier The geographic location and the relative location to the other location identifier determine the initial location of the mobile terminal.

Based on any of the foregoing device embodiments, preferably, the positioning identifier is a “ten” graphic; or the positioning identifier is an arrow. Head graphic; or, the positioning is a bull's eye graphic.

Based on any of the foregoing device embodiments, preferably, in the actually deployed positioning identifier, the distance between the two positioning identifiers in the moving direction is greater than 2 times the initial positioning error.

Based on the same inventive concept as the method, the embodiment of the present invention further provides a positioning apparatus, including a data transmission interface and a processor. The data transmission interface is configured to: receive an image acquired in real time by an image acquisition device mounted on the mobile terminal. The processor is configured to: identify a location identifier in an image acquired in real time; determine a relative location of the mobile terminal and the location identifier; obtain a geographic location of the location identifier; and determine a geographic location according to the location identifier and the mobile terminal and the location The relative location of the identity determines the current geographic location of the mobile terminal.

a data transmission interface, configured to receive an image acquired in real time by an image acquisition device mounted on the mobile terminal;

a processor, configured to identify a location identifier in an image acquired by the data transmission interface in real time, determine a relative location of the mobile terminal and the location identifier, obtain a geographic location of the location identifier, and perform a geographic location according to the location identifier And determining a current geographic location of the mobile terminal by using a location and a relative location of the mobile terminal and the location identifier.

Preferably, the processor is specifically configured to:

And determining a relative position of the mobile terminal and the positioning identifier according to the size information of the positioning identifier in the image and the actual size information of the positioning identifier.

Preferably, the processor is specifically configured to:

Determining an estimated location of the location identifier according to a relative location of the mobile terminal and the location identifier, and a current rough geographic location of the mobile terminal, where the current rough location of the mobile terminal is by a dead reckoning algorithm or Determined by satellite positioning method;

Obtaining a geographical location of the location identifier closest to the estimated location as the geographic location of the location identifier.

DRAWINGS

FIG. 1 is a flowchart of a method according to an embodiment of the present invention;

2A-2C are schematic diagrams of positioning identifiers according to an embodiment of the present invention;

3 is a schematic diagram of imaging of an image acquisition device according to an embodiment of the present invention;

4 is a schematic diagram of relative position calculation in an embodiment of the present invention;

FIG. 5 is a schematic diagram of distribution of positioning identifiers according to an embodiment of the present disclosure;

FIG. 6 is a schematic diagram of a device according to an embodiment of the present invention;

FIG. 7 is a schematic diagram of another apparatus according to an embodiment of the present invention.

detailed description

The technical solutions provided by the embodiments of the present invention are described in detail below with reference to the accompanying drawings.

As shown in FIG. 1 , a positioning method provided by the embodiment of the present invention specifically includes the following operations:

Step 100: Identify a positioning identifier in an image acquired in real time.

In the embodiment of the present invention, the mobile terminal may be, but is not limited to, an in-vehicle module, a navigation device, a smart phone, a palmtop computer, or the like on a vehicle such as a vehicle.

Preferably, the image acquired in real time may be a photo image or a video image of a video acquired in real time.

Preferably, the image is acquired by an image acquisition device on the mobile terminal. The positioning identifier is set within the moving range of the mobile terminal so as to be acquired by the image capturing device of the mobile terminal. Taking the mobile terminal on the land as an example, the positioning marker can be drawn on the road surface, the signs on both sides of the road, the land bridge, and the like. And the location identification requirements are easy to identify. The shape of the positioning identifier may be a regular graphic such as an equilateral triangle, a rectangle, or the like, or may be an irregular graphic. For example, the positioning identifier may be a "ten" graphic as shown in FIG. 2A, may be an arrow graphic as shown in FIG. 2B, may be a bull's eye graphic shown in FIG. 2C, or the like. Of course, as long as the requirements for easy identification are met, objects such as existing traffic signs, road signs, buildings, and the like can be utilized as the positioning marks. Among them, the "Ten" pattern shown in Figure 2A can also be set in the north-south direction, and the other line segment is set in the east-west direction, and is distinguished by dotted lines, solid lines, different colors, etc. While positioning the logo, it can also be used to indicate the direction. The arrow pattern shown in FIG. 2B can also be used to indicate the direction of travel while being used as the positioning indicator. The bullseye pattern shown in FIG. 2C can also be used to indicate the current position as the reference position while being used as the positioning identifier.

Step 110: Determine a relative location of the mobile terminal and the positioning identifier.

Step 120: Obtain a geographic location of the location identifier.

Step 130: Determine a current geographic location of the mobile terminal according to the geographic location of the location identifier and a relative location of the mobile terminal and the location identifier.

The specific implementation manners of the above steps are described in detail below.

In step 100, the location identifier may be identified in an image acquired by the image acquisition device of the mobile terminal in real time. The image capturing device may be a camera function module built in the mobile terminal, a camera connected to the mobile terminal, a camera built in the mobile terminal, a camera connected to the mobile terminal, and the like. The image identification technology is used to identify the location identifier in the image acquired in real time. For example, the sample training is performed based on the positioning identifier, and the model of the positioning identifier is obtained, and the image of the positioning identifier is used to identify whether there is an image of the positioning identifier.

In step 110, the relative position of the mobile terminal and the positioning identifier is determined according to the size information of the positioning identifier in the image and the actual size information of the positioning identifier.

The actual size information of the location identification, etc., can be preset in the mobile terminal or the device for positioning using the method provided by the embodiment of the present invention. Specifically, it may be preset in a database of an electronic map installed by the mobile terminal. The actual size information of the positioning identifier, etc., parameters for determining the relative position can also be obtained from the network side. The actual size information of the positioning identifier, etc., the parameter for determining the relative position may also be marked on the positioning identifier (for example, text information, barcode information, two-dimensional code information, etc.), and the actual size information of the positioning identifier is extracted by image analysis. And other parameter information for determining the relative position. For example, the barcode or the two-dimensional code information is marked on the positioning identifier, the barcode or the two-dimensional code information is acquired by the image scanning, and the actual size information of the positioning identifier is obtained according to the barcode or the two-dimensional code information, etc., for determining Parameter information of relative position. The actual size information for the locating identifier, and the like, for determining the relative position, can be implemented in any manner that can be conceived by those skilled in the art without any inventive effort, and is not limited by the embodiment of the present invention.

Since a plurality of positioning identifiers are usually deployed within a certain range, if the sizes of the plurality of positioning identifiers are different. Then, when determining the relative distance between the identified location identifier and the mobile terminal, it may first be determined which location identifier is identified, and then the actual size information and the like of the location identifier may be obtained. The present invention may be, but is not limited to, determining a current rough geographic location of the mobile terminal by using a positioning method such as a dead reckoning algorithm, a satellite positioning method, or the like, and determining a direction along the shooting direction according to the current rough geographic location and the shooting direction of the image capturing device. The most recent location identifier of the rough location is the identified location identifier, which in turn obtains information such as its actual size. Certainly, the implementation manner of determining the identified positioning identifier is not limited thereto, and any method that can be conceived by those skilled in the art without any creative work can be applied to the embodiment of the present invention.

Specifically, based on the imaging principle of the image acquisition device, that is, the principle of small hole imaging, the relative position of the mobile terminal and the positioning identifier is determined. The imaging principle of the image acquisition device is as shown in Fig. 3. When the small hole of the image acquisition device reaches the center point of the vertical line segment L of the photosensitive plate and is perpendicular to the line segment L (position 1), the line segment L is formed on the photosensitive plate. The distance between the two endpoints of the image to the center point is equal. However, when the small hole reaches the angle between the vertical line of the photosensitive plate and the center line of the line segment L and perpendicular to the line segment L (position 2), the two ends of the image formed by the line L on the photosensitive plate are centered. Distance varies.

Based on the imaging principle shown in FIG. 3, when the information such as the actual size of the positioning mark is known, the size of the image formed by the photosensitive plate is located, and the like, and the distance from the aperture of the camera to the photosensitive plate, etc., You can calculate the graph Like the relative position between the acquisition device and the location identifier, the relative location is the relative location between the mobile terminal and the location identifier.

Still taking the imaging principle shown in FIG. 3 as an example, it is assumed that the vertical line from the small hole to the photosensitive plate is in the same plane as the line segment L, and the calculation principle of the relative position is shown in FIG. 4 . among them:

L _1,2 , L _2,3 , L _4,5 are known quantities, and L _5,6 , L _6,7 , L _7,8 can be measured after the image of the positioning mark is recognized. Α6, α7 and α8 can be calculated by the following formula:

88=π-arctg(L _4,5 /L _5,6 )

77=π-arctg(L _4,5 /L _5,7 )

66=π-arctg(L _4,5 /L _5,8 )

According to the following formula, L _{2, 4} and α 4 can be finally obtained, and the relative position of the image capturing device in the plane to the center point of the line segment L is determined. When the line segment becomes a two-dimensional plane graphic, the spatial position of the image acquisition device can be determined.

L _2,4 =L _2,3 /[(ctgα3+ctgα4)·sinα4]

L _2,4 =L _1,2 /[(ctgα5-ctgα4)·sinα4]

Since L _2,3 =L _1,2 ,

Ctgα5-ctgα4=ctgα3+ctgα4

33+α4=α6+α7

33+α5=α6+α8

It should be noted that the above is a description of the calculation principle of the relative position assuming that the vertical line of the small hole to the photosensitive plate is in the same plane as the line segment L. When the vertical line of the small hole to the photosensitive plate is not in the same plane as the line segment L, the relative position can also be calculated based on the above formula. The embodiment of the present invention does not explain the specific calculation manner.

In step 120, there are various implementation manners for obtaining the geographic location of the location identifier. For example, the geographical location information (such as text information, barcode information, two-dimensional code information, and the like) of the positioning identifier is marked on the positioning identifier, and the geographical location information of the positioning identifier is extracted by image analysis, thereby obtaining the geographical location of the positioning identifier. position. For another example, the barcode or the two-dimensional code information is marked on the positioning identifier, the barcode or the two-dimensional code information is acquired by the image scanning, and the geographic location of the positioning identifier is obtained by the specific server according to the barcode or the two-dimensional code information. and many more. The embodiment of the present invention provides a preferred implementation manner: determining an estimated location of the location identifier according to a relative location of the mobile terminal and the location identifier, and a current rough geographic location of the mobile terminal; acquiring a distance closest to the estimated location The geographic location of the location identifier is the geographic location of the location identifier. The current rough geographic location of the mobile terminal is determined by an existing positioning method such as a dead reckoning algorithm or a satellite positioning method.

Specifically, the estimated location of the location identifier is reported to the network side, and the network side searches for the geographic location of the location identifier that is closest to the estimated location, and receives the geographic location of the location identifier that is found by the network side. It is also possible to find the geographical location of the location identifier closest to the estimated location in the electronic map installed by the mobile terminal as the geographical location of the location identifier.

Preferably, the rough geographic location of the mobile terminal is continuously updated according to the initial position of the mobile terminal by a dead reckoning algorithm. The rough geographic location of the mobile terminal can also be continuously updated according to the initial location of the mobile terminal by satellite positioning. The so-called dead reckoning algorithm is realized by estimating the moving direction of the mobile terminal through the gyroscope, and the moving distance of the mobile terminal can be estimated by the odometer, thereby determining the motion trajectory of the mobile terminal. The geographic location of the mobile terminal may also be updated according to the initial location of the mobile terminal by other existing positioning methods. The method of updating the rough geographic location of the mobile terminal, which can be conceived by those skilled in the art without any creative work, can be applied to the embodiment of the present invention. Since the geographic location accuracy of the mobile terminal determined by the existing positioning method is low, the geographic location of the mobile terminal determined by the existing positioning method based on the dead reckoning algorithm, the satellite positioning method, and the like is called a rough geographic location. The geographic location of the mobile terminal determined by the positioning based on the location identifier is distinguished.

By continuously updating the rough geographic location of the mobile terminal in any of the above manners, the current rough geographic location of the mobile terminal can be determined.

The advantage of the existing positioning methods (such as the dead reckoning algorithm) is that the amount of calculation is small, but the disadvantage is that the positioning accuracy is low. The method provided by the embodiment of the present invention may be combined with a positioning method based on a positioning identifier and an existing positioning method. Specifically, after the location identifier is identified, the mobile terminal is accurately located according to the location identifier. The location of the mobile terminal is then updated using the existing positioning method until the next location identifier is identified. This cycle.

Among them, there are various ways to determine the initial location of the mobile terminal. The following are exemplified: the initial position of the mobile terminal can be determined by the satellite positioning method; or the reference coordinate position is read from the electronic map installed by the mobile terminal as the initial position of the mobile terminal; or, the reference is obtained from the broadcast message. The coordinate position is used as the initial location of the mobile terminal; or the geographic location of the identified another location identifier is obtained, and the relative location of the mobile terminal and the another location identifier is determined, according to the geographic location of the another location identifier and The relative position of another location identifier determines the initial location of the mobile terminal.

In the embodiment of the present invention, the distance between the two positioning identifiers actually deployed in the traveling direction is preferably greater than 2 times the initial positioning error, so as to distinguish the two positioning identifiers. The initial positioning error may be a maximum value of the initial position error range when entering the predetermined area, or may be the maximum value of the error range in the inertial navigation process, or may be the horizontal positioning accuracy of the GPS positioning system, and the like. As shown in FIG. 5, the circle surrounding the mobile terminal A on the vehicle is the horizontal positioning accuracy of the GPS positioning system. Then, when positioning by the GPS positioning system, the determined geographical position of the mobile terminal A on the vehicle is at any point within the circle. In the direction of travel, the distance between the two positioning marks is greater than the horizontal positioning accuracy of the GPS positioning system. Then, when the mobile terminal A on the vehicle is in the position shown in FIG. 5, only the lane appears in the shooting range of the image capturing device. A positioning identifier deployed on the 2 is convenient for determining the precise location of the positioning identifier.

Take the vehicle positioning as an example in an underground parking lot or tunnel scene. Positioning signs are deployed at least in the entrance to the underground car park and in the underground car park. The distance between the two positioning marks can be about 50m, which is adjusted according to actual needs. A wireless signal broadcasting device is disposed in front of the entrance of the underground parking lot or the tunnel, and the coordinates of the reference position, the coordinates of each positioning identifier in the nearby area, and the attribute information of each positioning identifier (attribute letter) are notified by means of wireless broadcasting. Information is used to calculate the relative position of the location identification and the vehicle. The attribute information may be, but is not limited to, the shape, size, and the like of the positioning identifier. Any information required for calculating the relative position of the positioning identifier and the vehicle may be used as the attribute information of the positioning identifier, the entrance coordinates, and the like. Of course, this information can also be notified to the vehicle through an existing communication system such as a cellular communication system, a device-to-device (D2D) communication system, or the like. In addition, this information can also be set in the database of the electronic map. It should be noted that the above three ways can also be combined to make the vehicle aware of this information. In the embodiment of the present invention, the so-called vehicle actually refers to a device placed on the vehicle for positioning the vehicle.

The positioning process based on the above application scenarios is as follows:

When the vehicle travels to the underground parking lot or the tunnel entrance, the coordinates of each positioning identifier of the nearby area and the attribute information of each positioning identifier are acquired. In addition, it is also necessary to obtain the coordinates of the reference position and/or the entrance coordinates. Wherein, the above information may be obtained by setting a wireless signal broadcasting device before the entrance, the above information may also be obtained through the communication network, and the above information may also be obtained through the database of the electronic map. The database of the electronic map may be preset in the vehicle, or may be acquired from the wireless signal broadcasting device or the communication network.

The vehicle gets the current initial position. It can be, but is not limited to, the following acquisition methods:

Method 1: Determine the initial position by satellite positioning before entering the underground parking lot or tunnel.

Manner 2: The coordinates of the obtained reference position are taken as the current initial position.

Method 3: The acquired entry coordinates are taken as the current initial position.

Method 4: Identify the location identifier at the entrance, obtain the geographic location of the location identifier, determine the relative position of the vehicle and the location identifier, and determine the initial location of the vehicle according to the location of the location identifier and the relative location.

After the vehicle enters the underground parking lot or tunnel, the rough location of the vehicle is updated according to the initial position of the vehicle through the dead reckoning algorithm. When a positioning indicator is identified, the relative position of the vehicle to the positioning indicator is measured. Based on the rough geographic location of the vehicle updated by the dead reckoning algorithm and the relative position measured, the estimated position r of the positioning identifier can be calculated. The geographic location of the location identifier closest to the estimated location r is obtained as the geographic location of the location identifier. Specifically, the geographic location of the location identifier closest to the estimated location r can be obtained by searching the electronic map. The geographic location of the location identifier closest to the estimated location r can be obtained by finding the location coordinates of each of the obtained location identifiers. The estimated location r may also be sent to the network side, and the network side searches for the geographic location of the location identifier closest to the estimated location r and sends it to the vehicle.

Once the location of the location identifier is obtained, then the precise geographic location of the vehicle can be reversed.

In order to simplify the description, the principle of deriving the precise geographical position of the vehicle will be described by taking FIG. 4 as an example.

Assuming that the position of the end point 2 (reference point, the center point position of the special mark) is (x2, y2), the relative position of the vehicle (end point 4) to the end point 2 is (L _{2, 4} and α4), and the position of the vehicle is :(x4,y4)

X4=x2+sin(α4)*L _2,4

Y4=y2+cos(α4)*L _2,4

Based on the same inventive concept as the method, the embodiment of the present invention further provides a positioning device, as shown in FIG.

The location identifier identification module 601 is configured to identify the location identifier in the image acquired in real time;

The relative position determining module 602 is configured to determine a relative position of the mobile terminal and the positioning identifier;

a location identifier location determining module 603, configured to obtain a geographic location of the location identifier;

The mobile terminal location determining module 604 is configured to determine a current geographic location of the mobile terminal according to the geographic location of the location identifier and a relative location of the mobile terminal and the location identifier.

The device provided by the embodiment of the present invention may be a mobile terminal, a hardware entity or a logical entity built in the mobile terminal, or a separate device connected to the mobile terminal.

Based on any of the foregoing device embodiments, preferably, the distance between the two positioning identifiers actually deployed in the moving direction is greater than 2 times the initial positioning error.

Based on the same inventive concept as the method, the embodiment of the present invention further provides a positioning device, as shown in FIG. 7, including a data transmission interface 700 and a processor 701. The data transmission interface 700 is configured to receive an image acquired in real time by an image acquisition device mounted on the mobile terminal. The processor 701 is configured to: identify a location identifier in an image acquired in real time; determine a relative location of the mobile terminal and the location identifier; obtain a geographic location of the location identifier; and determine, according to the geographic location of the location identifier, the mobile terminal and the mobile terminal The relative location of the location identifier determines the current geographic location of the mobile terminal.

When the GPS positioning system is not available (for example, the GPS signal is weak or no GPS signal), the device provided by the embodiment of the present invention can implement the positioning of the mobile terminal. In addition, the device provided by the embodiment of the present invention acquires an image in real time during the moving process, and detects the positioning identifier by using an image other technology. The current geographic location of the mobile terminal can be determined by using the geographical location of the location identifier and the relative location of the mobile terminal and the location identifier. Since the positioning identifier is preset, the precise position of the positioning identifier can be obtained, and the error of the relative position of the mobile terminal and the positioning identifier calculated by the calculation is far less than the navigation deviation of the GPS positioning system. Therefore, the geographic location accuracy of the mobile terminal determined by the apparatus provided by the embodiment of the present invention is much higher than the positioning accuracy by the GPS positioning system.

Those skilled in the art will appreciate that embodiments of the present invention can be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or a combination of software and hardware. Moreover, the invention can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) including computer usable program code.

The present invention has been described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (system), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or FIG. These computers are available Program instructions to a processor of a general purpose computer, special purpose computer, embedded processor or other programmable data processing device to produce a machine such that instructions executed by a processor of a computer or other programmable data processing device are generated for implementation in a process A device or a plurality of processes and/or block diagrams of a device in a block or a plurality of blocks.

The computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture comprising the instruction device. The apparatus implements the functions specified in one or more blocks of a flow or a flow and/or block diagram of the flowchart.

These computer program instructions can also be loaded onto a computer or other programmable data processing device such that a series of operational steps are performed on a computer or other programmable device to produce computer-implemented processing for execution on a computer or other programmable device. The instructions provide steps for implementing the functions specified in one or more of the flow or in a block or blocks of a flow diagram.

While the preferred embodiment of the invention has been described, it will be understood that Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and the modifications and

It is apparent that those skilled in the art can make various modifications and variations to the invention without departing from the spirit and scope of the invention. Thus, it is intended that the present invention cover the modifications and modifications of the invention

Claims

A positioning method, comprising:

Identifying the location identifier in the image acquired in real time;

Determining a relative position of the mobile terminal and the positioning identifier;

Obtaining a geographic location of the location identifier;

Determining a current geographic location of the mobile terminal according to a geographic location of the location identifier and a relative location of the mobile terminal and the location identifier.
The method according to claim 1, wherein the identifying the location identifier in the image acquired in real time comprises:

The location identifier is identified in an image acquired by the image acquisition device of the mobile terminal in real time.
The method of claim 1, wherein determining the relative location of the mobile terminal and the location identifier comprises:

And determining a relative position of the mobile terminal and the positioning identifier according to the size information of the positioning identifier in the image and the actual size information of the positioning identifier.
The method according to claim 3, wherein the actual size information of the positioning identifier is obtained from a network side, or the actual size information of the positioning identifier is preset in the mobile terminal.
The method according to claim 1, wherein the obtaining the geographical location of the location identifier comprises:

Determining an estimated location of the location identifier according to a relative location of the mobile terminal and the location identifier, and a current rough geographic location of the mobile terminal, where the current rough location of the mobile terminal is by a dead reckoning algorithm or Determined by satellite positioning method;

Obtaining a geographical location of the location identifier closest to the estimated location as the geographic location of the location identifier.
The method according to claim 5, wherein the geographic location of the location identifier closest to the estimated location is obtained as the geographic location of the location identifier, including:

Finding a geographical location of the location identifier closest to the estimated location in the electronic map installed by the mobile terminal as a geographical location of the location identifier; or

And reporting, to the network side, the estimated location of the location identifier, so that the network side searches for a geographic location of the location identifier that is closest to the estimated location; and receives the geographic location of the location identifier that is found by the network side, and receives the received location The geographic location is the geographic location of the location identifier.
The method according to claim 5 or 6, wherein the method further comprises:

Determining, by the dead reckoning algorithm, a current rough geographic location of the mobile terminal according to an initial location of the mobile terminal; or

Determining a current rough geographic location of the mobile terminal according to an initial location of the mobile terminal by a satellite positioning method position.
The method of claim 7 further comprising:

Determining an initial position of the mobile terminal by satellite positioning; or

Reading a reference coordinate position from an electronic map installed by the mobile terminal as an initial position of the mobile terminal; or

Obtaining a reference coordinate position from the broadcast message as an initial position of the mobile terminal; or

Obtaining a geographical location of another identified location identifier, determining a relative location of the mobile terminal and the another location identifier, according to a geographic location of the another location identifier and a relative location with the another location identifier, Determining an initial location of the mobile terminal.
The method according to any one of claims 1 to 6, wherein the positioning identifier is a "ten" graphic; or

The positioning identifier is an arrow graphic; or

The positioning identifier is a bull's eye graphic.
A positioning device, comprising:

a positioning identifier recognition module, configured to identify a positioning identifier in an image acquired in real time;

a relative position determining module, configured to determine a relative position of the mobile terminal and the positioning identifier;

a location identifier location determining module, configured to acquire a geographic location of the location identifier;

The mobile terminal location determining module is configured to determine a current geographic location of the mobile terminal according to a geographic location of the location identifier and a relative location of the mobile terminal and the location identifier.
The device according to claim 10, wherein the location identifier identification module is configured to: identify the location identifier in an image acquired by the image acquisition device of the mobile terminal in real time.
The device according to claim 10, wherein the relative position determining module is specifically configured to:

And determining a relative position of the mobile terminal and the positioning identifier according to the size information of the positioning identifier in the image and the actual size information of the positioning identifier.
The device according to claim 12, wherein the actual size information of the positioning identifier is acquired from a network side, or the actual size information of the positioning identifier is preset in the mobile terminal or the device middle.
The device according to claim 10, wherein the positioning identifier location determining module is specifically configured to:

Determining an estimated location of the location identifier according to a relative location of the mobile terminal and the location identifier, and a current rough geographic location of the mobile terminal, where the current rough location of the mobile terminal is by a dead reckoning algorithm or Determined by satellite positioning method;

Obtaining a geographical location of the location identifier closest to the estimated location as the geographic location of the location identifier.
The apparatus according to claim 14, wherein when the geographical location of the location identifier closest to the estimated location is obtained as the geographic location of the location identifier, the location identifier location determining module is specifically configured to:

Finding a geographical location of the location identifier closest to the estimated location in the electronic map installed by the mobile terminal as a geographical location of the location identifier; or

And reporting, to the network side, the estimated location of the location identifier, so that the network side searches for a geographic location of the location identifier that is closest to the estimated location; and receives the geographic location of the location identifier that is found by the network side, and receives the received location The geographic location is the geographic location of the location identifier.
The device according to claim 14 or 15, wherein the mobile terminal location determining module is further configured to:

Determining, by the dead reckoning algorithm, a current rough geographic location of the mobile terminal according to an initial location of the mobile terminal; or

The current rough geographic location of the mobile terminal is determined according to the initial location of the mobile terminal by satellite positioning.
The apparatus according to claim 16, further comprising an initial position determining module for:

Determining an initial position of the mobile terminal by satellite positioning; or

Reading a reference coordinate position from an electronic map installed by the mobile terminal as an initial position of the mobile terminal; or

Obtaining a reference coordinate position from the broadcast message as an initial position of the mobile terminal; or

Obtaining a geographical location of another identified location identifier, determining a relative location of the mobile terminal and the another location identifier, according to a geographic location of the another location identifier and a relative location with the another location identifier, Determining an initial location of the mobile terminal.
The device according to any one of claims 10 to 15, wherein the positioning identifier is a "ten" graphic; or

The positioning identifier is an arrow graphic; or

The positioning identifier is a bull's eye graphic.
A positioning device, comprising:

a data transmission interface, configured to receive an image acquired in real time by an image acquisition device mounted on the mobile terminal;

a processor, configured to identify a location identifier in an image acquired by the data transmission interface in real time, determine a relative location of the mobile terminal and the location identifier, obtain a geographic location of the location identifier, and perform a geographic location according to the location identifier And determining a current geographic location of the mobile terminal by using a location and a relative location of the mobile terminal and the location identifier.
The device according to claim 19, wherein the processor is specifically configured to:

Determining the location information according to the location identifier in the image and the actual size information of the location identifier The relative position of the mobile terminal and the positioning identifier.
The device according to claim 19, wherein the processor is specifically configured to:

Determining an estimated location of the location identifier according to a relative location of the mobile terminal and the location identifier, and a current rough geographic location of the mobile terminal, where the current rough location of the mobile terminal is by a dead reckoning algorithm or Determined by satellite positioning method;

Obtaining a geographical location of the location identifier closest to the estimated location as the geographic location of the location identifier.