A positioning method, system, device and medium for large-scale augmented reality

Abstract

The present application relates to a positioning method, system, device and medium for large-scale augmented reality, wherein the method includes: converting the positioning result in real time according to the coordinate transformation parameters in the large-scale map to obtain a global two-dimensional position; initializing and optimizing the orientation by setting a method to obtain an optimized true north orientation and a local 6DOF pose; updating the global two-dimensional position and the optimized true north orientation according to a preset accuracy range to obtain a global 3DOF pose, and realizing a large-scale AR experience through the global 3DOF pose and the optimized local 6DOF pose. This application solves the problem of low accuracy when using a magnetometer to locate the true north orientation of large-scale AR, improves the orientation positioning accuracy, and enhances the user experience in AR guide and navigation.

Description

Technical Field

[0001] The present application relates to the field of computer technology, and in particular to a positioning method, system, device and medium for large-scene augmented reality. Background Art

[0002] Large-scene AR (Argumented Reality, AR is used in this article) technology is mainly composed of three parts: large-scene map, AR content production and placement, and 6DOF-AR experience. The specific steps are: build a large-scene map, place the produced AR content in the large-scene map, and finally, register the user to the large-scene map through global positioning, and experience the fusion effect of AR content and the real world based on 6DOF-AR. Among them, global positioning is the entrance to large-scene AR, and it is also the guarantee for eliminating the accumulated errors of local tracking, while local tracking is the guarantee of accuracy and frame rate. Therefore, improving accuracy is very important for the large-scene AR experience.

[0003] In the large-scale AR experience, a "magnetometer" is needed to calculate the global positioning of the true north direction, such as using "GPS (Global Positioning System, GPS for short) positioning", "Bluetooth positioning", "WIFI positioning" and other technologies as "low-frequency-global positioning". The most common usage scenario is "GPS-large-scene AR" using traditional maps.

[0004] However, in actual use, using a magnetometer for global positioning of the true north direction will seriously affect the AR experience. Because the AR experience is a three-dimensional space experience, it is necessary to continuously calculate the 6DOF (degree of freedom, DOF for short). Taking iOS mobile phones as an example, the relative error of ARKit is less than 1%, that is, the deviation is less than 1m after walking 100m. If converted into angle error, atan (0.01) ≈ 0.57°. The angle error of the magnetometer of a general mobile phone is about 10° to 25°. Assuming the error is 10°, tan10° ≈ 17.6%, that is, the deviation is about 17.6m after walking 100m. Then the AR effect seen by the user using the mobile phone may be particularly distorted. If the user uses an AR virtual navigation route, it will affect the correctness of the navigation and seriously affect the user experience. Therefore, it is necessary to improve the orientation accuracy.

[0005] In the related technologies, directly using the true north direction of a magnetometer / electronic compass, or using GPS and a magnetometer for rough positioning, both have low accuracy, which seriously affects the user's AR experience.

[0006] Currently, there is no effective solution to the problem of low accuracy when using a magnetometer to locate the true north direction of large-scene AR in related technologies. Summary of the invention

[0007] The embodiments of the present application provide a positioning method, system, device and medium for large-scene augmented reality, so as to at least solve the problem of low accuracy when using a magnetometer to locate the true north direction of large-scene AR in the related art.

[0008] In a first aspect, an embodiment of the present application provides a positioning method for large-scene augmented reality, the method comprising:

[0009] The positioning result is converted in real time according to the coordinate transformation parameters in the large scene map to obtain the global two-dimensional position;

[0010] The orientation is initialized and optimized by setting a method to obtain the optimized true north orientation and local 6DOF pose;

[0011] According to a preset accuracy range, the global two-dimensional position and the optimized true north direction are updated respectively to obtain a global 3DOF pose, and a large-scene AR experience is achieved through the global 3DOF pose and the optimized local 6DOF pose.

[0012] In some embodiments, initializing and optimizing the orientation by setting a method includes:

[0013] The orientation is initialized by circling in a figure-8 manner diagonally toward the ground to optimize the angle error.

[0014] In some embodiments, the optimizing angle error comprises:

[0015] A mathematical model is constructed through on-device tracking to optimize the angle error. The on-device tracking local coordinate system and the earth coordinate system are aligned based on the optimized angle error. The calculation formula of the mathematical model is as follows:

[0016]

[0017] Among them, local_yaw i The orientation perpendicular to gravity at timestamp i in the local coordinate system tracked on the client, global_yaw i Represents the true north direction at timestamp i obtained by the magnetometer, and delta_yaw is the angle to be optimized.

[0018] In some embodiments, updating the global two-dimensional position and the optimized true north direction according to a preset accuracy range includes:

[0019] The tracking distance on the statistics terminal is updated for each global two-dimensional position when the global two-dimensional position is greater than a preset range;

[0020] For the optimized true north direction, the preset length is used as a window, and the on-end tracking trajectory and the true north direction of the corresponding timestamp within the window are retained and updated in real time.

[0021] In some embodiments, before performing real-time conversion on the positioning result according to the coordinate transformation parameters in the large scene map, the method includes:

[0022] Construct the large scene map, and place AR content in the large scene map.

[0023] In some embodiments, before initializing and optimizing the true north direction by setting a method, the method includes:

[0024] Get the true north direction of the current scene through the magnetometer and inertial measurement unit;

[0025] The local 6DOF pose of the current scene is obtained through visual images and inertial measurement units.

[0026] In a second aspect, an embodiment of the present application provides a positioning system for large-scale augmented reality, the system comprising:

[0027] The coordinate transformation module is used to transform the positioning results in real time according to the coordinate transformation parameters in the large scene map to obtain the global two-dimensional position;

[0028] The orientation optimization module is used to initialize and optimize the orientation by setting a method to obtain the optimized true north orientation and local 6DOF pose;

[0029] The update experience module is used to update the global two-dimensional position and the optimized true north direction according to a preset accuracy range, obtain the global 3DOF posture, and realize the large-scene AR experience through the global 3DOF posture and the optimized local 6DOF posture.

[0030] In some of the embodiments, the orientation optimization module is further used to initialize the orientation by circling in a figure-8 manner diagonally toward the ground to optimize the angle error.

[0031] In a third aspect, an embodiment of the present application provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the positioning method for large-scene augmented reality as described in the first aspect above is implemented.

[0032] In a fourth aspect, an embodiment of the present application provides a storage medium having a computer program stored thereon, which, when executed by a processor, implements the positioning method for large-scene augmented reality as described in the first aspect above.

[0033] Compared with the related art, the positioning method for large-scene augmented reality provided by the embodiment of the present application converts the positioning result in real time according to the coordinate transformation parameters in the large-scene map to obtain a global two-dimensional position; initializes and optimizes the orientation through a setting method to obtain an optimized true north orientation and a local 6DOF pose; according to a preset accuracy range, the global two-dimensional position and the optimized true north orientation are updated respectively to obtain a global 3DOF pose, and a large-scene AR experience is achieved through the global 3DOF pose and the optimized local 6DOF pose, which solves the problem of low accuracy when using a magnetometer to locate the true north orientation of a large-scene AR, improves the orientation positioning accuracy, and enhances the user experience in AR guidance and navigation. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0035] Figure 1 is a flow chart of a positioning method for large-scene augmented reality according to an embodiment of the present application;

[0036] Figure 2 is a schematic diagram of a positioning process of large-scene augmented reality according to an embodiment of the present application;

[0037] Figure 3 is a schematic diagram of optimizing the accuracy of the true north direction according to an embodiment of the present application;

[0038] Figure 4 is a structural block diagram of a positioning system for large-scale augmented reality according to an embodiment of the present application;

[0039] Figure 5 It is a schematic diagram of the internal structure of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application is described and illustrated below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application. Based on the embodiments provided in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application. In addition, it can also be understood that although the efforts made in this development process may be complex and lengthy, for ordinary technicians in the field related to the contents disclosed in the present application, some changes such as design, manufacturing or production based on the technical contents disclosed in the present application are only conventional technical means, and should not be understood as insufficient contents disclosed in the present application.

[0041] Reference to "embodiments" in this application means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those of ordinary skill in the art that the embodiments described in this application may be combined with other embodiments without conflict.

[0042] Unless otherwise defined, the technical terms or scientific terms involved in this application should be understood by people with ordinary skills in the technical field to which this application belongs. The words "one", "a", "a", "the" and the like involved in this application do not indicate a quantitative limitation, and may represent the singular or plural. The terms "include", "comprise", "have" and any of their variations involved in this application are intended to cover non-exclusive inclusions; for example, a process, method, system, product or device that includes a series of steps or modules (units) is not limited to the listed steps or units, but may also include steps or units that are not listed, or may also include other steps or units inherent to these processes, methods, products or devices. The words "connect", "connected", "coupled" and the like involved in this application are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The "multiple" involved in this application refers to greater than or equal to two. "And / or" describes the association relationship of associated objects, indicating that there can be three relationships, for example, "A and / or B" can represent: A exists alone, A and B exist at the same time, and B exists alone. The terms "first", "second", "third" and the like involved in the present application are merely used to distinguish similar objects and do not represent a specific ordering of the objects.

[0043] It should be noted that the large-scene map mentioned in this application is the map content in a large scene, such as a large square, a regional map, or a city map.

[0044] This embodiment provides a positioning method for large-scale augmented reality. Figure 1 is a flow chart of a positioning method for large-scene augmented reality according to an embodiment of the present application, such as Figure 1 As shown, the process includes the following steps:

[0045] Step S101, performing real-time conversion on the positioning result according to the coordinate transformation parameters in the large scene map to obtain a global two-dimensional position;

[0046] Figure 2 is a schematic diagram of the positioning process of large-scale augmented reality according to an embodiment of the present application, such as Figure 2As shown, before the positioning result is converted in real time according to the coordinate transformation parameters in the large scene map, a large scene map is constructed and AR content is placed in the large scene map. It should be noted that if a traditional map is used, the traditional map can directly use a magnetometer to determine the direction; however, if a Bluetooth, WIFI or other map is used, the Bluetooth or other map coordinate system needs to be aligned to the geodetic coordinate system.

[0047] After completing the above preparations, this embodiment converts the positioning results of Bluetooth, WIFI, etc. into the large scene map in real time according to the coordinate transformation parameters in the large scene map to obtain the global two-dimensional position. If it is the positioning result of GPS, no coordinate conversion is required.

[0048] Step S102, initializing and optimizing the orientation by setting a method to obtain an optimized true north orientation and a local 6DOF pose;

[0049] like Figure 2 As shown, before the true north direction is initialized and optimized by setting, the true north direction of the current scene is obtained by using a magnetometer and an inertial measurement unit (IMU), and the local 6DOF pose of the current scene is obtained by using a visual image and the IMU. After that, the direction is initialized and optimized by setting.

[0050] Preferably, in this embodiment, the orientation initialization optimization is performed by circling an 8-shaped pattern obliquely to the ground, which can optimize the angle error delta_yaw;

[0051] Specifically, Figure 3 : is a schematic diagram of the true north heading accuracy optimization according to the embodiment of the present application. Through the high precision of the on-device tracking and the characteristics of gravity alignment, a mathematical model is constructed to optimize the angle error delta_yaw. Then, through the optimized angle error delta_yaw, the on-device tracking local coordinate system local and the earth coordinate system global are aligned, such as Figure 3 (1). However, if delta_yaw is directly calculated using the first local frame and the current magnetometer true north direction, then the alignment error of the entire local is equal to the error of the true north direction of the first frame, that is, 10° to 25°, as shown in Figure 3 (1) shows that this error is too large and is unacceptable for AR experience. Therefore, multi-frame angle error optimization is required, and coordinate alignment is performed through multi-frame optimized delta_yaw_opted, as shown in Figure 3 (3) as shown, thereby obtaining a more accurate orientation positioning;

[0052] The calculation formula of the mathematical model constructed in this embodiment is shown in the following formula (1):

[0053]

[0054] Among them, local_yaw i The orientation perpendicular to gravity at timestamp i in the local coordinate system tracked on the client, global_yaw i Represents the true north direction at timestamp i obtained by the magnetometer, and delta_yaw is the angle to be optimized.

[0055] It should be noted that when optimizing the angle error, the accuracy of the angle error needs to be evaluated, and its calculation formula is shown in the following formula (2):

[0056]

[0057] Among them, ∑ local_yaw represents the variance of the local_yaw variable, ∑ global_yaw represents the variance of the global_yaw variable; assuming that the standard deviation of local_yaw is 0.001°, the standard deviation of the magnetometer is 10°, and 100 samples are sampled for optimization, then the accuracy error of delta_yaw calculated by the above formula (2) is About 0.0001°.

[0058] In addition, the optimization of orientation initialization by moving in a figure-8 manner diagonally toward the ground can also bring other effective effects, including: (1) Moving in a figure-8 manner can improve the accuracy of the magnetometer, which is also used in traditional map apps to improve accuracy; (2) Moving diagonally toward the ground instead of looking into the distance or into the sky is also very friendly to the initialization of the on-device tracking algorithm and can improve the accuracy of on-device tracking.

[0059] Finally, after the above orientation initialization optimization, the optimized true north orientation and local 6DOF pose are obtained.

[0060] Step S103, according to the preset accuracy range, the global two-dimensional position and the optimized true north direction are updated respectively to obtain the global 3DOF pose, and the large-scene AR experience is realized through the global 3DOF pose and the optimized local 6DOF pose.

[0061] like Figure 2 As shown, according to the preset accuracy range, the global two-dimensional position and the optimized true north direction are updated respectively to obtain the global 3DOF pose.

[0062] Preferably, for the global two-dimensional position not positioned by Bluetooth, GPS, etc., since its accuracy is about 4m, the tracking distance on the statistical end is updated every time it is greater than a preset range, such as 100m; and for the update of the true north direction, given that the error of the tracking on the end is less than 1%, a preset length, such as 100m, is used as a window, and only the tracking trajectory on the end and the true north direction of the corresponding timestamp within the window are retained for real-time update.

[0063] Finally, if Figure 2 As shown in the figure, a large-scene AR experience is achieved through global 3DOF pose and optimized local 6DOF pose.

[0064] Through the above steps S101 to S103, this embodiment uses high-precision local tracking as a reference to optimize the accuracy of the true north direction of the magnetometer, thereby solving the problem of low accuracy when using a magnetometer to locate the true north direction of a large-scene AR, improving the orientation positioning accuracy, and enhancing the user experience in AR guidance and navigation.

[0065] It should be noted that the steps shown in the above process or the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0066] The present embodiment also provides a system for identifying network user roles, which is used to implement the above-mentioned embodiments and preferred implementation modes, and the descriptions that have been made will not be repeated. As used below, the terms "module", "unit", "subunit" and the like can implement a combination of software and / or hardware of a predetermined function. Although the device described in the following embodiments is preferably implemented with software, the implementation of hardware, or a combination of software and hardware is also possible and contemplated.

[0067] Figure 4 is a structural block diagram of a positioning system for large-scale augmented reality according to an embodiment of the present application, such as Figure 4 As shown, the system includes a coordinate transformation module 41, a direction optimization module 42 and an update experience module 43:

[0068] The coordinate transformation module 41 is used to convert the positioning result in real time according to the coordinate transformation parameters in the large scene map to obtain the global two-dimensional position; the orientation optimization module 42 is used to initialize and optimize the orientation by setting a method to obtain the optimized true north orientation and local 6DOF posture; the update experience module 43 is used to update the global two-dimensional position and the optimized true north orientation according to a preset accuracy range, respectively, to obtain the global 3DOF posture, and realize the large-scene AR experience through the global 3DOF posture and the optimized local 6DOF posture.

[0069] Through the above system, this embodiment uses high-precision local tracking as a reference to optimize the accuracy of the true north direction of the magnetometer, thereby solving the problem of low accuracy when using a magnetometer to locate the true north direction of large-scene AR, improving the orientation positioning accuracy, and enhancing the user experience in AR guidance and navigation.

[0070] It should be noted that the specific examples in this embodiment can refer to the examples described in the above embodiments and optional implementation modes, and this embodiment will not be described in detail here.

[0071] In addition, it should be noted that the above modules can be functional modules or program modules, and can be implemented by software or hardware. For modules implemented by hardware, the above modules can be located in the same processor; or the above modules can be located in different processors in any combination.

[0072] This embodiment further provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor is configured to run the computer program to execute the steps in any one of the above method embodiments.

[0073] Optionally, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor, and the input / output device is connected to the processor.

[0074] In addition, in combination with the large-scene augmented reality positioning method in the above embodiments, the present application embodiment can provide a storage medium for implementation. The storage medium stores a computer program; when the computer program is executed by a processor, any large-scene augmented reality positioning method in the above embodiments is implemented.

[0075] In one embodiment, a computer device is provided, which may be a terminal. The computer device includes a processor, a memory, a network interface, a display screen, and an input device connected via a system bus. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the computer device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, a positioning method for large-scene augmented reality is implemented. The display screen of the computer device may be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device may be a touch layer covered on the display screen, or a key, trackball, or touchpad provided on the housing of the computer device, or an external keyboard, touchpad, or mouse, etc.

[0076] In one embodiment, Figure 5 is a schematic diagram of the internal structure of an electronic device according to an embodiment of the present application, such as Figure 5 As shown, an electronic device is provided, which may be a server, and its internal structure diagram may be as shown in Figure 5 As shown. The electronic device includes a processor, a network interface, an internal memory and a non-volatile memory connected through an internal bus, wherein the non-volatile memory stores an operating system, a computer program and a database. The processor is used to provide computing and control capabilities, the network interface is used to communicate with an external terminal through a network connection, the internal memory is used to provide an environment for the operation of the operating system and the computer program, the computer program is executed by the processor to implement a large-scene augmented reality positioning method, and the database is used to store data.

[0077] Those skilled in the art will understand that Figure 5 The structure shown in the figure is merely a block diagram of a partial structure related to the scheme of the present application, and does not constitute a limitation on the electronic device to which the scheme of the present application is applied. The specific electronic device may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.

[0078] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0079] Those skilled in the art should understand that the technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0080] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A positioning method for large-scale augmented reality, characterized in that: The method comprises: The positioning result is converted in real time according to the coordinate transformation parameters in the large scene map to obtain the global two-dimensional position; The orientation is initialized and optimized by setting a method to obtain the optimized true north orientation and local 6DOF pose; According to a preset accuracy range, the global two-dimensional position and the optimized true north direction are updated respectively to obtain a global 3DOF pose, and a large-scene AR experience is achieved through the global 3DOF pose and the optimized local 6DOF pose; The initialization and optimization of the orientation by setting the method includes: initializing the orientation by circling an 8-shaped figure obliquely to the ground to optimize the angle error; the optimization of the angle error includes: constructing a mathematical model by on-end tracking to optimize the angle error, and aligning the on-end tracking local coordinate system and the earth coordinate system by the optimized angle error; The calculation formula of the mathematical model is as follows: Among them, local_yaw i The orientation perpendicular to gravity at timestamp i in the local coordinate system tracked on the client, global_yaw i Represents the true north direction at timestamp i obtained by the magnetometer, and delta_yaw is the angle to be optimized.

2. The method according to claim 1, characterized in that The updating of the global two-dimensional position and the optimized true north direction according to the preset accuracy range includes: The tracking distance on the statistics terminal is updated for each global two-dimensional position when the global two-dimensional position is greater than a preset range; For the optimized true north direction, the preset length is used as a window, and the on-end tracking trajectory and the true north direction of the corresponding timestamp within the window are retained and updated in real time.

3. The method according to claim 1, characterized in that Before performing real-time conversion on the positioning result according to the coordinate transformation parameters in the large scene map, the method includes: Construct the large scene map, and place AR content in the large scene map.

4. The method according to claim 1, characterized in that Before initializing and optimizing the true north direction by setting a method, the method includes: Get the true north direction of the current scene through the magnetometer and inertial measurement unit; The local 6DOF pose of the current scene is obtained through visual images and inertial measurement units.

5. A large-scale augmented reality positioning system, characterized in that: The system comprises: The coordinate transformation module is used to transform the positioning results in real time according to the coordinate transformation parameters in the large scene map to obtain the global two-dimensional position; The orientation optimization module is used to initialize and optimize the orientation by setting a method to obtain the optimized true north orientation and local 6DOF pose; An update experience module, used to update the global two-dimensional position and the optimized true north direction according to a preset accuracy range, obtain a global 3DOF pose, and realize a large-scene AR experience through the global 3DOF pose and the optimized local 6DOF pose; Among them, when the orientation optimization module initializes and optimizes the orientation in a setting manner, it initializes the orientation in an 8-shaped manner obliquely facing the ground to optimize the angle error; the angle error optimization includes: constructing a mathematical model through on-end tracking, optimizing the angle error, and aligning the on-end tracking local coordinate system and the geodetic coordinate system through the optimized angle error; the calculation formula of the mathematical model is as follows: Among them, local_yaw i The orientation perpendicular to gravity at timestamp i in the local coordinate system tracked on the client, global_yaw i Represents the true north direction at timestamp i obtained by the magnetometer, and delta_yaw is the angle to be optimized.

6. An electronic device comprising a memory and a processor, characterized in that: The memory stores a computer program, and the processor is configured to run the computer program to execute the positioning method for large-scene augmented reality according to any one of claims 1 to 4.

7. A storage medium, characterized in that: The storage medium stores a computer program, wherein the computer program is configured to execute the large-scene augmented reality positioning method according to any one of claims 1 to 4 when running.

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