Urban area and indoor high-precision visual positioning system and method

A visual positioning, high-precision technology, applied in data processing applications, instruments, calculations, etc., can solve the problems that positioning technology is difficult to meet the requirements of user accuracy, reliability, continuity, expensive hardware costs, etc., to achieve stable and sustainable positioning ability, achieve continuous positioning, low cost effect

Inactive Publication Date: 2017-02-22
WUHAN UNIV
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Problems solved by technology

Due to the complexity of these positioning environments, it is difficult for the above-mentioned types of positioning technologies to meet the user's requirements for accuracy, reliability, and continuity.
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  • Urban area and indoor high-precision visual positioning system and method
  • Urban area and indoor high-precision visual positioning system and method
  • Urban area and indoor high-precision visual positioning system and method

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Embodiment Construction

[0064] The technical solution of the present invention will be further specifically described below through the embodiments and accompanying drawings.

[0065] Firstly, the reception of user positioning signals based on radio frequency signals in urban environment is described. figure 1 is a schematic diagram depicting GNSS satellite signal reception in an urban environment.

[0066] Such as figure 1 As shown, the user (car) is driving in an urban canyon full of tall buildings, and the GNSS antenna continues to receive signals from navigation satellites (including but not limited to GPS, BeiDou, GLONASS, Galileo, WAAS, EGNOS, QZSS, GAGAN / IRNSS, etc.) and ( or) navigation satellite radio frequency signals from ground-based pseudolites. figure 1 Due to the obstruction of radio frequency signals by high-rise buildings, users cannot continuously track the navigation signals of multiple satellites within the visible range of the user, resulting in long waiting time, low accuracy,...

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Abstract

The invention provides an urban area and indoor high-precision visual positioning system and method. The image information of a surrounding environment is acquired based on a visual sensor to realize high-precision urban area and indoor positioning. The method comprises the steps that the distinguishing feature information of an image is calculated and extracted after the visual sensor captures the scene image information; according to the distinguishing feature information, similarity degree recognition and matching are carried out in the feature information base of a digital three-dimensional model; according to matching coordinate information recorded in an image feature matching process, a geometrical mapping relation from a three-dimensional scene to a two-dimensional image is restored, and a camera intersection model from a two-dimensional image coordinate to a three-dimensional space coordinate is established to determine the three-dimensional position and attitude information of the visual sensor and a dynamic user; multi-source image information captured by the visual sensor is received; a digital three-dimensional model corresponding to a real scene is reconstructed or updated; and the feature information base is updated. According to the invention, robust and sustainable positioning ability is provided when the surrounding environment changes.

Description

technical field [0001] The present invention relates to the technical field of urban areas and indoor navigation and positioning, and specifically relates to a method of collecting image information and extracting features through the user's visual sensor, and constructing a three-dimensional geometric mapping of camera intersection by using the feature matching with the three-dimensional model to provide the urban canyon and indoor The centimeter-level high-precision positioning technology provides effective technical support for future unmanned driving and indoor positioning. Background technique [0002] In today's society, people's demand for navigation and positioning information is increasing day by day. With the rapid development of science and technology, space-based positioning systems represented by GNSS (Global Navigation Satellite System) provide global users with all-weather, low-cost positioning, navigation and timing services at all times. However, space-base...

Claims

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Application Information

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IPC IPC(8): G06Q50/30
CPCG06Q50/30
Inventor 陈锐志褚天行
Owner WUHAN UNIV
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