WO2017161588A1 - Procédé et appareil de positionnement - Google Patents

Procédé et appareil de positionnement Download PDF

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Publication number
WO2017161588A1
WO2017161588A1 PCT/CN2016/077427 CN2016077427W WO2017161588A1 WO 2017161588 A1 WO2017161588 A1 WO 2017161588A1 CN 2016077427 W CN2016077427 W CN 2016077427W WO 2017161588 A1 WO2017161588 A1 WO 2017161588A1
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WIPO (PCT)
Prior art keywords
positioning device
location information
positioning
information
geographic location
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PCT/CN2016/077427
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English (en)
Chinese (zh)
Inventor
杨志华
李辉
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华为技术有限公司
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Application filed by 华为技术有限公司 filed Critical 华为技术有限公司
Priority to PCT/CN2016/077427 priority Critical patent/WO2017161588A1/fr
Publication of WO2017161588A1 publication Critical patent/WO2017161588A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network

Definitions

  • the present invention relates to the field of communications, and in particular, to a positioning method and apparatus.
  • ICT Information Communication Technology
  • the vehicle needs to know its current geographic location information, target geographic location information, and navigation path information from current geographic location information to target geographic location information.
  • the technology used by the vehicle to know its current geographic location information is the location technology.
  • the inertial navigation positioning technology is a technique for measuring the acceleration of the vehicle itself by using the inertial component, and determining the speed, yaw angle and inertial navigation geographic location information of the vehicle after integrating the measured acceleration. Since the inertial navigation geographic location information determined by the inertial navigation and positioning technology is generated by integration, the positioning error will increase with time, and therefore, in the above application scenario, the positioning accuracy is poor.
  • the embodiment of the invention provides a positioning method and device, which solves the problem of poor positioning in the application scenario with poor satellite signal quality in the prior art, and improves the accuracy of positioning in an application scenario with poor satellite signal quality.
  • An embodiment of the present invention provides a positioning method.
  • the positioning device first acquires navigation path information, and obtains image information of the first feature identifier and the geographic location of the first feature identifier in the navigation path from the map of the positioning device according to the navigation path information.
  • the first feature identifier is located in a first preset range centered on the positioning device, and the satellite positioning accuracy of the location indicated by the geographic location information of the feature identifier is less than a first preset threshold, and then the positioning device acquires the positioning device.
  • Image information of the surrounding object is located in a second preset range centered on the positioning device, and the second preset range is greater than or equal to the first preset range, if the image information of the surrounding object and the image of the first feature identifier If the information is matched, the positioning device determines that the peripheral object is the first feature identifier, and the positioning device uses the first feature identifier as a coordinate origin, and determines the relative position information of the positioning device with the first feature identifier as the coordinate origin according to the visual positioning algorithm. Finally, the positioning device is based on the geographical location information of the first feature identifier and The relative position information, the positioning device determines the geographical coordinates of the first location information.
  • the image information of the first feature identifier and the geographic location information of the first feature identifier are stored in the map of the positioning device, and the location of the location information indicated by the first feature identifier is The satellite positioning accuracy is less than the first preset threshold. If the image information of the peripheral object acquired by the positioning device matches the image information of the first feature identifier, it indicates that the distance between the location where the positioning device is located and the geographical location information of the first feature identifier is small, and the positioning device is based on the visual positioning.
  • the algorithm determines the relative position information of the positioning device with the first feature identifier as the coordinate origin, and further determines the first geographic location information in the geographic coordinate system with reference to the geographic location information of the first feature identifier, the first geographic location information can be accurately
  • the geographical location information determined by the positioning device using the visual positioning technology is shown, and the positioning accuracy in the application scenario with poor satellite signal quality is improved.
  • the positioning device further acquires the second geographic location information of the positioning device according to the satellite positioning technology, and acquires the positioning device according to the preset inertial navigation and positioning technology. Third geographical location information.
  • the positioning device according to the geographical location information and phase of the first feature identifier After the location information is used to determine the first location information of the location device, the location device performs a fusion calculation on the first location information, the second location information, and the third location information according to the preset convergence algorithm to determine the accuracy of the location device. Location information.
  • the positioning device performs fusion calculation according to a preset fusion algorithm to determine precise geographical location information, thereby further improving positioning. Precision.
  • the map in the embodiment of the present invention includes an auxiliary positioning layer, where the auxiliary positioning layer includes geographical location information of at least one feature identifier and image information of each feature identifier, and the first feature identifier is at least one feature.
  • the markers One of the markers.
  • the method for the positioning device to acquire the image information of the first feature identifier and the geographic location information of the first feature identifier is: the positioning device acquires the first feature identifier from the auxiliary positioning layer according to the navigation path information Image information and geographic location information of the first feature identifier.
  • the embodiment of the present invention adds an auxiliary positioning layer including the geographical location information of the first feature identifier and the image information of the first feature identifier in the existing map, and reduces the data included in the layer of the existing map. modify.
  • the method for obtaining the navigation path information by the positioning device is: the positioning device acquires the starting geographic location information of the positioning device and the target geographic location information of the positioning device, and presets according to the initial geographic location information and the target geographic location information. Path algorithm to determine navigation path information.
  • the method for obtaining the navigation path information by the positioning device is: the positioning device acquires the starting geographic location information of the positioning device and the target geographic location information of the positioning device, and the positioning device sends the initial geographic location information and the target geographic location to the positioning server.
  • the driving path request of the information is used to request the positioning server to allocate navigation path information from the starting position indicated by the starting geographical location information to the target location indicated by the target geographical location information; the positioning device receives the navigation path information sent by the positioning server.
  • the positioning server can allocate the navigation path information from the starting position indicated by the starting geographical location information to the target location indicated by the target geographical location information in real time in combination with the congestion condition of the road, and determine the navigation path information with the positioning device itself. Phase The positioning server determines the navigation path information to be more practical.
  • the positioning server may determine the navigation path information, or the positioning device may determine the navigation path information, and the specific determination manner of the navigation path information may be determined according to actual needs.
  • the method for acquiring the image information of the surrounding object by the positioning device is: positioning when the linear distance between the fourth geographical location information of the positioning device and the geographical location information of the first feature identifier is less than or equal to the second preset threshold
  • the device activates at least one monitor, and collects image information of the peripheral object by using at least one monitor, where the fourth geographic location information is geographic location information acquired by the positioning device according to the satellite positioning technology.
  • Another embodiment of the present invention provides a positioning apparatus, including: an acquiring unit and a visual positioning unit.
  • An acquiring unit configured to acquire navigation path information, and configured to acquire image information of the first feature identifier and geographic location information of the first feature identifier from a map of the positioning device according to the navigation path information,
  • the location indicated by the geographic location information of the first feature identifier is located in the navigation path indicated by the navigation path information of the positioning device, and the first feature identifier is located in a first preset range centered on the positioning device.
  • the satellite positioning accuracy of the location indicated by the geographic location information of the first feature identifier is less than a first preset threshold, and image information for acquiring a peripheral object, where the peripheral object is located at the center of the positioning device Within the second preset range, the second preset range is greater than or equal to the first preset range.
  • a visual positioning unit configured to determine that the peripheral object is the first feature identifier if image information of the peripheral object acquired by the acquiring unit matches image information of the first feature identifier, and Determining relative position information of the positioning device with the first feature identifier as a coordinate origin, and using the first feature identifier as a coordinate origin, and determining, according to the visual positioning algorithm, the relative position information of the first feature identifier as a coordinate origin, and the geographic location information according to the first feature identifier And the relative location information, determining the first geographic location information of the positioning device in a geographic coordinate system.
  • the acquiring unit is further configured to: if the image information of the peripheral object acquired by the acquiring unit matches the image information of the first feature identifier, acquire the first location of the positioning device according to a satellite positioning technology And obtaining the third geographical location information of the positioning device according to the preset inertial navigation and positioning technology.
  • the positioning device further includes a positioning fusion unit,
  • the positioning and merging unit is configured to: after the first locating device determines the first geographic location information of the locating device, the first geographic location information determined by the visual positioning unit according to a preset merging algorithm, The second geographic location information obtained by the acquiring unit and the third geographical location information acquired by the acquiring unit are used for fusion calculation, and the precise geographical location information of the positioning device is determined.
  • the positioning device further includes a storage unit,
  • the storage unit is configured to store a map that includes the navigation path information, where the map includes an auxiliary positioning layer, where the auxiliary positioning layer includes geographic location information of the first feature identifier and the first Image information of the feature identifier.
  • the acquiring unit is configured to acquire image information of the first feature identifier and the first feature identifier from the auxiliary positioning layer stored by the storage unit according to the navigation path information. Geographic location information.
  • the acquiring unit is further configured to acquire initial geographic location information of the positioning device and target geographic location information of the positioning device.
  • the positioning device further includes a path planning unit,
  • the path planning unit is further configured to determine the navigation path information by using a preset path algorithm according to the initial geographic location information and the target geographic location information acquired by the acquiring unit.
  • the positioning device further includes a sending unit,
  • the sending unit is configured to send a driving path request to the positioning server, where the path request includes the starting geographical location information and the target geographic location information acquired by the acquiring unit, and the driving path request is used for requesting Positioning server allocation
  • the navigation path information from a start position indicated by the start geographical position information to a target position indicated by the target geographical position information.
  • the positioning device further includes a receiving unit,
  • the receiving unit is configured to receive the navigation path information sent by the positioning server.
  • the obtaining unit includes a startup module
  • the startup module is configured to start at least one monitor when a linear distance between the fourth geographic location information of the positioning device and the geographic location information of the first feature identifier is less than or equal to a second preset threshold .
  • the acquiring unit further includes an acquisition module
  • the acquiring module is configured to collect image information of the peripheral object by using the at least one monitor activated by the startup module.
  • Another embodiment of the present invention provides a positioning device, including an interface circuit, a processor, a memory, and a system bus; the interface circuit, the processor, and the memory are connected to the system bus, when the positioning device is running The positioning device performs the positioning method as described in the above embodiments.
  • FIG. 1 is a schematic structural diagram of a positioning system according to an embodiment of the present invention
  • FIG. 2 is a schematic structural diagram of a positioning system according to an embodiment of the present invention.
  • FIG. 3 is a schematic flowchart 1 of a positioning method according to an embodiment of the present invention.
  • FIG. 4 is a second schematic flowchart of a positioning method according to an embodiment of the present disclosure.
  • FIG. 5 is a schematic structural diagram 1 of a positioning device according to an embodiment of the present disclosure.
  • FIG. 6 is a schematic structural diagram 2 of a positioning device according to an embodiment of the present disclosure.
  • FIG. 7 is a schematic structural diagram 3 of a positioning device according to an embodiment of the present invention.
  • the positioning device may be a handheld device having an wireless communication function, an in-vehicle device, a computing device, or other processing device connected to the wireless modem, or located in the handheld device or the in-vehicle device.
  • the device in the present invention is not specifically limited in this embodiment.
  • the positioning device in the embodiment of the invention is an autonomously driven vehicle.
  • the positioning device in an outdoor wide-area application scenario with good satellite signal quality, can realize high-precision real-time positioning using the existing positioning technology, and obtain accurate Location location information.
  • the vehicle In the application scenario where the satellite signal quality is poor, the vehicle generally adopts inertial navigation and positioning technology and GNSS positioning technology for combined positioning.
  • the positioning error of the inertial navigation and positioning technology increases with time, so in this case In the application scenario, the positioning accuracy is poor.
  • the present invention provides a positioning method and apparatus for determining relative position information of a positioning device with a first feature identifier as a coordinate origin according to a visual positioning technique, and then determining geographical position information according to the first feature identifier and the determined relative position information.
  • the first position information of the positioning device is determined in the geographic coordinate system, thereby improving the positioning accuracy in the application scenario with poor satellite signal quality.
  • FIG. 1 is a schematic structural diagram of a positioning system according to an embodiment of the present invention.
  • the positioning system includes a positioning server 100, one or more positioning devices 101 connected to the positioning server 100.
  • the positioning server 100 and the positioning device 101 are connected through a network.
  • FIG. 2 is a schematic diagram of the composition of a positioning system according to an embodiment of the present invention.
  • the positioning server 100 in the positioning system includes an interface circuit 10, a processor 11, and a memory 12.
  • the interface circuit 10 is for communicating with the positioning device 101 connected to the positioning server 100.
  • the processor 11 is configured to allocate navigation path information to the positioning device according to the driving path request sent by the positioning device.
  • the memory 12 is configured to store a map comprising image information of at least one feature identifier and geographic location information of each feature identifier, wherein the first feature identifier is one of at least one feature identifier.
  • the positioning device 101 in the positioning system includes an interface circuit 20, a processor 21, and a memory 22.
  • the interface circuit 20 is for communicating with the positioning server 100 connected to the positioning device 101.
  • the processor 21 is configured to determine whether the image information of the peripheral object matches the image information of the first feature identifier, and if the image information of the peripheral object matches the image information of the first feature identifier, determine the positioning device according to the visual positioning algorithm.
  • a feature identifier is relative position information of a coordinate origin, and first geographic location information for determining a positioning device according to geographical location information and relative position information of the first feature identifier, and image information for the surrounding object An image of a feature identifier
  • the information is matched, the second geographical location information of the positioning device is obtained according to the satellite positioning technology, and the third geographical location information of the positioning device is obtained according to the preset inertial navigation and positioning technology, and is used for the positioning device according to the preset fusion algorithm.
  • the first geographic location information, the second geographic location information, and the third geographic location information are subjected to a fusion calculation to determine precise geographic location information of the positioning device.
  • the memory 12 is configured to store a map including navigation path information, and the map includes an auxiliary positioning layer, and the auxiliary positioning layer includes geographic location information of the first feature identifier and image information of the first feature identifier.
  • the map may be stored in the positioning server 100 and the positioning device 101 at the same time, or may be stored only in the positioning device 101. Therefore, the map stored in the positioning server 100 in FIG. Expressed in a dashed box.
  • An embodiment of the present invention provides a positioning method, as shown in FIG. 3, including:
  • the positioning device acquires navigation path information.
  • the positioning device acquires image information of the first feature identifier and geographic location information of the first feature identifier from the map of the positioning device according to the navigation path information.
  • the first feature identifier is located in the navigation path indicated by the navigation path information acquired by the positioning device, and the first feature identifier is located in a first preset range centered on the positioning device, and the geographic location of the first feature identifier The satellite positioning accuracy of the location indicated by the information is less than the first predetermined threshold.
  • the first feature identifier is a certain building on the side of the road, or a sign on the road or the like.
  • the positioning device acquires image information of the surrounding object.
  • the peripheral object is located in a second preset range centered on the positioning device, and the second preset range is greater than or equal to the first preset range.
  • the positioning device determines whether the image information of the surrounding object matches the image information of the first feature identifier.
  • the positioning device determines that the surrounding object is the first feature identifier, and according to the visual positioning The algorithm determines relative position information of the positioning device with the first feature identifier as the coordinate origin.
  • the positioning device determines first geographic location information of the positioning device according to the geographic location information and the relative location information of the first feature identifier.
  • the method for obtaining the navigation path information by the positioning device in the embodiment of the present invention may be: the positioning device acquires the starting geographical location information of the positioning device and the target geographic location information of the positioning device, and the positioning device obtains the initial geographic location according to the obtained location information.
  • the information and the target geographical location information determine navigation path information according to a preset path algorithm.
  • the preset path algorithm in the embodiment of the present invention may be a Floyd (Floyd) algorithm, a DFS (Depth-First-Search) algorithm, or any other path planning.
  • the algorithm used in this embodiment of the present invention is not specifically limited.
  • the positioning device determines the navigation path information according to the preset algorithm according to the preset path planning rule according to the map stored by the positioning device.
  • the location indicated by the location information obtained by the location device in the embodiment of the present invention is A
  • the location indicated by the target location information is B
  • the location device is combined and stored based on the two geographic locations.
  • the map based on the shortest path planning rule, uses a preset algorithm to determine the shortest path from A to B.
  • the method for obtaining the navigation path information by the positioning device may be: first, the positioning device acquires the starting geographical location information of the positioning device and the target geographic location information of the positioning device; and then, the positioning device sends the information to the positioning server.
  • a driving route request for starting geographical location information and the target geographic location information for requesting the positioning server to allocate path information from a starting location indicated by the starting geographic location information to a target location indicated by the target geographic location information, ie, a navigation path Information; finally, the positioning device receives the navigation path information sent by the positioning server.
  • the positioning server can allocate the navigation path information to the positioning device in real time in combination with the congestion condition of the road. Compared with the positioning device itself determining the navigation path information, The positioning server determines the navigation path information to be more practical.
  • the positioning server may determine the navigation path information, or the positioning device may determine the navigation path information, and the specific determination of the navigation path information may be determined according to actual requirements, which is not specifically limited by the present invention.
  • the positioning device After acquiring the navigation path information, acquires the image information of the first feature identifier and the geographic location information of the first feature identifier from the map according to the navigation path information, that is, performs S101.
  • the map in the embodiment of the present invention stores the layer included in the existing map, that is, the map in the embodiment of the present invention stores all basic information, such as road information and lane information.
  • the road information includes road name, road curvature, lateral slope, and longitudinal slope.
  • the lane information includes lane width, lane marking, and lane speed limit.
  • the map in the embodiment of the present invention further stores geographic location information of at least one feature identifier and image information of each feature identifier.
  • the first feature identifier is one of at least one feature identifier.
  • the map in the embodiment of the present invention includes an auxiliary positioning layer, where the auxiliary positioning layer includes geographical location information of at least one feature identifier and image information of each feature identifier.
  • the first feature identifier is one of at least one feature identifier.
  • the positioning device acquires the image information of the first feature identifier and the geographical location information of the first feature identifier from the auxiliary positioning layer according to the navigation path information.
  • the geographic location information of the at least one feature identifier and the image information of each feature identifier in the embodiment of the present invention are respectively stored in separate files in a file related to the map, or at least one feature identifier.
  • the geographic location information and the image information of each feature identifier are respectively stored in different modules of the map, and the first feature identifier is one of at least one feature identifier.
  • the positioning device acquires the image information of the first feature identifier and the geographic location information of the first feature identifier from different modules of the map according to the navigation path information.
  • the geographic location information and the image information of each feature identifier stored in the map are predetermined by the map developer and stored in the map.
  • Geographical location information because the satellite positioning accuracy is less than the first preset threshold is only ground A part of all the geographical location information included in the figure, so that the geographical location information of the at least one feature identifier and the image information of each feature identifier occupies less space, and the capacity of the map in the embodiment of the present invention is not very Large and maintainable.
  • the geographic location information in the embodiment of the present invention may be two-dimensional geographic location information represented by latitude and longitude coordinates.
  • the current geographic location information of the positioning device is B, and if the latitude and longitude coordinates of the B is (x, y), the current geographic location information of the positioning device is (x, y).
  • the positioning device in the embodiment of the present invention can determine the absolute position of the positioning device by using a visual positioning method, and the visual positioning method needs The positioning device acquires image information of a peripheral object of the surrounding object.
  • the positioning device executes S102 to acquire image information of a peripheral object of the surrounding object.
  • the positioning device activates at least one monitor and passes the activated At least one monitor collects image information of surrounding objects.
  • the fourth geographic location information of the positioning device is geographic location information obtained by the positioning device according to the satellite positioning technology.
  • the satellite positioning technology may be a GNSS positioning technology, or may be a GPS (Global Positioning System) positioning technology, and may be any other existing satellite positioning technology. No specific limitation.
  • the satellite positioning signal quality of the geographic location information of the first feature identifier is less than the first preset threshold, indicating that the positioning device is located at the location indicated by the geographic location information of the first feature identifier, and is obtained by using satellite positioning technology.
  • the location location information is not accurate.
  • the distance between the location where the positioning device acquires the positioning device according to the satellite positioning technology (the location indicated by the fourth geographical location information) and the location indicated by the geographic location information of the first feature identifier is less than or equal to the second Preset threshold
  • the positioning device activates at least one monitor, and collects image information of the peripheral object through the at least one monitor, so that the positioning device facilitates positioning according to the visual positioning technology.
  • the monitor in the embodiment of the invention is a visual sensor.
  • the vision sensor may be a camera for acquiring image information of a surrounding object located within a preset range centered on the positioning device.
  • the monitor in the embodiment of the present invention may be an infrared camera, or an ordinary camera, or a combination device of the infrared sensor and the camera, which is not specifically limited in the embodiment of the present invention.
  • the monitor may be installed at an intermediate position of the upper edge of the windshield of the vehicle, or may be installed on the front, rear, left and right sides of the vehicle, etc., which is not specifically described in this embodiment of the present invention. limited.
  • the monitor functioning as a camera is simple to install and low in cost, and the positioning cost by using the monitor is low. Compared with the existing method for positioning by using a laser radar, the embodiment of the present invention uses the monitor to perform positioning with low cost.
  • the built-in monitor of the positioning device can also be always on.
  • the positioning device After acquiring the image information of the surrounding object, the positioning device determines whether the image information of the acquired peripheral object matches the image information of the first feature identifier, that is, the positioning device performs S103.
  • the positioning device After the judgment, the positioning device performs subsequent processing according to the judgment result.
  • the positioning device uses the existing positioning method for positioning, and details are not described herein again.
  • the positioning device determines the relative position information of the positioning device with the first feature identifier as the coordinate origin according to the visual positioning algorithm, that is, the positioning device performs S104.
  • the positioning device determines whether the image information of the surrounding object matches the image information of the first feature identifier, that is, the positioning device determines whether the image information of the surrounding object is related to the first feature Whether the same or similar parts exist between the image information of the markers.
  • the positioning device can determine the relative geographical location information of the positioning device with the first feature identifier as the coordinate origin according to the visual positioning algorithm.
  • the positioning device acquires image information of the peripheral object through at least one monitor, and thus, the positioning device can acquire image information of at least one peripheral object.
  • Each image information contains a plurality of image frames.
  • the plurality of image information may include the same image frame, and the positioning device may first perform inter-frame matching on the acquired image information of the surrounding object to obtain key image feature information, and then the positioning device determines the key image information. Whether it matches the image information of the first feature identifier, if the key image information matches the image information of the first feature identifier, the positioning device determines the relative position information with the first feature identifier as the coordinate origin according to the visual positioning algorithm.
  • the visual positioning algorithm in the embodiment of the present invention may be a monocular visual positioning algorithm, or a binocular visual positioning algorithm, and may be other visual positioning algorithms, which are not specifically limited in the embodiment of the present invention.
  • the relative position information is merely a name for convenience of understanding in the embodiment of the present invention.
  • the location information may be other names, which are not specifically limited in the embodiment of the present invention.
  • the relative position information of the positioning device with the first feature identifier as the coordinate origin cannot accurately describe the geographical location information of the positioning device. As time increases, the error caused by the relative position information gradually accumulates, resulting in lower positioning accuracy.
  • the positioning device determines the first geographical location information of the positioning device according to the geographical location information of the first feature identifier and the determined relative location information, that is, executes S105. .
  • the first geographical location information of the positioning device in the embodiment of the present invention is the location information of the specified bit device in the geographic coordinate system.
  • the geographic coordinate system is a coordinate system that represents the point of the earth's surface by latitude and longitude.
  • the matching device also acquires the second geographical location information of the positioning device according to the satellite positioning technology, and acquires the third geographical location information of the positioning device according to the preset inertial navigation and positioning technology.
  • the positioning device acquires the second geographical location information and the third geographical location information, and determines the first geographical location information
  • the positioning device performs a fusion calculation to determine the precise geographical location information of the positioning device.
  • the positioning method provided by the embodiment of the present invention further includes:
  • the positioning device acquires the second geographic location information of the positioning device, and acquires the third geographic location information of the positioning device.
  • the positioning device acquires the second geographical location information of the positioning device according to the satellite positioning technology, and acquires the third geographical location information of the positioning device according to the preset inertial navigation and positioning technology.
  • the inertial navigation positioning technology preset in the embodiment of the present invention may be a platform-type inertial navigation positioning technology, or may be a strap-down inertial navigation positioning technology, which is not specifically limited in the embodiment of the present invention.
  • the positioning device may first execute S104, then execute S106, or first execute S106, and then execute S104.
  • S104 and S106 may be performed at the same time, which is not specifically limited in the embodiment of the present invention.
  • the positioning device After performing S105 and S106, the positioning device further performs S107.
  • the positioning device performs fusion calculation on the first geographical location information, the second geographical location information, and the third geographical location information according to a preset fusion algorithm, and determines precise geographic location information of the positioning device.
  • the positioning accuracy of the integrated positioning technology is higher than the positioning accuracy of the single positioning technology.
  • the positioning device can also be combined with other positioning technologies to determine its own geographical location information.
  • the fusion algorithm preset in the embodiment of the present invention may be a weighted average method, a Kalman filter method, or a multi-Bayesian estimation method, which is not used in the embodiment of the present invention. Specifically limited.
  • the first geographic location information of the positioning device is A
  • the latitude and longitude coordinates of the A are (k, y)
  • the second geographic location information of the positioning device is B
  • the latitude and longitude coordinates of the B are (m, n
  • the third geographic location information of the positioning device is C
  • the latitude and longitude coordinates of the C is (s, t)
  • the positioning device determines the precise geographical location information (i, j) of the periodic device according to the weighted average method.
  • the second geographic location information and the third geographical location information of the positioning device in the embodiment of the present invention are geographical location information determined by reference to the geographic coordinate system.
  • the positioning device can accurately represent the location information determined by the positioning device by using the visual positioning technology. Therefore, the positioning device can correct the positioning of the inertial navigation positioning technology according to the first geographical location information in time.
  • the geographical location information makes the inertial navigation and positioning technology fully function, even in the scene without satellite signals, the positioning device can determine its geographical location information more accurately.
  • An embodiment of the present invention provides a positioning method.
  • the positioning device first acquires navigation path information, and obtains image information and geographic location information of the first feature identifier in the navigation path from the map of the positioning device according to the navigation path information.
  • a feature identifier is located in a first preset range centered on the positioning device, and a satellite positioning accuracy of the location indicated by the geographic location information of the first feature identifier is less than a first preset threshold, and then the positioning device acquires the location.
  • the positioning device determines the relative position information of the positioning device with the first feature identifier as the coordinate origin according to the visual positioning algorithm. Finally, the positioning device is based on the geographical location information and the relative position information of the first feature identifier. The first geographic location information of the positioning device is determined in the geographic coordinate system.
  • Visual positioning technology can be effectively applied to satellite positioning a scene with poor accuracy
  • the positioning device in the embodiment of the present invention is the first geographical location information determined in the geographic coordinate system, and the first geographical location information can accurately represent the geographical location information determined by the visual positioning technology.
  • the positioning accuracy in the application scenario where the satellite signal quality is poor is improved.
  • the embodiment of the invention provides a positioning device 1 for performing the steps performed by the positioning device in the above method.
  • the positioning device 1 can comprise a module corresponding to the corresponding step. As shown in FIG. 5, the positioning device 1 includes:
  • An obtaining unit 50 configured to acquire navigation path information, and configured to acquire, according to the navigation path information, image information of the first feature identifier and geographic location information of the first feature identifier from a map of the positioning device, where The location indicated by the geographic location information of the first feature identifier is located in a navigation path indicated by the navigation path information of the positioning device, and the first feature identifier is located in a first preset range centered on the positioning device.
  • the satellite positioning accuracy of the location indicated by the geographic location information of the first feature identifier is less than a first preset threshold, and image information for acquiring a peripheral object, the peripheral object being located at the positioning device In the second preset range, the second preset range is greater than or equal to the first preset range.
  • the visual positioning unit 51 determines that the peripheral object is the first feature identifier if the image information of the peripheral object acquired by the acquiring unit 50 matches the image information of the first feature identifier, and Using the first feature identifier as a coordinate origin, determining, according to a visual positioning algorithm, relative position information of the positioning device with the first feature identifier as a coordinate origin, and for using a geographic feature according to the first feature identifier
  • the location information and the relative location information determine a first geographic location information of the positioning device in a geographic coordinate system.
  • the acquiring unit 50 is further configured to: if the image information of the peripheral object acquired by the acquiring unit 50 matches the image information of the first feature identifier, acquire the positioning device according to a satellite positioning technology The second geographical location information, and acquiring the third geographical location letter of the positioning device according to a preset inertial navigation and positioning technology interest.
  • the positioning device 1 of the embodiment of the present invention further includes a positioning and merging unit 52.
  • the location fusion unit 52 is configured to: after the first location information of the location device is determined by the visual location unit 51, the first location information determined by the vision location unit 51 according to a preset fusion algorithm The second geographic location information acquired by the acquiring unit 50 and the third geographical location information acquired by the acquiring unit 50 are used for fusion calculation to determine precise geographical location information of the positioning device.
  • the positioning device 1 further includes a storage unit 53,
  • the storage unit 53 is configured to store a map that includes the navigation path information, where the map includes an auxiliary positioning layer, where the auxiliary positioning layer includes geographic location information of the first feature identifier and the first Image information of a feature identifier.
  • the acquiring unit 50 is configured to acquire image information of the first feature identifier and the first image from the auxiliary positioning layer stored by the storage unit 53 according to the navigation path information. Geographical location information of the feature identifier.
  • the acquiring unit 50 is further configured to obtain initial geographic location information and target geographic location information.
  • the positioning device 1 further includes a path planning unit 54,
  • the path planning unit 54 is further configured to determine, according to the initial location information of the positioning device that is acquired by the acquiring unit 50 and the target geographic location information of the positioning device, by using a preset path algorithm. Navigation path information.
  • the acquiring unit 50 is further configured to acquire initial geographic location information of the positioning device and target geographic location information of the positioning device.
  • the positioning device 1 further includes a sending unit 55,
  • the sending unit 55 is configured to send a driving path request to the positioning server, where the path request includes the starting geographical location information and the target geographic location information acquired by the acquiring unit 50, where the driving path is requested Requesting the location service
  • the device assigns the navigation path information from a starting position indicated by the starting geographical location information to a target location indicated by the target geographic location information.
  • the positioning device 1 further includes a receiving unit 56,
  • the receiving unit 56 is configured to receive the navigation path information sent by the positioning server.
  • the obtaining unit 50 includes a startup module 501.
  • the initiating module 501 is configured to start at least one monitoring when a linear distance between the fourth geographic location information of the positioning device and the geographic location information of the first feature identifier is less than or equal to a second preset threshold.
  • the fourth geographic location information is geographic location information acquired by the positioning device according to a satellite positioning technology.
  • the acquiring unit 50 further includes an acquiring module 502.
  • the collecting module 502 is configured to collect image information of the peripheral object by using the at least one monitor activated by the starting module 501.
  • the positioning device 1 of the embodiment is only logically divided according to the functions implemented by the positioning device 1. In actual applications, the superposition or splitting of the above units may be performed.
  • the function implemented by the positioning device 1 in this embodiment is in one-to-one correspondence with the positioning method provided in the first embodiment. The more detailed processing flow implemented by the positioning device 1 is performed in the first embodiment of the foregoing method. Detailed description will not be described in detail here.
  • the positioning device includes an interface circuit 20, a processor 21, a memory 22, and a system bus 23.
  • the interface circuit 20 and the processor 21 are respectively connected to the memory 22 through the system bus 23, and complete communication with each other.
  • the positioning device shown in Fig. 7 is the same as the positioning device in Fig. 2, and the system bus 23 is not shown in Fig. 2.
  • the structure of the positioning device shown in FIG. 7 is not a limitation on the positioning device, and may include more or less components than those illustrated, or a combination of certain components, or different component arrangements.
  • the positioning device when the positioning device is in operation, the positioning device performs the positioning method described in Embodiment 1.
  • the positioning device performs the positioning method described in Embodiment 1.
  • the interface circuit 20 is configured to implement a communication connection between the positioning device and the positioning server.
  • the memory 22 can be used to store a software program and an application module, and the processor 21 executes various functional applications and data processing of the positioning device by running a software program stored in the memory 22 and an application module.
  • the memory 22 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application required for at least one function (such as a transmission travel path request function), and the like; and the storage data area may store a map.
  • the memory 22 may include a volatile memory, such as a high-speed random access memory (RAM), and the memory 22 may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, Or other volatile solid-state storage devices.
  • a volatile memory such as a high-speed random access memory (RAM)
  • the memory 22 may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, Or other volatile solid-state storage devices.
  • the processor 21 is a control center of the positioning device, and connects various parts of the entire positioning device by using various interfaces and lines, by running or executing a software program and/or an application module stored in the memory 22, and calling the storage.
  • the data in the memory 22 performs various functions of the positioning device and processing data to thereby perform overall monitoring of the positioning device.
  • the processor 21 can be a central processing unit (CPU).
  • the processor 21 can also be other general purpose processors, digital signal processing (DSP) or other programmable logic devices or transistor logic devices, discrete hardware components, and the like.
  • DSP digital signal processing
  • the general purpose processor may be a microprocessor or the processor or any conventional processor or the like.
  • the system bus 23 can include a data bus, a power bus, a control bus, a signal status bus, and the like. For the sake of clarity in the present embodiment, various buses are illustrated as the system bus 23 in FIG.
  • the embodiment of the invention provides a positioning device, and the positioning device first acquires a navigation path. And acquiring, according to the navigation path information, image information and geographic location information of the first feature identifier located in the navigation path from the map of the positioning device, where the first feature identifier is located at a first preset centered on the positioning device.
  • the satellite positioning accuracy of the location indicated by the geographic location information of the first feature identifier is smaller than the first preset threshold, and then the positioning device acquires an image of the peripheral object located in the second preset range centered on the positioning device.
  • the second predetermined range is greater than or equal to the first preset range.
  • the positioning device determines the positioning device according to the visual positioning algorithm.
  • the first feature identifier is used as the relative position information of the coordinate origin.
  • the positioning device determines the first geographic location information of the positioning device in the geographic coordinate system according to the geographic location information and the relative location information of the first feature identifier.
  • the visual positioning technology can be effectively applied to the scene with poor satellite positioning accuracy, and the positioning device in the embodiment of the present invention is the first geographical location information determined in the geographic coordinate system, and the first geographical location information can accurately represent the vision.
  • the geographical location information determined by the positioning technology improves the positioning accuracy in the application scenario where the satellite signal quality is poor.
  • the disclosed system, mobile device and method may be implemented in other manners.
  • the mobile device embodiments described above are merely illustrative.
  • the division of the modules or units is only one logical function division.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, mobile device or unit, and may be in electrical, mechanical or other form.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.
  • each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.
  • the above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.
  • the integrated unit if implemented in the form of a software functional unit and sold or used as a standalone product, may be stored in a computer readable storage medium.
  • the technical solution of the present invention which is essential or contributes to the prior art, or all or part of the technical solution, may be embodied in the form of a software product stored in a storage medium.
  • a number of instructions are included to cause a computer device (which may be a personal computer, server, or network device, etc.) or a processor to perform all or part of the steps of the methods described in various embodiments of the present invention.
  • the foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like. .

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Navigation (AREA)

Abstract

La présente invention concerne un procédé et un appareil de positionnement. Le procédé de positionnement comprend: l'obtention d'informations de trajet de navigation (S100) ; l'obtention d'informations d'image et d'informations de position géographique d'un premier marqueur caractéristique à partir d'une carte d'un dispositif de positionnement, le premier marqueur caractéristique étant situé dans une première plage prédéfinie en prenant comme centre le dispositif de positionnement, et une précision de positionnement par satellite à une position indiquée par les informations de position géographique du premier marqueur caractéristique étant inférieure à un premier seuil prédéfini (S101) ; l'obtention d'informations d'image d'un objet environnant (S102) ; si les informations d'image de l'objet environnant correspondent aux informations d'image du premier marqueur caractéristique, la détermination, selon un algorithme de positionnement visuel, d'informations de position relative du dispositif de positionnement en prenant le premier marqueur caractéristique comme origine de coordonnées (S103, S104) ; et la détermination de premières informations de position du dispositif de positionnement dans un système de coordonnées géographiques en fonction des informations de position géographique du premier marqueur caractéristique et des informations de position relative (S105).
PCT/CN2016/077427 2016-03-25 2016-03-25 Procédé et appareil de positionnement WO2017161588A1 (fr)

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CN111380515B (zh) * 2018-12-29 2023-08-18 纳恩博（常州）科技有限公司 定位方法及装置、存储介质、电子装置
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CN113721599A (zh) * 2020-05-25 2021-11-30 华为技术有限公司 定位方法和定位装置
CN113721599B (zh) * 2020-05-25 2023-10-20 华为技术有限公司 定位方法和定位装置
CN112698648A (zh) * 2020-12-14 2021-04-23 珠海格力智能装备有限公司 车辆定位方法及装置、自主导航车辆
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CN113137963A (zh) * 2021-04-06 2021-07-20 上海电科智能系统股份有限公司 被动式室内人和物高精度综合定位及导航方法
CN114185071A (zh) * 2021-12-10 2022-03-15 武汉市虎联智能科技有限公司 一种基于物体识别和空间位置感知的定位系统及方法
CN114612555A (zh) * 2022-03-17 2022-06-10 杭州弥深智能科技有限公司 一种定位方法、装置、电子设备及存储介质

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