CN103874193A - Method and system for positioning mobile terminal - Google Patents
Method and system for positioning mobile terminal Download PDFInfo
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- CN103874193A CN103874193A CN201210538863.5A CN201210538863A CN103874193A CN 103874193 A CN103874193 A CN 103874193A CN 201210538863 A CN201210538863 A CN 201210538863A CN 103874193 A CN103874193 A CN 103874193A
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Abstract
The invention discloses a method and a system for positioning a mobile terminal. The method comprises the following steps: a mobile terminal carries out multi-angle image acquisition on a ground mark; the mobile terminal sends images and shooting information to a cloud computing platform; the mobile terminal receives and displays positioning information which is returned by the cloud computing platform and related to the mobile terminal; and the cloud computing platform adopts a binocular stereo vision positioning principle to calculate the relative positions of the mobile terminal and the ground mark based on the images and shooting information as well as actual parameters of the ground mark. According to the method and the system of the invention, image data information is acquired by the mobile terminal, massive image data storing management and computation-intensive image processing are carried out by making use of the storing and computing capabilities provided by the cloud computing technology, and finally, the position of the mobile terminal is determined. Positioning based on the cloud computing technology is realized, the method and the device can be widely applied to indoor and outdoor positioning, and precise positioning information of the mobile terminal can be computed by making use of the powerful computing and storing capacities provided by the cloud.
Description
Technical field
The present invention relates to terminal positioning technical field, relate in particular to the method and system of a kind of mobile terminal location.
Background technology
Current, the location of realizing mobile terminal mainly contains four kinds of methods, and relevant is described below:
1), based on mobile base station, send to the position of the feature (for example delivery lag) of the signal of mobile terminal and the geographical position of corresponding mobile base station calculating mobile terminal according to different mobile base stations;
2) based on global position system, receive the position signalling from position location satellite according to the receiving equipment on mobile terminal, in conjunction with the map datum of respective regions, obtain the position at mobile terminal place;
3), based on rfid interrogator, read the RFID label information scattering in surrounding environment and therefrom obtain relevant position data according to the rfid interrogator of installing on mobile terminal;
4), based on WIFI network, the WIFI signal location layout information strong and weak and corresponding WIFI focus receiving according to the WIFI receiving system being arranged on mobile terminal is judged the position of mobile terminal.
In above-mentioned four kinds of methods, there is based on mobile base station and the method based on global position system the problem that positioning precision is not high, and can not be used for mobile terminal in indoor location; Method based on rfid interrogator is suitable for indoor location, but it need to carry out fairly large transformation to relevant support environment, and for example widespread deployment records the RFID label of positional information; Method based on WIFI network can be carried out the location of indoor and outdoor in theory, need widespread deployment WIFI focus but it also exists, its result of use of while can be subject to the impact of the factors (for example shielding of indoor wall on signal) such as the coverage of WIFI signal.
Summary of the invention
In view of this, the technical problem that the present invention will solve is to provide the method for a kind of mobile terminal location, by image and in conjunction with the locating information of the actual measurement calculation of parameter mobile terminal of mark.
A method for mobile terminal location, comprising: mobile terminal carries out the IMAQ of multi-angle to ground mark; Image and photographing information are sent to cloud computing platform by described mobile terminal; Described mobile terminal receives and shows the locating information of the relevant described mobile terminal that described cloud computing platform returns; Wherein, described cloud computing platform, by described image and photographing information and in conjunction with the actual parameter of described surface mark thing, adopts binocular stereo vision positioning principle to calculate the relative position of described mobile terminal and described surface mark thing.
According to one embodiment of the method for the invention, further, the camera that uses described mobile terminal to carry is taken the photograph of described surface mark thing and is recorded relevant photographing information; Described photographing information comprises: the change in location of focal length, mobile terminal and the elevation angle of camera change; Use the built-in inertial sensor device of described mobile terminal to obtain the change in location of mobile terminal while at every turn taking pictures; Described inertial sensor device comprises: accelerometer and gyroscope.
According to one embodiment of the method for the invention, further, described mobile terminal, according to the described locating information receiving from described cloud computing platform, in the map showing, is demarcated the position of described mobile terminal on the display screen of described mobile terminal; The loud speaker that described locating information is carried by described mobile terminal broadcasts.
According to one embodiment of the method for the invention, further, between described mobile terminal and described cloud computing platform, carry out data interaction by 3G communication network or WIFI wireless network.
According to one embodiment of the method for the invention, further, the image that described cloud computing platform is uploaded described mobile terminal calculates and processes, and identifies the identity of described surface mark thing; Described cloud computing platform obtains the address of described surface mark thing and actual physical message from cartographic information storehouse, view data and photographing information thereof in conjunction with described surface mark thing contrast, calculate the relative position of described mobile terminal and described surface mark thing, and combining cartographic information obtains the positional information of described mobile terminal, described positional information is sent to described mobile terminal; Described cloud computing platform, based on distributed preservation and management magnanimity mark image and map datum, utilizes Distributed Parallel Algorithm to carry out image and processes calculating.
According to one embodiment of the method for the invention, further, described cloud computing platform adopts binocular stereo vision positioning principle to calculate the relative position of described mobile terminal and described surface mark thing, wherein: L is the place that described mobile terminal is taken pictures for the first time, R is the place that described mobile terminal is taken pictures for the second time, and O point represents the characteristic point on mark; The lens focus of described mobile terminal is f, distance between L and R is d, Lo is the center of the first photograph of photographing for the first time of described mobile terminal, Lx is the imaging on the first photograph in O o'clock, Ro is the center of the second photograph of photographing for the second time of described mobile terminal, and Rx is the imaging on the photograph of the second photograph in O o'clock; O point is to the vertical range d=b*f/|x of LR line
l-x
r|; Wherein, x
lfor the abscissa of a Lx in the first photograph, x
rfor the abscissa of a Rx in the second photograph.
The technical problem that the present invention will solve is to provide the system of a kind of mobile terminal location, by image and in conjunction with the locating information of the actual measurement calculation of parameter mobile terminal of mark.
A system for mobile terminal location, comprising: mobile terminal and cloud computing platform; Described mobile terminal is used for face mark over the ground and carries out the IMAQ of multi-angle, and image and photographing information are sent to cloud computing platform; Described mobile terminal receives and shows the locating information of the relevant described mobile terminal locations that described cloud computing platform returns; Described cloud computing platform, by described image and photographing information and in conjunction with the actual parameter of described surface mark thing, adopts binocular stereo vision positioning principle to calculate the relative position of described mobile terminal and described surface mark thing.
According to system of the present invention embodiment, further, mobile terminal comprises: image collecting device and position detecting device; Described image collecting device is taken the photograph of described surface mark thing; Described position detecting device records relevant photographing information; Described photographing information comprises: the change in location of focal length, mobile terminal and the elevation angle of camera change; Described position detecting device comprises: accelerometer and gyroscope; The change in location of mobile terminal and the elevation angle of camera that wherein said accelerometer and gyroscope obtain mobile terminal while at every turn taking pictures change.
According to system of the present invention embodiment, further, described mobile terminal comprises locating information receiving element; Described locating information receiving element, according to the described locating information receiving from described cloud computing platform, in the map showing, is demarcated the position of described mobile terminal on the display screen of described mobile terminal.
According to system of the present invention embodiment, further, described mobile terminal comprises network communication device; Between described network communication device and described cloud computing platform, carry out data interaction by 3G communication network or WIFI wireless network.
According to system of the present invention embodiment, further, described cloud computing platform comprises: graphics processing unit and geographic information processing unit; The image that described geographic information processing unit is uploaded described mobile terminal calculates and processes, and identifies the identity of surface mark thing; Described graphics processing unit obtains the address of described surface mark thing and actual physical message from cartographic information storehouse, view data and photographing information thereof in conjunction with described surface mark thing are analyzed, calculate the relative position of described mobile terminal and described surface mark thing, and combining cartographic information obtains the positional information of described mobile terminal, described positional information is sent to described mobile terminal; Wherein, described cloud computing platform, based on distributed preservation and management magnanimity mark image and map datum, utilizes Distributed Parallel Algorithm to carry out image and processes calculating.
According to system of the present invention embodiment, further, described graphics processing unit adopts binocular stereo vision positioning principle to calculate the relative position of described mobile terminal and described surface mark thing, wherein: L is the place that described mobile terminal is taken pictures for the first time, R is the place that described mobile terminal is taken pictures for the second time, and O point represents the characteristic point on mark; The lens focus of described mobile terminal is f, distance between L and R is d, Lo is the center of the first photograph of photographing for the first time of described mobile terminal, Lx is the imaging on the first photograph in O o'clock, Ro is the center of the second photograph of photographing for the second time of described mobile terminal, and Rx is the imaging on the photograph of the second photograph in O o'clock; O point is to the vertical range d=b*f/|x of LR line
l-x
r|; Wherein, x
lfor the abscissa of a Lx in the first photograph, x
rfor the abscissa of a Rx in the second photograph.
The method and system of mobile terminal of the present invention location, by mobile terminal acquisition of image data information, utilize storage capacity and the computing capability that cloud computing technology provides to carry out the view data preservation management of magnanimity and the image processing of computation-intensive, the final position of determining mobile terminal, realize the location based on cloud computing technology, do not need existing environment to transform, can be widely used in the location of indoor and outdoor, and utilize powerful calculating that high in the clouds provides and storage capacity to calculate the precise location information of mobile terminal.With existing method comparison, there is more high accuracy and support indoor positioning than architecture and GPS location, avoided simultaneously RFID location and WIFI may problem in locating, the problem includes: the unreachable problem of signal.
Brief description of the drawings
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, to the accompanying drawing of required use in embodiment or description of the Prior Art be briefly described below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, do not paying under the prerequisite of creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is according to the flow chart of an embodiment of the method for mobile terminal of the present invention location;
Fig. 2 is according to the flow chart of another embodiment of the method for mobile terminal of the present invention location;
Fig. 3 is by the algorithm schematic diagram of the change in location of moving characteristic data computing terminal;
Fig. 4 utilizes binocular stereo vision to realize the principle schematic of location;
Fig. 5 is according to the schematic diagram of an embodiment of the system of mobile terminal of the present invention location.
Embodiment
With reference to the accompanying drawings the present invention is described more fully, exemplary embodiment of the present invention is wherein described.Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiment.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtaining under creative work prerequisite, belong to the scope of protection of the invention.Below in conjunction with each figure and embodiment, technical scheme of the present invention is carried out to many-sided description.
Fig. 1 is according to the flow chart of an embodiment of the method for mobile terminal of the present invention location.As shown in Figure 1:
According to one embodiment of present invention, use the camera that mobile terminal carries take the photograph of surface mark thing and record relevant photographing information.Photographing information comprises: the change in location of focal length, mobile terminal and the elevation angle of camera change.Use the built-in inertial sensor device of mobile terminal to obtain the change in location of mobile terminal while at every turn taking pictures.Inertial sensor device comprises: accelerometer and gyroscope.
According to one embodiment of present invention, mobile terminal, according to the locating information receiving from cloud computing platform, in the map showing, is demarcated the position of mobile terminal on the display screen of mobile terminal.The loud speaker that locating information is carried by mobile terminal broadcasts.
According to one embodiment of present invention, between mobile terminal and cloud computing platform, carry out data interaction by 3G communication network or WIFI wireless network.
According to one embodiment of present invention, can first utilize coarseness positioning unit, for example GPS device, carries out coarseness to terminal position, to reduce cloud computing platform required amount of calculation when the photograph computing terminal position of sending according to terminal, improve positioning precision.
Fig. 2 is according to the flow chart of another embodiment of the method for mobile terminal of the present invention location.The image that cloud computing platform is uploaded mobile terminal calculates and processes, and identifies the identity of surface mark thing.Cloud computing platform obtains the address of surface mark thing and actual physical message from cartographic information storehouse, view data and the photographing information thereof of combined ground mark contrast, calculate the relative position of mobile terminal and surface mark thing, and combining cartographic information obtains the positional information of mobile terminal, positional information is sent to mobile terminal.Concrete steps are as shown in Figure 2:
In the shooting process of different photographs, the placement location of mobile terminal need to change to some extent, the variation of the mobile terminal lens location while detecting and record each shooting, the displacement that for example terminal occurs, the variation at the camera lens elevation angle etc.Image collecting device in mobile terminal will be to photograph and photographing information thereof, comprises basic photographing information and terminal location change information, preserves.
Learning on last stage after the relative distance and relative bearing of terminal and mark, just can know the information such as longitude and latitude, street of mobile terminal position in this stage.
Fig. 3 is by the algorithm schematic diagram of the change in location of moving characteristic data computing terminal.As shown in Figure 3: the core algorithm thought of the change in location by moving characteristic data computing terminal be end coordinates system with physical space absolute coordinate system between mapping.
Acceleration information acquisition device is responsible for gathering the rectilinear movement information with respect to six directions such as the up, down, left, right, before and afters of terminal self, and then can calculate the displacement data of terminal in the coordinate system of own place.
Angle information harvester is responsible for acquisition terminal vertically and the placement attitude of the angle-data of horizontal direction to judge that mobile terminal is current, for example horizontal positioned, vertically placement, and angle change information, and then can calculate the change in location data of terminal in physical space coordinate system.
Finally, the mobile message that terminal is occurred in local Coordinate System changes and combines with the angle of terminal attitude, terminal displacement data can be mapped in all directions of reference axis of absolute physical coordinate system, and then obtain the change in location in physical space of terminal.
Fig. 4 utilizes binocular stereo vision to realize the principle schematic of location.As shown in Figure 4: it is core algorithm that cloud computing platform utilizes several photographs of same mark in terminal in-scope to carry out the accurate location of terminal.In specific implementation, can adopt the principle of binocular stereo vision to realize location.
Binocular stereo vision positioning principle is exactly left eye and the parallax of right eye in the time watching object that utilizes people, the then concrete people's of judgment object distance distance.Left eye and the right eye (i.e. L in figure and R) of mainly simulating respectively people by the photograph of successively twice shooting of mobile terminal, the terminal displacement of taking pictures for twice in process is the b in figure.In addition, the focal distance f of camera lens can collect by terminal camera.Have above-mentioned data, can utilize formula to calculating hereinafter to go out the distance of object and terminal.
L, R represent two camera lenses in left and right, point O represents the characteristic point on mark, lens focus is f, distance between camera lens is b, and Lo is the photograph that photographs of the left camera lens L center of (be called for short left side photograph, also can be described as the first photograph), Lx is the imaging on an O on the left side photograph, Ro is the photograph that photographs of the right camera lens R center of (be called for short the right photograph, also can be described as the second photograph), and Rx is the O imaging on photograph on the right.According to leg-of-mutton corner relation, there is (b-|x
l-x
r|)/b=(d-f)/d, can calculate the vertical range d=b*f/|x of O point to LR line through conversion
l-x
r|.Wherein, x
lfor the abscissa in a Lx on the left side photograph, x
rfor the Rx abscissa in photograph on the right.
O point is mark, the left eye that LR is simulated person and the line of right eye.Because of for people is in seeing object, object (O point), normally between two an eye line, so O point has been exactly O point to people's distance to the vertical range d of LR line, generally can be obtained shorter by the distance of b.In like manner, d also just can be used as the distance between mobile terminal and marker.
The difficult point of binocular stereo vision is that several pictures arrange the unification of coordinate system, and L and R need to be on same datum lines.This is equivalent to human eye in when location, and the distance between object and the people of judgement is that the distance of line between two of object and people is the same.The correction of this datum line will ensure that photograph its content after adjusting of repeatedly taking is the equal of to take from a position, guarantees positioning precision.Accelerometer can be judged by the mode of gravity sensing direction and the distance of fast mobile terminal, and gyroscope can be judged the angle that terminal turns over.
In the method for mobile terminal of the present invention location, mark photograph need to repeatedly be taken, and therefore each shooting process can make terminal location product deviation.For improving the precision of location, by the inertial positioning device of mobile terminal, for example accelerometer, gyroscope etc., can obtain camera site in different photograph shooting process and the difference of angle, accelerometer can be judged by the mode of gravity sensing direction and the distance of fast mobile terminal, gyroscope can be judged the angle that terminal turns over, and then the coordinate system of the terminal image harvester in each shooting process is proofreaied and correct and picture material is carried out to consequential amendment, make every width photograph all be positioned at unified physical coordinates system, for example, in unified horizontal plane, improve positioning precision.
According to one embodiment of present invention, cloud computing platform adopts binocular stereo vision positioning principle to calculate the relative position of mobile terminal and surface mark thing, wherein: L is the place that mobile terminal is taken pictures for the first time, R is the place that mobile terminal is taken pictures for the second time, and O point represents the characteristic point on mark.
The lens focus of mobile terminal is f, distance between L and R is d, Lo is the center of the first photograph of photographing for the first time of mobile terminal, Lx is the imaging on the first photograph in O o'clock, Ro is the center of the second photograph of photographing for the second time of mobile terminal, and Rx is the imaging on the photograph of the second photograph in O o'clock.O point is to the vertical range d=b*f/|x of LR line
l-x
r|.X
lfor the abscissa of a Lx in the first photograph, x
rfor the abscissa of a Rx in the second photograph.
For the current limitation existing for implementing the method for mobile terminal location, in the method for mobile terminal of the present invention location, mobile terminal carries out IMAQ by multi-angle to the same mark in its site surrounding enviroment, in theory as long as the long-term fixing object in position just can be used as mark, but this depends on that whether all mark information all in the cartographic information storehouse of collected cloud computing platform side.In the ordinary course of things, the building that has a terrestrial reference feature is that reasonable mark is selected.
Mobile terminal, by image and relevant photographing information, wherein, for photograph itself, is exactly mainly focus information.For shooting process, also comprise the variation of terminal position in the process of taking pictures, such as camera moves forward and backward up and down, camera gun elevation angle variation etc., is uploaded to high in the clouds to utilize cloud computing technology to carry out the comparative analysis of picture material.
Cloud computing platform is mainly to utilize image recognition algorithm to identify the content of shooting in image, then inquire about on this basis backstage information bank and and then obtain mark relevant information, and calculate to obtain relative bearing and the relative distance between terminal position and mark in conjunction with the actual measurement parameter of the actual measurement parameter mark of mark, and then figure forms accurate positional information in combination, and this information is reached from high in the clouds to mobile terminal realization location.
Actual measurement parameter is entered in cloud computing platform in advance, and therefore for example height, width etc. need a large amount of examine on the spot work early stage.Here needing to use cloud computing technology, is mainly to utilize distributed storage technology to carry out the preservation of mass data, and utilizes distributed computing technology to carry out parallel image processing.
The method is by mobile terminal acquisition of image data information, utilize storage capacity and the computing capability that cloud computing technology provides to carry out the view data preservation management of magnanimity and the image processing of computation-intensive, the final position of determining mobile terminal, has realized the location based on cloud computing technology.
The method does not need existing environment to transform, and can be widely used in the location of indoor and outdoor, and its key is to utilize powerful calculating that high in the clouds provides and storage capacity to calculate the precise location information of mobile terminal.
Fig. 5 is according to the schematic diagram of an embodiment of the system of mobile terminal of the present invention location.As shown in Figure 5: the system of mobile terminal location comprises: mobile terminal 51 and cloud computing platform 52.Cloud computing platform 52 comprises cartographic information storehouse, for preserving the geographical location information of surface mark thing and complete mark actual measurement physical features, for example, the external appearance characteristic of outstanding feature thing, for example height, width, thickness, color etc.
Mobile terminal 51 is for ground mark being carried out to the IMAQ of multi-angle, and image and photographing information are sent to cloud computing platform.Mobile terminal 51 receives and shows the locating information of the relevant mobile terminal locations that cloud computing platform returns.Cloud computing platform 52, by the actual parameter of image and photographing information combined ground mark, calculates the locating information of mobile terminal 51.
According to one embodiment of present invention, mobile terminal 51 comprises: image collecting device 511 and position detecting device 512.Image collecting device 511 is taken the photograph of surface mark thing.Position detecting device 512 records relevant photographing information.Photographing information comprises: the change in location of focal length, mobile terminal and the elevation angle of camera change.Position detecting device 512 comprises: accelerometer and gyroscope.Wherein accelerometer and gyroscope obtain the change in location of mobile terminal and the variation of the elevation angle of camera of mobile terminal while at every turn taking pictures.
According to one embodiment of present invention, mobile terminal 51 comprises locating information receiving element 513.Locating information receiving element 513, according to the locating information receiving from cloud computing platform 52, in the map showing, is demarcated the position of mobile terminal 51 on the display screen of mobile terminal 51.
According to one embodiment of present invention, mobile terminal 51 comprises network communication device 514.Between network communication device 514 and cloud computing platform 52, carry out data interaction by 3G communication network or WIFI wireless network.
According to one embodiment of present invention, cloud computing platform comprises: graphics processing unit 521 and geographic information processing unit 522.The image that geographic information processing unit 522 is uploaded mobile terminal calculates and processes, and identifies the identity of surface mark thing.
Graphics processing unit 521 obtains the address of surface mark thing and actual physical message from cartographic information storehouse, view data and the photographing information thereof of combined ground mark are analyzed, calculate the relative position of mobile terminal 51 and surface mark thing, and combining cartographic information obtains the positional information of mobile terminal 51, positional information is sent to mobile terminal 51.Wherein, cloud computing platform, based on distributed preservation and management magnanimity mark image and map datum, utilizes Distributed Parallel Algorithm to carry out image and processes calculating.
According to one embodiment of present invention, graphics processing unit 521 adopts binocular stereo vision positioning principle to calculate the relative position of mobile terminal 51 and surface mark thing, wherein: L is the place that mobile terminal is taken pictures for the first time, R is the place that mobile terminal is taken pictures for the second time, and O point represents the characteristic point on mark.The lens focus of mobile terminal is f, distance between L and R is d, Lo is the center of the first photograph of photographing for the first time of mobile terminal, Lx is the imaging on the first photograph in O o'clock, Ro is the center of the second photograph of photographing for the second time of mobile terminal, and Rx is the imaging on the photograph of the second photograph in O o'clock.O point is to the vertical range d=b*f/|x of LR line
l-x
r|.Wherein, x
lfor the abscissa of a Lx in the first photograph, x
rfor the abscissa of a Rx in the second photograph.
The method and system of mobile terminal of the present invention location, mark location based on image recognition and cartographic information search, the terminal Relative position determination based on binocular stereo vision location mechanism all have very big demand to storage resources and computational resource, therefore need cloud computing platform that relevant cloud computing technology support is provided, cloud computing technology is mainly used in the Storage and Processing of mass image data.Utilize the cloud computing platform based on distributed storage to preserve and management magnanimity mark image and map datum, utilize and carry out image processing based on framework Distributed Parallel Algorithm such as MapReduce.
(1) defect at aspects such as system dynamic scalability, Mass Data Management for traditional relevant database, need to utilize the cloud computing technology of distributed storage, such as HDFS distributed file system and move HBase data on it etc.Carry out preservation and the management of mass data.This type systematic has taken into full account the demand of mass data storage in the time of design, can utilize standardized x86 framework storage server to build memory resource pool, and realize the magnanimity, Highly Scalable of storage system, high available, efficient disposal ability by distributed middleware, particularly this class distributed data base has adopted NoSQL technology to replace the sql like language that traditional relevant database uses, and is more suitable for data query and the access of ultra-large in having, the high feature such as concurrent.
(2) feature such as the process complexity, computation-intensive, the time requirement that conventionally have for image processing (particularly this patent put forward the methods required in line image processing) are strict, only rely on a limited number of servers to be difficult to meet the demand of image processing, therefore need to introduce the distributed computing technology in cloud computing field, for example MapReduce.The emerging distributed computing technology of this class relies on distributed memory system, there is high autgmentability, it changes the account form that data is pulled to computing unit generally adopting in traditional calculations pattern to push calculating to memory cell into simultaneously, thereby is highly suitable for the processing to mass image data in image processing algorithm.
In the image recognition processes based on cloud computing, view data is the relatively fixing to the operation of image of magnanimity, if still as traditional computation schema, view data is such as pushed away, to computing unit (data need step by step could be finally processed via memory mechanisms such as disk, internal memory, buffer memory, registers), can cause so very large performance cost.And if limited relatively-stationary computational process is pushed on data storage cell, so just can avoid the movement of mass data, improve performance.
May realize in many ways method and system of the present invention.For example, can realize method and system of the present invention by any combination of software, hardware, firmware or software, hardware, firmware.The said sequence that is used for the step of method is only in order to describe, and the step of method of the present invention is not limited to above specifically described order, unless otherwise specified.In addition, in certain embodiments, can be also the program being recorded in recording medium by the invention process, these programs comprise the machine readable instructions for realizing the method according to this invention.Thereby the present invention also covers the recording medium of storing the program for carrying out the method according to this invention.
Description of the invention provides for example with for the purpose of describing, and is not exhaustively or limit the invention to disclosed form.Many modifications and variations are obvious for the ordinary skill in the art.Selecting and describing embodiment is for better explanation principle of the present invention and practical application, thereby and makes those of ordinary skill in the art can understand the present invention's design to be suitable for the various embodiment with various amendments of special-purpose.
Claims (12)
1. a method for mobile terminal location, is characterized in that, comprising:
Mobile terminal carries out the IMAQ of multi-angle to ground mark;
Image and photographing information are sent to cloud computing platform by mobile terminal;
Described mobile terminal receives and shows the locating information of the relevant described mobile terminal that described cloud computing platform returns;
Wherein, described cloud computing platform, by described image and photographing information and in conjunction with physics and the location parameter of described surface mark thing reality, adopts binocular stereo vision positioning principle to calculate the relative position of described mobile terminal and described surface mark thing.
2. the method for claim 1, is characterized in that:
The camera that uses described mobile terminal to carry is taken the photograph of described surface mark thing and is recorded relevant photographing information; Described photographing information comprises: the change in location of focal length, mobile terminal and the elevation angle of camera change;
Use the built-in inertial sensor device of described mobile terminal to obtain the change in location of mobile terminal while at every turn taking pictures; Wherein, described inertial sensor device comprises: accelerometer and gyroscope.
3. method as claimed in claim 2, is characterized in that:
Described mobile terminal, according to the described locating information receiving from described cloud computing platform, in the map showing, is demarcated the position of described mobile terminal on the display screen of described mobile terminal;
The loud speaker that described locating information is carried by described mobile terminal broadcasts.
4. method as claimed in claim 3, is characterized in that:
Between described mobile terminal and described cloud computing platform, carry out data interaction by 3G communication network or WIFI wireless network.
5. method as claimed in claim 2, is characterized in that:
The image that described cloud computing platform is uploaded described mobile terminal calculates and processes, and identifies described surface mark thing;
Described cloud computing platform obtains the address of described surface mark thing and actual physical message from cartographic information storehouse, view data and photographing information thereof in conjunction with described surface mark thing contrast, calculate the relative position of described mobile terminal and described surface mark thing, and combining cartographic information obtains the positional information of described mobile terminal, described positional information is sent to described mobile terminal;
Described cloud computing platform, based on distributed preservation and management magnanimity mark image and map datum, utilizes Distributed Parallel Algorithm to carry out image and processes calculating.
6. method as claimed in claim 5, is characterized in that:
Described employing binocular stereo vision positioning principle calculate described mobile terminal and described surface mark thing relative position, be specially:
L is the place that described mobile terminal is taken pictures for the first time, and R is the place that described mobile terminal is taken pictures for the second time, and O point represents the characteristic point on mark;
The lens focus of described mobile terminal is f, distance between L and R is d, Lo is the center of the first photograph of photographing for the first time of described mobile terminal, Lx is the imaging on the first photograph in O o'clock, Ro is the center of the second photograph of photographing for the second time of described mobile terminal, and Rx is the imaging on the photograph of the second photograph in O o'clock;
O point is to the vertical range d=b*f/|x of LR line
l-x
r|;
Wherein, x
lfor the abscissa of a Lx in the first photograph, x
rfor the abscissa of a Rx in the second photograph.
7. a system for mobile terminal location, is characterized in that, comprising: mobile terminal and cloud computing platform;
Described mobile terminal is used for face mark over the ground and carries out the IMAQ of multi-angle, and image and photographing information are sent to cloud computing platform;
Described mobile terminal receives and shows the locating information of the relevant described mobile terminal locations that described cloud computing platform returns;
Described cloud computing platform, by described image and photographing information and in conjunction with physics and the location parameter of described surface mark thing reality, adopts binocular stereo vision positioning principle to calculate the relative position of described mobile terminal and described surface mark thing.
8. system as claimed in claim 7, is characterized in that:
Shown in mobile terminal comprise: image collecting device and position detecting device;
Described image collecting device is taken the photograph of described surface mark thing;
Described position detecting device records relevant photographing information; Described photographing information comprises: the change in location of focal length, mobile terminal and the elevation angle of camera change;
Described position detecting device comprises: accelerometer and gyroscope; The change in location of mobile terminal and the elevation angle of camera that wherein said accelerometer and gyroscope obtain mobile terminal while at every turn taking pictures change.
9. system as claimed in claim 8, is characterized in that:
Described mobile terminal comprises locating information receiving element;
Described locating information receiving element, according to the described locating information receiving from described cloud computing platform, in the map showing, is demarcated the position of described mobile terminal on the display screen of described mobile terminal.
10. system as claimed in claim 9, is characterized in that:
Described mobile terminal comprises network communication device;
Between described network communication device and described cloud computing platform, carry out data interaction by 3G communication network or WIFI wireless network.
11. systems as claimed in claim 9, is characterized in that:
Described cloud computing platform comprises: graphics processing unit and geographic information processing unit;
The image that described geographic information processing unit is uploaded described mobile terminal calculates and processes, and identifies the identity of surface mark thing;
Described graphics processing unit obtains the address of described surface mark thing and actual physical message from cartographic information storehouse, view data and photographing information thereof in conjunction with described surface mark thing are analyzed, calculate the relative position of described mobile terminal and described surface mark thing, and combining cartographic information obtains the positional information of described mobile terminal, described positional information is sent to described mobile terminal;
Wherein, described cloud computing platform, based on distributed preservation and management magnanimity mark image and map datum, utilizes Distributed Parallel Algorithm to carry out image and processes calculating.
12. systems as claimed in claim 11, is characterized in that:
Described graphics processing unit employing binocular stereo vision positioning principle calculates the relative position of described mobile terminal and described surface mark thing, wherein:
L is the place that described mobile terminal is taken pictures for the first time, and R is the place that described mobile terminal is taken pictures for the second time, and O point represents the characteristic point on mark;
The lens focus of described mobile terminal is f, distance between L and R is d, Lo is the center of the first photograph of photographing for the first time of described mobile terminal, Lx is the imaging on the first photograph in O o'clock, Ro is the center of the second photograph of photographing for the second time of described mobile terminal, and Rx is the imaging on the photograph of the second photograph in O o'clock;
O point is to the vertical range d=b*f/|x of LR line
l-x
r|;
Wherein, x
lfor the abscissa of a Lx in the first photograph, x
rfor the abscissa of a Rx in the second photograph.
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