Positioning method and positioning system based on image and inertial navigation technology

Abstract

The present invention discloses a positioning method and a positioning system based on an image and an inertial navigation technology. According to the technical scheme, the current image-based position information D1 of a user is acquired; the current inertial navigation-based position information D2 of the user is acquired; and the D1 and the D2 are subjected to fusion positioning on the basis so as to determine the current position information of the user. According to the present invention, with the positioning scheme, the positioning precision and the applicability of the application scene can be improved, and the problems in the prior art can be effectively solved; during the application of the positioning scheme, only the photographing function of the user camera and the inertial sensor are used without other additional hardware, such that the precision and the stability of the positioning can be enhanced, and the deployment and maintenance cost of the system can be substantially reduced; and with the technical scheme, the positioning scheme with characteristics of easy deployment, low cost, high precision, scalability and wide application can be achieved.

Description

technical field [0001] The present invention relates to positioning technology, in particular to positioning technology based on images and inertial navigation. Background technique [0002] Positioning technology has a broad application market. Existing positioning technologies include GPS / Beidou, Wi-Fi, iBeacon Bluetooth, small cells, inertial navigation, visible light, sound waves / ultrasonic waves, etc. These existing technologies have certain limitations and cannot meet the growing needs of various positioning application scenarios: for example, the accuracy of GPS / Beidou positioning drops sharply in an environment with poor satellite signals, and cannot be applied indoors; positioning based on signal strength Technologies such as Wi-Fi and iBeacon are greatly affected by signal interference and the environment, and the positioning accuracy is low, and a large number of deployments are required at the same time; positioning based on signal fingerprints, such as Wi-Fi fin...

AI Technical Summary

Problems solved by technology

[0004] 1) The positioning accuracy of the mixed area is not high: one of the main application scenarios of this method is the mixed area with and without satellite signals, because the satellite signal is usually relatively poor on the boundary of the mixed area, and the inertial navigation correction often occurs in the mixed area. The boundaries of the area, thus limiting the positioning accuracy of the system

[0005] 2) The system is greatly affected by the environment, and there is a problem of long-term drift: in the indoor area of ​​the mixed area, the accuracy of satellite positioning is sometimes good and time difference, which affects the correction effect of inertial navigation and the positioning accuracy of the system

Although the scheme uses low-cost coding patterns with low material costs, the labor costs required to deploy these coding patterns in large numbers are high

[0008] 2) If the labor cost of deployment is reduced, the positioning accuracy will drop sharply: by reducing the number of coding patterns deployed in the area to be positioned (for example, deploying one every 3-10 meters), the labor cost of deployment can be reduced, but the positioning accuracy at this time Rapid decline (for example, the positioning accuracy may drop to 5 meters), and there will also be a jump in the positioning position, which will affect the user experience

[0009] 3) This solution requires the camera to be kept on continuously and to be able to capture the coded pattern, which greatly increases the power consumption of the terminal and limits the application scenarios of the solution. For example, the mobile phone cannot be used in scenarios where the camera cannot shoot such as in a pocket. The technology performs positioning

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