AR positioning and direction correction method and device, equipment and storage medium

Abstract

The invention provides an AR positioning and direction correction method and device, equipment and a storage medium, and relates to the technical field of augmented reality, and the method comprises the steps: obtaining a first high-precision positioning point and a second high-precision positioning point, and respectively calculating azimuth angles in a geographic coordinate system and an AR coordinate system; the initial orientation when the device is started is then determined by using the angle difference between the azimuth angles. According to the initial orientation, coordinate orientation rotation can be carried out on three-dimensional scene elements in the AR scene, so that direction correction is completed. By using the high-precision positioning point information, the initial orientation of the equipment can be determined more accurately, so that the accuracy of AR positioning is improved. Moreover, no external auxiliary equipment or infrastructure is needed, and accurate AR positioning and direction correction can be realized only by means of the equipment and known high-precision positioning point information, so that the hardware cost is reduced.

Description

Technical Field

[0001] The present application relates to the field of augmented reality technology, and in particular to an AR positioning and direction correction method, device, equipment and storage medium. Background Art

[0002] In the development of augmented reality (AR) technology, achieving accurate superposition of virtual elements with the real-world environment has always been one of the technical challenges. Traditional AR positioning methods mainly rely on the device's built-in sensors, such as gyroscopes, accelerometers, and magnetometers, to track the device's motion status in real time. However, these sensors are affected by environmental noise and hardware errors, which often lead to inaccurate positioning or drift. Especially in the early stages of device startup, if the initial orientation of the device cannot be accurately obtained, the subsequent AR element superposition will be biased.

[0003] To overcome this problem, the industry has proposed a variety of solutions. Among them, a common method is to use external auxiliary equipment or infrastructure, such as base stations, Wi-Fi access points or Bluetooth beacons, to provide additional positioning information. However, these solutions usually require additional hardware investment and complex deployment processes, which not only increases costs but also limits the popularity of AR applications. Summary of the invention

[0004] In view of the above problems, this application provides an AR positioning and direction correction method, including the following contents:

[0005] In a first aspect, the present application provides an AR positioning and direction correction method, the method comprising:

[0006] Acquire a first high-precision positioning point and a second high-precision positioning point;

[0007] Calculate a first azimuth of a line segment formed by the first high-precision positioning point and the second high-precision positioning point in a geographic coordinate system, where the first azimuth is an angle between a line segment formed by the first high-precision positioning point and the second high-precision positioning point and the true north direction;

[0008] Calculate a second azimuth of a line segment formed by the first high-precision positioning point and the second high-precision positioning point in an augmented reality (AR) scene, where the second azimuth refers to an azimuth of a line segment formed by the first high-precision positioning point and the second high-precision positioning point and the orientation of the device when it is started;

[0009] The geographic coordinate system is integrated with the AR coordinate system, and the angle between the first azimuth and the second azimuth in the geographic coordinate system and the AR coordinate system is calculated to determine the angle between the device and the true north when it is started;

[0010] According to the angle between the device and true north when it is started, the coordinate orientation of the three-dimensional scene elements in the AR scene is rotated to complete the direction correction.

[0011] Optionally, acquiring the first high-precision positioning point and the second high-precision positioning point includes:

[0012] The first high-precision positioning point and the second high-precision positioning point are obtained by selecting points on the map or using an RTK device.

[0013] Optionally, the method further includes:

[0014] The high-precision geographic coordinates of the first high-precision positioning point and the second high-precision positioning point are converted into Mercator projection coordinates.

[0015] Optionally, the first azimuth angle is calculated as follows:

[0016]

[0017] The △y is the difference between the latitude of the first high-precision positioning point and the second high-precision positioning point, and △x is the difference between the longitude of the first high-precision positioning point and the second high-precision positioning point.

[0018] Optionally, the second azimuth angle is calculated as follows:

[0019]

[0020] The Δy is the difference between the AR coordinates y of the first high-precision positioning point and the second high-precision positioning point, and the Δx is the difference between the AR coordinates x of the first high-precision positioning point and the second high-precision positioning point.

[0021] Optionally, determining the angle between the device and true north when the device is started by calculating the angle difference between the first azimuth and the second azimuth in the geographic coordinate system and the AR coordinate system includes:

[0022]

[0023] Among them, △y refers to the difference between the AR coordinates y of the two points, △y' refers to the difference between the latitudes of the two points' geographic coordinates, △x' refers to the difference between the AR coordinates y of the two points, and △x refers to the difference between the longitudes of the two points' geographic coordinates.

[0024] Optionally, the method further includes:

[0025] The third high-precision positioning point, the azimuth information and the AR coordinates of the third high-precision positioning point are obtained to obtain the initial positioning when the device is started.

[0026] In a second aspect, the present application provides an AR positioning and direction correction device, the device comprising:

[0027] An acquisition unit, used to acquire a first high-precision positioning point and a second high-precision positioning point;

[0028] a calculation unit, configured to calculate a first azimuth of a line segment formed by connecting the first high-precision positioning point and the second high-precision positioning point in a geographic coordinate system, wherein the first azimuth is an angle between a line segment formed by connecting the first high-precision positioning point and the second high-precision positioning point and a true north direction;

[0029] The calculation unit is further used to calculate a second azimuth of a line segment formed by the first high-precision positioning point and the second high-precision positioning point in an augmented reality (AR) scene, where the second azimuth refers to an azimuth of a line segment formed by the first high-precision positioning point and the second high-precision positioning point and the orientation of the device when it is started;

[0030] The calculation unit is further used to merge the geographic coordinate system with the AR coordinate system, calculate the angle difference between the first azimuth and the second azimuth in the geographic coordinate system and the AR coordinate system, and determine the angle between the device and true north when the device is started;

[0031] The direction correction unit is used to rotate the coordinate orientation of the three-dimensional scene elements in the AR scene according to the angle between the device and the true north when the device is started, so as to complete the direction correction.

[0032] Optionally, the acquiring unit acquiring the first high-precision positioning point and the second high-precision positioning point includes:

[0033] The first high-precision positioning point and the second high-precision positioning point are obtained by selecting points on the map or using an RTK device.

[0034] Optionally, the device further includes a conversion unit, configured to convert the high-precision geographic coordinates of the first high-precision positioning point and the second high-precision positioning point into Mercator projection coordinates.

[0035] Optionally, the calculation unit calculates the first azimuth angle by:

[0036]

[0037] The △y is the difference between the latitude of the first high-precision positioning point and the second high-precision positioning point, and △x is the difference between the longitude of the first high-precision positioning point and the second high-precision positioning point.

[0038] Optionally, the calculation unit calculates the second azimuth angle by:

[0039]

[0040] The Δy is the difference between the AR coordinates y of the first high-precision positioning point and the second high-precision positioning point, and the Δx is the difference between the AR coordinates x of the first high-precision positioning point and the second high-precision positioning point.

[0041] Optionally, the calculating unit determines the angle between the device and true north when the device is started by calculating the angle difference between the first azimuth and the second azimuth in the geographic coordinate system and the AR coordinate system, including:

[0042]

[0043] Among them, △y refers to the difference between the AR coordinates y of the two points, △y' refers to the difference between the latitudes of the two points' geographic coordinates, △x' refers to the difference between the AR coordinates y of the two points, and △x refers to the difference between the longitudes of the two points' geographic coordinates.

[0044] Optionally, the acquisition unit is further used for:

[0045] The third high-precision positioning point, the azimuth information and the AR coordinates of the third high-precision positioning point are obtained to obtain the initial positioning when the device is started.

[0046] In a third aspect, the present application provides a device, comprising a memory and a processor, the memory being used to store instructions or codes, and the processor being used to execute the instructions or codes so that the device performs the AR positioning and direction correction method introduced in any implementation of the first aspect.

[0047] In a fourth aspect, the present application provides a computer-readable storage medium, in which a code is stored. When the code is executed, the device executing the code implements the AR positioning and direction correction method introduced in any implementation method of the first aspect.

[0048] The present application provides an AR positioning and direction correction method. When executing the method, first obtain a first high-precision positioning point and a second high-precision positioning point, and then calculate the first azimuth of the line segment formed by the first high-precision positioning point and the second high-precision positioning point in the geographic coordinate system, the first azimuth is the angle between the line segment formed by the first high-precision positioning point and the second high-precision positioning point and the true north direction, and then calculate the second azimuth of the line segment formed by the first high-precision positioning point and the second high-precision positioning point in the augmented reality AR scene, the second azimuth refers to the azimuth of the line segment formed by the first high-precision positioning point and the second high-precision positioning point and the device when it is started, merge the geographic coordinate system with the AR coordinate system, and determine the angle between the device and the true north when it is started by calculating the angle difference between the first azimuth and the second azimuth in the geographic coordinate system and the AR coordinate system. According to the angle between the device and the true north when it is started, the coordinate azimuth of the three-dimensional scene elements in the AR scene is rotated to complete the direction correction. By using the high-precision positioning point information, the initial orientation of the device can be determined more accurately, thereby improving the accuracy of AR positioning. And there is no need for external auxiliary equipment or infrastructure. Accurate AR positioning and direction correction can be achieved by relying only on the device itself and known high-precision positioning point information, reducing hardware costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the technical solutions in this embodiment or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0050] Figure 1 A flowchart of an AR positioning and direction correction method provided in an embodiment of the present application;

[0051] Figure 2 A schematic diagram of geographic coordinates provided in an embodiment of the present application;

[0052] Figure 3 A schematic diagram of AR coordinates provided in an embodiment of the present application;

[0053] Figure 4 A schematic diagram of the fusion of geographic coordinates and AR coordinates provided in an embodiment of the present application;

[0054] Figure 5 A schematic diagram of the structure of an AR positioning and direction correction device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0055] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0056] Figure 1 A flowchart of an AR positioning and direction correction method provided in an embodiment of the present application. Figure 1 As shown, the AR positioning and direction correction method provided in the embodiment of the present application may include:

[0057] S101. Acquire a first high-precision positioning point and a second high-precision positioning point.

[0058] The first high-precision positioning point and the second high-precision positioning point can be any location in the real world, such as the corner of a building, the intersection of a road, etc. There are two ways to obtain these points: Select points through a map: Use some map software or application to manually select or mark the locations of these points on the map. For example, through a map vectorized by a CAD drawing, select two points on the map, and then find the corresponding two points in the real scene. This method is suitable for locations that can be clearly identified on the map. Another way is to obtain it through RTK equipment. RTK (Real-Time Kinematic) is a real-time dynamic differential positioning technology that can provide centimeter-level or even millimeter-level positioning accuracy. Using RTK equipment, you can directly measure and obtain the precise location of these points in the field.

[0059] Geographic coordinates are usually expressed using longitude and latitude, which is a three-dimensional coordinate system based on the earth's surface. However, in some applications (such as map making, geographic information systems, etc.), it may be more convenient to use a plane coordinate system. Mercator Projection is a map projection method that projects the earth's surface onto a plane while maintaining the linearity and equidistant nature of longitude and latitude. After converting high-precision geographic coordinates to Mercator projection coordinates, the positions of these points can be represented on a plane, which facilitates geographic spatial analysis such as distance calculation and direction judgment.

[0060] S102. Calculate a first azimuth of a line segment formed by the first high-precision positioning point and the second high-precision positioning point in a geographic coordinate system, where the first azimuth is an angle between the line segment formed by the first high-precision positioning point and the second high-precision positioning point and the true north direction.

[0061] The calculation method of the first azimuth angle is:

[0062]

[0063] Among them, △y is the difference between the latitude of the first high-precision positioning point and the second high-precision positioning point, and △x is the difference between the longitude of the first high-precision positioning point and the second high-precision positioning point.

[0064] like Figure 2 As shown, Figure 2 A geographic coordinate schematic diagram is provided for an embodiment of the present application, wherein points A and B are respectively pre-selected first high-precision positioning points and second high-precision positioning points, and the angle α between the line segment AB connecting points A and B and the north direction is the first azimuth.

[0065] S103: Calculate a second azimuth of a line segment formed by the first high-precision positioning point and the second high-precision positioning point in an augmented reality (AR) scene, where the second azimuth refers to an azimuth of a line segment formed by the first high-precision positioning point and the second high-precision positioning point and the orientation of the device when it is started.

[0066] The calculation method of the second azimuth angle is:

[0067]

[0068] Wherein, Δy is the difference between the AR coordinates y of the first high-precision positioning point and the second high-precision positioning point, and Δx is the difference between the AR coordinates x of the first high-precision positioning point and the second high-precision positioning point.

[0069] like Figure 3 As shown, Figure 3 An AR coordinate schematic diagram is provided for an embodiment of the present application, in which points A and B are respectively pre-selected first high-precision positioning points and second high-precision positioning points, and the angle α between the line segment AB connecting points A and B and the direction in which the device is facing when it is started is the second azimuth.

[0070] S104: The geographic coordinate system is integrated with the AR coordinate system, and the angle between the first azimuth and the second azimuth in the geographic coordinate system and the AR coordinate system is calculated to determine the angle between the device and true north when the device is started.

[0071] Determining the angle between the device and true north when the device is started by calculating the angle difference between the first azimuth and the second azimuth in the geographic coordinate system and the AR coordinate system includes:

[0072]

[0073] Among them, △y is the difference between the AR coordinates y of the first high-precision positioning point and the second high-precision positioning point, △y' is the difference between the geographic coordinates latitude of the first high-precision positioning point and the second high-precision positioning point, △x' is the difference between the AR coordinates x of the first high-precision positioning point and the second high-precision positioning point, and △x is the difference between the geographic coordinates longitude of the first high-precision positioning point and the second high-precision positioning point.

[0074] like Figure 4 As shown, Figure 4 A schematic diagram of the fusion of geographic coordinates and AR coordinates provided in an embodiment of the present application, wherein the angle between a device, such as a mobile phone, and due north when it is started is obtained by the difference θ between αgeographic and αAR.

[0075] S105. Rotate the coordinates of the three-dimensional scene elements in the AR scene according to the angle between the device and true north when the device is started, so as to complete the direction correction.

[0076] After obtaining the angle θ between the device and the true north when it is started in the AR scene, in order to eliminate this angle deviation, the loaded model needs to be corrected. By rotating the loaded model pose by an angle of θ and passing the modified parameters to ARCore for coordinate rotation, the rotated model can eliminate the error caused by the azimuth when AR is started.

[0077] In an implementation method of an embodiment of the present application, in addition to obtaining the azimuth when the device is started based on two high-precision positioning points, the initial positioning when the device is started can also be calculated through the existing azimuth and any high-precision point and AR coordinates, that is, the third high-precision positioning point, azimuth information and AR coordinates of the third high-precision positioning point are obtained to obtain the initial positioning when the device is started. The third high-precision positioning point is a certain location specified by the user, and this location can obtain high-precision positioning information through satellite navigation systems such as GPS and Beidou. The azimuth information indicates the orientation of the device relative to a reference direction (such as geographic north). By combining the geographic coordinates, azimuth information and AR coordinates of the third high-precision positioning point, the initial positioning when the device is started can be obtained. This initial positioning can be used for subsequent operations such as navigation, positioning and direction correction in AR scenes.

[0078] The above are some specific implementations of an AR positioning and direction correction method provided in the embodiment of the present application. Based on this, the present application also provides a corresponding device. The device provided in the embodiment of the present application will be introduced from the perspective of functional modularization.

[0079] Figure 5 A schematic diagram of the structure of an AR positioning and direction correction device provided in an embodiment of the present application. Figure 5As shown, the AR positioning and direction correction device 500 provided in the embodiment of the present application includes:

[0080] An acquisition unit 510 is used to acquire a first high-precision positioning point and a second high-precision positioning point;

[0081] A calculation unit 520 is used to calculate a first azimuth of a line segment formed by the first high-precision positioning point and the second high-precision positioning point in a geographic coordinate system, where the first azimuth is an angle between the line segment formed by the first high-precision positioning point and the second high-precision positioning point and the true north direction;

[0082] The calculation unit is further used to calculate a second azimuth of a line segment formed by the first high-precision positioning point and the second high-precision positioning point in an augmented reality (AR) scene, where the second azimuth refers to an azimuth of a line segment formed by the first high-precision positioning point and the second high-precision positioning point and the orientation of the device when it is started;

[0083] The calculation unit is further used to merge the geographic coordinate system with the AR coordinate system, calculate the angle difference between the first azimuth and the second azimuth in the geographic coordinate system and the AR coordinate system, and determine the angle between the device and true north when the device is started;

[0084] The direction correction unit 530 is used to rotate the coordinates of the three-dimensional scene elements in the AR scene according to the angle between the device and the true north when the device is started, so as to complete the direction correction.

[0085] In an implementation of the embodiment of the present application, the acquiring unit acquiring the first high-precision positioning point and the second high-precision positioning point includes:

[0086] The first high-precision positioning point and the second high-precision positioning point are obtained by selecting points on the map or using an RTK device.

[0087] Optionally, the device further includes a conversion unit, configured to convert the high-precision geographic coordinates of the first high-precision positioning point and the second high-precision positioning point into Mercator projection coordinates.

[0088] In an implementation of the embodiment of the present application, the method in which the calculation unit calculates the first azimuth angle is:

[0089]

[0090] The △y is the difference between the latitude of the first high-precision positioning point and the second high-precision positioning point, and △x is the difference between the longitude of the first high-precision positioning point and the second high-precision positioning point.

[0091] In an implementation of the embodiment of the present application, the method in which the calculation unit calculates the second azimuth angle is:

[0092]

[0093] The Δy is the difference between the AR coordinates y of the first high-precision positioning point and the second high-precision positioning point, and the Δx is the difference between the AR coordinates x of the first high-precision positioning point and the second high-precision positioning point.

[0094] In an implementation of the embodiment of the present application, the calculation unit determines the angle between the device and the true north when the device is started by calculating the angle difference between the first azimuth and the second azimuth in the geographic coordinate system and the AR coordinate system, including:

[0095]

[0096] Among them, △y refers to the difference between the AR coordinates y of the two points, △y' refers to the difference between the latitudes of the two points' geographic coordinates, △x' refers to the difference between the AR coordinates y of the two points, and △x refers to the difference between the longitudes of the two points' geographic coordinates.

[0097] In one implementation of the embodiment of the present application, the acquisition unit is further configured to:

[0098] The third high-precision positioning point, the azimuth information and the AR coordinates of the third high-precision positioning point are obtained to obtain the initial positioning when the device is started.

[0099] The embodiments of the present application also provide corresponding devices and computer storage media for implementing the solutions provided by the embodiments of the present application.

[0100] The device includes a memory and a processor, the memory is used to store instructions or codes, and the processor is used to execute the instructions or codes so that the device executes the method described in any embodiment of the present application.

[0101] The computer storage medium stores codes, and when the codes are executed, a device executing the codes implements the method described in any embodiment of the present application.

[0102] Through the description of the above implementation methods, it can be known that those skilled in the art can clearly understand that all or part of the steps in the above-mentioned embodiment method can be implemented by means of software plus a general hardware platform. Based on such an understanding, the technical solution of the present application can be embodied in the form of a software product, which can be stored in a storage medium, such as a read-only memory (ROM) / RAM, a magnetic disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network communication device such as a router) to execute the methods described in each embodiment of the present application or some parts of the embodiments.

[0103] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0104] It should also be noted that the various embodiments in this specification are described in a progressive manner, and the same and similar parts between the various embodiments can refer to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device and apparatus embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can refer to the partial description of the method embodiments. The device and apparatus embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and the components indicated as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0105] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. An AR positioning and direction correction method, characterized in that: The method comprises: Acquire a first high-precision positioning point and a second high-precision positioning point; Calculate a first azimuth of a line segment formed by the first high-precision positioning point and the second high-precision positioning point in a geographic coordinate system, where the first azimuth is an angle between a line segment formed by the first high-precision positioning point and the second high-precision positioning point and the true north direction; Calculate a second azimuth of a line segment formed by the first high-precision positioning point and the second high-precision positioning point in an augmented reality (AR) scene, where the second azimuth refers to an azimuth of a line segment formed by the first high-precision positioning point and the second high-precision positioning point and the orientation of the device when it is started; The geographic coordinate system is integrated with the AR coordinate system, and the angle between the first azimuth and the second azimuth in the geographic coordinate system and the AR coordinate system is calculated to determine the angle between the device and true north when it is started; According to the angle between the device and true north when it is started, the coordinate orientation of the three-dimensional scene elements in the AR scene is rotated to complete the direction correction.

2. The method according to claim 1, characterized in that: The obtaining of the first high-precision positioning point and the second high-precision positioning point comprises: The first high-precision positioning point and the second high-precision positioning point are obtained by selecting points on the map or using an RTK device.

3. The method according to claim 2, characterized in that The method further comprises: The high-precision geographic coordinates of the first high-precision positioning point and the second high-precision positioning point are converted into Mercator projection coordinates.

4. The method according to claim 1, characterized in that: The calculation method of the first azimuth angle is: Among them, △y is the difference between the latitude of the first high-precision positioning point and the second high-precision positioning point, and △x is the difference between the longitude of the first high-precision positioning point and the second high-precision positioning point.

5. The method according to claim 1, characterized in that The calculation method of the second azimuth angle is: Wherein, △y is the difference between the AR coordinates y of the first high-precision positioning point and the second high-precision positioning point, and △x is the difference between the AR coordinates x of the first high-precision positioning point and the second high-precision positioning point.

6. The method according to claim 1, characterized in that Determining the angle between the device and true north when the device is started by calculating the angle difference between the first azimuth and the second azimuth in the geographic coordinate system and the AR coordinate system includes: Among them, △y is the difference between the AR coordinates y of the first high-precision positioning point and the second high-precision positioning point, △y' is the difference between the geographic coordinates latitude of the first high-precision positioning point and the second high-precision positioning point, △x' is the difference between the AR coordinates x of the first high-precision positioning point and the second high-precision positioning point, and △x is the difference between the geographic coordinates longitude of the first high-precision positioning point and the second high-precision positioning point.

7. The method according to claim 1, characterized in that The method further comprises: The third high-precision positioning point, the azimuth information and the AR coordinates of the third high-precision positioning point are obtained to obtain the initial positioning when the device is started.

8. An AR positioning and direction correction device, characterized in that: The device comprises: An acquisition unit, used to acquire a first high-precision positioning point and a second high-precision positioning point; a calculation unit, configured to calculate a first azimuth of a line segment formed by connecting the first high-precision positioning point and the second high-precision positioning point in a geographic coordinate system, wherein the first azimuth is an angle between a line segment formed by connecting the first high-precision positioning point and the second high-precision positioning point and a true north direction; The calculation unit is further used to calculate a second azimuth of a line segment formed by the first high-precision positioning point and the second high-precision positioning point in an augmented reality (AR) scene, where the second azimuth refers to an azimuth between a line segment formed by the first high-precision positioning point and the second high-precision positioning point and a horizontal orientation when the device is started; The calculation unit is further used to merge the geographic coordinate system with the AR coordinate system, calculate the angle difference between the first azimuth and the second azimuth in the geographic coordinate system and the AR coordinate system, and determine the angle between the device and true north when the device is started; The direction correction unit is used to rotate the coordinate orientation of the three-dimensional scene elements in the AR scene according to the angle between the device and the true north when the device is started, so as to complete the direction correction.

9. A computing device, characterized in that The computing device includes: a memory and a processor; The memory is used to store computer programs; The processor is configured to implement the method according to any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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