WO2017161588A1 - 一种定位方法及装置 - Google Patents
一种定位方法及装置 Download PDFInfo
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- 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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- positioning device
- location information
- positioning
- information
- geographic location
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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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Abstract
一种定位方法及装置,该定位方法包括:获取导航路径信息(S100);根据导航路径信息,从定位设备的地图中获取第一特征标识物的图像信息和地理位置信息,第一特征标识物位于以定位设备为中心的第一预设范围内,第一特征标识物的地理位置信息指示的位置的卫星定位精度小于第一预设阈值(S101);获取周边物体的周边物体的图像信息(S102);若周边物体的图像信息与第一特征标识物的图像信息匹配,则根据视觉定位算法确定定位设备以第一特征标识物为坐标原点的相对位置信息(S103、S104);根据第一特征标识物的地理位置信息和相对位置信息在地理坐标系中确定定位设备的第一位置信息(S105)。
Description
本发明涉及通信领域,尤其涉及一种定位方法及装置。
随着移动互联网技术和物联网技术的发展,基于ICT(Information Communication Technology,信息通信技术)的智能交通正在经历着新一轮的变革,自动驾驶已成为未来的战略方向。自动驾驶与驾驶员驾驶类似,车辆需要获知自身的当前地理位置信息、目标地理位置信息和从当前地理位置信息到目标地理位置信息的导航路径信息。车辆获知自身的当前地理位置信息所采用的技术是定位技术。
目前,在高楼林立的城市、偏远地区或特殊地区(如峡谷、隧道等)等卫星信号质量较差的应用场景中,车辆一般使用惯性导航定位技术和GNSS(Global Navigation Satellite System,全球导航卫星***)定位技术进行组合定位。其中,惯性导航定位技术是利用惯性元件来测量车辆本身的加速度,在对测量出的加速度经过积分计算后,确定出车辆的速度、偏航角和惯性导航地理位置信息等信息的一种技术。由于惯性导航定位技术确定的惯性导航地理位置信息是通过积分生成的,其定位误差会随时间的增长而增大,因此,在上述应用场景中,定位的精度较差。
发明内容
本发明的实施例提供一种定位方法及装置,解决了现有技术中在卫星信号质量差的应用场景中定位的精较差的问题,提高了卫星信号质量差的应用场景中定位的精度。
为达到上述目的,本发明的实施例采用如下技术方案:
本发明实施例提供一种定位方法,定位设备首先获取导航路径信息,并根据导航路径信息从定位设备的地图中获取导航路径中第一特征标识物的图像信息和第一特征标识物的地理位置信息,第一特征标识物位于以定位设备为中心的第一预设范围内,特征标识物的地理位置信息指示的位置的卫星定位精度小于第一预设阈值,然后,定位设备获取该定位设备周边物体的图像信息,周边物***于以定位设备为中心的第二预设范围内,第二预设范围大于或等于第一预设范围,若周边物体的图像信息和第一特征标识物的图像信息匹配,则定位设备确定所述周边物体为第一特征标识物,定位设备以第一特征标识物为坐标原点,根据视觉定位算法确定定位设备以第一特征标识物为坐标原点的相对位置信息,最后,定位设备根据第一特征标识物的地理位置信息和确定出的相对位置信息,在地理坐标系中确定定位设备的第一地理位置信息。
本发明实施例提供的定位方法中,定位设备的地图中存储有第一特征标识物的图像信息和第一特征标识物的地理位置信息,且第一特征标识物的地理位置信息指示的位置的卫星定位精度小于第一预设阈值。若定位设备获取的周边物体的图像信息与第一特征标识物的图像信息匹配,则说明定位设备所在的位置与第一特征标识物的地理位置信息之间的距离很小,定位设备根据视觉定位算法确定定位设备以第一特征标识物为坐标原点的相对位置信息,进而参考第一特征标识物的地理位置信息在地理坐标系中确定第一地理位置信息,该第一地理位置信息能够准确地表示出定位设备利用视觉定位技术确定出的地理位置信息,提高了在卫星信号质量差的应用场景中的定位精度。
进一步地,若周边物体的图像信息与第一特征标识物的图像信息匹配,定位设备还根据卫星定位技术获取定位设备的第二地理位置信息,并根据预设的惯性导航定位技术获取定位设备的第三地理位置信息。
进一步地,定位设备根据第一特征标识物的地理位置信息和相
对位置信息确定定位设备的第一地理位置信息之后,定位设备根据预设的融合算法,对第一地理位置信息、第二地理位置信息和第三地理位置信息进行融合计算,确定定位设备的精确地理位置信息。
一般情况下,融合定位技术的定位精度高于单种定位技术的定位精度,因此,本发明实施例中定位设备根据预设的融合算法进行融合计算,以确定精确地理位置信息,进一步提高了定位的精度。
具体的,本发明实施例中的地图包含有辅助定位图层,辅助定位图层包括至少一个特征标识物的地理位置信息和每个特征标识物的图像信息,第一特征标识物为至少一个特征标识物中的其中一个。
相应的,定位设备获取第一特征标识物的图像信息和所述第一特征标识物的地理位置信息的方法为:定位设备根据导航路径信息,从辅助定位图层中获取第一特征标识物的图像信息和第一特征标识物的地理位置信息。
本发明实施例在现有的地图中增加包含有第一特征标识物的地理位置信息和第一特征标识物的图像信息的辅助定位图层,减少了对现有地图的图层包含的数据的修改。
可选的,定位设备获取导航路径信息的方法为:定位设备获取定位设备的起始地理位置信息和定位设备的目标地理位置信息,并根据起始地理位置信息和目标地理位置信息,通过预设的路径算法,确定导航路径信息。
可选的,定位设备获取导航路径信息的方法为:定位设备获取定位设备的起始地理位置信息和定位设备的目标地理位置信息,定位设备向定位服务器发送包括起始地理位置信息和目标地理位置信息的行驶路径请求,用于请求定位服务器分配从起始地理位置信息指示的起始位置至目标地理位置信息指示的目标位置的导航路径信息;定位设备接收定位服务器发送的导航路径信息。
可以理解的是,定位服务器可以结合道路的拥堵情况,实时地分配从起始地理位置信息指示的起始位置至目标地理位置信息指示的目标位置的导航路径信息,与定位设备自身确定导航路径信息相
比,定位服务器确定导航路径信息的实用性更强。
需要说明的是,本发明实施例中可以是定位服务器确定导航路径信息,也可以是定位设备确定导航路径信息,导航路径信息的具体确定方式可根据实际需求确定。
具体的,定位设备获取周边物体的图像信息的方法为:在定位设备的第四地理位置信息与第一特征标识物的地理位置信息之间的直线距离小于或等于第二预设阈值时,定位设备启动至少一个监测器,并通过至少一个监测器采集周边物体的图像信息,所述第四地理位置信息为所述定位设备根据卫星定位技术获取的地理位置信息。
本发明另一实施例提供一种定位设备,包括:获取单元和视觉定位单元。
具体的,本发明实施例提供的各个单元模块所实现的功能具体如下:
获取单元,用于获取导航路径信息,以及用于根据所述导航路径信息,从定位设备的地图中获取第一特征标识物的图像信息和所述第一特征标识物的地理位置信息,所述第一特征标识物的地理位置信息指示的位置位于所述定位设备的导航路径信息指示的导航路径中,且所述第一特征标识物位于以所述定位设备为中心的第一预设范围内,所述第一特征标识物的地理位置信息指示的位置的卫星定位精度小于第一预设阈值,以及用于获取周边物体的图像信息,所述周边物***于以所述定位设备为中心的第二预设范围内,第二预设范围大于或等于第一预设范围。
视觉定位单元,用于若所述获取单元获取到的所述周边物体的图像信息与所述第一特征标识物的图像信息匹配,则确定所述周边物体为所述第一特征标识物,并以所述第一特征标识物为坐标原点,根据视觉定位算法确定所述定位设备以第一特征标识物为坐标原点的相对位置信息,以及用于根据所述第一特征标识物的地理位置信息和所述相对位置信息,在地理坐标系中确定所述定位设备的第一地理位置信息。
本发明实施例提供的定位设备的技术效果可以参见上述实施例中定位设备执行的定位方法中描述的定位设备的技术效果,此处不再赘述。
进一步地,所述获取单元,还用于若所述获取单元获取到的所述周边物体的图像信息与所述第一特征标识物的图像信息匹配,根据卫星定位技术获取所述定位设备的第二地理位置信息,并根据预设的惯性导航定位技术获取所述定位设备的第三地理位置信息。
进一步地,所述定位设备还包括定位融合单元,
所述定位融合单元,用于在视觉定位单元确定所述定位设备的第一地理位置信息之后,根据预设的融合算法,对所述视觉定位单元确定的所述第一地理位置信息、所述获取单元获取到的所述第二地理位置信息和所述获取单元获取到的所述第三地理位置信息进行融合计算,确定所述定位设备的精确地理位置信息。
进一步地,所述定位设备还包括存储单元,
所述存储单元,用于存储包含所述导航路径信息的地图,所述地图包含有辅助定位图层,所述辅助定位图层包括所述第一特征标识物的地理位置信息和所述第一特征标识物的图像信息。
相应的,所述获取单元,具体用于根据所述导航路径信息,从所述存储单元存储的所述辅助定位图层中获取所述第一特征标识物的图像信息和所述第一特征标识物的地理位置信息。
进一步地,所述获取单元,还用于获取所述定位设备的起始地理位置信息和所述定位设备的目标地理位置信息。
进一步地,所述定位设备还包括路径规划单元,
所述路径规划单元,还用于根据所述获取单元获取到的所述起始地理位置信息和所述目标地理位置信息,通过预设的路径算法,确定所述导航路径信息。
进一步地,所述定位设备还包括发送单元,
所述发送单元,用于向定位服务器发送行驶路径请求,所述路径请求包括所述获取单元获取到的所述起始地理位置信息和所述目标地理位置信息,所述行驶路径请求用于请求所述定位服务器分配
从所述起始地理位置信息指示的起始位置至所述目标地理位置信息指示的目标位置的所述导航路径信息。
进一步地,所述定位设备还包括接收单元,
所述接收单元,用于接收所述定位服务器发送的所述导航路径信息。
进一步地,所述获取单元包括启动模块,
所述启动模块,用于在所述定位设备的第四地理位置信息与所述第一特征标识物的地理位置信息之间的直线距离小于或等于第二预设阈值时,启动至少一个监测器。
进一步地,所述获取单元还包括采集模块,
所述采集模块,用于通过所述启动模块启动的所述至少一个监测器采集所述周边物体的图像信息。
本发明另一实施例提供一种定位设备,包括接口电路、处理器、存储器和***总线;所述接口电路、所述处理器、所述存储器与所述***总线连接,当所述定位设备运行时,所述定位设备执行如上述实施例所述的定位方法。
本发明实施例提供的定位设备的技术效果可以参见上述实施例中定位设备执行的定位方法中描述的定位设备的技术效果,此处不再赘述。
为了更清楚地说明本发明实施例中的技术方案,下面将对实施例描述中所需要使用的附图作简单地介绍,显而易见地,下面描述中的附图仅仅是本发明的一些实施例。
图1为本发明实施例提供的定位***的结构示意图;
图2为本发明实施例提供的定位***的组成示意图;
图3为本发明实施例提供的定位方法的流程示意图一;
图4为本发明实施例提供的定位方法的流程示意图二;
图5为本发明实施例提供的定位设备的结构示意图一;
图6为本发明实施例提供的定位设备的结构示意图二;
图7为本发明实施例提供的定位设备的结构示意图三。
下面将结合本发明实施例中的附图,对本发明实施例中的技术方案进行详细地描述,显然,所描述的实施例仅仅是本发明一部分实施例,而不是全部的实施例。
本发明的说明书和权利要求书及上述附图中的术语“第一”、“第二”、“第三”和“第四”等是用于区别不同对象,而不是用于限定特定顺序。此外,术语“包括”和“具有”以及它们任何变形,意图在于覆盖不排他的包含。例如包含了一系列步骤或单元的过程、方法、***、产品或设备没有限定于已列出的步骤或单元,而是可选地还包括没有列出的步骤或单元,或可选地还包括对于这些过程、方法、产品或设备固有的其它步骤或单元。
以下描述中,为了说明而不是为了限定,提出了诸如特定***结构、接口、技术之类的具体细节,以便透切理解本发明。然而,本领域的技术人员应当清楚,在没有这些具体细节的其它实施例中也可以实现本发明。在其它情况中,省略对众所周知的移动设备、电路以及方法的详细说明,以免不必要的细节妨碍本发明的描述。
另外,本文中术语“和/或”,仅仅是一种描述关联对象的关联关系,表示可以存在三种关系,例如,A和/或B,可以表示:单独存在A,同时存在A和B,单独存在B这三种情况。另外,本文中字符“/”,一般表示前后关联对象是一种“或”的关系。
应理解的是,在本发明实施例中,定位设备可以是具有无线通信功能的手持设备、车载设备、计算设备,也可以是连接到无线调制解调器的其它处理设备,或者是位于手持设备或车载设备中的装置,本发明实施例对此不作具体限定。
优选的,本发明实施例中的定位设备为自动驾驶的车辆。
现有技术中,在卫星信号质量良好的室外宽阔地带应用场景中,定位装置采用现有的定位技术即可实现高精度实时定位,获取准确
的定位位置信息。在卫星信号质量较差的应用场景中,车辆一般采用惯性导航定位技术和GNSS定位技术进行组合定位,但是,惯性导航定位技术的定位误差是随时间的增长而增大的,因此,在这种应用场景中,定位的精度较差。
本发明提供一种定位方法及装置,通过根据视觉定位技术确定定位设备以第一特征标识物为坐标原点的相对位置信息,然后根据第一特征标识物的地理位置信息和确定出的相对位置信息,在地理坐标系中确定定位设备第一位置信息,从而提高卫星信号质量差的应用场景中的定位精度。
图1是本发明实施例提供的定位***的结构示意图。参见图1,该定位***包括定位服务器100、一个或多个与定位服务器100相连接的定位设备101。定位服务器100与定位设备101之间通过网络连接。
图2是本发明实施例提供的定位***的组成示意图。
参见图2,该定位***中的定位服务器100包括接口电路10、处理器11以及存储器12。接口电路10用于与该定位服务器100相连接的定位设备101进行通信。处理器11用于根据定位设备发送的行驶路径请求,为定位设备分配导航路径信息。存储器12用于存储包含至少一个特征标识物的图像信息和每个特征标识物的地理位置信息的地图,其中,第一特征标识物为至少一个特征标识物中的其中一个。
该定位***中的定位设备101包括接口电路20、处理器21以及存储器22。接口电路20用于与该定位设备101相连接的定位服务器100进行通信。处理器21用于判断周边物体的图像信息是否与第一特征标识物的图像信息匹配,若周边物体的图像信息与第一特征标识物的图像信息匹配,则根据视觉定位算法确定定位设备以第一特征标识物为坐标原点的相对位置信息,以及用于根据第一特征标识物的地理位置信息和相对位置信息确定定位设备的第一地理位置信息,以及用于若周边物体的图像信息与第一特征标识物的图像
信息匹配,根据卫星定位技术获取定位设备的第二地理位置信息,并根据预设的惯性导航定位技术获取定位设备的第三地理位置信息,以及用于根据预设的融合算法,对定位设备的第一地理位置信息、第二地理位置信息和第三地理位置信息进行融合计算,确定定位设备的精确地理位置信息。存储器12用于存储包含有导航路径信息的地图,且该地图包含有辅助定位图层,所述辅助定位图层包括第一特征标识物的地理位置信息和第一特征标识物的图像信息。
需要说明的是,图2所示的定位***中,地图可以同时存储于定位服务器100和定位设备101中,也可以仅仅存储于定位设备101中,因此,图2中定位服务器100中存储的地图用虚框表示。
实施例一
本发明实施例提供一种定位方法,如图3所示,包括:
S100、定位设备获取导航路径信息。
S101、定位设备根据导航路径信息,从定位设备的地图中获取第一特征标识物的图像信息和第一特征标识物的地理位置信息。
其中,第一特征标识物位于定位设备获取的导航路径信息指示的导航路径中,且第一特征标识物位于以定位设备为中心的第一预设范围内,且第一特征标识物的地理位置信息指示的位置的卫星定位精度小于第一预设阈值。
示例性的,第一特征标识物为道路边的某一建筑物,或者为道路上的某一指示牌等。
S102、定位设备获取周边物体的图像信息。
其中,周边物***于以定位设备为中心的第二预设范围内,第二预设范围大于或等于第一预设范围。
S103、定位设备判断周边物体的图像信息是否与第一特征标识物的图像信息匹配。
S104、若周边物体的图像信息与第一特征标识物的图像信息匹配,则定位设备确定周边物体为第一特征标识物,并根据视觉定位
算法确定定位设备以第一特征标识物为坐标原点的相对位置信息。
S105、定位设备根据第一特征标识物的地理位置信息和相对位置信息确定定位设备的第一地理位置信息。
定位设备在移动时,先获取导航路径信息,即执行S100。
可选的,本发明实施例中定位设备获取导航路径信息的方法可以为:定位设备获取定位设备的起始地理位置信息和定位设备的目标地理位置信息,定位设备根据获取到的起始地理位置信息和目标地理位置信息,根据预设的路径算法确定导航路径信息。
其中,本发明实施例中的预设的路径算法可以为Floyd(弗洛伊德)算法,也可以为DFS(Depth-First-Search,深度优先搜索)算法,还可以为其他任意一种路径规划采用的算法,本发明实施例对此不作具体限定。
可以理解的是,定位设备在获取到起始地理位置信息和目标地理位置信息后,结合该定位设备存储的地图,根据预设的路径规划规则,根据预设算法确定导航路径信息。
示例性的,本发明实施例中的定位设备获取到的起始地理位置信息指示的位置为A地,目标地理位置信息指示的位置为B地,定位设备基于这两个地理位置信息再结合存储的地图,根据距离最短的路径规划规则,采用预设算法确定从A地到B地的最短路径。
可选的,定位设备获取导航路径信息的方法也可以为:首先,定位设备获取定位设备的起始地理位置信息和定位设备的目标地理位置信息;然后,定位设备向定位服务器发送包含有该起始地理位置信息和该目标地理位置信息的行驶路径请求,用于请求定位服务器分配从该起始地理位置信息指示的起始位置至该目标地理位置信息指示的目标位置的路径信息,即导航路径信息;最后,定位设备接收定位服务器发送的导航路径信息。
容易理解的是,定位服务器通常位于云端,其可以获取到实时路况。因此,定位服务器可以结合道路的拥堵情况,为定位设备实时地分配导航路径信息。与定位设备自身确定导航路径信息相比,
定位服务器确定导航路径信息的实用性更强。
需要说明的是,本发明实施例中可以是定位服务器确定导航路径信息,也可以是定位设备确定导航路径信息,导航路径信息的具体确定可根据实际需求确定,本发明不作具体限定。
具体的,定位设备在获取到导航路径信息后,根据导航路径信息从地图中获取第一特征标识物的图像信息和第一特征标识物的地理位置信息,即执行S101。
其中,本发明实施例中的地图存储有现有地图所包含的图层,即本发明实施例中的地图存储有所有的基础信息,如道路信息和车道信息。道路信息包括道路名称、道路曲率、横向坡度以及纵向坡度等,车道信息包括车道宽度、车道标线以及车道限速等。
具体的,本发明实施例中的地图中还存储有至少一个特征标识物的地理位置信息和每个特征标识物的图像信息。第一特征标识物为至少一个特征标识物中的其中一个。
可选的,本发明实施例中的地图包含有辅助定位图层,该辅助定位图层包括至少一个特征标识物的地理位置信息和每个特征标识物的图像信息。第一特征标识物为至少一个特征标识物中的其中一个。这样,定位设备根据导航路径信息,从辅助定位图层中获取第一特征标识物的图像信息和第一特征标识物的地理位置信息。
可选的,本发明实施例中至少一个特征标识物的地理位置信息和每个特征标识物的图像信息分别以独立的文件存储于与所述地图相关的文件中,或至少一个特征标识物的地理位置信息和每个特征标识物的图像信息分别存储于地图的不同模块中,第一特征标识物为至少一个特征标识物中的其中一个。这样,定位设备根据导航路径信息,从地图的不同模块中获取获取第一特征标识物的图像信息和第一特征标识物的地理位置信息。
其中,地图中存储的每个特征标识物的地理位置信息和图像信息均为地图开发人员预先确定并存储于地图中的。
由于卫星定位精度小于第一预设阈值的地理位置信息仅仅为地
图中包含的所有地理位置信息中的一部分,因此至少一个特征标识物的地理位置信息和每个特征标识物的图像信息所占用的空间较小,本发明实施例中的地图的容量不会很大,可维护性较高。
可选的,本发明实施例中的地理位置信息可以为用经纬度坐标来表示的二维地理位置信息。
示例性的,定位设备的当前地理位置信息为B地,若B地的经纬度坐标为(x,y),则定位设备的当前地理位置信息为(x,y)。
在卫星信号质量差的应用场景中(如高楼林立的城市、偏远地区、峡谷或隧道等),本发明实施例中的定位设备可通过视觉定位方法确定定位设备的绝对位置,而视觉定位方法需要定位设备获取自身周边物体的周边物体的图像信息。
进一步地,定位设备执行S102,获取周边物体的周边物体的图像信息。
优选的,在定位设备的第四地理位置信息与第一特征标识物的地理位置信息之间的直线距离小于或等于第二预设阈值时,定位设备启动至少一个监测器,并通过已启动的至少一个监测器采集周边物体的图像信息。
其中,定位设备的第四地理位置信息为定位设备根据卫星定位技术获取到的地理位置信息。
本发明实施例中卫星定位技术可以为GNSS定位技术,也可以为GPS(Global Positioning System,全球定位***)定位技术,还可以为其他任意一种现有的卫星定位技术,本发明实施例对此不作具体限定。
可以理解的是,第一特征标识物的地理位置信息的卫星定位信号质量小于第一预设阈值,说明定位设备位于第一特征标识物的地理位置信息所指示的位置时,使用卫星定位技术获得的定位地理位置信息不准确。在定位设备根据卫星定位技术获取到该定位设备所处的位置(第四地理位置信息所指示的位置)与第一特征标识物的地理位置信息所指示的位置之间的距离小于或等于第二预设阈值
时,定位设备启动至少一个监测器,通过至少一个监测器采集周边物体的图像信息,便于定位设备根据视觉定位技术进行辅助定位。
优选的,本发明实施例中的监测器为视觉传感器。该视觉传感器可以为摄像头,其用于采集位于以定位设备为中心的预设范围内的周边物体的图像信息。
可选的,本发明实施例中的监测器可以为红外摄像头,也可以为普通摄像头,还可以为红外线传感器与摄像头的组合设备等,本发明实施例对此不作具体限制。
可以理解的是,监测器在定位设备的设置/分布情况需视实际情况而定。
示例性的,若定位设备为自动驾驶的车辆,则监测器可以安装在车辆的挡风玻璃上边缘的中间位置,也可以安装在车辆的前后左右四侧等,本发明实施例对此不作具体限定。
起摄像头作用的监测器安装简单、成本低廉,利用该监测器进行定位成本低。与现有的利用激光雷达进行定位的方法相比,本发明实施例利用监测器进行定位成本低。
可选的,定位设备内置的监测器还可以一直处于开启状态。
定位设备在获取到周边物体的图像信息后,定位设备判断其获取到的周边物体的图像信息是否与第一特征标识物的图像信息匹配,即定位设备执行S103。
定位设备在判断后根据判断结果进行后续处理。
具体的,若周边物体的图像信息与第一特征标识物的图像信息不匹配,则定位设备采用现有的定位方法进行定位,此处不再详细赘述。
具体的,若周边物体的图像信息与第一特征标识物的图像信息匹配,则定位设备根据视觉定位算法确定定位设备以第一特征标识物为坐标原点的相对位置信息,即定位设备执行S104。
定位设备判断周边物体的图像信息是否与第一特征标识物的图像信息匹配,即定位设备判断周边物体的图像信息是否与第一特征
标识物的图像信息之间是否存在相同或相似的部分。
可以理解的是,若周边物体的图像信息与第一特征标识物的图像信息匹配,则说明定位设备与第一特征标识物之间的距离较小。定位设备根据视觉定位算法可以确定定位设备以第一特征标识物为坐标原点的相对地理位置信息。
定位设备通过至少一个监测器采集周边物体的图像信息,因此,定位设备能够获取到至少一个周边物体的图像信息。每个图像信息包含有多个图像帧。可选的,多个图像信息之间可能包含有相同的图像帧,定位设备可以首先对获取到的周边物体的图像信息进行帧间匹配,得到关键图像特征信息,然后,定位设备判断关键图像信息是否与第一特征标识物的图像信息匹配,若关键图像信息与第一特征标识物的图像信息匹配,则定位设备根据视觉定位算法确定以第一特征标识物为坐标原点的相对位置信息。
其中,本发明实施例中的视觉定位算法可以为单目视觉定位算法,也可以为双目视觉定位算法,还可以为其他视觉定位算法,本发明实施例对此不作具体限定。
相对位置信息仅仅是本发明实施例为了方便理解的一种命名。在实际使用过程中,这一位置信息可以为其他的命名,本发明实施例对此不作具体限定。
定位设备以第一特征标识物为坐标原点的相对位置信息无法准确说明定位设备的地理位置信息,随着时间的增长,相对位置信息引起的误差会逐渐累积,从而导致定位精度较低。
进一步地,为了避免累积误差的带来的不良影响,本发明实施例中定位设备根据第一特征标识物的地理位置信息和确定的相对位置信息确定定位设备的第一地理位置信息,即执行S105。
本发明实施例中定位设备的第一地理位置信息是指定位设备在地理坐标系中的位置信息。
其中,地理坐标系是通过经纬度来表示地球表面点位的坐标系。
进一步地,若周边物体的图像信息与第一特征标识物的图像信
息匹配,定位设备还根据卫星定位技术获取定位设备的第二地理位置信息,并根据预设的惯性导航定位技术获取定位设备的第三地理位置信息。在定位设备获取第二地理位置信息和第三地理位置信息,并确定第一地理位置信息时,定位设备进行融合计算,确定定位设备的精确地理位置信息。
具体的,结合图3,如图4所示,本发明实施例提供的定位方法还包括:
S106、若周边物体的图像信息与第一特征标识物的图像信息匹配,定位设备获取定位设备的第二地理位置信息,并获取定位设备的第三地理位置信息。
具体的,定位设备根据卫星定位技术获取定位设备的第二地理位置信息,并根据预设的惯性导航定位技术获取定位设备的第三地理位置信息。
本发明实施例中预设的惯性导航定位技术可以为平台式惯性导航定位技术,也可以为捷联式惯性导航定位技术,本发明实施例对此不作具体限定。
需要说明的是,本发明实施例中定位设备在周边物体的图像信息与第一特征标识物的图像信息匹配时,可以先执行S104,后执行S106,也可以先执行S106,后执行S104,还可以同时执行S104和的S106,本发明实施例对此不作具体限定。
在执行S105和S106之后,定位设备还执行S107。
S107、定位设备根据预设的融合算法,对第一地理位置信息、第二地理位置信息和第三地理位置信息进行融合计算,确定定位设备的精确地理位置信息。
综合定位技术的定位精度高于单种定位技术的定位精度。为了能够进一步提高定位的精度,定位设备还可以结合其他定位技术来确定自身的地理位置信息。
本发明实施例中预设的融合算法可以为加权平均法,也可以为卡尔曼滤波法,还可以为多贝叶斯估计法,本发明实施例对此不作
具体限定。
示例性的,定位设备的第一地理位置信息为A地,A地的经纬度坐标为(k,y),定位设备的第二地理位置信息为B地,B地的经纬度坐标为(m,n),定位设备的第三地理位置信息为C地,C地的经纬度坐标为(s,t),定位设备根据加权平均法确定该定期设备的精确地理位置信息(i,j)。若视觉定位技术的定位精度达到75%,惯性导航定位技术的定位精度达到15%,卫星定位导航的定位精度达到10%,则i=(k×75%+m×15%+s×10%)/3,j=(y×75%+n×15%+t×10%)/3。
其中,本发明实施例中定位设备的第二地理位置信息和第三地理位置信息均是以地理坐标系为参考确定的地理位置信息。
容易理解的是,定位设备确定出的第一地理位置信息能够较为精准的表示定位设备利用视觉定位技术确定的位置信息,因此,定位设备根据该第一地理位置信息能够及时纠正惯性导航定位技术定位的地理位置信息,使得惯性导航定位技术充分发挥作用,即使在没有卫星信号的场景中,定位设备也能较为准确地确定自身的地理位置信息。
本发明实施例提供一种定位方法,定位设备首先获取导航路径信息,并根据导航路径信息从定位设备的地图中获取到导航路径中的第一特征标识物的图像信息和地理位置信息,该第一特征标识物位于以定位设备为中心的第一预设范围内,且第一特征标识物的地理位置信息指示的位置的卫星定位精度小于第一预设阈值,然后,定位设备获取位于该定位设备为中心的第二预设范围内的周边物体的图像信息,第二预设范围大于或等于第一预设范围,在定位设备周边物体的图像信息与导航路径信息中第一特征标识物的图像信息相匹配时,定位设备根据视觉定位算法确定出定位设备以第一特征标识物为坐标原点的相对位置信息,最后,定位设备根据第一特征标识物的地理位置信息和相对位置信息,在地理坐标系中确定定位设备的第一地理位置信息。视觉定位技术能够有效适用于卫星定位
精度较差的场景,且本发明实施例中定位设备是在地理坐标系中确定出的第一地理位置信息,该第一地理位置信息能够准确地表示出视觉定位技术确定出的地理位置信息,提高了在卫星信号质量差的应用场景中的定位精度。
实施例二
本发明实施例提供一种定位设备1,所述定位设备1用于执行以上方法中的定位设备所执行的步骤。所述定位设备1可以包括相应步骤所对应的模块。如图5所示,该定位设备1包括:
获取单元50,用于获取导航路径信息,以及用于根据所述导航路径信息,从定位设备的地图中获取第一特征标识物的图像信息和所述第一特征标识物的地理位置信息,所述第一特征标识物的地理位置信息指示的位置位于所述定位设备的导航路径信息指示的导航路径中,且所述第一特征标识物位于以所述定位设备为中心的第一预设范围内,所述第一特征标识物的地理位置信息指示的位置的卫星定位精度小于第一预设阈值,以及用于获取周边物体的图像信息,所述周边物***于以所述定位设备为中心的第二预设范围内,所述第二预设范围大于或等于所述第一预设范围。
视觉定位单元51,若所述获取单元50获取到的所述周边物体的图像信息与所述第一特征标识物的图像信息匹配,则确定所述周边物体为所述第一特征标识物,并以所述第一特征标识物为坐标原点,根据视觉定位算法确定所述定位设备以所述第一特征标识物为坐标原点的相对位置信息,以及用于根据所述第一特征标识物的地理位置信息和所述相对位置信息,在地理坐标系中确定所述定位设备的第一地理位置信息。
进一步地,所述获取单元50,还用于若所述获取单元50获取到的所述周边物体的图像信息与所述第一特征标识物的图像信息匹配,根据卫星定位技术获取所述定位设备的第二地理位置信息,并根据预设的惯性导航定位技术获取所述定位设备的第三地理位置信
息。
进一步地,如图6所示,本发明实施例的定位设备1还包括定位融合单元52,
所述定位融合单元52,用于在视觉定位单元51确定所述定位设备的第一地理位置信息之后,根据预设的融合算法,对所述视觉定位单元51确定的所述第一地理位置信息、所述获取单元50获取到的所述第二地理位置信息和所述获取单元50获取到的所述第三地理位置信息进行融合计算,确定所述定位设备的精确地理位置信息。
进一步地,如图6所示,所述定位设备1还包括存储单元53,
所述存储单元53,用于存储包含所述导航路径信息的地图,所述地图包含有辅助定位图层,所述辅助定位图层包括所述第一特征标识物的地理位置信息和所述第一特征标识物的图像信息。
进一步地,所述获取单元50,具体用于根据所述导航路径信息,从所述存储单元53存储的所述辅助定位图层中获取所述第一特征标识物的图像信息和所述第一特征标识物的地理位置信息。
进一步地,所述获取单元50,还用于获取起始地理位置信息和目标地理位置信息。
进一步地,如图6所示,所述定位设备1还包括路径规划单元54,
所述路径规划单元54,还用于根据所述获取单元50获取到的所述定位设备的起始地理位置信息和所述定位设备的目标地理位置信息,通过预设的路径算法,确定所述导航路径信息。
进一步地,所述获取单元50,还用于获取所述定位设备的起始地理位置信息和所述定位设备的目标地理位置信息。
进一步地,如图6所示,所述定位设备1还包括发送单元55,
所述发送单元55,用于向定位服务器发送行驶路径请求,所述路径请求包括所述获取单元50获取到的所述起始地理位置信息和所述目标地理位置信息,所述行驶路径请求用于请求所述定位服务
器分配从所述起始地理位置信息指示的起始位置至所述目标地理位置信息指示的目标位置的所述导航路径信息。
进一步地,如图6所示,所述定位设备1还包括接收单元56,
所述接收单元56,用于接收所述定位服务器发送的所述导航路径信息。
进一步地,如图6所示,所述获取单元50包括启动模块501,
所述启动模块501,用于在所述定位设备的第四地理位置信息与所述第一特征标识物的地理位置信息之间的直线距离小于或等于第二预设阈值时,启动至少一个监测器,所述第四地理位置信息为所述定位设备根据卫星定位技术获取的地理位置信息。
进一步地,如图6所示,所述获取单元50还包括采集模块502,
所述采集模块502,用于通过所述启动模块501启动的所述至少一个监测器采集所述周边物体的图像信息。
可以理解的是,本实施例的定位设备1仅为根据该定位设备1实现的功能进行的逻辑划分,实际应用中,可以进行上述单元的叠加或拆分。并且该实施例提供的定位设备1所实现的功能与上述实施例一提供的定位方法一一对应,对于该定位设备1所实现的更为详细的处理流程,在上述方法实施例一中已做详细描述,此处不再详细描述。
本发明另一实施例提供一种定位设备,如图7所示,该定位设备包括接口电路20、处理器21、存储器22和***总线23。
其中,所述接口电路20、所述处理器21分别与所述存储器22之间通过所述***总线23连接,并完成相互间通信。
图7所示的定位设备与图2中定位设备相同,图2中未示出***总线23。
本领域技术人员可以理解,图7所示的定位设备的结构并不是对定位设备的限定,其可以包括比图示更多或更少的部件,或者组合某些部件,或者不同的部件布置。
具体的,当所述定位设备运行时,所述定位设备执行实施例一所描述的定位方法。具体的定位方法可参见上述如图3或图4所示的实施例中的相关描述,此处不再赘述。
具体的,接口电路20用于实现该定位设备与定位服务器之间的通信连接。
具体的,所述存储器22可用于存储软件程序以及应用模块,处理器21通过运行存储在存储器22的软件程序以及应用模块,从而执行定位设备的各种功能应用以及数据处理。存储器22可主要包括存储程序区和存储数据区,其中,存储程序区可存储操作***、至少一个功能所需的应用程序(比如发送行驶路径请求功能)等;存储数据区可存储地图。
其中,所述存储器22可以包括易失性存储器,例如高速随机存取存储器(RAM,Random Access Memory),所述存储器22也可以包括非易失性存储器,例如至少一个磁盘存储器件、闪存器件、或其他易失性固态存储器件。
具体的,所述处理器21是定位设备的控制中心,利用各种接口和线路连接整个定位设备的各个部分,通过运行或执行存储在存储器22内的软件程序和/或应用模块,以及调用存储在存储器22内的数据,执行定位设备的各种功能和处理数据,从而对定位设备进行整体监控。
其中,处理器21可以为中央处理器(CPU,Central Processing Unit)。所述处理器21还可以为其他通用处理器、数字信号处理器(DSP,Digital Signal Processing)或者其他可编程逻辑器件或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。
所述***总线23可以包括数据总线、电源总线、控制总线和信号状态总线等。本实施例中为了清楚说明,在图7中将各种总线都示意为***总线23。
本发明实施例提供一种定位设备,定位设备首先获取导航路径
信息,并根据导航路径信息从定位设备的地图中获取到位于导航路径中的第一特征标识物的图像信息和地理位置信息,该第一特征标识物位于以定位设备为中心的第一预设范围内,且第一特征标识物的地理位置信息指示的位置的卫星定位精度小于第一预设阈值,然后,定位设备获取位于该定位设备为中心的第二预设范围内的周边物体的图像信息,第二预设范围大于或等于第一预设范围,在定位设备周边物体的图像信息与导航路径信息中第一特征标识物的图像信息相匹配时,定位设备根据视觉定位算法确定定位设备以第一特征标识物为坐标原点的相对位置信息,最后,定位设备根据第一特征标识物的地理位置信息和相对位置信息,在地理坐标系中确定定位设备的第一地理位置信息。视觉定位技术能够有效适用于卫星定位精度较差的场景,且本发明实施例中定位设备是在地理坐标系中确定出的第一地理位置信息,该第一地理位置信息能够准确地表示出视觉定位技术确定出的地理位置信息,提高了在卫星信号质量差的应用场景中的定位精度。
所属领域的技术人员可以清楚地了解到,为描述的方便和简洁,仅以上述各功能模块的划分进行举例说明,实际应用中,可以根据需要而将上述功能分配由不同的功能模块完成,即将移动设备的内部结构划分成不同的功能模块,以完成以上描述的全部或者部分功能。上述描述的***,移动设备和单元的具体工作过程,可以参考前述方法实施例中的对应过程,在此不再赘述。
在本申请所提供的几个实施例中,应该理解到,所揭露的***,移动设备和方法,可以通过其它的方式实现。例如,以上所描述的移动设备实施例仅仅是示意性的,例如,所述模块或单元的划分,仅仅为一种逻辑功能划分,实际实现时可以有另外的划分方式,例如多个单元或组件可以结合或者可以集成到另一个***,或一些特征可以忽略,或不执行。另一点,所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口,移动设备或单元的间接耦合或通信连接,可以是电性,机械或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的,作为单元显示的部件可以是或者也可以不是物理单元,即可以位于一个地方,或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外,在本发明各个实施例中的各功能单元可以集成在一个处理单元中,也可以是各个单元单独物理存在,也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现,也可以采用软件功能单元的形式实现。
所述集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时,可以存储在一个计算机可读取存储介质中。基于这样的理解,本发明的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或部分可以以软件产品的形式体现出来,该计算机软件产品存储在一个存储介质中,包括若干指令用以使得一台计算机设备(可以是个人计算机,服务器,或者网络设备等)或处理器(processor)执行本发明各个实施例所述方法的全部或部分步骤。而前述的存储介质包括:U盘、移动硬盘、只读存储器(ROM,Read-Only Memory)、随机存取存储器(RAM,Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。
以上所述,仅为本发明的具体实施方式,但本发明的保护范围并不局限于此,任何熟悉本技术领域的技术人员在本发明揭露的技术范围内,可轻易想到变化或替换,都应涵盖在本发明的保护范围之内。因此,本发明的保护范围应以所述权利要求的保护范围为准。
Claims (15)
- 一种定位方法,其特征在于,包括:定位设备获取导航路径信息;定位设备根据所述导航路径信息,从定位设备的地图中获取第一特征标识物的图像信息和所述第一特征标识物的地理位置信息,所述第一特征标识物的地理位置信息指示的位置位于所述导航路径信息指示的导航路径中,且所述第一特征标识物位于以所述定位设备为中心的第一预设范围内,其中所述第一特征标识物的地理位置信息指示的位置的卫星定位精度小于第一预设阈值;所述定位设备获取周边物体的图像信息,所述周边物***于以所述定位设备为中心的第二预设范围内,所述第二预设范围大于或等于所述第一预设范围;若所述周边物体的图像信息与所述第一特征标识物的图像信息匹配,则确定所述周边物体为所述第一特征标识物,所述定位设备以所述第一特征标识物为坐标原点,根据视觉定位算法确定所述定位设备以所述第一特征标识物为坐标原点的相对位置信息;所述定位设备根据所述第一特征标识物的地理位置信息和所述相对位置信息,在地理坐标系中确定所述定位设备的第一地理位置信息。
- 根据权利要求1所述的定位方法,其特征在于,所述定位方法还包括:若所述周边物体的图像信息与所述第一特征标识物的图像信息匹配,所述定位设备还根据卫星定位技术获取所述定位设备的第二地理位置信息,并根据预设的惯性导航定位技术获取所述定位设备的第三地理位置信息。
- 根据权利要求2所述的定位方法,其特征在于,所述定位设备根据所述第一特征标识物的地理位置信息和所述相对位置信息,在地理坐标系中确定所述定位设备的第一地理位置信息之后,所述定位方法还包括:所述定位设备根据预设的融合算法,对所述第一地理位置信息、所述第二地理位置信息和所述第三地理位置信息进行融合计算,确定所述定位设备的精确地理位置信息。
- 根据权利要求1-3中任意一项所述的定位方法,其特征在于,所述地图包含有辅助定位图层,所述辅助定位图层包括所述第一特征标识物的地理位置信息和所述第一特征标识物的图像信息;所述定位设备获取第一特征标识物的图像信息和所述第一特征标识物的地理位置信息,包括:所述定位设备根据所述导航路径信息,从所述辅助定位图层中获取所述第一特征标识物的图像信息和所述第一特征标识物的地理位置信息。
- 根据权利要求1-4中任意一项所述的定位方法,其特征在于,所述定位设备获取导航路径信息,具体包括:所述定位设备获取所述定位设备的起始地理位置信息和所述定位设备的目标地理位置信息;所述定位设备根据所述起始地理位置信息和所述目标地理位置信息,通过预设的路径算法,确定所述导航路径信息。
- 根据权利要求1-4中任意一项所述的定位方法,其特征在于,所述定位设备获取所述导航路径信息,具体包括:所述定位设备获取所述定位设备的起始地理位置信息和所述定位设备的目标地理位置信息;所述定位设备向定位服务器发送行驶路径请求,所述路径请求包括所述起始地理位置信息和所述目标地理位置信息,所述行驶路径请求用于请求所述定位服务器分配从所述起始地理位置信息指示的起始位置至所述目标地理位置信息指示的目标位置的所述导航路径信息;所述定位设备接收所述定位服务器发送的所述导航路径信息。
- 根据权利要求5或6所述的定位方法,其特征在于,所述定位设备获取周边物体的图像信息,具体包括:在所述定位设备的第四地理位置信息与所述第一特征标识物的地理位置信息之间的直线距离小于或等于第二预设阈值时,所述定位设备启动至少一个监测器,所述第四地理位置信息为所述定位设备根据卫星定位技术获取的地理位置信息;所述定位设备通过所述至少一个监测器采集所述周边物体的图像信息。
- 一种定位设备,其特征在于,包括:获取单元,用于获取导航路径信息,以及用于根据所述导航路径信息,从定位设备的地图中获取第一特征标识物的图像信息和所述第一特征标识物的地理位置信息,所述第一特征标识物的地理位置信息指示的位置位于所述导航路径信息指示的导航路径中,且所述第一特征标识物位于以所述定位设备为中心的第一预设范围内,所述第一特征标识物的地理位置信息指示的位置的卫星定位精度小于第一预设阈值,以及用于获取周边物体的图像信息,所述周边物***于以所述定位设备为中心的第二预设范围内,所述第二预设范围大于或等于所述第一预设范围;视觉定位单元,用于若所述获取单元获取到的所述周边物体的图像信息与所述第一特征标识物的图像信息匹配,则确定所述周边物体为所述第一特征标识物,并以所述第一特征标识物为坐标原点,根据视觉定位算法确定所述定位设备以所述第一特征标识物为坐标原点的相对位置信息,以及用于根据所述第一特征标识物的地理位置信息和所述相对位置信息,在地理坐标系中确定所述定位设备的第一地理位置信息。
- 根据权利要求8所述的定位设备,其特征在于,所述获取单元,还用于若所述获取单元获取到的所述周边物体的图像信息与所述第一特征标识物的图像信息匹配,还根据卫星定位技术获取所述定位设备的第二地理位置信息,并根据预设的惯性导航定位技术获取所述定位设备的第三地理位置信息。
- 根据权利要求9所述的定位设备,其特征在于,所述定位设 备还包括定位融合单元,所述定位融合单元,用于在视觉定位单元确定所述定位设备的第一地理位置信息之后,根据预设的融合算法,对所述视觉定位单元确定的所述第一地理位置信息、所述获取单元获取到的所述第二地理位置信息和所述获取单元获取到的所述第三地理位置信息进行融合计算,确定所述定位设备的精确地理位置信息。
- 根据权利要求8-10中任意一项所述的定位设备,其特征在于,所述定位设备还包括存储单元,所述存储单元,用于存储包含所述导航路径信息的地图,所述地图包含有辅助定位图层,所述辅助定位图层包括所述第一特征标识物的地理位置信息和所述第一特征标识物的图像信息;所述获取单元,具体用于根据所述导航路径信息,从所述存储单元存储的所述辅助定位图层中获取所述第一特征标识物的图像信息和所述第一特征标识物的地理位置信息。
- 根据权利要求8-11中任意一项所述的定位设备,其特征在于,所述获取单元,还用于获取所述定位设备的起始地理位置信息和所述定位设备的目标地理位置信息;所述定位设备还包括路径规划单元,所述路径规划单元,还用于根据所述获取单元获取到的所述起始地理位置信息和所述目标地理位置信息,通过预设的路径算法,确定所述导航路径信息。
- 根据权利要求8-11中任意一项所述的定位设备,其特征在于,所述获取单元,还用于获取所述定位设备的起始地理位置信息和所述定位设备的目标地理位置信息;所述定位设备还包括发送单元,所述发送单元,用于向定位服务器发送行驶路径请求,所述路径请求包括所述获取单元获取到的所述起始地理位置信息和所述目标 地理位置信息,所述行驶路径请求用于请求所述定位服务器分配从所述起始地理位置信息指示的起始位置至所述目标地理位置信息指示的目标位置的所述导航路径信息;所述定位设备还包括接收单元,所述接收单元,用于接收所述定位服务器发送的所述导航路径信息。
- 根据权利要求12或13所述的定位设备,其特征在于,所述获取单元包括启动模块,所述启动模块,用于在所述定位设备的第四地理位置信息与所述第一特征标识物的地理位置信息之间的直线距离小于或等于第二预设阈值时,启动至少一个监测器,所述第四地理位置信息为所述定位设备根据卫星定位技术获取的地理位置信息;所述获取单元还包括采集模块,所述采集模块,用于通过所述启动模块启动的所述至少一个监测器采集所述周边物体的图像信息。
- 一种定位设备,其特征在于,包括接口电路、处理器、存储器和***总线;所述接口电路、所述处理器、所述存储器分别与所述***总线连接,当所述定位设备运行时,所述定位设备执行如权利要求1-7中任意一项所述的定位方法。
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